WO2021192932A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2021192932A1 WO2021192932A1 PCT/JP2021/008785 JP2021008785W WO2021192932A1 WO 2021192932 A1 WO2021192932 A1 WO 2021192932A1 JP 2021008785 W JP2021008785 W JP 2021008785W WO 2021192932 A1 WO2021192932 A1 WO 2021192932A1
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- bucket
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- work device
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- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000009412 basement excavation Methods 0.000 claims description 16
- 238000005056 compaction Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 48
- 238000006243 chemical reaction Methods 0.000 description 26
- 230000008569 process Effects 0.000 description 20
- 238000010276 construction Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 13
- 238000000605 extraction Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000005283 ground state Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000010365 information processing Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
Definitions
- the present invention relates to a work machine such as a hydraulic excavator equipped with a work device.
- a hydraulic excavator that supports computerized construction has a machine guidance function that displays the position and orientation of each front member (boom, arm, bucket) that constitutes a work device and the vehicle body along with target surface data around the vehicle body on a monitor.
- Others have a machine control function that controls at least one actuator so that the bucket moves along the target surface during excavation operation.
- the arm cloud operation is detected by the pilot pressure and the arm cylinder pressure and set in advance in the work device.
- a method of updating topographical data (finished form information) based on the measurement result of the three-dimensional position of the measured measurement point (monitor point) has been proposed.
- the method described in Patent Document 1 updates terrain data (data of the current shape of the construction target) by using the position information of the monitor point (for example, the tip of the bucket) while the arm cloud operation is detected.
- the position information of the monitor point for example, the tip of the bucket
- the work equipment bucket
- the terrain data is generated from the position information of the monitor point at that time. That is, there is a possibility that a shape different from the actual shape is recorded as terrain data.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work machine capable of generating current shape data close to the shape of an actual construction target based on construction history data.
- the present application includes a plurality of means for solving the above problems.
- a vehicle body For example, a vehicle body, a work device attached to the vehicle body, a vehicle body position calculation device for calculating the position of the vehicle body, and the work.
- a posture sensor that detects the posture of the device, a drive state sensor that detects the drive state of a plurality of actuators that drive the work device, the position of the vehicle body calculated by the vehicle body position calculation device, and detection of the attitude sensor.
- the position information of the monitor point set in the work device is calculated, and the current shape data of the work target of the work device is updated by using the position information.
- the controller utilizes the detection data of the drive state sensor and at least one equilibrium relationship of a force or moment acting on the work device to bring the work device into a ground state. Based on the movement locus of the monitor point set in the work device and the outer shape of the work device during the ground contact period in which it is determined that the work device is in the ground contact state.
- the partial shape data of the work target formed by the work device is generated, and the current shape data of the work target is updated based on the partial shape data.
- the block diagram of the hydraulic excavator which concerns on embodiment of this invention.
- the system block diagram of the hydraulic excavator which concerns on embodiment of this invention.
- Explanatory drawing of the force acting on the work equipment Explanatory drawing of length and angle of each part about work equipment.
- the figure which shows an example of the partial shape data generation process by a partial shape data generation part when the 2nd generation method is adopted.
- FIG. 1 is a block diagram of a hydraulic excavator according to an embodiment of the present invention.
- the hydraulic excavator 1 is an articulated work device (front work device) configured by connecting a plurality of front members (boom 2, arm 3 and bucket 4) that rotate in each vertical direction. ) 1A, and a vehicle body 1B composed of an upper swing body 1BA and a lower traveling body 1BB.
- the base end of the boom 2 located on the base end side of the work device 1A is rotatably attached to the front portion of the upper swing body 1BA in the vertical direction.
- the upper swivel body 1BA is rotatably attached to the upper part of the lower traveling body 1BB.
- the upper swivel body 1BA calculates the position data (position information) of a plurality of monitor points set in the work device 1A, and by using the position data, the current topographical data (current shape) around the hydraulic excavator 1 is used. It is also called data.
- the current state shape data is also data that defines the shape of the work target (terrain) of the work device 1A.
- the controller 100 having a function of updating the current state terrain data and the controller in the hydraulic excavator 1 by acquiring the current state terrain data.
- a current terrain data input device 22 for inputting to 100 is attached.
- a stereo camera is attached to the hydraulic excavator 1 shown in FIG. 1 as an example of the current terrain data input device 22, but a known device such as a three-dimensional laser scanner can be used. Further, a flash memory or removable media in which the current terrain data is stored can also be used as the current terrain data input device 22.
- the boom 2, arm 3, bucket 4, upper swivel body 1BA and lower traveling body 1BB are formed by a boom cylinder 5, arm cylinder 6, bucket cylinder 7, swivel hydraulic motor 8, and left and right traveling hydraulic motors 9 (hydraulic actuators), respectively. It constitutes a driven member to be driven.
- the operations of the plurality of driven members include a traveling right lever 10a, a traveling left lever 10b, an operating right lever 11a, and an operating left lever 11b (these are referred to as operating levers 10 and 11) installed in the driver's cab on the upper swing body 1BA. (Sometimes collectively referred to) is controlled by a control signal (for example, pilot pressure or electric signal) generated by being operated by an operator.
- a control signal for example, pilot pressure or electric signal
- the operation amount for each of the hydraulic actuators 5-9 input by the operator via the operation levers 10 and 11 is detected by the plurality of operation amount sensors 20 and input to the controller 100 (see FIG. 3).
- a pressure sensor can be used as the operation amount sensor 20.
- the boom cylinder 5 is equipped with a plurality of pressure sensors 19 for detecting the hydraulic pressure Pr and Pb on the rod side and the bottom side of the boom cylinder 5 as its drive state sensor.
- the driving state of the boom cylinder 5 can be determined from the hydraulic pressures Pr and Pb detected by the pressure sensor 19.
- the control signals for driving the plurality of driven members include not only those output by the operation of the operating levers 10 and 11, but also one of a plurality of proportional solenoid valves (not shown) mounted on the hydraulic excavator 1.
- the pilot pressure output by the operation of 11 is reduced.
- the pilot pressure output from the plurality of proportional solenoid valves (pressure boosting valve and pressure reducing valve) in this way can activate so-called machine control for operating the boom cylinder 5, arm cylinder 6 and bucket cylinder 7 according to predetermined conditions.
- the work device 1A has a boom angle sensor 12 on the boom pin and an arm angle sensor 13 on the arm pin so that the rotation angles ⁇ , ⁇ , and ⁇ (see FIG. 2) of the boom 2, arm 3, and bucket 4 can be measured.
- the bucket angle sensor 14 is attached to the bucket link 15.
- the upper swivel body 1BA has a vehicle body front-rear tilt angle sensor (pitch angle sensor) that detects a pitch angle ⁇ p (see FIG. 2) which is an inclination angle of the upper swivel body 1BA (vehicle body 1B) in the front-rear direction with respect to a reference plane (for example, a horizontal plane).
- a vehicle body left / right inclination angle sensor (roll angle sensor) 16b that detects a roll angle ⁇ (not shown) which is an inclination angle in the left-right direction of the upper swing body 1BA (vehicle body 1B) are attached.
- these angle sensors may use sensors such as IMU (Inertial Measurement Unit), potentiometer, rotary encoder, etc., and the length of each cylinder 5, 6 and 7 is measured by the stroke sensor and rotated. It may be converted into a moving angle.
- the bucket angle sensor 14 may be attached to the bucket 4 instead of the bucket link 15.
- the first GNSS antenna 17a and the second GNSS antenna 17b are arranged on the upper swing body 1BA.
- the first GNSS antenna 17a and the second GNSS antenna 17b are antennas for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems) and receive radio waves (navigation signals) transmitted from a plurality of GNSS satellites (positioning satellites). And output to the receiver 4012 (see FIG. 3).
- RTK-GNSS Real Time Kinematic-Global Navigation Satellite Systems
- the receiver (vehicle body position calculation device) 4012 determines the positions of the first GNSS antenna 17a and the second GNSS antenna 17b in the site coordinate system set at the work site based on the navigation signals received by the first GNSS antenna 17a and the second GNSS antenna 17b. Calculate.
- the receiver 4012 can calculate the azimuth angle ⁇ y (not shown) of the upper swing body 1BA and the working device 1A based on the calculated positions of the first GNSS antenna 17a and the second GNSS antenna 17b.
- the receiver 4012 that outputs the coordinate values of the site coordinate system will be described, but the receiver 4012 is at least one of the geographic coordinate system, the plane orthogonal coordinate system, the geocentric orthogonal coordinate system, or the site coordinate system.
- Any coordinate value of the two coordinate systems may be output as the positions of the first GNSS antenna 17a and the second GNSS antenna 17b.
- the coordinate values in the geographic coordinate system consist of latitude, longitude and ellipsoidal height.
- the coordinate values of the plane orthogonal coordinate system, the geocentric orthogonal coordinate system, and the field coordinate system are three-dimensional orthogonal coordinate systems composed of X, Y, Z coordinates, and the like.
- the coordinate values of the geographic coordinate system can be converted into a three-dimensional Cartesian coordinate system such as a plane rectangular coordinate system by using Gauss-Kruger's isometric projection method or the like.
- the plane rectangular coordinate system, the geocentric orthogonal coordinate system, and the field coordinate system can be converted to each other by using affine transformation or Helmart transformation.
- the X-axis and Z-axis shown in FIG. 2 have the origin at a point (for example, the center point) on the axis of the boom pin, the Z-axis in the upward direction of the vehicle body, the X-axis in the front direction of the vehicle body, and the Y-axis in the right direction of the vehicle body. It represents the vehicle body coordinate system as the axis.
- the vehicle body coordinate system and the site coordinate system can be converted to each other by using the coordinate conversion parameters obtained by a known method.
- this coordinate conversion parameter includes the pitch angle ⁇ and roll angle ⁇ of the vehicle body 1B acquired by the tilt angle sensors 16a and 16b when the coordinate values of the first GNSS antenna 17a in the vehicle body coordinate system are known, and the first and first coordinates.
- the coordinate values in the vehicle body coordinate system of the first GNSS antenna 17a, and the GNSS positioning (preferably RTK-GNSS positioning) of the first GNSS antenna 17a It can be obtained from the coordinate values in the field coordinate system.
- the position data of any monitor point on the work device 1A in the vehicle body coordinate system includes the rotation angles ⁇ , ⁇ , ⁇ of the boom 2, arm 3, and bucket 4, and the dimension values Lbm of each front member 2, 3, 4. Since it is possible to calculate from Lam and Lbk, it is possible to obtain the position data of the arbitrary monitor point in the field coordinate system.
- the target surface data input device for inputting the target surface data (target surface data) in which the target shape (completed form) of the construction target (for example, earth and sand, rock, etc.) of the work device 1A is defined in the upper swivel body 1BA. 21 is installed.
- the target surface data input device 21 inputs target surface data acquired from the outside (for example, a computer or server in which design data is stored) to the controller 100 via a semiconductor memory such as a flash memory or wireless communication.
- a monitor 405 is installed in the cab of the hydraulic excavator 1. On the screen of the monitor 405, the upper rotation calculated from the attitude data of the work device 1A calculated from the outputs of the various angle sensors 12, 13, 14 and 16 and the received signals of the first and second GNSS antennas 17a and 17b. An image of the working device 1A viewed from the side and a cross-sectional shape of the target surface may be displayed based on the position data of the body 1BA and the like.
- FIG. 3 is a system configuration diagram of the hydraulic excavator 1 according to the present embodiment.
- the hydraulic excavator 1 of the present embodiment includes a controller 100, a plurality of pressure sensors 19, a plurality of operation amount sensors 20, a target surface data input device 21, and a current terrain data input device 22.
- Angle sensors 12, 13 and 14, first and second GNSS antennas 17a and 17b, vehicle body tilt angle sensors (pitch angle sensor, roll angle sensor) 16a and 16b, and a monitor 45 are provided.
- controller 100 for example, information is exchanged between an arithmetic processing unit 4061 such as a CPU, a storage device 4062 composed of a semiconductor storage device such as a RAM or ROM, or a magnetic storage device such as an HDD, and various sensors and actuators.
- arithmetic processing unit 4061 such as a CPU
- storage device 4062 composed of a semiconductor storage device such as a RAM or ROM, or a magnetic storage device such as an HDD
- Computers with input / output interfaces are available and can consist of a single computer or multiple computers.
- a part or all of the controller 100 may be configured by a server or the like connected to various devices on the hydraulic excavator 1 via a network.
- the controller 100 causes the arithmetic processing device 4061 to execute the program stored in the storage device 4062, so that the work equipment attitude calculation unit 4011, the vehicle body angle calculation unit 4013, the ground contact state determination unit 4021, and the monitor point position calculation unit 4022 It functions as shape data generation unit 4023, current terrain data generation unit 4032, and progress management information generation unit 404. That is, each part shown by a rectangle in the controller 100 in FIG. 3 is a block classification of the functions that the controller 100 performs arithmetic processing and exerts.
- the receiver 4012 that performs GNSS positioning using the first and second GNSS antennas 17a and 17b may be the vehicle body position calculation unit 4012 that is a part of the functions in the controller 100 as shown in FIG. It may be a device independent of the controller 100 as described above. Hereinafter, the details of the processing performed in each part in the controller 100 will be described.
- the work machine attitude calculation unit 4011 receives the sensor values of the boom angle sensor 12, the arm angle sensor 13, and the bucket angle sensor 14 as inputs, and uses the boom 2, arm 3, and bucket 4 rotation angles ⁇ as the attitude information of the work device 1A. Calculate ⁇ and ⁇ (see Fig. 2). The angle data calculated here can be used as the posture data of the work device 1A.
- the vehicle body position calculation unit (receiver) 4012 obtains the position coordinates (position data) of the first GNSS antenna 17a and the second GNSS antenna 17b in the field coordinate system based on the navigation signals received by the first GNSS antenna 17a and the second GNSS antenna 17b. Calculate.
- the position data calculated here can be used as the position data of the vehicle body 1B.
- the vehicle body angle calculation unit 4013 determines the orientation of the work device 1A (upper swivel body 1BA) in the site coordinate system based on the position coordinates of the first GNSS antenna 17a and the second GNSS antenna 17b in the site coordinate system calculated by the vehicle body position calculation unit 4012. Calculate the angle ⁇ y. Further, the vehicle body angle calculation unit 4013 receives the sensor values of the vehicle body front-rear tilt angle sensor (pitch angle sensor) 16a and the vehicle body left-right tilt angle sensor (roll angle sensor) 16b as inputs, and the roll angle ⁇ r and pitch angle ⁇ p of the upper swing body 1BA. Is calculated. The angle data calculated here can be used as the posture data of the vehicle body 1B.
- the ground contact state determination unit 4021 is a boom cylinder output by the pressure sensor 19 and the position data and attitude data of the work devices 1A and the vehicle body 1B calculated by the work machine attitude calculation unit 4011, the vehicle body position calculation unit 4012 and the vehicle body angle calculation unit 4013.
- the data (pressure data) of the working hydraulic pressures Pr and Pb of 5 it is determined whether or not the working device 1A is in the ground contact state, and the determination result (ground contact state determination result) is output.
- the reaction force of the ground or the ground reaction force or the ground is utilized by utilizing the signal detected by the ground contact state determination unit 4021 and the pressure sensor 19 and at least one equilibrium relationship of the force or moment acting on the working device 1A.
- the ground contact state is determined by calculating at least one of the moments due to the reaction force and determining whether or not the calculation result is equal to or higher than a predetermined threshold value.
- the ground contact state determination unit 4021 of the present embodiment first confirms whether or not the position information of the bucket 4 has been updated from the position data and the posture data of the work device 1A and the vehicle body 1B.
- the reaction force on the ground is calculated using the signal detected by the pressure sensor 19 and the balance of the moments around the boom foot pin, and the calculated reaction force is determined. It is determined that the bucket 4 is in the grounded state when the value is equal to or greater than the threshold value of.
- the reaction force F from the ground can be obtained from equations 1 and 2 by the following equation 3.
- the X coordinate of the vehicle body coordinate system at the place where the reaction force F from the ground can be estimated to act is set to Xbkmp.
- the place where the reaction force from the ground can be estimated to act may be the monitor point estimated by the monitor point position calculation unit 4022 described later, or may be fixed to a specific place such as the toe of the bucket.
- Xbkmp uses the following formula using the boom length Lbm, arm length Lam, distance Lbkmp from the bucket pin to the monitor point, and the angle ⁇ mp formed by the straight line connecting the bucket monitor point and the bucket pin and the straight line connecting the bucket pin and the bucket toe. It can be derived by 4.
- Figure 5 shows the length and angle of each part.
- the moments due to the load, Mbm, Mam, and Mbk can be obtained by the following equations 5, 6 and 7.
- mbm, mam and mbk are the masses of the boom 2, arm 3 and bucket 4
- gz is the Z-axis direction component of the vehicle body coordinate system of gravitational acceleration
- ⁇ ', ⁇ 'and ⁇ 'are The angular velocities of the boom 2, arm 3, and bucket 4
- fbm, fam, and fbk are functions that calculate the inertial force based on the angular velocities of the boom 2, arm 3, and bucket 4.
- fbm, fam, and fbk may be ignored when the angular velocities of the boom 2, arm 3, and bucket 4 are sufficiently small.
- vehicle body coordinate systems Xbmg, Xamg, and Xbkg of the center of gravity of the boom 2, arm 3, and bucket 4 used in the equation 5-7 can be derived by the following equations 8-10, respectively.
- Lbmg, Lamg, and Lbkg in the formula are the distances from the pins of each part to the position of the center of gravity
- ⁇ g, ⁇ g, and ⁇ g are the straight lines connecting the positions of the center of gravity of each part and the root pins of each part, and the straight lines connecting the tips and roots of each part. The angle between the two (see FIG. 5).
- FIG. 6 shows the length and angle of each part around the boom cylinder.
- the force Fcyl in the formula 11 can be expressed as the following formula 12 by using the hydraulic pressures Pr and Pb on the rod side and the bottom side of the boom cylinder 5 detected by the pressure sensor 19 and the pressure receiving areas Sr and Sb, respectively.
- Lrod is the distance between the boom pin and the boom cylinder rod pin
- ⁇ is the angle formed by the straight line connecting the boom pin and the boom cylinder rod pin and the straight line connecting the boom cylinder rod pin and the boom cylinder bottom pin. This ⁇ can be obtained by using the cosine theorem to obtain the length Stcil of the boom cylinder by the following equation 13 and deriving it using the following equation 14.
- the reaction force F on the ground is derived by the balance of moments, but the reaction force on the ground may be obtained by using the balance of forces.
- the bearing capacity of the boom pin may be detected by using a load sensor or a strain sensor and used in the calculation.
- the ground contact state determination unit 4021 determines that the bucket 4 is in the ground contact state.
- the period in which the work device 1A (bucket 4) is determined to be in the grounded state by the grounding state determining unit 4021 may be referred to as a grounding period.
- the threshold value used for grounding judgment set an appropriate value in consideration of the hardness of the ground and the work content. For example, when excavating soft ground, the reaction force F from the ground during excavation work is relatively small, so the threshold value is set to a relatively small value, and conversely, when excavating hard ground, the threshold value is set relative to each other. Set to a large value. Further, the threshold value set here does not have to be a fixed value. For example, since the maximum value of the force that pushes the bucket 4 against the ground fluctuates according to the position of the bucket, the threshold value may be set by a function of the X-coordinate of the vehicle body coordinate system.
- the threshold function f (Xkmp) is set to a certain constant Const multiplied by the inverse of Xbkmp as shown in the following equation 15
- the moment MF due to the reaction force F from the ground is set as shown in the following equation 16. Since the ground contact state can be determined by comparing the constant Const with the constant Const, the ground contact state can be determined by comparing the moment due to the reaction force from the ground and the threshold value without obtaining the reaction force from the ground depending on the threshold setting conditions. You may.
- the threshold value set here may be set by combining both the reaction force from the ground and the moment due to the reaction force from the ground.
- the monitor point position calculation unit 4022 operates the work device 1A based on the position data and posture data of the work device 1A and the vehicle body 1B calculated by the work machine attitude calculation unit 4011, the vehicle body position calculation unit 4012, and the vehicle body angle calculation unit 4013.
- the positions of a plurality of monitor points Mpm (see FIG. 7) set on the plane 41 (see FIG. 7) and set on the work device 1A are calculated and stored in the storage device 4062.
- the position calculation of the monitor point Mpm may be performed at a predetermined interval, for example, or may be performed at a predetermined interval while the operation of the working device 1A is confirmed. To each of these conditions, a condition may be added while the working device 1A is determined to be in the grounded state by the grounding state determination unit 4021.
- FIG. 7 is an explanatory diagram when the monitor point is set to the bucket 4.
- the position of the monitor point Mpm (t) at the time t is calculated from the position data and the posture data of the work device 1A and the vehicle body 1B. can.
- the partial shape data generation unit 4023 includes a movement locus 63 (see FIG. 8) of at least one monitor point Mpm and the work device 1A during the ground contact period in which the work device 1A is determined to be in the ground state by the ground contact state determination unit 4021. Based on the outer shapes 61 and 62, the partial shape data 65 of the work target formed by the work device 1A is generated.
- the partial shape data 65 can be said to be data that approximates a part of the current topography using the time series data of the monitor point Mpm during the ground contact period. It is preferable to set a plurality of monitor points in the work device 1A, and in that case, the outer shapes 61 and 62 of the work device 1A are defined by the positions of the plurality of monitor points.
- the partial shape data generation unit 4023 has a plurality of monitor points Mpm (t0) at the first time (t0) during the ground contact period in which the work device 1A is determined to be in the ground state by the ground contact state determination unit 4021. It is defined by the position of the first external shape 61 (see FIG. 8) defined by the position of t0) and the positions of the plurality of monitor points Mpm (t1) at the second time (t1) after the first time during the ground contact period. Based on the second outer shape shape 62 (see FIG. 8) and the movement locus 63 (see FIG. 8) of the plurality of monitor points between the first time (t0) and the second time (t1). Partial shape data 65 (see FIGS. 9-12, 20) of the work target formed by the work device 1A between the first time (t0) and the second time (t1) is generated.
- FIG. 8 shows the posture of the bucket 4 at a certain time t0 and at the time t1 when the position data and the posture data of the work device 1A and the vehicle body 1B are updated immediately after t0.
- three monitor points Mp1, Mp2, and Mp3 are set in the bucket 4.
- the first outer shape 61 is the outer shape of the bucket 4 defined by the three monitor points Mp1, Mp2, and Mp3 at time t0 (first time).
- the second outer shape 62 is the outer shape of the bucket 4 defined by the three monitor points Mp1, Mp2, and Mp3 at time t1 (second time).
- the movement locus 63 is a locus of each monitor point defined by a line connecting the position at t0 and the position at t1 for each monitor point. Further, as shown in FIG. 8C, the area surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63 (the area with dots) is referred to as the bucket passing area (working device passing area) 64. Refer to.
- the partial shape data generation unit 4023 obtains the distance from the bucket monitor point Mpm to the target surface (target surface distance) using the target surface data stored in the storage device 4062. The calculation of the target surface distance may be performed only by the bucket monitor point Mp closest to the target surface.
- the partial shape data generation unit 4023 determines the operation amount of each of the operation levers 11a and 11b for each of the front members 2, 3 and 4 (each hydraulic cylinder 5, 6 and 7) based on the detection values of the plurality of operation amount sensors 20. Calculate.
- the operation amount is a physical quantity that changes according to the operation content when the operation levers 11a and 11b are operated, such as the pilot pressure and voltage when the operation amount sensor 20 is operated, and the tilt angle of the operation levers 11a and 11b. Point to.
- the partial shape data generation unit 4023 determines the operation of the work device 1A based on the calculated target surface distance and the operation amount.
- the operation to be determined is as follows: (a) Excavation operation of excavating the construction target with the bucket 4 and arm pushing operation or arm pulling operation with the bottom surface of the bucket grounded. There are (b) compaction operation that brings the shape of the target surface closer to the shape of the target surface, and (c) earth feathering operation that brings the construction target closer to the shape of the target surface by hitting the bottom surface of the bucket against the construction target by the boom lowering operation.
- Information (data) other than the target surface distance and the manipulated variable may be used for the motion determination.
- the operation determination in the present embodiment is determined to be an excavation operation when, for example, "the arm pulling operation amount of the operation lever 11 is equal to or greater than a predetermined threshold value" and "the bucket monitor point Mpm at which the target surface distance is the minimum is the bucket tip".
- the boom lowering operation amount of the operation lever 11 is equal to or more than the predetermined threshold value
- the arm / bucket operation amount of the operation lever 11 is less than the predetermined threshold value
- it is determined that the fluttering operation is performed, and the other times are tightened.
- the various threshold values used here may differ from appropriate values depending on the operator's operational habits. Therefore, for example, operations such as excavation, fluffing, and compaction may be actually performed at least a certain number of times and set based on the amount of operation at that time.
- the partial shape data generation unit 4023 determines an area (grounding area) on the working device 1A, which is presumed that the working device 1A is in contact (grounding) with the construction target, based on the above operation determination result.
- monitor points Mp1-Mp5 are set along the outer shape on the side surface of the bucket 4 as shown in FIG.
- Mp1 is a monitor point (first point) set at the toe of the bucket 4
- Mp2 is a monitor point (second point) set at the rear end of the bottom surface of the bucket.
- the "bottom surface of the bucket” in this paper is the area from the monitor point Mp1 to the monitor point Mp2.
- the partial shape data generation unit 4023 selects the first ground contact area Ga1 (see FIG. 19), which is a predetermined area including at least the bucket toe, as the ground contact area. Of the five monitor points Mp1-Mp5 shown in FIG. 19, only the monitor point Mp1 belongs to the first grounding region Ga1, and the partial shape data generation unit 4023 has the monitor point Mp1 as shown in FIG. 20 (a).
- the movement locus 63 from the time t0 to t1 is generated as the partial shape data 65.
- the partial shape data 65 may be obtained by further adding the first outer shape shape 61 to the movement locus 63 described above.
- the partial shape data generation unit 4023 grounds the second grounding area Ga2 (see FIG. 19), which is a predetermined area including at least the rear end of the bottom surface of the bucket. Select as an area. Of the five monitor points Mp1-Mp5 shown in FIG. 19, only the monitor point Mp2 belongs to the second grounding region Ga2, and the partial shape data generation unit 4023 has the monitor point Mp2 as shown in FIG. 20 (b).
- the movement locus 63 from the time t0 to t1 is generated as the partial shape data 65.
- the partial shape data 65 may be obtained by further adding the second outer shape shape 62 to the movement locus 63 described above.
- the partial shape data generation unit 4023 is the third ground contact area Ga3 which is a predetermined area including at least the bucket toe and the rear end of the bottom surface of the bucket (Fig. 19) is selected as the grounding area.
- the partial shape data generation unit 4023 is as shown in FIG. 20 (c).
- time t1 second time
- a line segment connecting the two monitor points Mp1 and Mp2 that is, the second outer shape shape 62
- FIG. 17 shows one of the specific processing flows by the grounding state determination unit 4021 and the partial shape data generation unit 4023 when the partial shape data generation unit 4023 adopts the first generation method. This will be described using the flowchart of. For details of each process, refer to the above explanation.
- the ground contact state determination unit 4021 acquires the position data and posture data of the work device 1A and the vehicle body 1B calculated by the work machine attitude calculation unit 4011, the vehicle body position calculation unit 4012, and the vehicle body angle calculation unit 4013 (S170).
- the grounding state determination unit 4021 determines whether or not there is a change in the position of the bucket 4 based on the data acquired in S170 (S171). If it is determined in S171 that the bucket position has changed, the process proceeds to S172, and conversely, if it is determined that the bucket position has not changed, the process returns to S170.
- the ground contact state determination unit 4021 includes the position data and attitude data of the work device 1A and the vehicle body 1B acquired in S170, and the data (pressure data) of the operating oil pressures Pr and Pb of the boom cylinder 5 output from the pressure sensor 19.
- the reaction force F from the ground is calculated using and. If the calculated reaction force F is equal to or greater than a predetermined threshold value, it is determined that the bucket 4 is in the grounded state and the process proceeds to S174. Conversely, if the reaction force F is less than the threshold value, it is determined that the bucket 4 is not grounded. Then return to S170.
- the partial shape data generation unit 4023 inputs the position data of the plurality of monitor points Mpm (see FIG. 19) set in the bucket 4 from the monitor point position calculation unit 4022.
- the partial shape data generation unit 4023 determines the distance between each monitor point Mpm and the target surface based on the position data of each monitor point Mpm input in S174 and the target surface data stored in the storage device 4062. Target surface distance) is calculated.
- the partial shape data generation unit 4023 operates the work device 1A as an excavation operation based on the operation levers 11a and 11b calculated from the detection data of the operation amount sensor 20 and the target surface distance calculated in S175. Determine whether it is a compaction operation or a fluttering operation.
- the partial shape data generation unit 4023 determines one grounding area from the three grounding areas Ga1, Ga2, Ga3 (see FIG. 20) set in the bucket 4 based on the operation determined in S176. ..
- the partial shape data generation unit 4023 generates and generates the partial shape data 65 based on the movement locus 63 or the second outer shape 62 of the monitor point belonging to the ground contact area determined in S177 (see FIG. 20).
- the partial shape data 65 is output to the storage device 4062 and stored in the controller 100.
- the process returns to S170.
- the position information of the monitor point Mpm set in the bucket 4 is acquired, but it is not related to the grounded state of the bucket 4.
- the position information of the monitor point Mpm is acquired, and in parallel with this, the process of determining the grounding state of the bucket 4 is performed, and the time information determined to be in the grounding state is stored.
- the process of S174-S178 is performed when the bucket 4 is determined to be in the grounded state in S173, but the process of determining the grounded state after the completion of S171 (S172, 2). S173) is skipped and the process of S174-S178 is executed.
- the process of determining the grounding state (S172, S173) is executed at predetermined intervals in a separate independent flow, and is generated in a state where the grounding state is not reached.
- the partial shape data may be deleted from the storage device 4062.
- the processes of S170 and S171 may be similarly made independent, and the partial shape data generated in a state where the bucket position does not change may be deleted from the storage device 4062.
- the second generation method (Second method of generating partial shape data)
- the second generation method will be described with reference to FIGS. 9-12.
- the partial shape data generation unit 4023 generates partial shape data by using any one of the methods shown in FIGS. 9-12.
- the partial shape data generation unit 4023 divides the bucket passage area 64, which is an area surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, into a plurality of sections in the horizontal direction. (In the example of FIG. 9, three sections Sct1, Sct2, Sct3). Normally, when the bucket passage area 64 is divided into such a plurality of sections, a plurality of line segments exist in each section. In that case, which line segment is selected in each section to generate partial shape data. The question is whether it should be done. Therefore, in the example of FIG. 9, the partial shape data generation unit 4023 generates the partial shape data 65 based on the line segment located on the lower side in the gravity direction in each of the divided sections Sct1, Sct2, and Sct3.
- the partial shape data generation unit 4023 uses the bucket passage region 64, which is an region surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, as the rotation center (bucket pin) of the bucket 4.
- the bucket passage region 64 is an region surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, as the rotation center (bucket pin) of the bucket 4.
- the bucket passage region 64 is an region surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, as the rotation center (bucket pin) of the bucket 4.
- Partial shape data 65 is generated based on the line segment farthest from the center of rotation of.
- the partial shape data 65 By generating the partial shape data 65 in this way, it is possible to generate the partial shape data of an appropriate shape even when the target surface has an inclination close to the vertical or an inclination exceeding the vertical (overhang state).
- the center of rotation of the bucket 4 is used as the reference point here, the center of rotation (arm pin) of the arm 3 may be used as the reference point.
- the partial shape data generation unit 4023 follows the bucket passage region 64, which is an region surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, along the extending direction of the target surface. It is divided into a plurality of sections in the direction (three sections Sct1, Sct2, Sct3 in the example of FIG. 11), and the partial shape data 65 is based on the line segment closest to the target surface in each section Sct1, Sct2, Sct3 after the division. To generate.
- the partial shape data generation unit 4023 has the bucket passage area 64, which is an area surrounded by the first outer shape shape 61, the second outer shape shape 62, and the movement locus 63, and the current terrain data of the storage device 4062 is stored in the bucket passage area 64. It is divided into a plurality of sections in the direction along the extending direction of the specified current terrain (current terrain on the controller 100) (three sections Sct1, Sct2, Sct3 in the example of FIG. 12), and each section Sct1 after the division. , Sct2 and Sct3, the partial shape data 65 is generated based on the line segment located below the current terrain defined by the current terrain data of the storage device 4062 and the farthest from the current terrain.
- the partial shape data 65 generated by the partial shape data generation unit 4023 as described above is stored in the storage device 4062 in the controller 100.
- the partial shape data 65 may be generated by performing both. In that case, any method may be used first. Further, the partial shape data 65 obtained as described above can be, for example, surface information such as a surface equation, the coordinates of vertices and the order of sides connecting the vertices, or a point cloud on the surface defined by the partial shape data 65. It can be output to the current terrain data generation unit 4032 in the form of the coordinates of.
- the current terrain data generation unit 4032 updates the current terrain data (current shape data) of the work target stored in the storage device 4062 based on the plurality of partial shape data 65 generated by the partial shape data generation unit 4023. ..
- the current terrain data generation unit 4032 updates the current terrain data (current shape data) of the work target stored in the storage device 4062 based on the plurality of partial shape data 65 generated by the partial shape data generation unit 4023. ..
- generation methods for generating the current terrain data by the current terrain data generation unit 4032 will be described, but generation methods other than those described below may be used.
- the current terrain data generation unit 4032 first generates the generation time of each partial shape data 65 for the plurality of partial shape data 65 recorded in the storage device 4062 (even at the calculation time of the position of the monitor point constituting each partial shape data 65). Good), operation judgment result, selection result of ground contact area, target surface distance, etc. are used to filter the target to be topographicalized, which is the process of generating the current topographical data. Next, it is determined whether or not there are overlapping portions of the plurality of partial topographical data (bucket loci) 65 that are the targets of the topographicalization processing by this filtering. In this duplication determination, the partial shape data 65A and 65B are projected onto a horizontal plane (FIG.
- the partial shape data 65A and 65B are projected in the normal direction of the target surface (FIG. 14), and each shape after projection is performed. Judgment is made based on whether or not there are overlapping areas in 66A and 66B. All of the partial shape data 65, which does not overlap with the other partial shape data 65, is adopted as the current topographical data. On the other hand, with respect to the partial shape data 65 that overlaps with the other partial shape data 65, a part or all of the partial shape data satisfying the predetermined extraction conditions (partial shape extraction conditions) described below is extracted and extracted. Part or all partial shape data is adopted as the current topographical data.
- the predetermined extraction conditions partial shape extraction conditions
- the above extraction conditions include, for example, comparing the position information of each partial shape data 65, the part where the vertical position is the lowest, the part where the vertical position is the highest, and the vertical distance from the target surface (target).
- the part with the smallest surface distance), the part with the smallest distance in the normal direction of the target surface, or the part with the highest distance in the normal direction of the target surface is adopted as the current topographical data.
- the generation time of each partial shape data 65 that is, the estimated time when the construction by the bucket 4 is performed
- the oldest time or the newest time is adopted as the current topographical data. ..
- FIG. 18 shows one specific example of the extraction conditions.
- the controller 100 determines whether or not the target surface distance data is included in all the partial shape data 65 to be confirmed whether or not the extraction conditions are satisfied. (S181).
- the current terrain is considered to be asymptotic to the target surface, so the part with the minimum distance from the target surface in the normal direction of the target surface is adopted as the current terrain data (S182). ).
- the controller 100 (current terrain data generation unit 4032) becomes a confirmation target of whether or not the extraction condition is satisfied. It is determined whether or not the filling portion is included in the partial shape data 65 (S183).
- the height of the current terrain can repeatedly increase and decrease, so the condition of the generation time, that is, the latest generation time in the overlapping part, is not the condition in the height direction. Is adopted as the current topographical data (S184).
- the handling of the overlapping part in the two partial shape data 65 (that is, the part where the satisfaction of the extraction condition is confirmed) was mentioned, but the non-overlapping part in the two partial shape data 65 (extraction condition).
- the rest of the parts that have not been confirmed to be satisfied) can be handled as follows. That is, as shown in FIG. 15, the entire of the two partial shape data 65A and 65B to which the portion satisfying the extraction condition belongs (that is, the entire partial shape data 65B in FIG. 15) can be adopted as the topographical data. .. Further, as shown in FIG. 16, the entire of the two partial shape data 65A and 65B to which the portion satisfying the extraction condition belongs (that is, the entire partial shape data 65B in FIG. 16) is adopted as the topographical data.
- the parts that do not satisfy the extraction conditions belong that is, the partial shape data 65A in FIG. 16
- the parts that do not overlap should be adopted as the topographical data. You can also.
- the current terrain data generation unit 4032 updates the current terrain data by outputting the current terrain data generated as described above to the storage device 4062 and storing it in the controller 100. At the time of output to the storage device 4062, for example, it may be converted into point cloud data or TIN (triangulated irregular network) data.
- the current terrain data may be output not only to the controller 100 in the hydraulic excavator 1 but also to an external device (for example, a server) of the hydraulic excavator 1.
- the progress management information generation unit 404 inputs the current terrain data in the storage device 4062 updated by the current terrain data generation unit 4032, and inputs the latest current terrain, the on-site volume of the designated date and the designated period, and the volume of each excavator. Progress management information including the work progress rate of the entire site, the work progress rate of each excavator (each operator), the position information of the completed part (finished form), etc. is generated, and the generated information is transmitted via the monitor 405 or the like. Presented to users including the operator of the hydraulic excavator 1.
- Part of the information processing and information presentation by the progress management information generation unit 404 is not limited to the monitor 405 installed on the hydraulic excavator 1, but also a device such as a smartphone, tablet or personal computer existing outside the hydraulic excavator 1. It may be displayed in.
- effect (1) According to the hydraulic excavator 1 configured as described above, the external shapes 61 and 62 and the movement locus defined by the position of the monitor point Mpm during the period when the work device 1A is in contact with the ground (during the ground contact period). Since the partial shape data 65 is generated based on 63, the locus of the monitor point Mpm when the work device 1A is operated in the air is not recorded as the current terrain data, and is closer to the actual terrain than before. Accurate current terrain data can be generated.
- the operation of the work device 1A is determined based on the operation amount and the target surface distance, and the monitor point used for generating partial shape data by the ground contact area determined according to the operation determination. Since Mpm is selected, it is possible to generate more accurate current terrain data than before.
- the technique of Patent Document 1 described above can detect only the excavation operation, and cannot detect the compaction operation using the arm dump operation or the boom lowering operation. Further, even in the same arm cloud operation, the monitor points to be recorded are different, such as the bucket toe in the excavation operation and the back of the bucket in the compaction operation. There is no particular description about the setting method.
- partial shape data 65 is generated at least based on the movement locus 63, and when it is determined to be a compaction operation. Since it was decided to generate the partial shape data 65 based on at least the movement locus 63 and to generate the partial shape data 65 based on the second outer shape 62 when it is determined that the digging motion is performed, it is unnecessary for each motion. It is possible to prevent the execution of the calculation based on the monitor point Mpm and improve the generation efficiency of the partial shape data 65.
- the partial shape data 65 is generated based on the line segment located on the lower side in the direction of gravity as in the example shown in FIG. Accurate current terrain data can be generated.
- the partial shape data 65 is generated based on the line segment farthest from the rotation center of the bucket 4 and the arm 3 as in the example shown in FIG. Therefore, it is possible to generate more accurate current topographical data than before. This method is particularly effective when the angle of the target surface is close to vertical (90 degrees) or 90 degrees or more.
- the partial shape data 65 is generated based on the line segment closest to the target surface in the normal direction of the target surface as shown in the example shown in FIG. Therefore, it is possible to generate more accurate current terrain data than before.
- the line segment is located below the current terrain on the controller 100 and is the farthest from the current terrain on the controller 100, as shown in the example shown in FIG. Since the partial shape data 65 is generated based on the above, it is possible to generate more accurate current topographical data than before.
- a vehicle body position calculation device for calculating the position of the vehicle body 1B
- a receiver 4012 that calculates the position of the vehicle body 1B based on a plurality of navigation signals transmitted from a plurality of positioning satellites is used.
- the vehicle body 1B is used.
- the position of the vehicle body 1B may be calculated by attaching a plurality of targets (prisms) to the vehicle and measuring the distances to the plurality of targets with a total station. That is, a total station can also be used as a vehicle body position calculation device.
- the present invention is not limited to the above-described embodiment, and includes various modifications within a range that does not deviate from the gist thereof.
- the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.
- each configuration related to the controller 100 and the functions and execution processing of each configuration are realized by hardware (for example, designing the logic for executing each function with an integrated circuit) in part or all of them. You may.
- the configuration related to the controller 100 may be a program (software) in which each function related to the configuration of the controller 100 is realized by being read and executed by an arithmetic processing unit (for example, a CPU) 4061.
- Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.
- control lines and information lines are understood to be necessary for the description of the embodiment, but all the control lines and information lines related to the product are not necessarily used. Not always shown. In reality, it can be considered that almost all configurations are interconnected.
- Operation amount sensor 21 ... Target surface data input device, 22 ... Current terrain data input Device, 41 ... operating plane, 45 ... monitor, 61 ... first outer shape, 62 ... second outer shape, 63 ... movement locus, 64 ... bucket passing area (working device passing area), 65 ... partial shape data, 100 ... Controller, 404 ... Progress management information generation unit, 405 ... Monitor, 4011 ... Work machine attitude calculation unit, 4012 ... Body position calculation unit (receiver), 4013 ... Body angle calculation unit, 4021 ... Ground condition determination unit, 4022 ... Monitor Point position calculation unit, 4023 ... Partial shape data generation unit, 4032 ... Current terrain data generation unit, 4061 ... Calculation processing device (for example, CPU), 4062 ... Storage device
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Abstract
Description
図1は本発明の実施形態に係る油圧ショベルの構成図である。図1に示すように,油圧ショベル1は,垂直方向にそれぞれ回動する複数のフロント部材(ブーム2,アーム3及びバケット4)を連結して構成された多関節型の作業装置(フロント作業装置)1Aと,上部旋回体1BA及び下部走行体1BBからなる車体1Bとで構成されている。
図3は本実施形態に係る油圧ショベル1のシステム構成図である。本実施形態の油圧ショベル1は,図3に示すように,コントローラ100と,複数の圧力センサ19と,複数の操作量センサ20と,目標面データ入力装置21と,現況地形データ入力装置22と,角度センサ12,13,14と,第1及び第2GNSSアンテナ17a,17bと,車体の傾斜角センサ(ピッチ角センサ,ロール角センサ)16a,16bと,モニタ45とを備えている。
作業機姿勢演算部4011は,ブーム角度センサ12,アーム角度センサ13,バケット角度センサ14のセンサ値を入力とし,作業装置1Aの姿勢情報としてブーム2,アーム3,バケット4の回動角度α,β,γ(図2参照)を演算する。ここで演算される角度データは作業装置1Aの姿勢データとして利用可能である。
車体位置演算部(受信機)4012は,第1GNSSアンテナ17a及び第2GNSSアンテナ17bが受信した航法信号に基づいて,現場座標系における第1GNSSアンテナ17a及び第2GNSSアンテナ17bの位置座標(位置データ)を演算する。ここで演算される位置データは車体1Bの位置データとして利用可能である。
車体角度演算部4013は,車体位置演算部4012で演算された現場座標系における第1GNSSアンテナ17a及び第2GNSSアンテナ17bの位置座標に基づいて現場座標系における作業装置1A(上部旋回体1BA)の方位角θyを演算する。また車体角度演算部4013は,車体前後傾斜角センサ(ピッチ角センサ)16a,車体左右傾斜角センサ(ロール角センサ)16bのセンサ値を入力として,上部旋回体1BAのロール角θr及びピッチ角θpを演算する。ここで演算される角度データは車体1Bの姿勢データとして利用可能である。
接地状態判定部4021は,作業機姿勢演算部4011,車体位置演算部4012及び車体角度演算部4013が演算した作業装置1A及び車体1Bの位置データ及び姿勢データと,圧力センサ19が出力するブームシリンダ5の作動油圧Pr,Pbのデータ(圧力データ)とを入力として,作業装置1Aが接地状態にあるか否かを判定し,その判定結果(接地状態判定結果)を出力する。
モニタポイント位置演算部4022は,作業機姿勢演算部4011,車体位置演算部4012及び車体角度演算部4013が演算した作業装置1A及び車体1Bの位置データ及び姿勢データに基づいて,作業装置1Aの動作平面41(図7参照)上かつ作業装置1Aに設定された複数のモニタポイントMpm(図7参照)の位置を演算して記憶装置4062に記憶する。モニタポイントMpmの位置演算は例えば所定の間隔で行っても良いし,作業装置1Aの動作が確認されている間に所定の間隔で行っても良い。これら各条件に対して,接地状態判定部4021によって作業装置1Aが接地状態にあると判定されている間という条件を加えても良い。
部分形状データ生成部4023は,接地状態判定部4021によって作業装置1Aが接地状態にあると判定された接地期間中における少なくとも1つのモニタポイントMpmの移動軌跡63(図8参照)と作業装置1Aの外形形状61,62とに基づいて,作業装置1Aによって形成される作業対象の部分形状データ65を生成する。部分形状データ65は,現況地形の一部を接地期間中のモニタポイントMpmの時系列データを利用して近似したデータとも言える。モニタポイントは作業装置1Aに複数設定することが好ましく,その場合,作業装置1Aの外形形状61,62は当該複数のモニタポイントの位置によって規定される。
図19-20を用いて第1の生成方法について説明する。
動作判定の結果が掘削動作のとき,部分形状データ生成部4023は,バケット爪先を少なくとも含む所定の領域である第1接地領域Ga1(図19参照)を接地領域として選択する。図19に示した5つのモニタポイントMp1-Mp5のうち第1接地領域Ga1に属するものはモニタポイントMp1のみであり,部分形状データ生成部4023は,図20(a)に示すようにモニタポイントMp1の時刻t0からt1までの移動軌跡63を部分形状データ65として生成する。なお,第1接地領域Ga1に複数のモニタポイントが含まれている場合には,上記の移動軌跡63に第1外形形状61をさらに追加したものを部分形状データ65としても良い。
動作判定の結果が締め固め動作のとき,部分形状データ生成部4023は,バケット底面の後端を少なくとも含む所定の領域である第2接地領域Ga2(図19参照)を接地領域として選択する。図19に示した5つのモニタポイントMp1-Mp5のうち第2接地領域Ga2に属するものはモニタポイントMp2のみであり,部分形状データ生成部4023は,図20(b)に示すようにモニタポイントMp2の時刻t0からt1までの移動軌跡63を部分形状データ65として生成する。なお,第2接地領域Ga2に複数のモニタポイントが含まれている場合には,上記の移動軌跡63に第2外形形状62をさらに追加したものを部分形状データ65としても良い。
動作判定の結果が土羽打ち動作のとき,部分形状データ生成部4023は,バケット爪先とバケット底面の後端を少なくとも含む所定の領域である第3接地領域Ga3(図19参照)を接地領域として選択する。図19に示した5つのモニタポイントMp1-Mp5のうち第3接地領域Ga3に属するものは2つのモニタポイントMp1,Mp2であり,部分形状データ生成部4023は,図20(c)に示すように時刻t1(第2時刻)において2つのモニタポイントMp1,Mp2を接続した線分(すなわち第2外形形状62)を部分形状データ65として生成する。
ここで部分形状データ生成部4023が第1の生成方法を採用した場合における接地状態判定部4021及び部分形状データ生成部4023による具体的な処理の流れの1つを図17のフローチャートを用いて説明する。なお,各処理の詳細については上記の説明を参照されたい。
なお,図17のフローでは,S173でバケット4が接地状態にあると判断された場合にS174-S178の処理を行うものとして説明したが,S171の完了後は接地状態を判定する処理(S172,S173)を飛ばしてS174-S178の処理を実行し,例えば接地状態を判定する処理(S172,S173)は別途独立したフローで所定の間隔で実行しておき,接地状態にない状態で生成された部分形状データは記憶装置4062から削除する処理を行っても良い。また,S170,S171の処理についても同様に独立させ,バケット位置に変化がない状態で生成された部分形状データは記憶装置4062から削除する処理を行っても良い。
図9-12を用いて第2の生成方法について説明する。部分形状データ生成部4023は図9-12に示した方法のいずれか1つを利用して部分形状データを生成する。
現況地形データ生成部4032は,部分形状データ生成部4023によって生成された複数の部分形状データ65に基づいて,記憶装置4062に記憶されている作業対象の現況地形データ(現況形状データ)を更新する。以下では現況地形データ生成部4032による現況地形データの生成方法のいくつかについて説明するが,以下に説明する以外の生成方法を利用しても構わない。
進捗管理情報生成部404は,現況地形データ生成部4032によって更新された記憶装置4062内の現況地形データを入力して,最新の現況地形,指定日や指定期間の現場出来高や各ショベルの出来高,現場全体の作業進捗率や各ショベル(各オペレータ)の作業進捗率,施工が完了した部分(出来形)の位置情報などを含む進捗管理情報を生成し,生成した情報をモニタ405等を介して油圧ショベル1のオペレータを含むユーザに提示する。なお,進捗管理情報生成部404による情報処理や情報提示の一部は,油圧ショベル1上に設置されたモニタ405だけでなく,油圧ショベル1の外に存在するスマートフォン,タブレットまたはパーソナルコンピュータなどのデバイスに表示しても良い。
(1)以上のように構成された油圧ショベル1によれば,作業装置1Aが接地している期間(接地期間中)のモニタポイントMpmの位置によって規定される外形形状61,62,及び移動軌跡63に基づいて部分形状データ65が生成されるので,作業装置1Aを空中で動作させたときのモニタポイントMpmの軌跡が現況地形データとして記録されることがなくなり,従前よりも実際の地形に近い正確な現況地形データを生成できる。
上記では車体1Bの位置を演算するための車体位置演算装置として,複数の測位衛星から送信される複数の航法信号に基づいて車体1Bの位置を演算する受信機4012を利用したが,例えば車体1Bに複数のターゲット(プリズム)を取り付け,当該複数のターゲットまでの距離をトータルステーションで測定することで車体1Bの位置を演算しても良い。すなわち,車体位置演算装置としてはトータルステーションも利用可能である。
Claims (11)
- 車体と,
前記車体に取り付けられた作業装置と,
前記車体の位置を演算する車体位置演算装置と,
前記作業装置の姿勢を検出する姿勢センサと,
前記作業装置を駆動する複数のアクチュエータの駆動状態を検出する駆動状態センサと,
前記車体位置演算装置で演算された前記車体の位置と,前記姿勢センサの検出データから演算される前記作業装置の位置とに基づいて,前記作業装置に設定されたモニタポイントの位置情報を演算し,前記位置情報を利用して前記作業装置の作業対象の現況形状データを更新するコントローラとを備えた作業機械において,
前記コントローラは,
前記駆動状態センサの検出データと,前記作業装置に作用する力またはモーメントの少なくとも1つのつり合いの関係とを利用して前記作業装置が接地状態にあるか否かを判定し,
前記作業装置が接地状態にあると判定された接地期間中における前記作業装置に設定されたモニタポイントの移動軌跡と前記作業装置の外形形状とに基づいて,前記作業装置によって形成される作業対象の部分形状データを生成し,前記部分形状データに基づいて前記作業対象の現況形状データを更新することを特徴とする作業機械。 - 請求項1の作業機械において,
前記モニタポイントは,前記作業装置に複数設定されており,
前記外形形状は,前記複数のモニタポイントの位置によって規定されることを特徴とする作業機械。 - 請求項2の作業機械において,
前記コントローラは,
前記作業装置が接地状態にあると判定された接地期間中の第1時刻における前記複数のモニタポイントの位置によって規定される第1外形形状と,前記接地期間中の前記第1時刻より後の第2時刻における前記複数のモニタポイントの位置によって規定される第2外形形状と,前記第1時刻から前記第2時刻までの間における前記複数のモニタポイントの移動軌跡とに基づいて,前記部分形状データを生成することを特徴とする作業機械。 - 請求項2の作業機械において,
前記作業装置を操作するための操作レバーをさらに備え,
前記コントローラには,前記作業装置の施工対象の目標形状が規定された目標面が記憶されており,
前記コントローラは,
前記操作レバーに入力される操作量と,前記作業装置から前記目標面までの距離である目標面距離とを含むデータに基づいて前記作業装置の動作判定を行い,前記動作判定の結果から前記作業装置が接地していると推定される接地領域を決定し,
前記移動軌跡は,前記作業装置に複数設定されたモニタポイントのうち前記接地領域に属するモニタポイントの移動軌跡であることを特徴とする作業機械。 - 請求項4の作業機械において,
前記作業装置の先端はバケットとなっており,
前記複数のモニタポイントは前記バケットに設定された複数の点であり,前記複数の点には前記バケットの爪先に設定された第1点と,前記バケットの底面における後端に設定された第2点とが含まれており,
前記コントローラは,
前記動作判定の結果が掘削動作のときは前記接地領域として前記第1点を含む第1接地領域を選択し,
前記動作判定の結果が締め固め動作のときは前記接地領域として前記第2点を含む第2接地領域を選択し,
前記動作判定の結果が土羽打ち動作のときは前記接地領域として前記第1点及び前記第2点を含む第3接地領域を選択することを特徴とする作業機械。 - 請求項5の作業機械において,
前記コントローラは,
前記動作判定の結果が前記掘削動作のときは前記移動軌跡に基づいて前記部分形状データを生成し,
前記動作判定の結果が前記締め固め動作のときは前記移動軌跡に基づいて前記部分形状データを生成し,
前記動作判定の結果が前記土羽打ち動作のときは前記作業装置が接地状態にあると判定された接地期間中における前記複数の点の位置によって規定される前記外形形状に基づいて前記部分形状データを生成することを特徴とする作業機械。 - 請求項3の作業機械において,
前記コントローラは,前記第1外形形状,前記第2外形形状及び前記移動軌跡で囲まれた領域である作業装置通過領域を水平方向において複数の区間に分割し,その分割後の各区間において重力方向下側に位置する線分に基づいて前記部分形状データを生成することを特徴とする作業機械。 - 請求項3の作業機械において,
前記作業装置の先端はバケットになっており,
前記複数のモニタポイントは前記バケットに設定された複数の点であり,
前記コントローラは,前記第1外形形状,前記第2外形形状及び前記移動軌跡で囲まれた領域である作業装置通過領域を前記バケットの回動中心を通過する複数の放射状の直線で複数の区間に分割し,その分割後の各区間において前記バケットの回動中心から最も遠い線分に基づいて前記部分形状データを生成することを特徴とする作業機械。 - 請求項3の作業機械において,
前記コントローラには,前記作業装置の施工対象の目標形状が規定された目標面が記憶されており,
前記コントローラは,前記第1外形形状,前記第2外形形状及び前記移動軌跡で囲まれた領域である作業装置通過領域を前記目標面に沿った方向において複数の区間に分割し,その分割後の各区間において前記目標面に最も近い線分に基づいて前記部分形状データを生成することを特徴とする作業機械。 - 請求項3の作業機械において,
前記コントローラは,前記第1外形形状,前記第2外形形状及び前記移動軌跡で囲まれた領域である作業装置通過領域を前記現況形状データが規定する現況形状に沿った方向において複数の区間に分割し,その分割後の各区間において前記現況形状の下方に位置しかつ前記現況形状から最も遠い線分に基づいて前記部分形状データを生成することを特徴とする作業機械。 - 請求項1の作業機械において,
前記コントローラは,前記部分形状データに基づいて更新された前記現況形状データを用いて前記作業装置による作業の進捗状況データを生成し,
前記コントローラによって生成された前記進捗状況データを表示するモニタをさらに備えることを特徴とする作業機械。
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