JP2023012798A - Work machine - Google Patents

Abstract

To provide a work machine capable of achieving the efficiency of the whole construction by supporting work arrangement by appropriately providing a user of the work machine with information relating to the positioning accuracy of a GNSS.SOLUTION: A work machine is provided with a controller for calculating a distance between a work target surface acquired from design data and a work tool provided at a tip of the work machine on the basis of a calculation result of a position measurement device and attitude information from an attitude information measurement device. The controller divides a construction site into a plurality of areas on the basis of the design data, sets a representative position about each of the plurality of divided areas, calculates measurement accuracy by the position measurement device about each of representative positions of the plurality of areas on the basis of orbit information on a positioning satellite, topographic data, and structure data, and generates a positioning reliability map showing the positioning accuracy and each of the representative positions of the plurality of areas in association with each other.SELECTED DRAWING: Figure 2

Description

The present invention relates to work machines.

A working machine such as a hydraulic excavator compatible with information-aided construction measures its own position coordinates in the earth coordinate system by using, for example, GNSS. Since some positioning satellites used for GNSS orbit the earth, the accuracy of position measurement by GNSS changes from moment to moment due to changes in the positions of the positioning satellites. In addition, position measurement by GNSS includes various error factors. Therefore, when a system using GNSS provides location information and the like to users, it is also necessary to provide users with information related to the reliability of positioning.

The following are known as conventional techniques for providing users with the reliability of positioning information using GNSS. For example, Patent Literature 1 discloses a navigation device having a satellite positioning unit that performs satellite positioning based on radio waves received from a satellite, wherein the satellite positioning unit performs satellite positioning during a period in which the satellite positioning unit can perform satellite positioning. current position calculation means for calculating the current position based on the position obtained by the above; and current position estimation means for calculating the estimated current position during a period when the satellite positioning unit is unable to perform satellite positioning, at least until the estimated current position reaches an intersection. and guide image display means for displaying a guide image in which a mark indicating the current position of the navigation device is arranged on a map, wherein the current position estimation means is activated just before the satellite positioning unit becomes unable to perform satellite positioning. Then, from the current position calculated by the current position calculation means, the estimated current position is sequentially determined on the road on which the current position calculated by the current position calculation means immediately before the satellite positioning unit becomes unable to perform satellite positioning. The estimated current position is calculated by proceeding in the traveling direction immediately before the satellite positioning unit becomes unable to perform satellite positioning at a moving speed of , placing the mark on the map at a position corresponding to the current position calculated by the current position calculating means, and after the satellite positioning unit becomes unable to perform satellite positioning, the estimated current position calculated by the current position estimating means; During the period until the position reaches the intersection, the mark is placed on the map at the position corresponding to the estimated current position calculated by the current position estimating means, and the satellite positioning unit is unable to perform satellite positioning. 2. Disclosed is a navigation device that places the mark at a position corresponding to the intersection on the map during a period after the estimated current position calculated by the current position estimation means reaches the intersection. .

JP 2014-137313 A

By the way, in information-aided construction, the construction accuracy of a working machine such as a hydraulic excavator is greatly affected by the positioning accuracy. Therefore, when a user of a work machine makes arrangements for work, it is necessary to consider the positioning accuracy of the work machine. However, since the positioning accuracy by GNSS changes depending on the positions of the work machine and positioning satellites at the work site, the environment of the work site, etc., it is not easy to appropriately set up the work setup. In addition, if the work setup cannot be set appropriately, there is a concern that the efficiency of the entire construction will be lowered.

The present invention has been made in view of the above, and by appropriately providing information related to GNSS positioning accuracy to users of working machines, it is possible to support work setup and improve the efficiency of the entire construction work. The purpose is to provide a working machine.

The present application includes a plurality of means for solving the above problems. To give an example, an undercarriage, and an upper swinging body provided rotatably on the undercarriage and constituting a vehicle body together with the undercarriage a work device configured by rotatably connecting a plurality of driven members including working tools to each other and rotatably supported by the upper revolving body; the upper revolving body and the plurality of driven members; an attitude information measurement device that measures the attitude information of each of the above, a position measurement device that calculates the position and orientation of the vehicle body at the construction site based on navigation signals from a positioning satellite, a calculation result from the position measurement device, and a controller for calculating a distance between a work target plane obtained from design data representing a target shape of the construction site and a work tool provided at the tip of the work device, based on the posture information from the posture information measuring device; , the controller divides the construction site into a plurality of areas based on the design data, sets a representative position for each of the plurality of divided areas, and orbit information of the positioning satellite and and determining the positioning accuracy of the position measurement device for the plurality of areas based on topographical data of the surrounding area including the construction site and structure data indicating the positions and shapes of structures included in the range of the topographical data. Calculation is performed for each of the representative positions, and a positioning reliability map showing the positioning accuracy and the respective representative positions of the plurality of areas in association with each other is generated.

ADVANTAGE OF THE INVENTION According to this invention, by providing the user of a working machine with the information regarding the positioning accuracy of GNSS appropriately, it is possible to support the preparation of work and improve the efficiency of the whole construction.

1 is a diagram schematically showing the appearance of a hydraulic excavator, which is an example of a working machine; FIG. 1 is a functional block diagram that extracts and shows a configuration related to a machine guidance system among control systems that control the operation of the entire hydraulic excavator; FIG. FIG. 3 is a diagram showing an example of an external system that functions as a reference station; It is a functional block diagram which extracts and shows the processing function of a machine guidance part with related structure containing some functions of a GNSS receiver. FIG. 4 is a functional block diagram showing the processing functions of the positioning reliability calculation unit extracted together with the related configuration including some functions of the GNSS receiver. FIG. 4 is a functional block diagram showing the processing functions of the self-position reliability calculating unit extracted together with the related configuration including some functions of the GNSS receiver. It is a functional block diagram which shows the processing function of a construction information recording part. 4 is a flow chart showing processing contents of a representative position coordinate acquisition unit; 4 is a flow chart showing the processing contents of a structure/terrain data acquisition unit; 4 is a flow chart showing processing contents of a visible satellite identification unit, a positioning accuracy calculation unit, and a positioning reliability map generation unit; 4 is a flow chart showing processing contents of a self-position reliability calculation unit; It is a flowchart which shows the processing content of a construction information recording part. FIG. 4 is a diagram showing an example of display of a positioning reliability map on a display device; It is a figure which shows an example of the display of the estimated vertical error in a display apparatus.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a hydraulic excavator equipped with a front working machine will be described as an example of a working machine. The present invention can also be applied to

FIG. 1 is a diagram schematically showing the appearance of a hydraulic excavator 1, which is an example of a working machine according to the present embodiment. Also, FIG. 2 is a functional block diagram showing a configuration related to a machine guidance system 200 extracted from the control system that controls the operation of the entire hydraulic excavator 1. As shown in FIG.

In FIG. 1, a hydraulic excavator 1 is a multi-joint front work machine (work device) 5 configured by connecting a plurality of driven members (a boom 6, an arm 7, and a bucket 8) that rotate in the vertical direction. , and an upper revolving body 3 and a lower running body 2 that constitute a vehicle body, and the upper revolving body 3 is provided so as to be able to turn relative to the lower running body 2 .

The base end of the boom 6 of the front work machine 5 is supported by the front part of the upper swing body 3 so as to be capable of rotating in the vertical direction, and one end of the arm 7 is located at an end (tip) different from the base end of the boom 6. A bucket 8 is supported at the other end of the arm 7 so as to be vertically rotatable. The boom 6, the arm 7, the bucket 8, the upper rotating body 3, and the lower traveling body 2 are provided with hydraulic actuators such as a boom cylinder 9, an arm cylinder 10, a bucket cylinder 11, a swing motor (not shown), and left and right traveling motors. (not shown).

Inertial measurement units (IMUs) 21 to 24 are arranged on the vehicle body (specifically, the upper swing body 3), the boom 6, the arm 7, and the bucket 8, respectively. Hereinafter, when it is necessary to distinguish these inertial measurement devices 21 to 24, they are referred to as the vehicle body inertia measurement device 21, the boom inertia measurement device 22, the arm inertia measurement device 23, and the bucket inertia measurement device 24, respectively.

The inertial measurement devices 21-24 measure angular velocity and acceleration. Considering the case where the upper rotating body 3 and the driven members 6 to 8 on which the inertial measurement devices 21 to 24 are arranged are stationary, the direction of the gravitational acceleration in the IMU coordinate system set in the inertial measurement devices 21 to 24 ( vertically downward direction) and the mounting state of the inertial measurement devices 21 to 24 (that is, the relative positional relationship between the inertial measurement devices 21 to 24, the upper revolving body 3, and the driven members 6 to 8). , orientations (angles with respect to the ground) of the upper rotating body 3 and the driven members 6 to 8 can be detected as posture information.

From the detection result of the inertial measurement device 21, the tilt angle (pitch angle) in the longitudinal direction and the tilt angle (roll angle) in the lateral direction of the upper revolving structure 3 can be calculated. Further, from the detection results of the inertial measurement devices 21 to 24, the relative angles of the upper rotating body 3 and the driven members 6 to 8, that is, the rotation angle (boom angle) of the boom 6 with respect to the upper rotating body 3, the boom 6 A rotation angle (arm angle) of the arm 7 with respect to , and a rotation angle (bucket angle) of the bucket 8 with respect to the arm 7 can be calculated. Also, the turning angle of the upper turning body 3 can be detected based on the angular velocity detected by the inertial measurement device 21 . In other words, the inertial measurement devices 21-24 can also be said to be angle detectors that detect relative angles between the upper rotating body 3 and the driven members 6-8. An angle detection device may be used instead of the inertial measurement devices 21-24 in the revolving portion of the upper revolving body 3 and the coupling portions of the driven members 6-8. Here, the inertial measurement devices 21 to 24 constitute a posture information measuring device that measures and outputs posture information, which is information about the posture of the hydraulic excavator 1 .

A driver's cab 4 in which an operator rides is arranged in front of the upper portion of the upper revolving body 3 . The operator's cab 4 is provided with a plurality of operating levers (not shown) for outputting operation signals for operating a plurality of hydraulic actuators (boom cylinder 9, arm cylinder 10, bucket cylinder 11, swing motor, traveling motor). each assigned to operate a plurality of hydraulic actuators.

A display device 36 having a function of notifying the operator of information and a function of enabling the operator to input information is arranged in the operator's cab 4 . The screen of the display device 36 is provided with, for example, a touch panel formed on the surface layer, and the input from the operator can be accepted by the function of this touch panel.

Two GNSS antennas 31 and 32 for positioning by GNSS (Global Navigation Satellite System) are arranged above the upper swing body 3, for example, behind the driver's cab 4. As shown in FIG. The GNSS antennas 31 and 32 receive navigation signals output from positioning satellites flying in the sky and send them to the GNSS receiver 33 (see FIG. 2). The GNSS receiver 33 calculates the positions of the GNSS antennas 31 and 32 in the earth coordinate system based on the navigation signals received by the GNSS antennas 31 and 32, and outputs them as position information. The site coordinate system set at the construction site and the earth coordinate system can be easily converted, and it can be said that the position in the earth coordinate system is synonymous with the position in the site coordinate system.

Since the relative positions of the GNSS antennas 31 and 32 with respect to the upper swing body 3 are fixed and known, the position of the hydraulic excavator 1 in the earth coordinate system can be calculated from the position information measured by the GNSS antennas 31 and 32 . Also, the direction vector between the GNSS antennas 31 and 32 can be calculated from the deviation of the position information measured by the two GNSS antennas 31 and 32, and the orientation of the upper swing body 131 can be calculated.

Here, the GNSS receiver 33 including the GNSS antennas 31 and 32 constitutes a position measuring device that measures the position of the hydraulic excavator 1, which is a working machine, at the construction site and outputs the measurement result as position information.

Further, for example, a wireless device 34 for receiving correction data used for RTK (Real time kinematic) positioning (hereinafter referred to as RTK correction data) from a reference station is arranged on the upper rear side surface of the operator's cab 4 .

FIG. 3 is a diagram showing an example of an external system 38 that functions as a reference station.

As shown in FIG. 3, the external system 38 calculates the position of the GNSS antenna 39 in the earth coordinate system based on the GNSS antenna 39 for positioning by GNSS and the navigation signal received by the GNSS antenna 39, and the calculation result is A GNSS receiver 40 that generates RTK correction data based on the position of the GNSS antenna 39 shown and the position of the GNSS antenna 39 that is separately measured in advance with high accuracy, and the RTK correction data generated by the GNSS receiver 40 is transmitted to the wireless device. and a wireless device 41 that outputs through an antenna 41a.

As shown in FIG. 2, the machine guidance system 200 includes a GNSS receiver 33, radio 34, controller 35, display device 36, inertial measurement devices 21 to 24, and their related members. An external storage medium (storage device) 37 is also connected to the controller 35 . The external storage medium (storage device) 37 stores three-dimensional design data that is the target shape of the construction site, three-dimensional topographical data of the surrounding area including the construction site, and structures other than the topographical data included in the range of the three-dimensional topographical data. Three-dimensional structure data indicating the positions and shapes of objects are stored.

The machine guidance system 200 calculates the position and Based on the orientation information, the orientation information from the inertial measurement devices 21 to 24, and the information stored in the external storage medium 37, the controller 35 determines the position and orientation of the hydraulic excavator 1 and the orientation of the work tool (bucket 8). A controller 35 is provided for calculating the tip position and the like. The controller 35 calculates, for example, the distance between the work target plane and the bucket 8, and outputs the calculation result to the display device 36 for display.

Although not shown, the controller 35 includes a CPU (Central Processing Unit) as a processing device, a program executed by the processing device, and a storage device (for example, ROM, RAM, etc.) in which data necessary for executing the program are stored. It is hardware equivalent to a computer having a semiconductor memory, bird disk drive, etc.). Note that when the controller 35 is configured using an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or FPGA (field-programmable gate array), part or all of the functions of the controller 35 are implemented by these integrated circuits. may be realized by

The controller 35 calculates the positional relationship between the position and orientation of the hydraulic excavator 1 and the three-dimensional design data, and has a machine guidance unit 35a that provides work support to the operator, and a positioning reliability that calculates the reliability of GNSS positioning of the entire construction site. A calculation unit 35b, a self-position reliability calculation unit 35c that calculates the reliability of GNSS positioning at the position of the hydraulic excavator 1, and the position coordinate data of the tip of the bucket 8 of the hydraulic excavator 1 and the reliability data of the GNSS positioning are linked. and a construction information recording unit 35d for recording the construction information.

FIG. 4 is a functional block diagram extracting and showing the processing functions of the machine guidance unit 35a together with the related configuration including some functions of the GNSS receiver 33. As shown in FIG.

4, the GNSS receiver 33 includes an RTK correction data reception unit 100 that receives RTK correction data via the radio 34, a satellite signal reception unit 101 that receives navigation signals via the GNSS antennas 31 and 32, A satellite selection unit 102 that selects positioning satellites to be used for position calculation based on satellite signal strength, satellite arrangement, etc., and a GNSS position/vector calculation that calculates the position of the GNSS antenna 31 and the vector from the GNSS antenna 31 to the GNSS antenna 32. and a portion 103 .

4, the machine guidance unit 35a includes a vehicle body attitude calculation unit 104 that calculates the attitude of the vehicle body based on the attitude information from the inertia measurement device 21 provided in the vehicle body, and an inertia control unit 104 provided in the front working machine 5. A front attitude calculation unit 105 that calculates the attitude of the front working equipment 5 based on the attitude information from the measurement devices 22 to 24, and a three-dimensional design data (target shape of the construction site) 37a stored in the external storage medium 37 are acquired. a three-dimensional design data acquisition unit 106, and a vehicle body position/attitude calculation unit that calculates the position and attitude of the vehicle body in the on-site coordinate system based on the calculation result from the GNSS receiver 33 and the calculation result from the vehicle body attitude calculation unit 104. 107, the calculation result of the vehicle body position/attitude calculation unit 107 and the calculation result from the front attitude calculation unit 105 are integrated to output the position and attitude of the entire hydraulic excavator 1 including the front working equipment 5 in the field coordinate system. Based on the position/posture integration unit 108 and the information from the position/posture integration unit 108 and the information from the 3D design data acquisition unit 106, the 3D design data 37a on the work plane set to include the front work machine 5 is generated. The distance between the work target plane obtained from the three-dimensional design data and the front work implement 5 based on the information from the position/orientation integration unit 108 and the calculation result from the cross section calculation unit 109 and the cross section calculation unit 109 that calculates the cross section. (Specifically, the distance between the work target surface and the toe of the bucket 8) is calculated and displayed on the display device 36.

Since the machine guidance unit 35a requires highly accurate position information, position information calculated by performing RTK positioning with the GNSS receiver 33 is used. The RTK correction data receiving unit 100 receives the RTK correction data generated by the reference station (external system) 38 and transmitted at regular intervals via the wireless device 34 .

In the GNSS receiver 33, based on the RTK correction data received via the radio 34 and the signals from the positioning satellites received by the GNSS antennas 31 and 32, the three-dimensional position of the antenna 31 and the antenna 32 RTK positioning is performed on the vector to . By this RTK positioning, the three-dimensional position of the antenna 31 and the vector from the antenna 31 to the antenna 32 are measured with high accuracy.

The controller 35 performs general vector calculation and coordinate conversion based on the input various data to calculate the position and orientation of the hydraulic excavator 1 and the three-dimensional position of the tip of the bucket 8 . Also, based on the position and attitude of the excavator 1 and the three-dimensional design data 37a input from the external storage medium 37, the cross-sectional shape of the three-dimensional design data 37a and the distance between the tip of the bucket 8 and the target surface are calculated.

By outputting the calculation result by the controller 35 to the display device 36, the operator can refer to the positional relationship between the hydraulic excavator 1 and the three-dimensional design data, which has been measured with high accuracy. Quality can be done.

FIG. 5 is a functional block diagram showing the processing functions of the positioning reliability calculator 35b together with the related configuration including some functions of the GNSS receiver 33. As shown in FIG.

In FIG. 5 , the GNSS receiver 33 has a satellite orbital information receiving section 111 that receives satellite orbital information of each positioning satellite via the wireless device 34 . The satellite orbital information receiving unit 111 receives satellite orbital information, for example, stored in the GNSS receiver 40 of the reference station (external system 38 ) and transmitted via the wireless device 41 via the wireless device 34 .

In FIG. 5, the positioning reliability calculation unit 35b acquires structure position/shape data (that is, three-dimensional terrain data, three-dimensional structure data) 37b stored in the external storage medium 37, and sequentially stores the data. A structure/topography data acquisition unit 112 integrated with the current topography data 300 representing the current topography of the construction site, and the three-dimensional design data (target shape of the construction site) 37a stored in the external storage medium 37 are acquired. Based on the three-dimensional design data acquisition unit 106 (a functional unit shared with the machine guidance unit 35a, etc.) and the coordinate range of the three-dimensional design data 37a acquired by the three-dimensional design data acquisition unit 106, a predetermined size of the construction site is determined. A representative position coordinate acquisition unit 113 that divides into a plurality of regions (blocks) of different heights and obtains a representative position (for example, a center of gravity position) for each of the plurality of divided regions, structure position/shape data 37b, and satellite orbit information A visible satellite at an arbitrary time at a representative position of each of the plurality of areas acquired by the representative position coordinate acquisition unit 113 (that is, a positioning satellite capable of receiving navigation signals at the representative position) is specified based on Based on the identifying unit 114, and the structure position/shape data 37b and the satellite orbit information obtained via the visible satellite identifying unit 114, the visible satellites identified by the visible satellite identifying unit 114 are determined according to the positioning accuracy of the GNSS receiver 33. A positioning accuracy calculation unit 115 that calculates relevant information (for example, position dilution of precision (PDOP), which is one of the accuracy indicators) for each representative position of a plurality of areas, and information related to positioning accuracy (for example, a positioning reliability map generation unit 116 that generates a positioning reliability map showing the respective representative positions of a plurality of regions in association with each other, and outputs the positioning reliability map to the display device 36 for display. are doing.

8 to 10 are flowcharts showing the processing content of the positioning reliability calculation unit 35b, FIG. 8 is a flowchart showing the processing content of the representative position coordinate acquisition unit, and FIG. FIG. 10 is a flow chart showing the processing contents of the visible satellite identification unit, the positioning accuracy calculation unit, and the positioning reliability map generation unit.

In order to calculate the reliability of GNSS positioning in the entire construction site, which is the work area of the hydraulic excavator 1, the positioning reliability calculation unit 35b acquires in advance the satellite arrangement at the representative position of each area via the GNSS receiver 33. there is

As shown in FIG. 8, the positioning reliability calculation unit 35b first acquires the three-dimensional design data 37a (step S100), and sets the plane coordinates (=work area) of the three-dimensional design data 37a to a predetermined size. The image is divided into regions, and the coordinates of the representative position of each region are obtained (step S110).

Further, as shown in FIG. 9, the positioning reliability calculator 35b acquires structure position/shape data (that is, three-dimensional terrain data, three-dimensional structure data) 37b (step S200). In order to identify visible satellites at each representative position, information on obstacles that block signals from positioning satellites is required. At a construction site, structures around the site and the topography of the site become obstacles. Since the data of these obstacles are acquired in different ways, and the structures around the site do not change significantly from day to day, the external storage medium 37 is provided with the structure position/shape data 37b indicating the position and shape data of the structure. The controller 35 can obtain this information by placing the

Also, the current terrain data 300 held in a storage area (not shown) is read out and acquired (step S210). Since the topography of the site changes from moment to moment depending on the work, the position data of the tip of the bucket 8 of the hydraulic excavator 1 is held in the controller 35 as the current topography data 300 .

Subsequently, the structure position/shape data 37b and the current terrain data 300 are integrated (step S220). By integrating the information in this way, it is possible to obtain information on the shapes and positions of obstacles that may block the navigation signals from the positioning satellites at each representative position within the construction site.

Further, as shown in FIG. 10, the positioning reliability calculator 35b acquires satellite orbit information (step S300). Satellite orbital information for all positioning satellites is obtained from an external system 38 via the radio 34 of the GNSS receiver 33 to obtain the satellite constellation at each work position. Here, the satellite orbit information is information indicating the flight launch of each positioning satellite and the position at each time in the past and in the future, and is information specified in advance by the administrator of the positioning satellite and made public. In addition, since each positioning satellite orbits the earth at a constant cycle, it is also possible to obtain satellite orbital information (time-series data of satellite placement) several hours later in advance.

Subsequently, the visible satellites at each representative position are specified from the arrangement information of the positioning satellites, the coordinates of each representative position, and the obstacle shape data (step S310).

In the present embodiment, when there is no obstacle between the straight line connecting each representative position of a plurality of areas and the position of the positioning satellite, the positioning satellite is regarded as a visible satellite. For example, if the position of a positioning satellite is Pi, the work position is pi, the normal to a surface that forms the shape of the obstacle is n, and the vertices are a, b, and c, respectively, the following (equation 1) to (equation By performing intersection determination using 3), it is possible to determine whether or not the positioning satellite is a visible satellite.

Here, R(t) is the coordinate of the point of intersection of a plane forming the shape of the obstacle and the straight line from the satellite Pi to the work position pi, and t is the distance from the satellite Pi to the point of intersection R(t). show. Also, u and v are variables for determining whether or not the intersection point R(t) exists inside the surface.

Subsequently, the positional accuracy drop rate (PDOP) of each representative position is calculated using the positional information of the visible satellites (step S320).

The position accuracy drop rate (PDOP) is widely used as an accuracy index of GNSS positioning due to satellite placement, and can be obtained by the following (Equation 4).

Here, σxx̂2, σyŷ2, and σzẑ2 in (Equation 4) above are obtained by the following (Equation 5) and (Equation 6).

The above (Formula 5) and (Formula 6) use the trace of the covariance matrix G obtained from the geometric positional relationship between the satellite position and the working position. Note that EL and AZ in the above (Equation 6) are the elevation angle and azimuth angle, respectively, representing the position of the satellite.

Subsequently, a positioning reliability map is generated by associating the obtained position accuracy drop rate (PDOP) of each representative position with each of the plurality of regions (step S330). By using the time-series data (satellite orbit information) of satellite placement, PDOP can be calculated not only for the current value but also for several hours later using the same procedure. is. That is, it is possible to generate a positioning reliability map for any date and time.

FIG. 13 is a diagram showing an example of the display of the positioning reliability map on the display device 36. As shown in FIG.

As shown in FIG. 13, the display device 36 superimposes an excavator icon 124 indicating the position and orientation of the hydraulic excavator 1 on the construction site on an overhead view 123 of the three-dimensional design data 37a on the construction site. Since the excavator icon 124 is drawn, for example, based on the position and orientation of the hydraulic excavator 1 output from the machine guidance unit 35a, the positional relationship between the overhead view 123 of the three-dimensional design data 37a and the excavator icon 124 is displayed correctly. there is Further, the reliability map 125 is superimposed on the bird's-eye view 123 of the three-dimensional design data 37a, and the positional accuracy drop rate (PDOP) of the representative position of each area (block) corresponds to the positional accuracy drop rate, for example. It is drawn using color information, etc. In addition, in the present embodiment, the positional accuracy decrease rate is exemplified by hatching or the like. Also, a time adjustment bar 126 is displayed, and the operator operates 126a of the time adjustment bar 126 to reflect the positional accuracy degradation rate (PDOP) at a certain point several hours (arbitrary time) from the present time. It is possible to switch the display to the positioning reliability map.

As described above, the operator can know the reliability of satellite positioning at each position for the entire construction site now and several hours later (at any time), so he can consider the optimal setup (route of work position). can improve work efficiency.

FIG. 6 is a functional block diagram showing the processing functions of the self-position reliability calculator 35c together with the related configuration including some functions of the GNSS receiver 33. As shown in FIG.

In FIG. 6, the GNSS receiver 33 has a position variance calculator 117 that calculates the position variance of the antenna 31 (position variance data).

6, the self-position reliability calculation unit 35c includes a position dispersion acquisition unit 118 that acquires position dispersion data from the GNSS receiver 33, and three-dimensional design data (construction site target) stored in the external storage medium 37. The position and attitude of the vehicle body in the field coordinate system are calculated based on the three-dimensional design data acquisition unit 106 that acquires the shape 37a and the calculation result from the GNSS receiver 33 and the calculation result from the vehicle body attitude calculation unit 104. The position and orientation of the entire hydraulic excavator 1 including the front work implement 5 in the field coordinate system is calculated by integrating the calculation result of the vehicle body position/orientation calculation section 107 and the calculation result of the front attitude calculation section 105 . and the three-dimensional design data 37a acquired by the three-dimensional design data acquisition unit 106 and information on the position and posture of the hydraulic excavator 1 integrated by the position/posture integration unit 108, the three-dimensional A target surface acquisition unit 119 that acquires a target surface to be worked on by the hydraulic excavator 1 from among the many surfaces that constitute the design data 37a; Based on the calculated target plane and the position and posture of the vehicle body calculated by the vehicle body position/posture calculation unit 107 (that is, the direction vector of the hydraulic excavator 1 calculated by the machine guidance unit 35a), the position of the work tool (bucket 8) with respect to the target plane is determined. and an estimated vertical error calculator 120 for calculating an estimated vertical error, which is a positional error (error in the distance between the target surface and the bucket) in the vertical direction (height direction). The three-dimensional design data acquisition unit 106, the vehicle body position/posture calculation unit 107, and the position/posture integration unit 108 are functional units shared with the machine guidance unit 35a and the like.

FIG. 11 is a flow chart showing the processing contents of the self-position reliability calculator 35c.

The self-position reliability calculation unit 35c is a functional unit that calculates the influence of the GNSS positioning accuracy on the excavation accuracy of the target surface of the hydraulic excavator 1 as an error in the vertical direction, which is the excavation direction.

As shown in FIG. 11, the self-position reliability calculator 35c first acquires the three-dimensional design data 37a (step S400), acquires the tip position of the bucket 8 (step S410), and uses these pieces of information to obtain a large number of The target plane, which is the current work target of the hydraulic excavator 1, is specified in the three-dimensional design data 37a constituted by the planes of , and the data of the target plane is acquired (step S420). In this embodiment, the case where the system automatically identifies the target surface is exemplified, but the operator may manually select the target surface.

When performing excavation work, the tip of the bucket 8 of the hydraulic excavator 1 is on the target surface. By doing so, it is possible to specify the target surface that is the current work target. The identification of the target plane can be realized by substituting the above (Equation 1) to (Equation 3) in the same manner as the determination of intersection between the satellite signal and the obstacle. If the normal vector of the specified target surface and the adjacent surface adjacent to the target surface match the normal vector of the adjacent surface, the adjacent surface is treated as part of the target surface.

Subsequently, the direction vector of the hydraulic excavator 1, the target surface of the work target, and the position dispersion data of the antenna 31 calculated by the GNSS receiver 33 are obtained (step S430), and satellite positioning at the current position of the hydraulic excavator 1 is obtained. An estimated vertical error representing reliability is calculated (step S440).

Calculation of the estimated vertical error is performed by the following (Formula 7) and (Formula 8).

First, the horizontal error Eh is obtained using the horizontal variances σxx and σyy according to the above (Equation 7). The error Eh is 2DRMS, which is generally used as an index. Next, the estimated vertical error Ed of the distance between the bucket 8 and the target plane is obtained by using the vertical dispersion σzz and the horizontal error Eh calculated by the above (Equation 7) according to the above (Equation 8). The gradient θm of the target surface is the ground angle of the line of intersection between the target surface and a plane passing through the front work implement 5 (boom 6, arm 7, bucket 8).

In the above (Equation 7) and (Equation 8), the distance between the bucket 8 and the target surface is calculated using the horizontal position dispersion and the vertical position dispersion, but the GNSS receiver 33 uses the vector between the antennas ( Azimuth and azimuth variance are also calculated from the baseline vector). Therefore, when obtaining the estimated vertical error Ed of the vertical distance between the bucket 8 and the target surface, the horizontal position error of the bucket 8 may be calculated using the azimuth angle dispersion in addition to the horizontal position dispersion.

FIG. 14 is a diagram showing an example of display of the estimated vertical error on the display device 36. As shown in FIG.

As shown in FIG. 14, the display device 36 has numerical information 127 representing the distance from the tip of the bucket 8 to the target surface output by the machine guidance section 35a, and a light bar 128 representing the distance by display area and color. is displayed.

The estimated vertical error 129 output from the self-position reliability calculator 35c is displayed in addition to the numerical information 127 representing the distance. Although not shown, the color information of the light bar 128 may be changed according to the magnitude of the estimated vertical error.

With the configuration as described above, the operator can determine how much the distance information from the tip of the bucket 8 to the target surface should be relied upon. Also, if the estimated vertical error is a value that exceeds the accuracy required for the construction site, the reliability map output by the positioning reliability calculation unit 35b can be checked and the construction setup can be reconsidered. .

FIG. 7 is a functional block diagram showing processing functions of the construction information recording unit 35d.

In FIG. 7, the construction information recording unit 35d integrates the calculation result of the vehicle body position/orientation calculation unit 107 and the calculation result from the front attitude calculation unit 105, and creates a site coordinate system for the entire hydraulic excavator 1 including the front work equipment 5. A position/posture integration unit 108 that outputs the position and posture of the vehicle, the position dispersion data acquired by the position dispersion acquisition unit 118, the target plane acquired by the target plane acquisition unit 119, and the vehicle body position calculated by the vehicle body position/posture calculation unit 107 and attitude (that is, the direction vector of the hydraulic excavator 1 calculated by the machine guidance unit 35a), an estimated vertical error calculation unit 120 that calculates an estimated vertical error of the work implement (bucket 8) with respect to the target surface, and a visible satellite Information (for example, accuracy index Position Dilution of Precision (PDOP), which is one of the positional accuracy calculation units 115 for each representative position in a plurality of areas, and the current position coordinates of the tip of the bucket 8 of the hydraulic excavator 1. Based on this, a current topographical data update determination unit 121 that determines whether or not to update the current topographical data 300 representing the current shape of earth and sand at the construction site, and a reliability of GNSS positioning when updating the current topographical data 300. It also has a current topography/positioning reliability recording unit 122 for recording. Note that the position/attitude integration unit 108, the positioning accuracy calculation unit 115, and the current terrain data 300 are functional units shared by the machine guidance unit 35a, the positioning reliability calculation unit 35b, the self-position reliability calculation unit 35c, and the like.

FIG. 12 is a flowchart showing the processing contents of the construction information recording unit 35d.

The construction information recording unit 35d uses the position coordinates of the tip of the bucket 8 to measure the three-dimensional position data representing the shape of the current terrain changed by the excavation work of the hydraulic excavator 1, and records the position coordinates of the tip of the bucket 8 and the positioning data. It is a functional unit that links and records the position accuracy drop rate (PDOP) calculated by the reliability calculation unit 35b and the estimated vertical error output by the self-position reliability calculation unit 35c.

As shown in FIG. 12, first, the construction information recording unit 35d acquires position coordinate data (referred to as current position coordinates) of the tip of the bucket 8 calculated by the machine guidance unit 35a (step S500).

Subsequently, the current terrain data (referred to as past position coordinates) at the XY coordinates of the current position coordinates are acquired (step S510), and the Z coordinate value of the current position coordinates is compared with the Z coordinate value of the past position coordinates, It is determined whether or not to update the current terrain data 300 (step S520). In step S520, if the Z component of the current position coordinates is smaller than the Z component of the past position coordinates, it is determined that the current terrain data 300 should be updated to the current position coordinates (YES). Also, if the Z component of the current position coordinates is greater than the Z component of the past position coordinates, it is determined that the current terrain data 300 should not be updated to the current position coordinates (NO).

If the determination result in step S520 is YES, that is, if it is determined that the current topographical data is to be updated, the position accuracy drop rate (PDOP) and the estimated vertical error (that is, positioning reliability) are obtained (step S530). , the current position coordinates, the position accuracy drop rate (PDOP) at that time, and the estimated vertical error (that is, the positioning reliability) are linked with the current terrain data and recorded as the current terrain data 300 in a storage area (not shown) of the controller 35 (step S540).

With the above configuration, the construction history information recorded in the controller 35 is output to the external storage medium 37, and the operator and construction manager can utilize the construction history information as operation data of the hydraulic excavator 1. can be done. That is, since it is possible to refer to the current landform shaped by the hydraulic excavator 1 and the reliability of the shape, it is possible to determine whether or not to use the current landform data 300 for finished form management or the like.

Effects of the present embodiment configured as described above will be described.

In information-aided construction, construction accuracy by working machines such as hydraulic excavators is greatly affected by positioning accuracy. Therefore, when a user of a work machine makes arrangements for work, it is necessary to consider the positioning accuracy of the work machine. However, since the positioning accuracy by GNSS changes depending on the positions of the work machine and positioning satellites at the work site, the environment of the work site, etc., it is not easy to appropriately set up the work setup. In addition, if the work setup cannot be set appropriately, there is a concern that the efficiency of the entire construction will be lowered.

On the other hand, in the present embodiment, the lower traveling body, the upper revolving body which is rotatably provided on the lower traveling body and which constitutes the vehicle body together with the lower traveling body, and a plurality of driven members including the work implement. A work device configured to be rotatably connected to each other and rotatably supported by an upper revolving body, an attitude information measuring device for measuring the attitude information of each of the upper revolving body and a plurality of driven members, and positioning A position measuring device that calculates the position and orientation of the car body at the construction site based on navigation signals from satellites, design data that is the target shape of the construction site, topographical data of the surrounding area including the construction site, and the range of topographical data A work target obtained from design data based on a storage device that stores structure data indicating the position and shape of a structure included in the design data, the calculation result from the position measurement device, and the posture information from the posture information measurement device In a working machine provided with a controller that calculates the distance between a surface and a work tool provided at the tip of the working device, the controller divides the construction site into a plurality of areas based on design data, and divides the divided areas into a plurality of areas. A representative position is set for each of the above, and based on the orbital information of the positioning satellite, the terrain data, and the structure data, the positioning accuracy by the position measuring device is calculated for each representative position of multiple areas, and the positioning accuracy and the multiple areas are calculated. Since it is configured to generate a positioning reliability map showing each representative position in association with each other, it is possible to support work setup by appropriately providing information related to GNSS positioning accuracy to the user of the work machine. , the efficiency of the entire construction can be improved.

That is, together with the work support information calculated by the machine guidance unit 35a, the reliability of GNSS positioning can be obtained for the entire construction site and the current machine position. As a result, the operator can determine whether or not to continue the current work and consider moving to another work position, thereby improving the efficiency of setup and, in turn, improving the efficiency of the entire work.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention. Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

DESCRIPTION OF SYMBOLS 1... Hydraulic excavator, 2... Lower running body, 3... Upper revolving body, 4... Driver's cab, 5... Front working machine (working device), 6... Boom, 7... Arm, 8... Bucket, 9... Boom cylinder, 10 Arm cylinder 11 Bucket cylinder 21 to 24 Inertial measurement unit (IMU) 31, 32 GNSS antenna 34 Radio 34a Radio antenna 35 Controller 35a Machine guidance section 35b Positioning Reliability calculation unit 35c Self-position reliability calculation unit 35d Construction information recording unit 36 Display device 37 External storage medium (storage device) 37a Three-dimensional design data 37b Structure position/shape Data 38... Reference station (external system) 39... GNSS antenna 40... GNSS receiver 41... Wireless device 41a... Wireless device antenna 100... RTK correction data receiver 101... Satellite signal receiver 102... Satellite Selection unit 103 GNSS position/vector calculation unit 104 vehicle body posture calculation unit 105 front posture calculation unit 106 three-dimensional design data acquisition unit 107 vehicle body position/posture calculation unit 108 position/posture integration unit 109... Cross section calculation unit 110... Distance calculation unit 111... Satellite orbit information reception unit 112... Structure/terrain data acquisition unit 113... Representative position coordinate acquisition unit 114... Visible satellite identification unit 115... Positioning accuracy calculation Unit 116 Positioning reliability map generation unit 117 Position variance calculation unit 118 Position variance acquisition unit 119 Target plane acquisition unit 120 Estimated vertical error calculation unit 121 Current terrain data update determination unit 122 123 Bird's eye view 124 Excavator icon 125 Reliability map 126 Time adjustment bar 127 Numerical information 128 Light bar 129 Estimated vertical error 131 Upper revolving structure 200 Machine guidance system 300 Present terrain data

Claims (6)

a lower running body;
an upper revolving body that is rotatably provided on the lower traveling body and that constitutes a vehicle body together with the lower traveling body;
a working device configured by rotatably connecting a plurality of driven members including working tools to each other and rotatably supported by the upper revolving body;
an attitude information measuring device that measures attitude information of each of the upper rotating body and the plurality of driven members;
a position measuring device that calculates the position and orientation of the vehicle body at the construction site based on navigation signals from positioning satellites;
Based on the calculation result from the position measuring device and the posture information from the posture information measuring device, a work target plane obtained from design data, which is the target shape of the construction site, and a work device provided at the tip of the work device In a working machine equipped with a controller that calculates a distance from a work tool,
The controller is
dividing the construction site into a plurality of areas based on the design data;
setting a representative position for each of the plurality of divided regions;
Positioning by the position measuring device based on the orbital information of the positioning satellite, topographical data of the surrounding area including the construction site, and structure data indicating the position and shape of the structure included in the range of the topographical data Calculate the accuracy for each representative position of the plurality of regions,
A working machine that generates a positioning reliability map showing the positioning accuracy and representative positions of the plurality of areas in association with each other. The work machine according to claim 1,
The working machine, wherein the controller generates a bird's-eye view image in which information on the three-dimensional position and orientation of the vehicle body is superimposed on the positioning reliability map, and displays the image on a display device. The work machine according to claim 1,
The position measuring device calculates a position variance, which is a variation in the calculation result of the position of the vehicle body at the construction site,
The working machine, wherein the controller calculates an estimated vertical error, which is accuracy of the position of the work implement in a vertical direction with respect to the work target plane, based on the positional dispersion. The work machine according to claim 3,
Based on the estimated vertical error, the controller generates a distance display image that simultaneously displays the estimated vertical error and the distance between the work tool arranged at the tip of the working device and the work target surface. A working machine characterized by displaying on a display device. The work machine according to claim 1,
The controller is
determining whether or not to record the coordinates of the work tool based on the distance between the work tool arranged at the tip of the work device and the work target plane;
A working machine characterized in that, when it is determined to record the coordinates of the work tool, the coordinates of the work tool and the positioning accuracy are linked and stored in a storage device. The work machine according to claim 3,
The controller is
determining whether or not to record the coordinates of the work tool based on the distance between the work tool arranged at the tip of the work device and the work target plane;
A working machine characterized in that, when it is determined to record the coordinates of the work implement, the coordinates of the work implement and the estimated vertical error are linked and stored in a storage device.

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