JP7330458B2 - Excavators and controls for excavators - Google Patents

Description

The present disclosure relates to excavators.

For example, a work machine surroundings monitoring device that generates an output range image based on an input range image picked up by a range image sensor attached to the work machine, wherein the input range image includes features around the work machine and The input distance is obtained by extracting, from pixels having pixel values representing the distance from the distance image sensor, pixels having pixel values greater than the distance between the plane on which the working machine is located and the distance image sensor. A working machine surroundings monitoring device is disclosed that includes pixel extraction means for correcting an image (see Patent Document 1).

JP 2014-62795 A

By the way, the terrain on which the excavator works is not limited to being flat, and may have large irregularities. If there are large unevenness in the terrain, blind spots (occlusions) that cannot be seen from the excavator's space recognition device will occur.

Therefore, in view of the above problems, it is an object of the present invention to provide an excavator capable of suitably grasping the terrain of a work target.

In order to achieve the above object, in one embodiment of the present invention , first data acquired by a space recognition device arranged at a first viewpoint and a second viewpoint different from the first viewpoint. a control device for deriving terrain based on second data acquired by the arranged space recognition device, wherein the first data is data of a first terrain area visible from the first viewpoint; wherein the second data includes data of a second terrain area that is a blind spot from the first viewpoint due to unevenness in the first terrain area, and the first data and the second data are , taken at the same time , a shovel is provided.

According to the above-described embodiment, it is possible to provide a shovel that preferably grasps the terrain of the work target.

1 is a side view of a shovel according to an embodiment of the present invention; FIG. Figure 2 is a top view of the shovel of Figure 1; 2 is a diagram showing a configuration example of a hydraulic system mounted on the excavator of FIG. 1; FIG. FIG. 2 is a diagram extracting a part of a hydraulic system mounted on the excavator of FIG. 1; It is a figure which shows the structural example of a controller. FIG. 4 is a side view for explaining a method of generating terrain data of a work target area by the excavator according to the first embodiment; (a) is a diagram for explaining first terrain data, (b) is a diagram for explaining second terrain data, and (c) is a diagram for explaining synthetic terrain data. FIG. 11 is a side view for explaining a method of generating terrain data of a work target area by a shovel according to the second embodiment; FIG. 11 is a side view for explaining a method of generating terrain data of a work target area by a shovel according to the third embodiment; It is an example of the image displayed on the display device of the excavator according to the present embodiment.

First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view of the shovel 100, and FIG. 2 is a top view of the shovel 100. FIG.

In this embodiment, the undercarriage 1 of the excavator 100 includes a crawler 1C. The crawler 1</b>C is driven by a traveling hydraulic motor 2</b>M as a traveling actuator mounted on the lower traveling body 1 . Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2 . The revolving mechanism 2 is driven by a revolving hydraulic motor 2A as a revolving actuator mounted on the upper revolving body 3 . However, the turning actuator may be a turning motor generator as an electric actuator.

A boom 4 is attached to the upper revolving body 3 . An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5 and bucket 6 constitute an excavation attachment AT which is an example of an attachment. A boom 4 is driven by a boom cylinder 7 , an arm 5 is driven by an arm cylinder 8 , and a bucket 6 is driven by a bucket cylinder 9 . The boom cylinder 7, arm cylinder 8 and bucket cylinder 9 constitute an attachment actuator. The end attachment may be a slope bucket.

The boom 4 is supported to be vertically rotatable with respect to the upper revolving body 3 . A boom angle sensor S1 is attached to the boom 4 . The boom angle sensor S1 can detect the boom angle α, which is the rotation angle of the boom 4 . The boom angle α is, for example, an angle of elevation from the lowest state of the boom 4 . Therefore, the boom angle α becomes maximum when the boom 4 is raised to the maximum.

Arm 5 is rotatably supported with respect to boom 4 . An arm angle sensor S2 is attached to the arm 5. As shown in FIG. The arm angle sensor S2 can detect the arm angle β, which is the rotation angle of the arm 5 . The arm angle β is, for example, the opening angle of the arm 5 from the most closed state. Therefore, the arm angle β becomes maximum when the arm 5 is opened most.

Bucket 6 is rotatably supported with respect to arm 5 . A bucket angle sensor S3 is attached to the bucket 6 . The bucket angle sensor S3 can detect the bucket angle γ, which is the rotation angle of the bucket 6 . The bucket angle γ is the opening angle of the bucket 6 from the most closed state. Therefore, the bucket angle γ becomes maximum when the bucket 6 is opened most.

In the embodiment of FIG. 1, each of the boom angle sensor S1, the arm angle sensor S2 and the bucket angle sensor S3 is composed of a combination of an acceleration sensor and a gyro sensor. However, it may be composed only of the acceleration sensor. Also, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or may be a rotary encoder, potentiometer, inertial measurement device, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.

The upper swing body 3 is provided with a cabin 10 as an operator's cab and is equipped with a power source such as an engine 11 . In addition, a space recognition device 70, an orientation detection device 71, a positioning device 73, a body tilt sensor S4, a turning angular velocity sensor S5, and the like are attached to the upper swing body 3. FIG. Inside the cabin 10, an operation device 26, a controller 30, an information input device 72, a display device D1, an audio output device D2, a communication device T1, and the like are provided. In this document, for the sake of convenience, the side of the upper rotating body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

The space recognition device 70 is configured to recognize objects existing in a three-dimensional space around the excavator 100 . Further, the space recognition device 70 may be configured to calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object. The space recognition device 70 includes, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a range image sensor, an infrared sensor, or any combination thereof. In this embodiment, the space recognition device 70 includes a space recognition device 70F attached to the front end of the upper surface of the cabin 10, a space recognition device 70B attached to the rear end of the upper surface of the upper revolving body 3, and a space recognition device 70B attached to the left end of the upper surface of the upper revolving body 3. It includes an attached space recognition device 70L and a space recognition device 70R attached to the upper right end of the upper rotating body 3. An upper sensor that recognizes an object existing in the space above the upper swing body 3 may be attached to the excavator 100 .

The space recognition device 70 is configured to have a predetermined horizontal and vertical detection range. The spatial recognition device 70 may be a two-dimensional scanning device, a three-dimensional scanning device, or a non-scanning device. In this embodiment, the space recognition device 70 is a three-dimensional scanning device.

The space recognition device 70 may be configured to detect a predetermined object within a predetermined area set around the excavator 100 . That is, the space recognition device 70 may be configured to be able to identify at least one of the type, position, shape, and the like of an object. For example, the space recognition device 70 may be configured to be able to distinguish between humans and objects other than humans, or to distinguish between the ground and objects other than the ground. The space recognition device 70 may also be configured to calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object. Further, when a surroundings monitoring device such as a millimeter wave radar, an ultrasonic sensor, or a laser radar is used as the space recognition device 70, the excavator 100 uses not only images captured by a monocular camera or the like, but also surroundings. A number of signals (laser beams, etc.) may be emitted from the monitoring device toward the object, and the reflected signals may be received to derive the distance and direction of the object from the reflected signals.

The orientation detection device 71 is configured to detect information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 . The orientation detection device 71 may be composed of, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3 . Alternatively, the orientation detection device 71 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper revolving body 3 . Orientation detection device 71 may be a rotary encoder, a rotary position sensor, etc., or any combination thereof. In a configuration in which the upper rotating body 3 is driven to rotate by a rotating electric motor generator, the orientation detection device 71 may be configured by a resolver. The orientation detection device 71 may be attached to, for example, a center joint provided in association with the revolving mechanism 2 that achieves relative rotation between the lower traveling body 1 and the upper revolving body 3 . Also, the excavator 100 may calculate the absolute angle of the upper swing body 3 using the positioning device 73 or the like.

The orientation detection device 71 may be composed of a camera attached to the upper rotating body 3 . In this case, the orientation detection device 71 performs known image processing on the image (input image) captured by the camera attached to the upper rotating body 3 to detect the image of the lower traveling body 1 included in the input image. The orientation detection device 71 identifies the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using a known image recognition technique. Then, the angle formed between the direction of the longitudinal axis of the upper revolving body 3 and the longitudinal direction of the lower traveling body 1 is derived. The direction of the longitudinal axis of the upper rotating body 3 is derived from the mounting position of the camera. In particular, since the crawler 1C protrudes from the upper rotating body 3, the orientation detection device 71 can identify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C. In this case, orientation detection device 71 may be integrated into controller 30 . Also, the camera may be the space recognition device 70 . Further, the direction detection device 71 may calculate a turning angle, which is a relative angle between the direction of the upper turning body 3 and the direction of the lower traveling body 1, based on the detection value of the turning angular velocity sensor S5, which will be described later. .

The information input device 72 is configured so that the operator of the excavator 100 can input information to the controller 30 . In this embodiment, the information input device 72 is a switch panel installed close to the display section of the display device D1. However, the information input device 72 may be a touch panel arranged on the display portion of the display device D1, or may be a voice input device such as a microphone arranged in the cabin 10 . Also, the information input device 72 may be a communication device that acquires information from the outside.

The positioning device 73 is configured to measure the position of the upper revolving structure 3 . In this embodiment, the positioning device 73 is a GNSS receiver, detects the position of the upper swing structure 3 and outputs the detected value to the controller 30 . The positioning device 73 may be a GNSS compass. In this case, since the positioning device 73 can detect the position and orientation of the upper rotating body 3 , it also functions as the orientation detection device 71 .

The fuselage tilt sensor S4 detects the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the fuselage tilt sensor S4 is an acceleration sensor that detects the tilt angle about the longitudinal axis and the tilt angle about the lateral axis of the upper swing structure 3 with respect to the horizontal plane. For example, the longitudinal axis and the lateral axis of the upper swing body 3 are orthogonal to each other and pass through a shovel center point, which is one point on the swing axis of the shovel 100 .

The turning angular velocity sensor S5 detects the turning angular velocity of the upper turning body 3 . In this embodiment, it is a gyro sensor. It may be a resolver, rotary encoder, etc., or any combination thereof. The turning angular velocity sensor S5 may detect turning velocity. The turning speed may be calculated from the turning angular velocity.

At least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body tilt sensor S4, and the turning angular velocity sensor S5 is hereinafter also referred to as an attitude detection device. The posture of the excavation attachment AT is detected, for example, based on outputs from the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.

The display device D1 is a device that displays information. In this embodiment, the display device D1 is a liquid crystal display installed inside the cabin 10 . However, the display device D1 may be a display of a mobile terminal such as a smart phone.

The audio output device D2 is a device that outputs audio. The voice output device D2 includes at least one of a device that outputs voice toward the operator inside the cabin 10 and a device that outputs voice toward the worker outside the cabin 10 . It may be a speaker of a mobile terminal.

The communication device T1 communicates with other excavators 100 by M2M (Machine to Machine). The communication device T1 is, for example, a communication module compatible with a wireless communication standard such as Bluetooth (registered trademark) or DSRC. Note that the communication of the communication device T1 is not limited to M2M. The communication device T1 is configured to communicate with an external device (for example, a management server, another excavator 100) through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc., which terminates in a base station. good too. The communication device T1 includes, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), and a satellite communication module for connecting to a satellite communication network. It may be a module or the like. Alternatively, each excavator 100 may communicate with the management server, so that the excavator 100 and the other excavators 100 may indirectly communicate with each other via the management server.

The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuators include at least one of hydraulic actuators and electric actuators.

Controller 30 is a control device for controlling excavator 100 . In this embodiment, the controller 30 is configured by a computer including a CPU, a volatile memory device, a non-volatile memory device, and the like. Then, the controller 30 reads a program corresponding to each function from the nonvolatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process. Each function includes, for example, a machine guidance function that guides the manual operation of the excavator 100 by the operator, and supports the manual operation of the excavator 100 by the operator or causes the excavator 100 to operate automatically or autonomously. Including machine control functions such as The controller 30 may include a contact avoidance function for automatically or autonomously operating or stopping the excavator 100 to avoid contact between the excavator 100 and objects existing around the excavator 100 .

Next, a configuration example of the hydraulic system mounted on the excavator 100 will be described with reference to FIG. 3 . FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100. As shown in FIG. FIG. 3 shows the mechanical driveline, hydraulic lines, pilot lines and electrical control system in double, solid, dashed and dotted lines respectively.

A hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a discharge pressure sensor 28, an operation pressure sensor 29, a controller 30, and the like.

In FIG. 3, the hydraulic system is configured such that hydraulic oil can be circulated from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass line 40 or the parallel line 42.

The engine 11 is a drive source for the excavator 100 . In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined number of revolutions. An output shaft of the engine 11 is connected to respective input shafts of the main pump 14 and the pilot pump 15 .

The main pump 14 is configured to supply hydraulic fluid to the control valve 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

The regulator 13 is configured to be able to control the discharge amount of the main pump 14 . In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 according to the control command from the controller 30 .

The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic fluid to hydraulic control equipment including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generator may be implemented by the main pump 14 . That is, the main pump 14 has a function of supplying hydraulic fluid to the control valve 17 via the hydraulic fluid line, and also a function of supplying hydraulic fluid to various hydraulic control devices including the operating device 26 via the pilot line. may In this case, pilot pump 15 may be omitted.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100 . In this embodiment, the control valve 17 includes control valves 171-176. Control valve 175 includes control valve 175L and control valve 175R, and control valve 176 includes control valve 176L and control valve 176R. The control valve 17 is configured to selectively supply hydraulic fluid discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171-176. The control valves 171 to 176, for example, control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic fluid flowing from the hydraulic actuator to the hydraulic fluid tank. Hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR and a turning hydraulic motor 2A.

The operating device 26 is configured to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line. The pressure (pilot pressure) of hydraulic fluid supplied to each of the pilot ports is a pressure corresponding to the operation direction and amount of operation of the operating device 26 corresponding to each of the hydraulic actuators. However, the operating device 26 may be of an electric control type instead of the pilot pressure type as described above. In this case, the control valve within the control valve 17 may be an electromagnetic solenoid spool valve.

The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14 . In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30 .

The operation pressure sensor 29 is configured to detect the content of the operation of the operation device 26 by the operator. In this embodiment, the operation pressure sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30 . The content of the operation of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipe 40L or the left parallel pipe 42L, and the right main pump 14R circulates the right center bypass pipe 40R or the right parallel pipe 42R. to circulate hydraulic oil to the hydraulic oil tank.

The left center bypass line 40L is a hydraulic fluid line passing through control valves 171, 173, 175L and 176L arranged within the control valve 17. As shown in FIG. The right center bypass line 40R is a hydraulic fluid line passing through control valves 172, 174, 175R and 176R arranged within the control valve 17. As shown in FIG.

The control valve 171 controls the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic fluid discharged by the left traveling hydraulic motor 2ML to the hydraulic fluid tank. It is a switching spool valve.

The control valve 172 controls the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic fluid discharged by the right traveling hydraulic motor 2MR to the hydraulic fluid tank. It is a switching spool valve.

The control valve 173 supplies the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. valve.

The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. .

The control valve 175L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7 . The control valve 175R is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank. .

The control valve 176L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. .

The control valve 176R is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. .

The left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L supplies hydraulic fluid to the downstream control valves when the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, and 175L. can. The right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R. The right parallel line 42R supplies hydraulic fluid to more downstream control valves when the flow of hydraulic fluid through the right center bypass line 40R is restricted or blocked by any of the control valves 172, 174, and 175R. can.

The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L to reduce the discharge amount. The same applies to the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge amount from exceeding the output power (output horsepower) of the engine 11 .

The operating device 26 includes a left operating lever 26L, a right operating lever 26R and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

The left operating lever 26L is used for turning and operating the arm 5. As shown in FIG. When the left operating lever 26L is operated in the front-rear direction, the hydraulic fluid discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 176 . Further, when operated in the left-right direction, hydraulic fluid discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 173 .

Specifically, when the left operation lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of the control valve 176L and introduces hydraulic fluid into the left pilot port of the control valve 176R. . Further, when the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of the control valve 176L and introduces hydraulic fluid into the right pilot port of the control valve 176R. When the left control lever 26L is operated in the left turning direction, hydraulic oil is introduced into the left pilot port of the control valve 173, and when it is operated in the right turning direction, the right pilot port of the control valve 173 is introduced. Hydraulic oil is introduced into

The right operating lever 26R is used for operating the boom 4 and operating the bucket 6 . When the right operating lever 26R is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 175 . Further, when operated in the left-right direction, hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 174 .

Specifically, when the right operation lever 26R is operated in the boom lowering direction, hydraulic fluid is introduced into the left pilot port of the control valve 175R. Further, when the right operating lever 26R is operated in the boom raising direction, it introduces hydraulic fluid into the right pilot port of the control valve 175L and introduces hydraulic fluid into the left pilot port of the control valve 175R. When the right operation lever 26R is operated in the bucket closing direction, hydraulic oil is introduced into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, the hydraulic oil is introduced into the left pilot port of the control valve 174. Introduce hydraulic oil.

The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to be interlocked with the left travel pedal. When the left travel lever 26DL is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 171 . The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to interlock with the right travel pedal. When the right travel lever 26DR is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 172 .

The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30 . The same applies to the discharge pressure sensor 28R.

The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL and 29DR. The operation pressure sensor 29LA detects the content of the operator's operation of the left operation lever 26L in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30. FIG. The details of the operation are, for example, the lever operation direction, lever operation amount (lever operation angle), and the like.

Similarly, the operation pressure sensor 29LB detects, in the form of pressure, the details of the left-right direction operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30 . The operation pressure sensor 29RA detects the content of the operator's operation of the right operation lever 26R in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30. FIG. The operation pressure sensor 29 RB detects, in the form of pressure, the details of the operator's operation of the right operation lever 26 R in the horizontal direction, and outputs the detected value to the controller 30 . The operation pressure sensor 29DL detects, in the form of pressure, the content of the operator's operation of the left traveling lever 26DL in the front-rear direction, and outputs the detected value to the controller 30 . The operation pressure sensor 29DR detects, in the form of pressure, the content of the operator's operation of the right travel lever 26DR in the front-rear direction, and outputs the detected value to the controller 30 .

The controller 30 receives the output of the operating pressure sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14 . The controller 30 also receives the output of a control pressure sensor 19 provided upstream of the throttle 18 and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14 . The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

A left throttle 18L is disposed between the most downstream control valve 176L and the hydraulic oil tank in the left center bypass line 40L. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. FIG. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is similarly controlled.

Specifically, in the standby state in which none of the hydraulic actuators in the excavator 100 is operated as shown in FIG. It reaches the diaphragm 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when one of the hydraulic actuators is operated, hydraulic fluid discharged from the left main pump 14L flows into the operated hydraulic actuator via the control valve corresponding to the operated hydraulic actuator. Then, the flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, thereby reducing the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates a sufficient amount of hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.

With the configuration as described above, the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state. Wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipe 40 . Further, the hydraulic system of FIG. 3 can reliably supply necessary and sufficient working oil from the main pump 14 to the hydraulic actuator to be operated when the hydraulic actuator is to be operated.

Next, with reference to FIG. 4, the configuration for the controller 30 to operate the actuators by the machine control function will be described. FIG. 4 is a drawing showing a portion of the hydraulic system, including FIGS. 4(A) to 4(D). Specifically, FIG. 4(A) is a view of the hydraulic system portion related to the operation of the arm cylinder 8, and FIG. 4(B) is a view of the hydraulic system portion related to the operation of the boom cylinder 7. . FIG. 4(C) is a view of the hydraulic system portion related to the operation of the bucket cylinder 9, and FIG. 4(D) is a view of the hydraulic system portion related to the operation of the swing hydraulic motor 2A.

As shown in FIG. 4 , the hydraulic system includes proportional valve 31 , shuttle valve 32 and proportional valve 33 . The proportional valve 31 includes proportional valves 31AL-31DL and 31AR-31DR, the shuttle valve 32 includes shuttle valves 32AL-32DL and 32AR-32DR, and the proportional valve 33 includes proportional valves 33AL-33DL and 33AR-33DR. .

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a pipeline connecting the pilot pump 15 and the shuttle valve 32, and is configured to change the flow area of the pipeline. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30 . Therefore, regardless of the operation of the operating device 26 by the operator, the controller 30 causes the hydraulic oil discharged by the pilot pump 15 to flow through the proportional valve 31 and the shuttle valve 32 to the corresponding control valve pilot valve in the control valve 17 . port can be supplied.

Shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26 and the other to the proportional valve 31 . The outlet port is connected to the pilot port of the corresponding control valve within control valve 17 . Therefore, the shuttle valve 32 can apply the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

Like the proportional valve 31, the proportional valve 33 functions as a control valve for machine control. The proportional valve 33 is arranged in a pipeline connecting the operating device 26 and the shuttle valve 32, and is configured to change the flow area of the pipeline. In this embodiment, the proportional valve 33 operates according to a control command output by the controller 30 . Therefore, regardless of the operation of the operating device 26 by the operator, the controller 30 reduces the pressure of the hydraulic oil discharged by the operating device 26 and then, via the shuttle valve 32, the corresponding control valve in the control valve 17. can be supplied to the pilot port of

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Further, even when a specific operating device 26 is being operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 .

For example, the left operating lever 26L is used to operate the arm 5, as shown in FIG. 4(A). Specifically, the left operation lever 26L utilizes hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 176 according to the operation in the front-rear direction. More specifically, when the left operation lever 26L is operated in the arm closing direction (backward), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. act. Further, when the left operating lever 26L is operated in the arm opening direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

A switch NS is provided on the left operating lever 26L. In this embodiment, the switch NS is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS may be provided on the right operating lever 26R, or may be provided at another position inside the cabin 10 .

The operation pressure sensor 29LA detects the content of the operator's operation of the left operation lever 26L in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30. FIG.

The proportional valve 31AL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AL and the shuttle valve 32AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31AR operates according to a control command (current command) output by the controller 30. Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR. The proportional valves 31AL, 31AR can adjust the pilot pressure so that the control valves 176L, 176R can be stopped at any valve position.

With this configuration, the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the right pilot port of the control valve 176L and the control valve 176R through the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator. can be supplied to the left pilot port of the That is, the arm 5 can be closed. In addition, regardless of the arm opening operation by the operator, the controller 30 directs the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR. It can be supplied to the pilot port. That is, the arm 5 can be opened.

The proportional valve 33AL operates according to a control command (current command) output by the controller 30 . Then, the pilot pressure of hydraulic fluid introduced from the pilot pump 15 into the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the left operation lever 26L, the proportional valve 33AL, and the shuttle valve 32AL is reduced. The proportional valve 33AR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure of hydraulic oil introduced from the pilot pump 15 into the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the left operation lever 26L, the proportional valve 33AR, and the shuttle valve 32AR is reduced. The proportional valves 33AL, 33AR can adjust the pilot pressure so that the control valves 176L, 176R can be stopped at any valve position.

With this configuration, the controller 30 can operate the closing side pilot port of the control valve 176 (the left side pilot port of the control valve 176L and the control valve 176R (right pilot port) can be reduced to forcibly stop the arm 5 closing operation. The same applies to the case where the opening operation of the arm 5 is forcibly stopped while the operator is performing the arm opening operation.

Alternatively, the controller 30 may optionally control the proportional valve 31AR to control the valve 31AR on the opposite side of the closed side pilot port of the control valve 176, even when the operator is performing an arm closing operation. By increasing the pilot pressure acting on the opening side pilot port of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) and forcibly returning the control valve 176 to the neutral position, the arm 5 may be forcibly stopped. In this case, the proportional valve 33AL may be omitted. The same applies to the case of forcibly stopping the opening operation of the arm 5 when the arm opening operation is performed by the operator.

Also, although the description with reference to FIGS. 4B to 4D below is omitted, the operation of the boom 4 is forced when the operator is performing a boom-up operation or a boom-down operation. When the bucket 6 is forcibly stopped when the operator is performing a bucket closing operation or bucket opening operation, and when the operator is performing a turning operation, the upper turning The same applies to the case where the turning motion of the body 3 is forcibly stopped. The same applies to the case where the running motion of the lower running body 1 is forcibly stopped while the running operation is being performed by the operator.

Further, as shown in FIG. 4B, the right operating lever 26R is used to operate the boom 4. As shown in FIG. Specifically, the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 175 according to the operation in the front-rear direction. More specifically, when the right operation lever 26R is operated in the boom raising direction (backward), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. act. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 175R.

The operation pressure sensor 29RA detects the content of the operator's operation of the right operation lever 26R in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30. FIG.

The proportional valve 31BL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure by hydraulic oil introduced from the pilot pump 15 through the proportional valve 31BL and the shuttle valve 32BL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R is adjusted. The proportional valve 31BR operates according to a control command (current command) output by the controller 30 . Then, the pilot pressure by hydraulic oil introduced from the pilot pump 15 through the proportional valve 31BR and the shuttle valve 32BR to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R is adjusted. The proportional valves 31BL, 31BR can adjust the pilot pressure so that the control valves 175L, 175R can be stopped at any valve position.

With this configuration, the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31BL and the shuttle valve 32BL to the right pilot port of the control valve 175L and the control valve 175R, regardless of the operator's operation to raise the boom. can be supplied to the left pilot port of the That is, the boom 4 can be raised. In addition, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR regardless of the boom lowering operation by the operator. That is, the boom 4 can be lowered.

The right operating lever 26R is also used to operate the bucket 6, as shown in FIG. 4(C). Specifically, the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 174 according to the operation in the left-right direction. More specifically, the right operating lever 26R applies a pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 174 when operated in the bucket closing direction (leftward direction). Further, when the right operation lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 174. As shown in FIG.

The operation pressure sensor 29 RB detects, in the form of pressure, the details of the operator's operation of the right operation lever 26 R in the horizontal direction, and outputs the detected value to the controller 30 .

The proportional valve 31CL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL. The proportional valve 31CR operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR. The proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL regardless of the bucket closing operation by the operator. That is, the bucket 6 can be closed. In addition, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR regardless of the bucket opening operation by the operator. That is, the bucket 6 can be opened.

The left operating lever 26L is also used to operate the turning mechanism 2, as shown in FIG. 4(D). Specifically, the left operation lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 according to the operation in the left-right direction. More specifically, the left operation lever 26L applies a pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 173 when it is operated in the left turning direction (leftward direction). Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 173 .

The operation pressure sensor 29LB detects the content of the left-right direction operation of the left operation lever 26L by the operator in the form of pressure, and outputs the detected value to the controller 30 .

The proportional valve 31DL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL. The proportional valve 31DR operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR. The proportional valves 31DL and 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL regardless of the left turning operation by the operator. That is, the turning mechanism 2 can be turned to the left. In addition, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR regardless of the right turning operation by the operator. That is, the turning mechanism 2 can be turned to the right.

The excavator 100 may have a configuration that automatically or autonomously advances and reverses the undercarriage 1 . In this case, the hydraulic system portion related to the operation of the left travel hydraulic motor 2ML and the hydraulic system portion related to the operation of the right travel hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7 and the like.

In addition, although the hydraulic operating lever provided with the hydraulic pilot circuit has been described as a form of the operating device 26, an electric operating lever provided with an electric pilot circuit may be employed instead of the hydraulic operating lever. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. A solenoid valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from controller 30 . With this configuration, when a manual operation is performed using the electric operation lever, the controller 30 controls the solenoid valves with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve. be able to. Each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates according to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

Next, a configuration example of the controller 30 will be described with reference to FIG. FIG. 5 is a diagram showing a configuration example of the controller 30. As shown in FIG. In FIG. 5, the controller 30 includes signals output by at least one of the orientation detection device, the operation device 26, the space recognition device 70, the orientation detection device 71, the information input device 72, the positioning device 73, the switch NS, the communication device T1, and the like. is received, various calculations are executed, and a control command can be output to at least one of the proportional valve 31, the display device D1, the audio output device D2, and the like. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5. The controller 30 has, as functional elements, a position calculation unit 30A, a trajectory acquisition unit 30B, an autonomous control unit 30C, a terrain data generation unit 30D, a terrain data synthesis unit 30E, and a display image generation unit 30F. Each functional element may be configured by hardware or may be configured by software.

The position calculator 30A is configured to calculate the position of a positioning target. In this embodiment, the position calculator 30A calculates a coordinate point of a predetermined portion of the attachment in the reference coordinate system. The predetermined portion is, for example, the tip of the bucket 6 . The origin of the reference coordinate system is, for example, the intersection of the turning axis and the ground plane of the excavator 100 . The reference coordinate system is, for example, an XYZ orthogonal coordinate system, and includes an X-axis parallel to the front-rear axis of the excavator 100 , a Y-axis parallel to the left-right axis of the excavator 100 , and a Z-axis parallel to the pivot axis of the excavator 100 . have. The position calculator 30A calculates the coordinate point of the toe of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6, for example. The position calculator 30</b>A may calculate not only the center coordinate point of the toe of the bucket 6 , but also the coordinate point of the left end of the toe of the bucket 6 and the coordinate point of the right end of the toe of the bucket 6 . In this case, the position calculator 30A may use the output of the body tilt sensor S4. Further, the position calculation section 30A may use the output of the positioning device 73 to calculate the coordinate point of the predetermined portion of the attachment in the world coordinate system.

The trajectory acquisition unit 30B is configured to acquire a target trajectory, which is a trajectory followed by a predetermined portion of the attachment when the shovel 100 is autonomously operated. In the present embodiment, the trajectory acquisition unit 30B acquires the target trajectory used when the autonomous control unit 30C causes the excavator 100 to operate autonomously. Specifically, the trajectory acquisition unit 30B derives the target trajectory based on the data on the target plane stored in the nonvolatile storage device (hereinafter referred to as "design data"). The trajectory acquisition unit 30B may derive the target trajectory based on the information regarding the terrain around the excavator 100 recognized by the space recognition device 70 . Alternatively, the trajectory acquisition unit 30B may derive information about the past trajectory of the toe of the bucket 6 from past outputs of the attitude detection device stored in the volatile storage device, and derive the target trajectory based on that information. . Alternatively, the trajectory acquisition section 30B may derive the target trajectory based on the current position of the predetermined portion of the attachment and the design data.

30 C of autonomous control parts are comprised so that the excavator 100 can be operated autonomously. This embodiment is configured to move a predetermined portion of the attachment along the target trajectory acquired by the trajectory acquisition section 30B when a predetermined start condition is satisfied. Specifically, when the operation device 26 is operated while the switch NS is pressed, the shovel 100 is autonomously operated so that the predetermined portion moves along the target trajectory.

In this embodiment, the autonomous control unit 30C is configured to assist the operator in manually operating the excavator by autonomously operating the actuator. For example, when the operator manually closes the arm while pressing the switch NS, the autonomous control unit 30C controls the boom cylinder 7 and the arm cylinder 8 so that the target trajectory and the position of the toe of the bucket 6 match. and at least one of the bucket cylinders 9 may be extended and contracted autonomously. In this case, the operator can close the arm 5 while aligning the toe of the bucket 6 with the target trajectory, for example, simply by operating the left operating lever 26L in the arm closing direction. In this example, the arm cylinder 8, which is the main object of operation, is called the "main actuator". Also, the boom cylinder 7 and the bucket cylinder 9, which are driven objects to be operated in accordance with the movement of the main actuators, are called "subordinate actuators".

In this embodiment, the autonomous control unit 30C autonomously operates each actuator by giving a control command (current command) to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. can be made For example, at least one of the boom cylinder 7 and the bucket cylinder 9 can be operated regardless of whether the right operating lever 26R is tilted.

The landform data generation unit 30D is configured to generate landform data of the work target area based on the data acquired by the space recognition device 70 . Acquisition data of the space recognition device 70 includes data related to the distance from the space recognition device 70 to the target. In this embodiment, the space recognition device 70 is a LIDAR and uses the TOF (Time of Flight) method to obtain data on the distance from the space recognition device 70 to the target. Terrain data includes three-dimensional coordinates of each point on the ground in the work area. The three-dimensional coordinates of each point are coordinates in the world geodetic system as a reference coordinate system.

Also, the terrain data generator 30D is configured to acquire information about the viewpoint (for example, the optical center) of the space recognition device 70 . The viewpoint of the space recognition device 70 is, for example, a reference point when measuring the distance to the object. In this embodiment, the viewpoint of spatial perception device 70 is the optical center of the lens used in LIDAR.

The terrain data generator 30D derives the three-dimensional coordinates of the viewpoint of the space recognition device 70 based on the output of the positioning device 73, for example. Specifically, the terrain data generation unit 30D generates information about the relative positional relationship between the viewpoint of the space recognition device 70 and the center point of the excavator, and the three-dimensional coordinates of the center point of the excavator measured by the positioning device 73. Based on this, the three-dimensional coordinates of the viewpoint of the space recognition device 70 in the reference coordinate system are derived.

The information about the relative positional relationship includes the direction of the viewpoint of the space recognition device 70 viewed from the center point of the excavator, the distance between the viewpoint of the space recognition device 70 and the center point of the excavator, and the like.

When the space recognition device 70 is attached to the upper revolving body 3, the direction of the viewpoint of the space recognition device 70 seen from the center point of the excavator is derived based on the outputs of the machine body tilt sensor S4, the direction detection device 71, etc., for example. be In this case, the distance between the viewpoint of the space recognition device 70 and the shovel center point is unchanged and registered in advance. If the positioning device 73 can detect not only the position of the upper rotating body 3 but also the orientation of the upper rotating body 3, the information regarding the relative positional relationship can be obtained without using the outputs of the body tilt sensor S4, the orientation detection device 71, and the like. may be derived based on the output of the positioning device 73. This is because the direction of the viewpoint of the space recognition device 70 viewed from the shovel center point is derived based on the output of the positioning device 73 .

When the space recognition device 70 is attached to the excavation attachment AT, the information about the relative positional relationship is, for example, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body tilt sensor S4, the turning angular velocity It is derived based on the outputs of the sensor S5, the orientation detection device 71, and the like.

In addition to the positioning device 73 , the excavator 100 may include a positioning device for measuring the position of the space recognition device 70 . This positioning device may be integrated with the space recognition device 70 . In this case, the terrain data generator 30D may derive the three-dimensional coordinates of the viewpoint of the space recognition device 70 based on the output of this positioning device.

Once the three-dimensional coordinates of the viewpoint of the space recognition device 70 are determined, the terrain data generator 30D can uniquely derive the three-dimensional coordinates of each point on the ground included in the detection range of the space recognition device 70 . The relative positional relationship between the viewpoint of the space recognition device 70 and each point on the ground is the direction of each point on the ground viewed from the viewpoint and the direction of each point on the ground output by the LIDAR as the space recognition device 70. This is because it is derived based on the distance between each point on the ground.

The terrain data synthesizing unit 30E is configured to synthesize a plurality of pieces of terrain data generated by the terrain data generating unit 30D to generate synthetic terrain data. A plurality of pieces of terrain data are generated, for example, by scanning the same work target area from a plurality of different directions by the space recognition device 70 . A plurality of terrain data may be generated at mutually different timings, or may be generated at the same timings. Simultaneous generation of a plurality of terrain data is realized, for example, by using a plurality of space recognition devices attached to each of a plurality of shovels. Alternatively, simultaneous generation of a plurality of topographical data is realized by using a plurality of spatial recognition devices attached to one excavator, for example. The non-simultaneous generation of a plurality of terrain data is, for example, using one spatial recognition device attached to one excavator and changing the position of the spatial recognition device, or changing the position of the excavator. This is achieved by repeating the generation of

For example, the terrain data synthesis unit 30E generates a first terrain data related to the work target area generated by the terrain data generation unit 30D based on the output of the space recognition device 70 attached to the excavator 100 at the first position at the first time point. data and second topographical data relating to the same work target area generated by the topographical data generation unit 30D based on the output of the space recognition device 70 attached to the excavator 100 at the second position at the second time point. , to generate synthetic terrain data for the work area. In this example, the excavator 100 generates first terrain data at a first point in time so that one work area can be scanned by the space recognition device 70 from two different directions. Move from position 1 to position 2. Note that the terrain data generation unit 30D may synthesize three or more pieces of terrain data generated for one work target area. In this case, excavator 100 repeats movement by undercarriage 1 and scanning by space recognition device 70 so that one work target area can be scanned by space recognition device 70 from three or more different directions. Therefore, the space recognition device 70 can scan a part of the work target area, which is a blind spot from one direction, from another direction.

Non-overlapping portions (non-overlapping portions) of the terrain derived from the first terrain data and the terrain derived from the second terrain data are combined so as to complement each other. That is, the three-dimensional coordinates representing the non-overlapping portion included in the first topographic data and the three-dimensional coordinates representing the non-overlapping portion included in the second topographic data are distinguished as three-dimensional coordinates constituting the synthetic topographic data. stored as possible.

Out of overlapping parts (overlapping parts) between the terrain derived from the first terrain data and the terrain derived from the second terrain data, the matching parts or the parts where the positional deviation is less than a predetermined value (matching parts) , the three-dimensional coordinates included in either the first topographic data or the second topographic data are adopted as the three-dimensional coordinates representing the matching portion, and are stored in a distinguishable manner as the three-dimensional coordinates constituting the synthetic topographic data. be done. In this case, it may be determined in advance which of the three-dimensional coordinates included in the landform data is adopted as the three-dimensional coordinates representing the matching portion. However, the terrain data synthesizing unit 30E generates new three-dimensional coordinates based on the three-dimensional coordinates contained in the first terrain data and the corresponding three-dimensional coordinates contained in the second terrain data. The resulting three-dimensional coordinates may be stored in a distinguishable manner as three-dimensional coordinates representing the matching portion and constituting the synthetic landform data. In this way, the terrain data synthesizing unit 30E synthesizes a plurality of pieces of terrain data based on the three-dimensional coordinates as position information to generate synthetic terrain data. Here, the first landform data and the second landform data are landform data relating to the same work target area. In other words, the terrain data synthesizing unit 30E can generate synthesized terrain data without blind spots by synthesizing a plurality of terrain data obtained by measuring the same work target area from different viewpoints. The terrain data synthesizing unit 30E may determine whether or not a plurality of acquired terrain data relate to the same work target area based on the position information or the coordinates of the predetermined portion of the attachment.

Out of overlapping portions (overlapping portions) between the topography derived from the first topography data and the topography derived from the second topography data, the portions that do not match, or the portions where the positional deviation is greater than or equal to a predetermined value (mismatching portions) , the terrain data synthesizing unit 30E determines which of the three-dimensional coordinates included in the first terrain data and the three-dimensional coordinates included in the second terrain data is more accurate. Then, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates included in the terrain data determined to be more accurate as the three-dimensional coordinates representing the inconsistent part, and uses them as the three-dimensional coordinates constituting the synthesized terrain data. Store in a distinguishable manner. That is, the terrain data synthesizing unit 30E deletes the three-dimensional coordinates included in the terrain data determined to be inaccurate without distinguishably storing them as three-dimensional coordinates constituting the synthetic terrain data.

Thus, the synthetic terrain data is typically configured to include three-dimensional coordinates representing non-overlapping portions, three-dimensional coordinates representing matching portions, and three-dimensional coordinates representing non-matching portions.

The display image generator 30F is configured to generate an image to be displayed on the display device D1. For example, the display image generator 30F is configured to generate an image of a target design surface (construction surface) 610 as shown in FIG. In this embodiment, information such as design data required to generate an image of the target design plane 610 is stored in advance in the storage device or the like of the controller 30 . The image regarding the target design surface 610 is, for example, a CG image represented by a mesh model, wireframe model, or the like.

The display image generation unit 30F is also configured to generate an image of the current terrain 600 as shown in FIG. 6 based on the synthetic terrain data. The image of the current terrain 600 is, for example, a CG image represented by a mesh model, wireframe model, or the like.

<First embodiment>
Next, a method for generating terrain data of the work target area by the excavator 100 will be further described. FIG. 6 is a side view for explaining a method of generating terrain data of a work target area by the excavator 100 according to the first embodiment. In FIG. 6 (and FIGS. 7 to 9, which will be described later), the current terrain 600 is indicated by a solid line, and the target design plane 610 is indicated by a two-dot chain line. In the example shown in FIG. 6, the work target area includes a hole excavated by the excavator 100 .

The current terrain 600 is the terrain during or after excavation. In other words, the current terrain 600 is the terrain when the excavator 100 performed excavation or other work after the previous terrain data was acquired by the excavator 100 . As shown in FIG. 6, there is a mismatch between target design surface 610 and current terrain 600 . For this reason, the excavator 100 needs to grasp the degree of discrepancy. Furthermore, the excavator 100 needs to measure the excavation volume excavated by the current excavation work.

The excavator 100 according to the first embodiment has at least one space recognition device 70 . First, the excavator 100 moves to the first position P1. The terrain data generator 30D of the excavator 100 uses the space recognition device 70 to generate terrain data (first terrain data) of the work target area at the first position P1. Next, the excavator 100 moves from the first position P1 to a second position P2 different from the first position P1. Then, the terrain data generation unit 30D of the excavator 100 uses the space recognition device 70 to generate terrain data (second terrain data) of the work target area at the second position P2. Then, the terrain data synthesizing unit 30E of the excavator 100 synthesizes the first terrain data and the second terrain data to generate synthetic terrain data.

FIG. 7(a) is a diagram for explaining the first terrain data, FIG. 7(b) is a diagram for explaining the second terrain data, and FIG. 7(c) is a diagram for explaining the synthetic terrain data. be. 7(a) to 7(c), the irradiation light of the space recognition device 70 (LIDAR) is indicated by a dashed line, and the point group representing the three-dimensional coordinates included in the first terrain data is indicated by a black circle. , and the point cloud representing the three-dimensional coordinates included in the second terrain data is indicated by a white circle.

As shown in FIG. 7(a), due to the presence of a large hole in the terrain 600 of the work target area, an area 701 that becomes a blind spot from the space recognition device 70 attached to the excavator 100 at the first position P1. Occur. In addition, noise may occur when scanning is performed that causes a sudden change in the distance to the object, such as when the spatial recognition device 70 scans around the edge of a hole. The noise is, for example, three-dimensional coordinates derived based on data including the distance between a feature that does not actually exist and the viewpoint, among the data output by the space recognition device 70 . In the example shown in FIG. 7A, noise 710 is generated.

Therefore, at this stage, the excavator 100 cannot acquire terrain data for the entire excavation area. In this case, the excavator 100 cannot evaluate whether or not the target design surface 610 and the current terrain 600 match, and also cannot accurately measure the excavation volume to be excavated. As described above, the excavator 100 may not be able to acquire all of the terrain data of the work target area where the excavation work was performed using only the topography data acquired at the location where the excavation work was performed (first position P1).

Therefore, as shown in FIG. 7(b), the operator of the excavator 100 selects a place where terrain data can be acquired in an area 701 which is a blind spot (an area where terrain data cannot be acquired) at the first position P1. The excavator 100 is moved to (the second position P2) by running. A region 701 included in the work target region in which the excavator 100 has performed work at the first position P1 is included in the region that can be scanned by the space recognition device 70 attached to the excavator 100 at the second position P2. ing. That is, the area 701 is no longer a blind spot for the space recognition device 70 attached to the excavator 100 at the second position P2. On the other hand, the excavator 100 at the second position P2 newly generates a blind spot area 702 from the space recognition device 70 .

As shown in FIG. 7(c), the terrain data synthesizing unit 30E synthesizes the first terrain data and the second terrain data to generate synthetic terrain data. In this case, the terrain included in the area 701 scanned by the space recognition device 70 attached to the excavator 100 at the second position P2 is the terrain derived from the first terrain data and the terrain derived from the second terrain data. It corresponds to a portion (non-overlapping portion) that does not overlap with the terrain to be derived. Therefore, the three-dimensional coordinates representing the non-overlapping portion (the terrain included in the region 701) included in the second terrain data are stored distinguishably as the three-dimensional coordinates forming the composite terrain data. Similarly, the terrain included in the area 702 scanned by the spatial recognition device 70 attached to the excavator 100 at the first position P1 is the terrain derived from the first terrain data and the terrain derived from the second terrain data. It corresponds to a portion (non-overlapping portion) that does not overlap with the terrain to be derived. Therefore, the three-dimensional coordinates representing the non-overlapping portion (the terrain included in the area 702) included in the first terrain data are stored distinguishably as the three-dimensional coordinates forming the composite terrain data.

In this way, the landform data synthesizing unit 30E generates the second landform data representing the landform included in the area 701 which was a blind spot from the space recognition device 70 attached to the excavator 100 at the first position P1. Terrain data can be used. Similarly, the terrain data synthesizing unit 30E uses the first terrain data as terrain data representing the terrain included in the area 702 that was a blind spot from the space recognition device 70 attached to the excavator 100 at the second position P2. data can be used. Therefore, the terrain data synthesizing unit 30E can supplement the information about the terrain included in the region 701 that is missing in the first terrain data with the information included in the second terrain data. The information about the terrain included in the area 702 where the terrain is located can be supplemented with the information included in the first terrain data. As a result, the terrain data synthesizing unit 30E can generate synthetic terrain data without lack of information.

The topographic features included in the areas 703 to 705 are the overlapping portions (overlapping portions) between the topographic data derived from the first topographic data and the topographic data derived from the second topographic data, or the portions where the topographic features are deviated from each other. corresponds to a portion (matching portion) that is less than a predetermined value. Therefore, the three-dimensional coordinates included in either the first topographical data or the second topographical data are adopted as the three-dimensional coordinates representing the matching portion, and are stored in a distinguishable manner as the three-dimensional coordinates constituting the synthetic topographical data. be. In the example shown in FIG. 7, the terrain data synthesizing unit 30E converts the three-dimensional coordinates included in either the first terrain data or the second terrain data to the three-dimensional coordinates representing the matching portion based on the density of the point cloud. Decide whether to adopt as Specifically, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates included in the terrain data with the higher point cloud density as the three-dimensional coordinates representing the matching portion. The density of the point cloud typically increases as the distance between the point cloud and the viewpoint of the spatial recognition device 70 decreases. Therefore, in the area 703, the density of the point group representing the three-dimensional coordinates included in the first topographical data is higher than the density of the point group representing the three-dimensional coordinates included in the second topographical data. Therefore, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates corresponding to the terrain in the area 703 included in the first terrain data as the three-dimensional coordinates forming the synthesized terrain data. On the other hand, in regions 704 and 705, the density of the point cloud representing the three-dimensional coordinates included in the first topographic data is lower than the density of the point cloud representing the three-dimensional coordinates included in the second topographic data. Therefore, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates corresponding to the terrain in each of the regions 704 and 705 included in the second terrain data as the three-dimensional coordinates forming the synthetic terrain data.

In this way, when the terrain data synthesizing unit 30E can select the three-dimensional coordinates included in any of the plurality of terrain data when determining the three-dimensional coordinates that make up the synthetic terrain data, the density of the point cloud is high. The three-dimensional coordinates contained in the terrain data of the other can be adopted. Therefore, the terrain data synthesizing unit 30E can adopt the three-dimensional coordinates included in the terrain data with the higher accuracy as the three-dimensional coordinates forming the synthetic terrain data. As a result, the terrain data synthesizing section 30E can improve the accuracy of the synthetic terrain data.

The area around the edge of the hole on the side closer to the space recognition device 70 attached to the excavator 100 at the first position P1 is the terrain derived from the first terrain data and the terrain derived from the second terrain data. Of the portions where the derived topography overlaps (overlapping portions), it corresponds to portions that do not match or portions that have a positional deviation greater than or equal to a predetermined value (mismatching portions). This area is set as a specific area including one or more three-dimensional coordinates based on the output of the space recognition device 70, for example. Specifically, the three-dimensional coordinates represented by the noise 710 included in the first topography data are included in a group of three-dimensional coordinates representing the topography in this specific region, and the three-dimensional coordinates included in the second topography data are It doesn't correspond to anything. That is, the three-dimensional coordinates represented by the noise 710 are such that the distance to the three-dimensional coordinates that are closest to the three-dimensional coordinates represented by the noise 710 among the three-dimensional coordinates included in the second terrain data is equal to or greater than a predetermined distance. ing. The noise 710 is assumed to be larger as this distance is larger. Therefore, the three-dimensional coordinates represented by the noise 710 are deleted without being adopted as the three-dimensional coordinates forming the synthetic landform data. In this way, the terrain data synthesizing unit 30E converts one or a plurality of three-dimensional coordinates representing the terrain in a specific area such as the area around the edge of a hole as relatively low-reliability three-dimensional coordinates to the synthesized terrain data. from the composing three-dimensional coordinates, the accuracy of the synthetic terrain data can be improved.

<Second embodiment>
Next, a method for generating terrain data of the work target area by the excavator 100 will be further described. FIG. 8 is a side view for explaining a method of generating terrain data of a work target area by the excavator 100 according to the second embodiment.

The excavator 100 according to the second embodiment includes at least two space recognition devices 70 (70F, 70A). In the example shown in FIG. 8 , a space recognition device 70F is fixed to the cabin 10 and another space recognition device 70A is fixed to the arm 5. In the example shown in FIG. In other words, the space recognition device 70A (second space recognition device) is attached at a different mounting position from the space recognition device 70F (first space recognition device). Other configurations are the same as those of the excavator 100 according to the first embodiment, and overlapping descriptions are omitted.

Although FIG. 8 shows an example in which the space recognition device 70A is attached to the arm 5, the space recognition device 70A may be attached to the boom 4 as well. Furthermore, the operator of the excavator 100 can move the space recognition device 70A by changing the posture of the attachment by raising the boom or opening the arm, or by changing the orientation of the upper swing body 3 by swinging. can be done. This allows the operator of the excavator 100 to change the viewpoint of the space recognition device 70A (second space recognition device).

The terrain data generation unit 30D of the excavator 100 generates terrain data (first terrain data) of the work target area using the space recognition device 70F. Also, the terrain data generation unit 30D of the excavator 100 generates terrain data (second terrain data) of the work target area using the space recognition device 70A. The terrain data synthesizing unit 30E of the excavator 100 synthesizes the first terrain data and the second terrain data to generate synthetic terrain data. In this case, the terrain included in the area 701 scanned by the space recognition device 70A is a portion (non-overlapping portion) where the terrain derived from the first terrain data and the terrain derived from the second terrain data do not overlap. Yes. Therefore, the three-dimensional coordinates representing the non-overlapping portion (the terrain included in the region 701) included in the second terrain data are stored distinguishably as the three-dimensional coordinates forming the composite terrain data. Similarly, the terrain included in the area 702 scanned by the space recognition device 70F is a portion (non-overlapping portion) where the terrain derived from the first terrain data and the terrain derived from the second terrain data do not overlap. Yes. Therefore, the three-dimensional coordinates representing the non-overlapping portion (the terrain included in the area 702) included in the first terrain data are stored distinguishably as the three-dimensional coordinates forming the composite terrain data.

In this way, the terrain data synthesizing unit 30E can use the second terrain data as the terrain data representing the terrain included in the area 701 that was a blind spot from the space recognition device 70F. Similarly, the terrain data synthesizing unit 30E can use the first terrain data as the terrain data representing the terrain included in the area 702 that was a blind spot from the space recognition device 70A. Therefore, the terrain data synthesizing unit 30E can supplement the information about the terrain included in the region 701 that is missing in the first terrain data with the information included in the second terrain data. The information about the terrain included in the area 702 where the terrain is located can be supplemented with the information included in the first terrain data. As a result, the terrain data synthesizing unit 30E can generate synthetic terrain data without lack of information.

The topography included in the areas 703 and 704 is a matching portion or a positional deviation among overlapping portions (overlapping portions) between the topography derived from the first topography data and the topography derived from the second topography data. corresponds to a portion (matching portion) that is less than a predetermined value. Therefore, the three-dimensional coordinates included in either the first topographical data or the second topographical data are adopted as the three-dimensional coordinates representing the matching portion, and are stored in a distinguishable manner as the three-dimensional coordinates constituting the synthetic topographical data. be. In the example shown in FIG. 8, the terrain data synthesizing unit 30E converts the three-dimensional coordinates included in either the first terrain data or the second terrain data into three-dimensional coordinates representing the matching portion based on the density of the point cloud. Decide whether to adopt as Specifically, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates included in the terrain data with the higher point cloud density as the three-dimensional coordinates representing the matching portion. The density of the point cloud typically increases as the distance between the point cloud and the viewpoint of the spatial recognition device 70 decreases. Therefore, in the area 703, the density of the point group representing the three-dimensional coordinates included in the first topographical data is higher than the density of the point group representing the three-dimensional coordinates included in the second topographical data. Therefore, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates corresponding to the terrain in the area 703 included in the first terrain data as the three-dimensional coordinates forming the synthetic terrain data. On the other hand, in the area 704, the density of the point cloud representing the three-dimensional coordinates included in the first topographic data is lower than the density of the point cloud representing the three-dimensional coordinates included in the second topographic data. Therefore, the terrain data synthesizing unit 30E adopts the three-dimensional coordinates corresponding to the terrain in the area 704 included in the second terrain data as the three-dimensional coordinates forming the synthesized terrain data.

In this way, when the terrain data synthesizing unit 30E can select the three-dimensional coordinates included in any of the plurality of terrain data when determining the three-dimensional coordinates that make up the synthetic terrain data, the density of the point cloud is high. The three-dimensional coordinates contained in the terrain data of the other can be adopted. Therefore, the terrain data synthesizing unit 30E can adopt the three-dimensional coordinates included in the terrain data with the higher accuracy as the three-dimensional coordinates forming the synthetic terrain data. As a result, the terrain data synthesizing section 30E can improve the accuracy of the synthetic terrain data.

<Third embodiment>
Next, a method for generating terrain data of the work target area by the excavator 100 will be further described. FIG. 9 is a side view for explaining a method of generating terrain data of a work target area by the excavator 100 according to the third embodiment.

The excavator 100 according to the third embodiment includes at least one space recognition device 70 (first space recognition device). Another excavator 100C includes at least one space recognition device 70C (second space recognition device). The controller 30 of the excavator 100 is communicably connected to the controller 30 of the excavator 100C via communication devices T1, T1. Thereby, the controller 30 of the excavator 100 can acquire the terrain data of the space recognition device 70C. The configuration of the other excavator 100C is the same as that of the excavator 100, and redundant description will be omitted. In this way, the excavator 100 can easily acquire the terrain data of the entire work area without moving by sharing the terrain data with the other excavators 100C and the like.

The excavator 100 moves to the first position P1. Also, the excavator 100C moves to the second position P2. The terrain data generator 30D of the excavator 100 uses the space recognition device 70 to generate terrain data (first terrain data) of the work target area at the first position P1. Also, the terrain data generation unit of the excavator 100C generates terrain data (second terrain data) of the work target area using the space recognition device 70C from the second position P2. The second terrain data is transmitted to the controller 30 of the excavator 100 via the communication devices T1, T1. The terrain data synthesizing unit 30E of the excavator 100 synthesizes the first terrain data and the second terrain data to generate synthetic terrain data. Note that the synthesizing method is the same as in the case of the first embodiment, and redundant description will be omitted.

As described above, according to the excavator 100 according to the present embodiment, even if the terrain 600 in the work target area has large irregularities, the current shape of the terrain 600 can be preferably grasped.

FIG. 10 is an example of an image displayed on the display device D1 of the excavator 100 according to this embodiment.

On the display device D1 of the excavator 100, a camera image 601 of the current work target area captured by the monocular camera (an example of the space recognition device 70) of the excavator 100 is displayed. The display image generation unit 30F generates the target design plane 610 on the displayed camera image 601 based on the information (for example, construction data) regarding the target design plane 610 and the outputs of the body tilt sensor S4, the positioning device 73, and the like. A position at which an image of is to be displayed is calculated, and a wireframe model as an image of the target design plane 610 is displayed on the display device D1. Since the image of the target design plane 610 is superimposed on the captured camera image 601, the operator of the excavator 100 can easily grasp the area where the work should be performed.

The display image generation unit 30F also changes the color of the mesh area on the surface of the wireframe model based on the synthetic landform data generated by the landform data synthesizer 30E and the information on the target design plane 610 . For example, if the surface of the current landform 600 derived from the synthetic landform data and the target design plane 610 match (including within an allowable error) in a certain mesh area, the display image generation unit 30F determines that the work has been completed. , the mesh area is displayed in green, for example. In addition, if the surface of the current landform 600 derived from the synthetic landform data is lower than the target design plane 610 in a certain mesh area, the display image generation unit 30F determines that the mesh area needs to be backfilled. For example, it is displayed in blue. In addition, if the surface of the current landform 600 derived from the synthetic landform data is higher than the target design plane 610 in a certain mesh area, the display image generation unit 30F determines that further excavation work is required, and that mesh area is displayed in red, for example. Note that FIG. 10 illustrates an example of the colored mesh region 611 with dark shading. In addition, the display image generation unit 30F may change at least one of color, shading, etc., according to the height difference between the surface of the current landform 600 derived from the synthetic landform data and the target design plane 610. As a result, the operator of the excavator 100 can easily grasp the area to be worked on and the details of the work (backfilling, excavation, etc.).

Although the embodiments and the like of the excavator 100 have been described above, the present invention is not limited to the above-described embodiments and the like, and various modifications and improvements can be made within the scope of the gist of the invention described in the claims. etc. is possible.

For example, in the first embodiment, in order to change the viewpoint of the space recognition device 70 between the generation of the first terrain data and the generation of the second terrain data, the excavator 100 is moved by the undercarriage 1 or the like. is performed, a method other than the movement of the excavator 100 by the undercarriage 1 or the like may be adopted in order to change the viewpoint of the space recognition device 70 . For example, when the space recognition device 70 is fixed to the arm 5, the operator of the excavator 100 can change the viewpoint of the space recognition device 70 by changing the posture of the excavation attachment AT.

Further, in the first embodiment, a case has been described in which the space recognition device 70 that acquires the first landform data and the space recognition device 70 that acquires the second landform data are the same space recognition device 70. The space recognition device 70 that acquires the first landform data may be a space recognition device different from the space recognition device 70 that acquires the second landform data. For example, the terrain data synthesizing unit 30E generates first terrain data based on the output of the space recognition device 70L attached to the left end of the upper surface of the upper revolving body 3 of the excavator 100 at the first position at the first time, and the second terrain data. Synthetic terrain data may be generated using the second terrain data based on the output of the space recognition device 70R attached to the upper right end of the upper revolving body 3 of the excavator 100 at the second position at the time point.

100 Excavator 1 Lower traveling body 2 Turning mechanism 3 Upper turning body 4 Boom (attachment)
5 Arm (Attachment)
6 bucket (attachment)
10 cabin 30 controller (control device)
30A position calculation unit 30B trajectory acquisition unit 30C autonomous control unit 30D terrain data generation unit 30E terrain data synthesis unit 30F display image generation unit 70 space recognition device 73 positioning device 600 terrain 601 camera image 610 target design surface 611 mesh regions 701 to 705 regions 710 noise AT drilling attachment (attachment)
D1 Display device S1 Boom angle sensor (attitude detection device)
S2 Arm angle sensor (attitude detection device)
S3 bucket angle sensor (attitude detection device)
S4 Body tilt sensor (attitude detection device)
S5 turning angular velocity sensor (posture detection device)

Claims (9)

First data acquired by a space recognition device placed at a first viewpoint, and second data acquired by a space recognition device placed at a second viewpoint different from the first viewpoint and a controller for deriving terrain based on
the first data includes data of a first terrain area visible from the first viewpoint;
The second data includes data of a second terrain area that is a blind spot from the first viewpoint due to unevenness in the first terrain area,
the first data and the second data are obtained at the same timing ;
Excavator. The first data and the second data are obtained during excavation or after each excavation work is performed.
Shovel according to claim 1 . wherein the first data and the second data are obtained when the excavator is positioned at a location where the excavation work was performed;
Shovel according to claim 1 . The second terrain area includes a side wall of the excavated hole that is a depression in the terrain after excavation, or an area that is a blind spot from the first viewpoint due to a protrusion in the terrain after excavation.
The excavator according to any one of claims 1 to 3. the space recognition device arranged at the first viewpoint is a first space recognition device fixed to the upper revolving body;
the space recognition device arranged at the second viewpoint is a second space recognition device fixed to an attachment;
The first data is obtained by the first spatial recognition device,
the second data is obtained by the second spatial recognition device;
The excavator according to any one of claims 1 to 4. the space recognition device arranged at the first viewpoint is a first space recognition device provided on the shovel;
The space recognition device arranged at the second viewpoint is a second space recognition device provided on a different excavator from the excavator,
The first data is obtained by the first spatial recognition device,
the second data is obtained by the second spatial recognition device;
The excavator according to any one of claims 1 to 4. The space recognition device is a LIDAR, acquires a point cloud using the TOF method,
The control device is
synthesizing the first data and the second data based on the density of the point cloud ;
Shovel according to any one of claims 1 to 6 . The control device is
Selecting and synthesizing one of the first data and the second data, which has a higher density of the point cloud ;
Shovel according to claim 7 . Based on first data acquired by a space recognition device placed at a first viewpoint and second data acquired by a space recognition device placed at a second viewpoint different from the first viewpoint A controller for a terrain deriving excavator, comprising:
the first data includes data of a first terrain area visible from the first viewpoint;
The second data includes data of a second terrain area that is a blind spot from the first viewpoint due to unevenness in the first terrain area,
the first data and the second data are obtained at the same timing;
Control device for excavators.

Images