CN115698440A

CN115698440A - Work support system and work support method

Info

Publication number: CN115698440A
Application number: CN202180041309.3A
Authority: CN
Inventors: 春山加苗
Original assignee: Nippon Seiki Co Ltd
Current assignee: Nippon Seiki Co Ltd
Priority date: 2020-06-11
Filing date: 2021-06-10
Publication date: 2023-02-03
Also published as: JP7207575B2; JP2022180525A; WO2021251463A1; JPWO2021251463A1

Abstract

The function of the machine guide can be simply and flexibly introduced, and the version of the function of the machine guide is further upgraded according to the requirement. A work assistance system (1) that assists an operator's work by means of a machine guidance function, comprising: sensor units (11A, 11B, 11C) that are held by movable units (4, 5, 6) of a construction machine (2) and that acquire attitude information of the movable units (4, 5, 6); a control unit (12) that collects attitude information acquired by the sensor units (11A, 11B, 11C) by data communication with the sensor units (11A, 11B, 11C); a portable information terminal device (13) that calculates the amount of movement to achieve the construction target from the attitude information collected by the control unit (12); and a notification unit (14) that notifies the operator of the construction machine (2) of the amount of movement calculated by the portable information terminal device (13) to achieve the construction target.

Description

Work support system and work support method

Technical Field

The present invention relates to a work assistance system and a work assistance method, which can be applied to, for example, a hydraulic excavator.

Background

In the prior art, a construction machine (so-called ICT construction machine) is provided in which a machine guidance function is incorporated.

Here, the machine guidance is a technique for providing information to an operator to reach a construction target value and supporting the operation of the construction machine by using a measurement technique such as a Total Station (TS) or a Global Navigation Satellite System (GNSS). According to the machine guide, the operation of the operator can be appropriately assisted, and the operation efficiency, safety and operation accuracy can be improved.

For such an ICT construction machine, patent document 1 proposes a technique for accurately grasping the inclination angle of the construction machine, and the like.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2019-105160

Disclosure of Invention

Problems to be solved by the invention

However, in the construction machine, it is desired to be able to easily and flexibly introduce the function of the machine guide and to further upgrade the version of the function of the machine guide as necessary.

However, in the construction machine of the related art, it is difficult to easily and flexibly introduce the function of the machine guide, and there is a problem that the version of the function of the machine guide is upgraded as necessary.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a work support system and a work support method that can easily and flexibly introduce a function of a machine guide and further upgrade the version of the function of the machine guide as necessary.

Means for solving the problems

In order to solve the above-described problems, the invention according to claim 1 relates to a work assistance system for assisting a work of an operator by a function of machine guidance, comprising:

a sensor unit that is held by a movable unit of a construction machine and acquires attitude information;

a control unit that collects the posture information acquired by the sensor unit through data communication with the sensor unit;

a portable information terminal device that calculates a movable amount that reaches a construction target from the attitude information collected by the control unit; and

and a notification unit configured to notify an operator of the construction machine of the movable amount to the construction target calculated by the portable information terminal device.

According to the configuration of claim 1, the portable information terminal device calculates the moving amount to the construction target, and thereby the version of the software and hardware used for the calculation processing can be easily upgraded. In addition, the sensor unit can be attached as needed, and can be replaced or added. Thus, the function of the machine guide can be easily and flexibly introduced, and the version of the function of the machine guide can be further upgraded as necessary.

In claim 2, according to the structure of claim 1,

the control section collects the attitude information through the data communication realized by the wireless communication with the sensor section.

According to the configuration of claim 2, the installation and replacement of the sensor unit can be simplified, and thus the function of the machine guide can be easily introduced into the existing work equipment, and the function of the machine guide can be further improved.

Claim 3 relates to a work assisting method for assisting a work of an operator by a function of machine guidance,

attitude information is acquired by a sensor unit held by a movable unit of the construction machine,

the portable information terminal device calculates the movable amount reaching the construction target based on the attitude information,

the calculated movable amount to the construction target is notified to an operator of the construction machine.

According to the configuration of claim 3, the portable information terminal device calculates the moving amount to the construction target, and thereby the version of the software and hardware used for the calculation processing can be easily upgraded. In addition, the sensor unit can be attached as needed, and can be replaced or added. Thus, the function of the machine guide can be easily and flexibly introduced, and the version of the function of the machine guide can be further upgraded as necessary.

Effects of the invention

According to the present invention, the function of the machine guide can be easily and flexibly introduced, and the version of the function of the machine guide can be further upgraded as necessary.

Brief description of the drawings

Fig. 1 is a diagram illustrating a work support system according to embodiment 1 of the present invention.

Fig. 2 is a block diagram of the job assistance system of fig. 1.

Fig. 3 is a plan view showing the notification unit.

Detailed Description

[ 1 st embodiment ]

Fig. 1 is a diagram illustrating a work support system 1 according to embodiment 1 of the present invention, and fig. 2 is a block diagram.

The work assistance system 1 assists the work of an operator who operates the hydraulic excavator 2 in the hydraulic excavator 2, which is a construction machine, by a function of machine guidance.

Here, in the hydraulic excavator 2, a boom 4, an arm 5, and a bucket 6 are provided in this order on a body 3 that automatically travels by a crawler. The work assist system 1 is not limited to a hydraulic excavator, and can be widely applied to various types of construction machines used for civil engineering and construction work, such as construction machines used for improving a foundation.

The work support system 1 includes

sensor units

11A, 11B, and 11C, a control unit 12, a portable information terminal device 13, and a notification unit 14.

Here, the

sensor units

11A, 11B, and 11C are provided in the boom 4, the arm 5, and the bucket 6, which are movable parts of the hydraulic excavator 2, respectively, and acquire attitude information and output the attitude information to the control unit 12. Here, the attitude information is information that can detect the attitude of each movable portion, and in this embodiment, three-dimensional acceleration and angular velocity information is applied.

Thus, as shown in fig. 2, the

sensor units

11A, 11B, and 11C are provided with three-dimensional sensors 21 capable of acquiring three-dimensional acceleration and angular velocity information. The battery 22, the controller 23, and the data communication unit 24 are provided, and the attitude information is acquired by the sensor 21 under the control of the controller 23 by operating with the electric power of the battery 22, and is transmitted to the control unit 12 by wireless communication through the data communication unit 24. In this way, by operating with the electric power of the battery 22 and transmitting the attitude information by wireless communication, the

sensor units

11A, 11B, and 11C can be easily installed at a desired installation site without specially providing cables for power supply and data communication, and the work assisting system 1 can easily introduce the function of machine guidance to the existing work equipment, thereby further improving the function of machine guidance.

More specifically, an IMU (INERTIAL MEASUREMENT UNIT) sensor is applied to the sensor 21, and BLUETOOTH (registered trademark) is applied to the wireless communication of the data communication UNIT 24. In addition, various structures capable of detecting the posture can be widely applied to the sensor 21. The

sensor units

11A, 11B, and 11C can be attached to various positions where the posture can be sufficiently detected, and may be attached only to the bucket 6 when the practicability is sufficient. In addition, various configurations capable of data communication can be widely applied to wireless communication.

The control unit 12 is provided in the main body of the hydraulic excavator 2, and collects attitude information acquired by the

sensor units

11A, 11B, and 11C by data communication with the

sensor units

11A, 11B, and 11C and outputs the attitude information to the portable information terminal device 13.

Here, the control unit 12 (fig. 2) includes the same sensor 31 as the

sensor units

11A, 11B, and 11C, a controller 33, and a data communication unit 34. The control unit 12 starts the operation in response to an instruction from the portable information terminal device 13, and starts the operation of the

sensor units

11A, 11B, and 11C under the control of the controller 33. The posture information acquired by the

sensor units

11A, 11B, and 11C is collected, the posture information is acquired by the sensor 31, and the attitude information is output to the portable information terminal device 13 via the data communication unit 34 together with the posture information acquired by the

sensor units

11A, 11B, and 11C. The notification information output from the portable information terminal device 13 is acquired via the data communication unit 34 and output to the notification unit 14.

When the control unit 12 is practically sufficient, the sensor 31 may be omitted.

The portable information terminal device 13 is a so-called smartphone or tablet terminal, and calculates the movable amount that reaches the construction target of the hydraulic excavator 2 on the basis of the attitude information acquired by the

sensor units

11A, 11B, and 11C and the attitude information acquired by the sensor 31, which are acquired via the control unit 12, by executing application software relating to the work support system 1.

More specifically, the portable information terminal device 13 includes a data communication unit 43 having a data communication function realized by wireless communication with the control unit 12 and a data communication function with a server connected to a network. The portable information terminal device 13 acquires the posture information from the control unit 12 via the data communication unit 43, and further outputs notification information to the notification unit 14 to the control unit 12. Further, the application software for the construction and version upgrade of the work support system 1 is downloaded through the data communication unit 43.

The portable information terminal device 13 records and holds the application software acquired by the data communication unit 43 in the storage unit 42 such as a nonvolatile memory. The application software of the work support system 1 held in the storage Unit 42 is executed by an arithmetic Processing Unit 41 such as a Central Processing Unit (CPU) by an operation of an operator.

Thus, the arithmetic processing unit 41 detects the inclination angle of the main body 3 based on the attitude information acquired at the reference attitude (for example, the attitude of the bucket 6 placed on the ground at the start of construction). Further, the change in the posture (movable amount) of each movable portion is calculated from the change in each posture information from the reference posture, and the current position of the bucket 6 is calculated.

The arithmetic processing unit 41 calculates the current position of the bucket 6 from the attitude information in this manner, and receives a setting of the construction start position such that the bucket 6 is placed on the ground at the time of construction start, for example. Further, the setting of the construction target is accepted so that the bucket 6 can temporarily dig into the construction target from the construction start position. The setting of the construction start position and the construction target may be received by numerical values such as the depth of excavation, and various methods can be widely applied.

The arithmetic processing unit 41 sequentially calculates the current position of the bucket 6 based on the attitude information sequentially input from the control unit 12, calculates a deviation (difference) from the construction target, and calculates the amount of movement to achieve the construction target. The notification unit 14 notifies the operator of the hydraulic excavator 2 of the calculated movable amount to the construction target via the control unit 12.

The operation processing unit 41 sequentially displays the result of calculating the movable amount to the construction target on the display unit 44 such as a liquid crystal display panel. In this case, the display may be performed in the same manner as the notification unit 14 described later.

Here, the notification unit 14 is configured to notify the operator of the amount of movement to achieve the construction target calculated by the portable information terminal device 13 at the operator's seat of the hydraulic excavator 2, and in this embodiment, is configured by a display unit of a segment system as shown in fig. 3.

That is, the notification unit 14 is formed by arranging the rectangular segments S11 to S16 and S21 to S26 in two rows L1 and L2 at regular intervals in the vertical direction. The light emission color of the segments S13, S14, S23, S24 in the center of each column L1, L2 is green, the light emission color of the segments S11, S12, S21, S22 above the segments S13, S14, S23, S24 is yellow, and the light emission color of the segments S15, S16, S25, S26 below the segments S13, S14, S23, S24 is red.

When the amount of movement to the construction target is equal to or less than a certain value, the notification unit 14 turns on the center segments S13, S14, S23, and S24. When the movable amount to the construction target is large and the bucket 6 needs to be further moved, the segments S11 or S12, S21 or S22 are turned on according to the movable amount. When the amount of movement to achieve the construction target is a negative value and the bucket 6 is moved so as to exceed the construction target, the segments S15, S16, S25, and S26 are turned on in accordance with the amount of excess to achieve the construction target.

The notification unit 14 is configured such that the intervals of the threshold values for determining the lighting of the segments S11 to S16 and S21 to S26 are set so that the segments S21 to S26 of the right column L2 are smaller than the segments S11 to S16 of the left column L1, and thus the left column L1 and the right column L2 can be used in a coarse adjustment and a fine adjustment.

The notification unit 14 may notify the amount of movement by a numerical value, or may notify the amount of movement by a sound or an alarm sound. Note that the notification unit 14 may be directly driven by the portable information terminal device 13, or the display unit 44 of the portable information terminal device 13 may also serve as the notification unit 14.

According to the above configuration, the portable information terminal device 13 calculates the amount of movement to achieve the construction target, and thus software and hardware used for the calculation processing can be easily upgraded. In addition, the

sensor units

11A, 11B, and 11C can be attached as needed, and can be replaced or added. Thus, the function of the machine guide can be easily and flexibly introduced, and the version of the function of the machine guide can be further upgraded as necessary.

Further, the job history may be recorded and stored by using the communication function of the portable information terminal device 13 held in the storage unit 42, and the job history may be used for business management and the like. Further, the posture information may be acquired by the function of the portable information terminal device 13, or the current position information, illuminance information inside and outside the vehicle, and the like may be acquired and used, whereby convenience can be further improved.

Further, by collecting the attitude information through data communication by wireless communication with the sensor unit, it is possible to simplify installation and replacement of the sensor unit, and it is possible to easily introduce the function of machine guidance to the existing work equipment, thereby further improving the function of machine guidance.

[ other embodiments ]

Although the preferred specific configurations for carrying out the present invention have been described in detail above, the configurations of the above embodiments may be variously modified in the present invention without departing from the scope of the present invention.

Description of the reference numerals

1: an operation assisting system; 2: a hydraulic excavator; 3: a main body; 4: a movable arm; 5: a bucket rod; 6: a bucket; 11A, 11B, 11C: a sensor section; 12: a control unit; 13: a portable information terminal device; 14: a notification unit; 21. 31: a sensor; 22: a battery; 23. 33: a controller; 24. 34, 43: a data communication unit; 41: an arithmetic processing unit; 42: a storage unit; 44: a display unit; s11 to S16, S21 to S26: and (6) segmenting.

Claims

1. A work assistance system that assists a work of an operator by a function of machine guidance, comprising:

a sensor unit that is held by a movable unit of a construction machine and acquires attitude information of the movable unit;

a control unit that collects the attitude information acquired by the sensor unit by data communication with the sensor unit;

a portable information terminal device for calculating a movable amount to a construction target from the attitude information collected by the control unit; and

2. A work assist system as set forth in claim 1,

3. A work support system for supporting a work of an operator by a function of machine guidance,

attitude information of a movable part of a construction machine is acquired by a sensor part held by the movable part,