DE112022003034T5 - Tax system, tax procedure and tax program - Google Patents

Abstract

A processor generates a design plane defined by a plane on a vehicle body coordinate system whose origin is a representative point of a swivel body. The processor rotates the design plane around the origin of the vehicle body coordinate system in conjunction with a swivel body. The processor specifies a position of the attachment in the vehicle body coordinate system. The processor controls the attachment depending on the specified position of the attachment and the design plane.

Description

Technical area

The present invention relates to a control system, a control method and a control program.

Priority is claimed from Japanese Patent Application No. 2021- 141 520 claimed, the contents of which are incorporated herein by reference.

State of the art

As disclosed in Patent Document 1, a technique is known that controls an attachment so that a bucket in a work machine does not move beyond a design plane having a target shape of an excavation target.

Citation list

Patent document

[Patent Document 1] Japanese Patent No. 5 654 144

Summary of the invention

Technical problem

In the technique described in Patent Document 1, a control device can recognize the position of the attachment in a global coordinate system using the GNSS, so that control of the teeth can be performed with respect to the design plane. However, it is not always possible to refer to the global coordinate system, which depends on the viewing environment of a satellite or a configuration of the work machine. For example, when the work machine is working indoors, the visibility of the satellite is poor and the GNSS cannot be used.

Therefore, it is an object of the present invention to provide a control system, a control method and a control program capable of generating a design plane for controlling an attachment without referring to a global coordinate system.

the solution of the problem

According to a first aspect of the present invention, a control system controls a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operably supported by the swing body. The control system includes a control unit. The processor generates a design plane defined by a plane in a vehicle body coordinate system whose origin is a representative point of a swing body. The processor performs a rotation conversion on the design plane about the origin of the vehicle body coordinate system in association with a swing body. The processor sets a position of the attachment in the vehicle body coordinate system. The processor controls the attachment depending on the predetermined position of the attachment and the design plane.

According to a second aspect of the present invention, a control method of a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operatively supported by the swing body includes a generation step, a rotation conversion step, a specification step, and a control step. The generation step generates a design plane defined by a plane in a vehicle body coordinate system whose origin is a representative point of the swing body. The rotation conversion step rotationally converts the design plane around the origin of the vehicle body coordinate system in association with a swing body. The specification step sets a position of the attachment in the vehicle body coordinate system. The control step controls the attachment based on the predetermined position of the attachment and the design plane.

According to a third aspect of the present invention, a control program, which is a control program executed in a computer of a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operatively supported by the swing body, executes a generation step, a rotation conversion step, a specification step, and a control step. The generation step generates a design plane defined by a plane in a vehicle body coordinate system whose origin is a representative point of the swing body. The rotation conversion step converts the design plane around the origin of the vehicle body coordinate system. tems in conjunction with a swivel body rotates.

The specification step specifies a position of the attachment in the vehicle body coordinate system. The control step controls the attachment based on the specified position of the attachment and the design plane.

Advantageous effects of the invention

According to at least one of the aspects described above, it is possible to create a design plane for controlling an attachment without referring to a global coordinate system.

Short description of the drawings

• 1 is a schematic view showing a configuration of a work machine according to a first embodiment.
• 2 is a schematic view of a drive system of the working machine according to the first embodiment.
• 3 is a schematic block diagram showing a configuration of a control device according to the first embodiment.
• 4 is a diagram showing an example of resetting a design plane according to a swing movement of a swing body in the first embodiment.
• 5 is a flowchart showing a method for setting the design level according to the first embodiment.
• 6 is a flowchart showing updating and intervention control of the design plane according to the set panning according to the first embodiment.
• 7 is a flowchart showing the design level update processing performed by the control unit according to the first embodiment.
• 8th is a diagram showing a change in the design plane before and after the movement of the working machine according to the first embodiment.
• 9 is a view showing the movement of the design plane according to the first embodiment.

Description of the embodiments

<FirstEmbodiment>

«Configuration of the working machine»

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a schematic view showing a configuration of a work machine 100 according to the first embodiment. The work machine 100 according to the first embodiment is, for example, a hydraulic excavator. The work machine 100 includes an undercarriage 120, a swing body 140, an attachment 160, an operator's cab 180, and a control device 200. The work machine 100 according to the first embodiment generates a flat design plane by an operator's operation, and is controlled so that the teeth do not exceed the design plane. Since the design plane is set in a vehicle body coordinate system, construction using the design plane can be realized even in a case where positioning by GNSS or the like is not possible, such as in a case where the work machine 100 builds a tunnel.

The undercarriage 120 supports the work machine 100 in a movable manner. The undercarriage 120 includes, for example, a pair of left and right crawler tracks.

The swivel body 140 is mounted on the undercarriage 120 so that it can swivel around a center. The swivel body 140 is an example of a vehicle body of the work machine 100.

The attachment 160 is operatively supported on the swing body 140. The attachment 160 is driven by hydraulic pressure. The work equipment 160 includes a boom 161, an arm 162, and a bucket 163 which is an attachment member. The proximal end portion of the boom 161 is rotatably attached to the swing body 140. The proximal end portion of the arm 162 is rotatably connected to the distal end portion of the boom 161. The proximal end portion of the bucket 163 is rotatably connected to the distal end portion of the arm 162. The part of the swing body 140 to which the attachment 160 is attached is referred to herein as a front portion. Moreover, in the swing body 140, a part on an opposite side, a part on a left side, and a part on a right side with respect to the front portion are referred to as a rear portion, a left portion, and a right portion.

The driver's cabin 180 is arranged at the front section of the swivel body 140. In the driver's cabin 180 there is an operating device 141 with which an operator can operate the work machine 100, and a screen device 142 which represents a human-machine interface of the control device 200. The screen 142 is implemented, for example, by a computer with a touch panel.

The control device 200 controls the undercarriage 120, the swing body 140 and the attachment 160 based on an operation of the control device by the driver. The control device 200 is arranged, for example, in the driver's cab 180.

<<Drive system of the working machine 100>>

2 is a schematic view of a drive system of the work machine 100 according to the first embodiment.

The work machine 100 includes a plurality of actuators for driving the work machine 100. Specifically, the work machine 100 includes an engine 111, a hydraulic pump 112, a control valve 113, a pair of travel motors 114, a swing motor 115, a boom cylinder 116, an arm cylinder 117, and a bucket cylinder 118.

The motor 111 is a prime mover that drives the hydraulic pump 112.

The hydraulic pump 112 is driven by the engine 111 and supplies the travel motor 114, the swing motor 115, the boom cylinder 116, the arm cylinder 117 and the bucket cylinder 118 with hydraulic oil via the control valve 113.

The control valve 113 controls the flow rate of hydraulic oil supplied from the hydraulic pump 112 to the travel motor 114, the swing motor 115, the boom cylinder 116, the arm cylinder 117 and the bucket cylinder 118.

The travel motor 114 is driven by the hydraulic oil supplied by the hydraulic pump 112 and drives the undercarriage 120.

The swing motor 115 is driven by the hydraulic oil supplied from the hydraulic pump 112 and causes the swinging of the swing body 140 with respect to the undercarriage 120.

The boom cylinder 116 is a hydraulic cylinder that drives the boom 161. The proximal end portion of the boom cylinder 116 is fixed to the swing body 140. The distal end portion of the boom cylinder 116 is fixed to the boom 161.

The arm cylinder 117 is a hydraulic cylinder for driving the arm 162. The proximal end portion of the arm cylinder 117 is attached to the boom 161. The distal end portion of the arm cylinder 117 is fixed to the arm 162.

The bucket cylinder 118 is a hydraulic cylinder for driving the bucket 163. The proximal end portion of the bucket cylinder 118 is fixed to the arm 162. The distal end portion of the bucket cylinder 118 is fixed to the bucket 163.

<<Measuring system of the working machine 100>>

The work machine 100 includes a plurality of sensors for measuring the posture and position of the work machine 100. Specifically, the work machine 100 includes an inclination measuring device 101, a swing angle sensor 102, a boom angle sensor 103, an arm angle sensor 104, and a bucket angle sensor 105.

The inclination measuring device 101 measures the attitude of the swivel body 140. The inclination measuring device 101 measures the inclination (e.g. roll angle, pitch angle and yaw angle) of the swivel body 140 with respect to a horizontal plane. An inertial measurement unit (IMU) is used as the inclination measuring device 101, for example. In this case, the inclination measuring device 101 measures the acceleration and the angular velocity of the swivel body 140 and calculates the inclination of the swivel body 140 with respect to the horizontal plane from the measurement result. The inclination measuring device 101 is mounted, for example, below the driver's cab 180. The inclination measuring device 101 outputs the attitude data of the swivel body 140, which represents a measured value, to the control device 200.

The swivel angle sensor 102 measures the swivel angle of the swivel body 140 with respect to the undercarriage 120. The measured value of the swivel angle sensor 102 indicates, for example, zero when the directions of the undercarriage 120 and the swivel body 140 match. The swivel angle sensor 102 is mounted, for example, in the center of the swivel body 140. The swivel angle sensor 102 outputs the swivel angle data, i.e. the measured value, to the control device 200.

The boom angle sensor 103 measures the angle of the boom, ie the angle of rotation of the boom 161 with respect to the swivel body 140. The boom angle sensor 103 may be an IMU attached to the boom 161. In the In this case, the boom angle sensor 103 measures the boom angle based on the inclination of the boom 161 from the horizontal plane and the inclination of the swing body measured by the inclinometer 101. For example, the measured value of the boom angle sensor 103 indicates zero when the direction of a straight line passing through the proximal end and the distal end of the boom 161 coincides with the forward/backward direction of the swing body 140. Incidentally, according to another embodiment, the boom angle sensor 103 may be a stroke sensor attached to the boom cylinder 116. Moreover, according to another embodiment, the boom angle sensor 103 may be a rotation sensor attached to a pin connecting the swing body 140 and the boom 161. The boom angle sensor 103 outputs boom angle data, that is, the measured value, to the controller 200.

The arm angle sensor 104 measures the arm angle, that is, the angle of rotation of the arm 162 with respect to the boom 161. The arm angle sensor 104 may be an IMU attached to the arm 162. In this case, the arm angle sensor 104 measures the arm angle based on the inclination of the arm 162 with respect to the horizontal plane and the boom angle measured by the boom angle sensor 103. For example, the measured value of the arm angle sensor 104 indicates zero when the direction of the straight line passing through the proximal end and the distal end of the arm 162 coincides with the direction of the straight line passing through the proximal end and the distal end of the boom 161. Incidentally, according to another embodiment, the arm angle sensor 104 may perform angle calculation by attaching a stroke sensor to the arm cylinder 117. Moreover, according to another embodiment, the arm angle sensor 104 may be a rotation sensor attached to a pin connecting the boom 161 and the arm 162. The arm angle sensor 104 outputs the arm angle data, i.e., the measured value, to the controller 200.

The bucket angle sensor 105 measures the bucket angle, that is, the rotation angle of the bucket 163 with respect to the arm 162. The bucket angle sensor 105 may be a stroke sensor provided in the bucket cylinder 118 for driving the bucket 163. In this case, the bucket angle sensor 105 measures the bucket angle based on the stroke amount of the bucket cylinder. For example, the measured value of the bucket angle sensor 105 indicates zero when the direction of the straight line through the proximal end and the teeth of the bucket 163 coincides with the direction of the straight line through the proximal end and the distal end of the arm 162. Incidentally, according to another embodiment, the bucket angle sensor 105 may be a rotation sensor attached to a bolt connecting the arm 162 and the bucket 163. Moreover, according to another embodiment, the bucket angle sensor 105 may be an IMU attached to the bucket 163. The bucket angle sensor 105 outputs the bucket angle data, i.e. the measured value, to the controller 200.

<<Configuration of the control device 200>>

3 is a schematic block diagram showing a configuration of the control device 200 according to the first embodiment.

The control device 200 is a computer including a processor 210, a main memory 230, a storage 250, and an interface 270. The control device 200 is an example of a control system. The control device 200 receives measurement values from the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104, and the bucket angle sensor 105.

The memory 250 is a non-transitory, material storage medium. Examples of possible storage media 250 are magnetic disks, optical disks, magneto-optical disks, semiconductor memories, or the like. The memory 250 can be an internal medium that is directly connected to a bus of the control device 200, or an external medium that is connected to the control device 200 via the interface 270 or a communication line. The memory 250 stores a control program for controlling the work machine 100.

The control program may implement some of the functions to be performed by the controller 200. For example, the control program may operate in combination with another program already stored in the memory 250 or in combination with another program implemented in another device. In another embodiment, the controller 200 may include, in addition to or instead of the above configuration, a custom large-scale integrated circuit (LSI) such as a programmable logic device (PLD). Examples of a PLD include a programmable array logic (PAL), a generic array logic (GAL), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA). In this case, part or all of the functions implemented by the processor may be implemented by the integrated circuit.

Geometric data are recorded in the memory 250, which indicate the dimensions and positions the centers of gravity of the slewing body 140, the boom 161, the arm 162 and the bucket 163. The geometric data is data that represents the position of an object in a given coordinate system.

<<Software configuration>>

By executing the control program, the processor 210 includes an operation amount detection unit 211, an input unit 212, a display control unit 213, a measurement value acquisition unit 214, a position determination unit 215, a generation unit 216, a rotation conversion unit 217, an engagement determination unit 218, an engagement control unit 219, a control signal output unit 220, and an update unit 221.

The operation amount detection unit 211 detects an operation signal indicating an operation amount of each actuator from the operation device 141.

The input unit 212 receives an operator input from the display device 142.

The display control unit 213 outputs the screen contents to be displayed on the display device 142 to the display device 142.

The measurement value acquisition unit 214 acquires measurement values from the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104 and the bucket angle sensor 105.

The position determination unit 215 determines the position of the teeth of the bucket 163 in the vehicle body coordinate system based on the various measurement values acquired by the measurement value acquisition unit 214 and the geometric data stored in the memory 250. The vehicle body coordinate system is a Cartesian coordinate system whose origin is a representative point of the swing body 140 (for example, a point passing through the center of the swing body). The calculation of the position determination unit 215 will be described later.

When the input unit 212 receives an instruction to generate the design plane from the operator, the generation unit 216 calculates the parameters of the design plane based on the position of the teeth of the bucket 163 determined by the position determination unit 215. The generation unit 216 stores the generated parameters of the design plane in the vehicle body coordinate system in the main memory 230.

The rotation conversion unit 217 updates the design plane parameter stored in the main memory 230 in association with the swing of the swing body 140. Specifically, the rotation conversion unit 217 converts the design plane parameter around the origin of the vehicle body coordinate system by the change amount of the pitch angle, roll angle, and yaw angle measured by the inclination measuring device 101. 4 is a diagram showing an example of resetting a design plane according to the vibration of a swing body in the first embodiment. For example, as in 4 As shown, in a case where the swing body 140 swings after the design plane is set, the rotation conversion unit 217 calculates the amount of change of the roll angle, the pitch angle, and the yaw angle caused by the swing of the swing body 140 with reference to the measurement value of the inclination measuring device 101 acquired by the measurement value acquisition unit 214, and rotationally converts the parameter of the design plane around the origin of the vehicle body coordinate system. As a result, the rotation conversion unit 217 can cancel the rotation of the design plane caused by the swing body 140.

The engagement determination unit 218 determines whether or not to limit the speed of the attachment 160 based on the positional relationship between the teeth of the bucket 163 specified by the position determination unit 215 and the design plane. Hereinafter, the speed limitation of the attachment 160 by the control device 200 is also referred to as engagement control. Specifically, the engagement determination unit 218 determines a minimum distance between the design plane and the bucket 163 and determines that the engagement control is performed on the attachment 160 in a case where the corresponding minimum distance is equal to or smaller than a predetermined distance.

When the engagement control unit 218 determines to perform the engagement control, the engagement control unit 219 controls the operation amount of the engagement target in the operation amounts detected by the operation amount detection unit 211. In the engagement control, the engagement control unit 219 controls the operation amount of the boom 161 so that the attachment 160 does not enter the control line. As a result, the boom 161 is driven so that the speed of the bucket 163 a speed according to the distance between the bucket 163 and the control line. That is, when the operator operates the arm 162 to perform excavation work, the engagement control unit 219 limits the speed of the teeth of the bucket 163 by raising the boom 161 according to the design possibility.

The control signal output unit 220 outputs the operation amount detected by the operation amount detection unit 211 or the operation amount controlled by the engagement determination unit 218 to the control valve 113.

The update unit 221 updates the design plane parameters stored in the main memory 230 in association with the travel of the work machine 100. Specifically, before and after the travel of the work machine 100, the operator operates the attachment 160 and causes the teeth of the bucket 163 to touch a certain position on the work site. The update unit 221 shifts the design plane based on a position difference between the teeth of the bucket 163 in the vehicle body coordinate system before and after the travel.

<<Calculation of positioning unit 215>>

Next, a method for determining the position of the teeth of the bucket 163 by the position determining unit 215 will be described. The position determining unit 215 determines the position of the teeth of the bucket 163 based on the various measurement values acquired by the measurement value acquisition unit 214 and the geometric data stored in the memory 250. Geometric data representing the dimensions of the swing body 140, the boom 161, the arm 162 and the bucket 163 are stored in the memory 250.

The geometric data of the swing body 140 indicates the positions (x _bm , y _{bm ,} and z _bm ) of the pin supporting the boom 161 of the swing body 140 in the vehicle body coordinate system, which is the local coordinate system. The vehicle body coordinate system is a coordinate system configured by an X _s axis extending in a forward/backward direction, a Y _sb axis extending in a right/right direction, and a Z _sb axis extending in an up/down direction, with the swing body center of the swing body 140 as a reference. Incidentally, the up/down direction of the swing body 140 does not necessarily coincide with the vertical direction.

The geometric data of the boom 161 indicates a boom tip position (x _am , y _am , and z _am ) in the boom coordinate system, which is the local coordinate system. The boom coordinate system is a coordinate system configured by an X _bm axis extending in a longitudinal direction, a Y _bm axis extending in a direction in which the bolt extends, and a Z _bm axis orthogonal to the X _bm axis and the Y _bm axis, with the position of the bolt connecting the boom 161 and the swing body 140 as a reference. The tip of the boom is the position of the bolt connecting the boom 161 and the arm 162.

The geometric data of the arm 162 indicates the arm tip position (x _bk , y _bk , and z _bk ) in the arm coordinate system, which is the local coordinate system. The arm coordinate system is a coordinate system configured by an X _am axis extending in a longitudinal direction, a Y _am axis extending in a direction in which the pin extends, and a Z _am axis orthogonal to the X _am axis and the Y _am axis, with the position of the pin connecting the arm 162 and the boom 161 as a reference. The tip of the arm is the position of the pin connecting the arm 162 and the bucket 163.

The geometric data of the bucket 163 indicates the position (x _ed , y _ed and z _ed ) of the teeth of the bucket 163 in the bucket coordinate system, which is the local coordinate system. The bucket coordinate system is a coordinate system configured by an X _bk axis extending in the direction of the teeth, a Y _bk axis extending in the direction of the pin, and a Z _bk axis orthogonal to the X _bk axis and the Y _bk axis, with the position of the pin connecting the bucket 163 and the arm 162 as a reference.

The position determination unit 215 generates a boom-vehicle body conversion matrix T ^bm _sb for conversion from the boom coordinate system to the vehicle body coordinate system by the following formula (1) based on the measured value of a boom angle θ _bm acquired by the measured value acquisition unit 214 and the geometric data of the swing body 140. The boom-vehicle body conversion matrix T ^bm _sb is a matrix that performs rotation by the boom angle θ _bm around the Y _bm axis and performs movement by a deviation (x _bm , y _bm and z _bm ) between the origin of the vehicle body coordinate system and the origin of the boom coordinate system. In addition, the position determination unit 215 determines the boom tip position in the vehicle body coordinate system, by obtaining a product of the boom tip position in the boom coordinate system specified by the geometric data of the boom 161 and the boom-vehicle body conversion matrix T ^bm _sb . $$T_{sb}^{bm}=\left[\begin{array}{cccc}\text{cos}{\theta }_{bm}& 0& \text{sin}{\theta }_{bm}& x_{bm}\\ 0& 1& 0& y_{bm}\\ -\text{sin}{\theta }_{bm}& 0& \text{cos}{\theta }_{bm}& z_{bm}\\ 0& 0& 0& 1\end{array}\right]$$

The position determination unit 215 generates an arm-boom conversion matrix T ^am _bm for converting from the arm coordinate system to the boom coordinate system by the following formula (2) based on the measured value of the arm angle θ _am acquired by the measured value acquisition unit 214 and the geometric data of the boom 161. The arm-boom conversion matrix T ^am _bm is a matrix that performs rotation by the arm angle θ _am around the Y _am axis and performs movement by a deviation (x _am , y _am and z _am ) between the origin of the boom coordinate system and the origin of the arm coordinate system. In addition, the position determination unit 215 generates an arm-vehicle body conversion matrix T ^am _sb for converting from the arm coordinate system to the vehicle body coordinate system by obtaining a product of the boom-vehicle body conversion matrix T ^bm _sb and the arm-boom conversion matrix T ^am _bm . In addition, the position determination unit 215 obtains the arm tip position in the vehicle body coordinate system by obtaining the product of the arm tip position in the arm coordinate system indicated by the geometric data of the arm 162 and the arm-vehicle body conversion matrix T ^am _sb . $$T_{bm}^{am}=\left[\begin{array}{cccc}\text{cos}{\theta }_{am}& 0& \text{sin}{\theta }_{am}& x_{am}\\ 0& 1& 0& y_{am}\\ -\text{sin}{\theta }_{am}& 0& \text{cos}{\theta }_{am}& z_{am}\\ 0& 0& 0& 1\end{array}\right]$$

The position determination unit 215 generates a bucket-arm conversion matrix T ^bk _am for converting from the bucket coordinate system to the arm coordinate system by the following formula (3) based on the measured value of a bucket angle θ _bk acquired by the measured value acquisition unit 214 and the geometric data of the arm 162. The bucket-arm conversion matrix T ^bk _am is a matrix that performs rotation by the bucket angle θ _bk around the Y _bk axis and movement by a deviation (x _bk , y _bk and z _bk ) between the origin of the arm coordinate system and the origin of the bucket coordinate system. In addition, the position determination unit 215 generates a bucket-vehicle body conversion matrix T ^bk _sb for converting from the bucket coordinate system to the vehicle body coordinate system by taking a product of the arm-vehicle body conversion matrix T ^am _sb and the bucket-arm conversion matrix T ^bk _am . $$T_{am}^{bk}=\left[\begin{array}{cccc}\text{cos}{\theta }_{bk}& 0& \text{sin}{\theta }_{bk}& x_{bk}\\ 0& 1& 0& y_{bk}\\ -\text{sin}{\theta }_{bk}& 0& \text{cos}{\theta }_{bk}& z_{bk}\\ 0& 0& 0& 1\end{array}\right]$$

The position determining unit 215 determines the position of the teeth of the bucket 163 in the vehicle body coordinate system by taking the product of the position of the teeth in the bucket coordinate system indicated by the geometric data of the bucket 163 and the bucket-vehicle body conversion matrix T ^bk _sb .

<<Control method of the working machine 100>>

Next, a control method of the work machine 100 according to the first embodiment will be described.

First, the operator of the work machine 100 operates the display device 142 and sets the design level.

<<Determination of the design level>>

5 is a flowchart showing a method for setting the design level according to the first embodiment.

When the input unit 212 receives an instruction to set the design plane from the display device 142, the display control unit 213 displays an instruction screen including a distance input field, a tilt angle input field, and a setting button on the display device 142 (step S101). On the instruction screen, instructions to move the teeth of the bucket 163 over the point where the design plane is to be set, input a distance from the teeth to the design plane in the distance input field and an inclination angle of the design plane in the inclination angle input field, and press the setting button are displayed. A distance of 0 meters, a tilt angle of 0 degrees, and a roll angle of 0 degrees are input as initial values in the distance input field and the inclination angle input field. Subsequently, the distance input in the distance input field is used as the input distance, and the inclination angle input in the inclination angle input field is used as the setting button. Input pitch angle (input pitch angle and input roll angle). The operator operates the work machine 100, sets the teeth of the bucket 163 to a desired position, and then operates the setting button. The input unit 212 receives inputs to the distance input field and the pitch angle input field and the operation of the setting button from the display device 142 (step S102). The input unit 212 acquires the values of the distance input field and the pitch angle input field at the time the setting button is operated (step S103). Incidentally, the input pitch angle is an inclination angle with the vertical direction and the front of the work machine 100 when the design plane is set as a reference. That is, the input pitch angle and the input roll angle are the inclination of the normal line of the design plane with respect to the vertical axis.

The measurement value acquisition unit 214 acquires the measurement values of the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104, and the bucket angle sensor 105 at the time the setting button is operated (step S104). The position determination unit 215 determines the position of the teeth of the bucket 163 in the vehicle body coordinate system based on the acquired measurement value (step S105).

The generation unit 216 calculates the parameters of the design plane based on the roll angle and the pitch angle (measurement roll angle and measurement pitch angle) acquired from the inclinometer 101 in step S104, the position of the teeth acquired in step S105, and the input distance and the input pitch angle acquired in step S103. The generation unit 216 obtains a vertical vector in the vehicle body coordinate system by rotating a vector in which the value of the X _sb axis is 0, the value of the Y _sb axis is 0, and the value of the Z _sb axis is 1, only by the measurement roll angle and the measurement pitch angle (step S106). The generation unit 216 obtains a position vector of the design plane by obtaining a sum of the vector indicating the position of the teeth obtained in step S104 and a depth vector obtained by multiplying the vertical vector by the distance (step S107). In addition, the generation unit 216 obtains a normal vector of the design plane based on the vertical vector and the input inclination angle (step S108). Specifically, the generation unit 216 specifies a vertical coordinate system that is a Cartesian coordinate system sharing an origin with the vehicle body coordinate system and is constituted by a Z _v axis extending in the vertical direction, an X _v axis coinciding with the X _sb axis of the vehicle body coordinate system when the measuring roll angle and the measuring pitch angle are zero, and a Y _v axis coinciding with the Y _sb axis of the vehicle body coordinate system when the measuring roll angle and the measuring pitch angle are zero. That is, the vertical coordinate system coincides with the vehicle body coordinate system when the measuring roll angle and the measuring pitch angle are zero. The generating unit 216 rotates the vertical coordinate system around the Y _v axis by an input pitch angle. In addition, the generating unit 216 rotates the vertical coordinate system around the X _v axis by an input roll angle. The generating unit 216 obtains the normal vector of the design plane in the vertical coordinate system by obtaining an outer product of a unit vector extending in the X _v axis direction of the vertical coordinate system rotated around the Y _v axis and a unit vector extending in the Y _v axis direction of the vertical coordinate system rotated around the X _v axis. The generating unit 216 obtains the normal vector of the design plane in the vehicle body coordinate system by rotating the normal vector in the vertical coordinate system only by the measuring roll angle and the measuring pitch angle.

The generation unit 216 stores the parameters (normal vector and position vector) of the generated design plane in the main memory 230 (step S109). If the parameter of the design plane is already stored in the main memory 230, the old parameter is overwritten with a new parameter.

<<Design plane update and intervention control in accordance with a panning operation>>

The work machine 100 can perform work within a range that the attachment 160 reaches by swinging the swing body 140. Therefore, an operator usually swings the work machine 100 when performing work such as excavation work. Since the vehicle body coordinate system regards the swing body 140 as a reference, the positional relationship between the design plane set in the vehicle body coordinate system and the attachment 160 does not change when the work machine 100 swings. Therefore, if the design plane is not updated while it is being set according to the above method, the design plane moves by following the swing of the swing body 140 from the perspective of the global coordinate system. For example, when a shape lation plane is generated which runs downhill as seen from the pivoting body 140, the inclination direction of the design plane as seen from the pivoting body 140 always remains directed downhill, regardless of how the pivoting body 140 is pivoted.

Therefore, the control device 200 according to the first embodiment performs rotation conversion processing of the design plane to maintain the position of the design plane in the global coordinate system before and after the swing of the work machine 100.

6 is a flowchart showing the update and intervention control of the design plane according to the panning operation set in the first embodiment. When the operator of the work machine 100 sets the design plane by operating the display device 142, the control device 200 starts the controls shown below.

The operation amount detection unit 211 detects the operation signals of the boom 161, the arm 162, the bucket 163, and the swing body 140 from the operation device 141 (step S201). The measurement value detection unit 214 detects measurement values of the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104, and the bucket angle sensor 105 (step S202).

The rotation conversion unit 217 converts and updates the design plane stored in the main memory 230 into a rotation plane based on the roll angle, pitch angle, and yaw angle of the swing body 140 detected by the inclination measuring device 101 in step S202 (step S203).

The position determination unit 215 calculates the position of the teeth of the bucket 163 in the vehicle body coordinate system based on the measurement value acquired in step S202 (step S204). The engagement determination unit 218 determines a cross section that passes through the position of the teeth calculated in step S204 and is parallel to the X _sb -Z _sb plane of the vehicle body coordinate system (step S205).

The engagement determination unit 218 calculates an intersection line between the cross section and the design plane generated in step S205 as a control line (step S206). The engagement determination unit 218 determines the distance between the teeth of the bucket 163 and the control line (step S207). The engagement determination unit 218 determines whether or not the distance between the teeth and the control line is greater than an engagement start distance (step S208). If the distance is greater than the engagement start distance (step S208: YES), the control unit 219 does not perform engagement control on the attachment 160.

On the other hand, when the shortest distance is equal to or smaller than the starting distance between the engagements (step S208: NO), the engagement control unit 219 calculates the target speed of the boom 161, the arm 162, and the bucket 163 based on the operation signals of the boom 161, the arm 162, and the bucket 163 acquired in step S201 (step S209). The engagement control unit 219 calculates the moving speed of the teeth of the bucket 163 based on the target speeds of the boom 161, the arm 162, and the bucket 163 and the geometric data (step S210).

The engagement control unit 219 sets the speed limit of the teeth of the bucket 163 based on the distance calculated in step S207 and the predetermined speed limit table (step S211). The angular speed limit table is a function indicating a relationship between the distance between the teeth and the control line and the speed limit of the teeth, and is a function in which the shorter the distance, the smaller the speed limit. The engagement control unit 219 determines whether or not the speed of the teeth calculated in step S210 exceeds the speed limit (step S212: YES), the engagement control unit 219 calculates the speed of the boom 161 to make the speed of the teeth consistent with the speed limit and sets the target speed of the boom (step S213). If the speed of the teeth does not exceed the speed limit (step S212: NO), the engagement control unit 219 does not perform engagement control of the attachment 160.

The control signal output unit 220 generates a control signal based on the target speeds of the boom 161, the arm 162 and the bucket 163 and the target angular velocity of the swing body 140, and outputs the control signal to the control valve 113 (step S214).

<< Updating the design layer in accordance with the movement >>

The construction site of the work machine 100 is generally not in an area that the attachment 160 can reach by pivoting the pivot body 140. Therefore, the operator the work machine 100 to travel and work on the construction site while moving a position of the work machine 100. Since the design plane according to the first embodiment is set in the vehicle body coordinate system, in a case where the position of the work machine 100 moves, the design plane behaves to follow the swing body 140 when viewed from the standpoint of the global coordinate system. For example, if an inclination angle θ is set on the design plane, the height of the design plane should change by tanθ per meter, but the height of the design plane does not change even though the work machine 100 moves by 1 meter.

Therefore, the control device 200 according to the first embodiment performs the 7 to maintain the position of the design plane in the global coordinate system before and after the movement of the work machine 100.

7 is a flowchart showing the design level update processing performed by the control unit according to the first embodiment.

The operator operates the display device 142 and inputs an execution command for the update processing when the work machine 100 is moved during the construction of the design plane. When the input unit 212 of the control device 200 receives an execution instruction of the update processing from the display device 142, the display control unit 213 displays a first instruction screen including the setting button on the display device 142 (step S301). On the instruction screen, the instructions to match the teeth of the bucket 163 to the target object that can be touched by the bucket 163 together before and after the movement and to operate the setting button are displayed. The operator operates the work machine 100, matches the teeth of the bucket 163 to the target object, and then operates the setting button. The input unit 212 receives the operation of the setting button from the display device 142 (step S302).

The measurement value acquisition unit 214 acquires the measurement values of the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104, and the bucket angle sensor 105 at the time (the first time) when the setting button of the first guidance screen is operated (step S303). The position determination unit 215 determines the position of the teeth of the bucket 163 in the vehicle body coordinate system based on the acquired measurement value (step S304). That is, the position determination unit 215 determines the position of the target object in the vehicle body coordinate system at the first time. The position determination unit 215 stores the specified position of the teeth in the main memory 230.

Then, the display control unit 213 displays a second instruction screen with the setting button on the display device 142 (step S305). On the instruction screen, the instructions to move the work machine 100 to a desired position, to match the teeth of the bucket 163 to the same target object, and to press the setting button are displayed. The operator operates the work machine 100 and causes the work machine 100 to travel.

While the operator is operating the work machine 100, the measurement value acquisition unit 214 acquires the measurement values of the inclination measuring device 101, the swing angle sensor 102, the boom angle sensor 103, the arm angle sensor 104, and the bucket angle sensor 105 (step S306). The update unit 221 determines whether or not the setting button has been operated (step S307). If the setting button has not been operated (step S307: NO), that is, if the movement to the desired position has not been completed, the rotation conversion unit 217 performs rotation conversion on the design plane stored in the main memory 230 based on the measurement value of the inclination measuring device 101 and updates it (step S308). Then, the control device 200 returns to step S306 and repeats the processing until the setting button is operated.

When the setting button is operated (step S307: YES), that is, when the movement to the desired position is completed, the position determination unit 215 sets the position of the teeth of the bucket 163 in the vehicle body coordinate system based on the measurement value acquired by the measurement value acquisition unit 214 (step S309). That is, the position determination unit 215 determines the position of the target object in the vehicle body coordinate system at the time (second time) when the setting button of the second guidance screen is operated.

Next, the updating unit 221 calculates a translation vector that is a difference between the position vector indicating the position of the teeth specified in step S304 and the position vector indicating the position of the teeth specified in step S309 (step S310). The updating unit 221 translates and updates the shape stored in the main memory 230. design plane using the calculated translation vector (step S311). This enables the updating unit 221 to maintain the position of the design plane in the global coordinate system before and after driving.

<< Functionality and effects >>

Next, the update of the design plane performed by the update unit 221 will be described with reference to the drawings. 8th is a diagram showing a change in the design plane before and after the movement of the work machine 100 according to the first embodiment. In the 8th In the example shown, the design plane has a pitch angle. The operator assigns the teeth of the bucket 163 to a target object tgt at a time t1 and then causes the work machine 100 to move backward by a distance L. Since a design plane s is defined in the vehicle body coordinate system, the relative positional relationship between the swing body 140 and the design plane s is maintained even though the work machine 100 moves. Therefore, from the perspective of the global coordinate system, a deviation occurs between a design plane s1 before the movement of the work machine 100 and a design plane s2 after the movement. At this time, the relative positional relationship between the position of the teeth of the bucket 163 and the swing body 140 detected at time t1 is also maintained analogously to the design plane s.

9 is a view showing the movement of the design plane according to the first embodiment. After that, at a time t2, the operator reassigns the teeth of the bucket 163 to the target object tgt. The updating unit 221 calculates a translation vector v indicating the amount of change in the position of the teeth between the position of the teeth at time t1 and the position of the teeth at time t2. The translation vector v corresponds to a movement amount of the work machine 100 as shown in FIG. 8th Therefore, the updating unit 221 updates the design plane s2 to a design plane s3 by translating the design plane s2 after the movement using the translation vector v. The design plane s3 after the movement is equal to the design plane s1 before the movement of the work machine 100, from the standpoint of the global coordinate system.

In this way, the control device 200 according to the first embodiment moves the design plane based on a difference between the position of the teeth in the vehicle body coordinate system when the teeth of the bucket 163 are positioned at a reference point (e.g., the target object) in the location at a first time and the position of the teeth when the teeth are positioned at the reference point at a second time. This enables the control device 200 to maintain the position of the design plane in the global coordinate system even though the position of the work machine 100 changes due to traveling.

Furthermore, according to the first embodiment, the control device 200 performs rotation conversion on the design plane between the first time and the second time based on the measurement value of the posture of the swing body 140. This enables the control device 200 to maintain the position of the design plane in the global coordinate system even though the posture of the work machine 100 changes due to the movement of the work machine 100. Further, in another embodiment, if the work machine 100 can always maintain the same posture, the control device 200 does not need to perform rotation conversion of the design plane. As the work machine 100 that always maintains the same posture, an example is the work machine 100 or the like that travels on a straight-shaped rail without twisting.

<Other embodiment>

The embodiments have been described in detail above with reference to the drawings; however, the specific configurations are not limited to the configurations described above, and various design changes or the like may be made. That is, in another embodiment, the order of the processing described above may be appropriately changed. Moreover, part of the processing may be executed in parallel.

The control device 200 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 200 may be arranged to be divided into a plurality of computers, and the plurality of computers may function as the control device 200 by cooperating with each other. In this case, a part of the computers constituting the control device 200 may be mounted inside the work machine 100, and another computer may be provided outside the work machine 100.

Industrial applicability

According to at least one of the aspects described above, it is possible to create a design plane for controlling an attachment without referring to a global coordinate system.

List of reference symbols

100

Working machine

101

Inclination measuring device

102

Angle sensor

103

Boom angle sensor

104

Arm angle sensor

105

Bucket angle sensor

111

engine

112

hydraulic pump

113

Control unit

114

Drive motor

115

Swivel motor

116

Boom cylinder

117

Arm cylinder

118

Bucket cylinder

120

Undercarriage

140

Swivel body

141

Actuating device

142

Screen device

160

Attachment

161

boom

162

poor

163

Spoon

180

Driver's cab

200

Control device

210

processor

211

Operation amount detection unit

212

Input unit

213

Display control unit

214

Data acquisition unit

215

Positioning unit

216

Generation unit

217

Rotation conversion unit

218

Intervention determination unit

219

Intervention control unit

220

Control signal output unit

221

Update unit

230

Main memory

250

Storage

270

interface

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• JP2021141520 [0002]
• JP5654144 [0004]

Claims (6)

A control system that controls a work machine that includes an undercarriage configured to move, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operably supported by the swing body, the control system comprising: a processor, wherein the processor generates a design plane defined by a plane on a vehicle body coordinate system whose origin is a representative point of the swing body, rotates the design plane about the origin of the vehicle body coordinate system in conjunction with a swing body, indicates a position of the attachment in the vehicle body coordinate system, and controls the attachment based on the predetermined position of the attachment and the design plane. Tax system according to Claim 1 , wherein the processor receives a measurement value from an inclination measuring device which measures the posture of the swivel body, calculates the amount of posture change caused by the swiveling of the swivel body based on the measurement value, and converts the design plane depending on the change in posture. Tax system according to Claim 1 or 2 wherein the processor moves the design plane based on a difference between a first position that is a position of the attachment in the vehicle body coordinate system when the attachment is positioned at a reference point of a location at a first time and a second position that is a position of the attachment in the vehicle body coordinate system when the attachment is positioned at the reference point at a second time. Tax system according to Claim 3 , where the first time is a point in time before the travel movement by the undercarriage, and the second time is a point in time after the travel movement by the undercarriage. A control method for a work machine having an undercarriage configured to move, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operatively supported by the swing body, the control method comprising: a step of generating a design plane defined by a plane in a vehicle body coordinate system whose origin is a representative point of the swing body; a step of rotationally converting the design plane around the origin of the vehicle body coordinate system in association with swinging of the swing body; a step of setting a position of the attachment in the vehicle body coordinate system; and a step of controlling the attachment based on the set position of the attachment and the design plane. A control program that causes a computer of a work machine having an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and an attachment configured to be operably supported by the swing body to perform the following steps: a step of generating a design plane defined by a plane in a vehicle body coordinate system whose origin is a representative point of the swing body; a step of rotationally converting the design plane about the origin of the vehicle body coordinate system in conjunction with swinging of the swing body; a step of setting a position of the attachment in the vehicle body coordinate system; and a step of controlling the attachment based on the set position of the attachment and the design plane.

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