JP2004107925A - Digging work teaching device for construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a digging work teaching device for a construction machine improving work efficiency in digging with easy grasping of a proper target digging face even in face of slop forming work in a complicated three-dimensional landform. <P>SOLUTION: A display device 46 displays a multiplicity of small planes G composing the three-dimensional target landform and an illustration of a body S of the construction machine and a bucket B of a tip digging part of a work machine as a first image plane 46a. In the fist image plane, those of the multiplicity of small planes composing the three-dimensional target landform with a normal direction in parallel with an operation plane of the work machine within a range of an allowable error are distinguishably displayed as target digging faces TG which are small planes that can be dug. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an excavation work teaching device for a construction machine such as a hydraulic excavator, and in particular, teaches a target excavation work position when performing an excavation work on a three-dimensional target terrain by operating an excavation work machine such as a bucket. The present invention relates to an excavation work teaching device for a construction machine suitable for performing
[0002]
[Prior art]
When constructing a road on a slope such as a mountain, first use a construction machine such as a hydraulic shovel or bulldozer to perform cutting or embankment work to form the necessary ground, and the surrounding ground collapses The slope is formed by using a hydraulic shovel or the like to prevent the occurrence of the slope. This slope forming operation is a highly accurate excavation forming operation, and requires skill. In particular, if excavation is carried out excessively below the target excavation surface, mere backfilling is not sufficient, and compaction must be carried out using a compactor or other machine to achieve the same strength as the ground, greatly increasing work efficiency. To decline. Therefore, the operator carefully performs a slope forming operation so as not to dug the target excavation surface too much.
[0003]
On the other hand, as a means for teaching the target excavation surface to the operator, numerical values that are targets for excavation, such as numerical values relating to the slope slope and its depth, are recorded at a number of representative positions based on the results of surveying the current topography. Install piles and boards that have been set up (towing work). The operator looks at the tent and operates the work machine of the excavator to form a target slope. However, when forming a slope on a complex terrain such as a slope such as a mountainous area, it is necessary to install a large number of target piles and boards along the complex three-dimensional terrain, which requires a great deal of surveying and installation work. Time was needed.
[0004]
Therefore, for example, as described in JP-A-2001-98585, the three-dimensional position and the direction of the work machine of a construction machine such as a hydraulic shovel are compared with the three-dimensional target terrain, and the work machine is turned. Calculates the three-dimensional intersection line between the plane of the longitudinal section passing through the direction in which you are and the three-dimensional target terrain, and displays the intersection line on the same screen with the illustration of the main unit and the work equipment on the display device installed in the cab. 2. Description of the Related Art There is known an apparatus that displays a guidance for a target excavation surface.
[0005]
Further, for example, in the 3D-MC GPS excavator of Topcon Corporation, a triangular polygon constituting a three-dimensional terrain is displayed on a touch panel type display device installed in a driver's cab, and a target excavation among the displayed triangular polygons is performed. 2. Description of the Related Art There is known a device that changes the color of a target excavation surface and displays it by directly touching and teaching a polygon corresponding to a surface on a display device.
[0006]
[Patent Document 1]
JP 2001-98585 A
[0007]
[Problems to be solved by the invention]
However, in the apparatus described in Japanese Patent Application Laid-Open No. 2001-98585, a three-dimensional intersection line between a three-dimensional target terrain and a three-dimensional target terrain passing through the direction in which the work machine is directed is calculated. By displaying the lines on the same screen with the illustration of the main unit and the work equipment on the display device installed in the cab, it is possible to know the surface to be excavated at the current position of the excavator, but the direction in which the work equipment operates If they are not oriented in the direction of the normal to the target slope, the bucket width will cut into the target plane. Therefore, when actually performing the slope forming work, it is necessary to consider the width of the working machine and to align the operating direction of the working machine to the normal direction of the target slope, and the work is complicated. There was a problem of becoming.
[0008]
In the 3D-MC GPS excavator of Topcon Co., Ltd., the angle between the working machine operating direction and the normal direction of the target slope is displayed in a separate frame on the same screen as the main body and the three-dimensional target terrain. The operator turns or runs the main body so that the angle becomes 0. However, this adjustment work is required every time the target excavation surface is set, and particularly when there are many small planes in a small area. Finally, all of them have to be taught, and the operation becomes very complicated.
[0009]
SUMMARY OF THE INVENTION An object of the present invention is to provide an excavation work teaching device for a construction machine in which a proper target excavation surface can be easily grasped and an excavation operation efficiency is improved even in a slope formation operation on complicated three-dimensional terrain. To provide.
[0010]
In the specification of the present application, the “absolute position in the three-dimensional space” is a position expressed by a coordinate system set outside the traveling construction machine. For example, a GPS is used as a three-dimensional position measuring device. The case is a position represented by a coordinate system fixed to a reference ellipsoid used as a height reference in GPS. In the present specification, the coordinate system set to the reference ellipsoid is called a global coordinate system.
[0011]
Also, the local plane rectangular coordinate system is defined by the surveying method, is a rectangular coordinate system that divides the whole of Japan into 20 regions, and regards each region as a plane, and specifies each divided region. Is a three-dimensional rectangular coordinate system having the origin at the location of. The image data of the three-dimensional target terrain in this specification is created as values in a local plane rectangular coordinate system.
[0012]
[Means for Solving the Problems]
(1) In order to achieve the above object, the present invention relates to an excavation work teaching device for a construction machine that performs an excavation operation by operating an excavation work machine to convert a three-dimensional terrain into a three-dimensional target terrain. Position measuring means for measuring a three-dimensional position of the working machine of the construction machine, and display means for displaying a positional relationship between the three-dimensional target terrain and the working machine according to a measurement result of the position measuring means, The means displays, as a first screen, an illustration of the whole or a part of the construction machine including the plurality of small planes constituting the three-dimensional target terrain, the main body of the construction machine and at least the tip of the work machine, and On the first screen, among the many small planes constituting the three-dimensional target terrain, those whose normal directions are parallel to the operating surface of the work machine within a tolerance are identified and displayed as target excavation surfaces. thing A.
Even in the case of a complicated three-dimensional terrain in which the shape of the terrain to be excavated changes as the construction machine moves, the normal direction of a large number of small planes constituting the three-dimensional target terrain is the same as the work described above. The target excavation surface is identified and displayed as a target excavation surface that is parallel to the operating surface of the machine within the allowable error range, so that the operator can easily grasp the target excavation surface according to the current position of the construction machine, and work during excavation. Efficiency can be improved.
[0013]
(2) In the above (1), preferably, the display means displays an intersection line between the operation surface of the work machine and the plurality of small planes and an illustration of the whole or a part of the construction machine on the operation surface of the work machine. Are displayed simultaneously with the first screen as a second screen which is a cross-sectional view of the above.
[0014]
(3) In the above (1), preferably, when there are a plurality of the target excavation surfaces, the display means identifies and displays an object whose normal direction is closest to the operation surface of the work machine. Like that.
[0015]
(4) In the above (1), preferably, when there are a plurality of the target excavation surfaces, the display means preferably sequentially adjusts the color tone from the one whose normal direction is a distance closest to the operation surface of the work machine. Is changed and displayed.
[0016]
(5) In the above (1), preferably, there is further provided switching means for switching the selection of the target excavation surface from the automatic setting mode to the manual setting mode, and the display means is switched to the manual setting mode by the switching means. , The small plane selected by the operator is identified and displayed.
[0017]
(6) In the above (1), preferably, the display means identifies and displays a plurality of small planes constituting the three-dimensional target terrain within a predetermined distance from the construction machine. I have.
[0018]
(7) In the above (1), preferably, the display means is such that a normal direction of a plurality of small planes constituting the three-dimensional target terrain is parallel to an operation surface of the work machine within an allowable error range. If there is no such item, a message to that effect is displayed.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an example in which the excavation work teaching device for a construction machine according to an embodiment of the present invention is applied to a hydraulic shovel will be described with reference to FIGS. 1 to 13.
[0020]
FIG. 1 is a block diagram showing a configuration of a work position measuring system using an excavation work teaching device for a construction machine according to an embodiment of the present invention.
[0021]
The work position measurement system receives radio data 41 and 42 that receive correction data (described later) from the reference station via the antennas 33 and 34, and receives the correction data received by the radio devices 41 and 42 and the GPS antennas 31 and 32. GPS receivers 43 and 44 for measuring the three-dimensional positions of the GPS antennas 31 and 32 in real time based on signals from GPS satellites to be received, position data from the GPS receivers 43 and 44, and angle sensors 21 and 22. , 23, the inclination sensor 24, the turning angle sensor 25, and other angle data, the position of the tip (monitor point) of the bucket 7 of the excavator 1 is calculated, and further indicates a three-dimensional target terrain described later. A panel computer 45 in which data is stored in a predetermined memory, and a position calculated by the panel computer 45 A display device 46 for displaying data and three-dimensional target terrain with illustrations and the like, a wireless device 47 for transmitting position data calculated by the panel computer 45 via the antenna 35, and a radio device 47 selected by the panel computer 45. And a setting device 48 for setting and instructing which of the plurality of small planes is the target excavation plane. The GPS antenna 31 and the GPS receiver 43, and the GPS antenna 32 and the GPS receiver 44 respectively constitute one set of GPS (Groba Positioning System).
[0022]
FIG. 2 is a diagram showing an external appearance of a hydraulic shovel using the excavating work teaching device for construction equipment according to the embodiment of the present invention.
[0023]
The hydraulic excavator 1 includes a lower traveling body 2, an upper revolving body 3 that is provided rotatably on the lower traveling body 2 and forms a main body together with the lower traveling body 2, and a front work machine 4 provided on the upper revolving body 3. Consists of The front work machine 4 includes a boom 5 provided on the upper swing body 3 so as to be rotatable in the vertical direction, an arm 6 provided on the tip of the boom 5 so as to be rotatable in the vertical direction, and a vertically rotated tip of the arm 6. And a bucket 7 provided so as to be capable of being driven by expanding and contracting a boom cylinder 8, an arm cylinder 9, and a bucket cylinder 10, respectively. An operator cab 11 is provided in the upper swing body 3.
[0024]
The hydraulic excavator 1 has an angle sensor 21 for detecting a rotation angle (boom angle) between the upper swing body 3 and the boom 5 and an angle sensor 22 for detecting a rotation angle (arm angle) between the boom 5 and the arm 6. An angle sensor 23 for detecting a rotation angle (bucket angle) between the arm 6 and the bucket 7; an inclination sensor 24 for detecting an inclination angle (pitch angle) of the upper revolving unit 3 in the front-rear direction; A turning angle sensor 25 that detects a rotation angle (turning angle) with the turning body 3 is provided.
[0025]
Further, the hydraulic excavator 1 transmits two GPS antennas 31 and 32 for receiving signals from GPS satellites, wireless antennas 33 and 34 for receiving correction data (described later) from a reference station, and transmits position data. A wireless antenna 35 is provided. The two GPS antennas 31 and 32 are installed on the left and right of the rear part of the revolving superstructure, which deviates from the revolving center of the upper revolving superstructure 3.
[0026]
FIG. 3 is a block diagram showing a configuration of an office system having a role as a GPS reference station.
[0027]
An office 51 that manages the position and work of the excavator 1 and the bucket 7 and the like includes a GPS antenna 52 that receives a signal from a GPS satellite, a radio antenna 53 that transmits correction data to the excavator 1, and an excavator 1. A radio antenna 54 for receiving the above-mentioned position data of the excavator 1 and the bucket 7 and the like, and the above-mentioned hydraulic excavator based on three-dimensional position data measured in advance and a signal from a GPS satellite received by the GPS antenna 52. A GPS receiver 55 as a GPS reference station for generating correction data for performing RTK (real-time kinematics) measurement by the first GPS receivers 43 and 44, and correction data generated by the GPS receiver 55 via the antenna 53. A radio 56 for transmitting, and a radio 57 for receiving position data via the antenna 54 A computer 58 for displaying and managing the positions of the excavator 1 and the bucket 7 based on the position data received by the wireless device 57 and for displaying data indicating the three-dimensional target terrain, and a position calculated by the computer 58 A display device 59 for displaying data, management data, and three-dimensional target terrain with illustrations and the like is provided. The GPS antenna 52 and the GPS receiver 55 constitute one set of GPS.
[0028]
Next, an outline of the operation of the work position measuring system according to the present embodiment will be described. In the present embodiment, in order to perform position measurement with high accuracy, RTK measurement is performed by each of the GPS receivers 43 and 44 shown in FIG. For this purpose, first, a GPS reference station 55 for generating the correction data shown in FIG. 3 is required. The GPS reference station 55 generates correction data for RTK measurement based on the position data of the antenna 52 measured three-dimensionally in advance as described above and the signal from the GPS satellite received by the antenna 52, and is generated. The corrected data is transmitted by the wireless device 56 via the antenna 53 at regular intervals.
[0029]
On the other hand, the on-vehicle GPS receivers 43 and 44 shown in FIG. 1 receive the correction data received by the radios 41 and 42 via the antennas 33 and 34 and the correction data from the GPS satellites received by the antennas 31 and 32, respectively. The three-dimensional positions of the antennas 31 and 32 are RTK-measured based on the signal. The RTK measurement measures the three-dimensional positions of the antennas 31 and 32 with an accuracy of about ± 1-2 cm. Then, the measured three-dimensional position data is input to the panel computer 45.
[0030]
Further, the pitch angle of the excavator 1 is measured by the inclination sensor 24, and the angles of the boom 5, the arm 6, and the bucket 7 are measured by the angle sensors 21 to 23, respectively, and are similarly input to the panel computer 45.
[0031]
The panel computer 25 performs a general vector operation and coordinate conversion based on the position data from the GPS receivers 43 and 44 and the angle data from the various sensors 21 to 24 to determine the three-dimensional position of the tip of the bucket 7. Calculate.
[0032]
Next, a three-dimensional position calculation process in the panel computer 45 will be described with reference to FIGS. FIG. 4 is a diagram showing a coordinate system used to calculate the absolute position of the tip of the bucket 7 in a three-dimensional space. In FIG. 4, # 0 is a global coordinate system having an origin O0 at the center of a GPS-compliant ellipsoid, and # 3 is fixed to the upper revolving superstructure 3 of the excavator 1 and has an origin O0 at an intersection between the revolving base frame and the revolving center. The shovel base coordinate system, # 0, is a bucket tip coordinate system fixed to the bucket 7 and having a center O7 at the tip of the bucket 7.
[0033]
Since the positional relationships L1, L2, L3 of the GPS antennas 31, 32 with respect to the origin O3 of the shovel base coordinate system # 3 (the intersection between the turning base frame and the turning center) are known, the GPS antennas 31, 32 in the global coordinate system # 0 are known. If the three-dimensional position and the pitch angle θ2 of the excavator 1 are known, the position and orientation of the excavator base coordinate system # 3 in the global coordinate system # 0 (direction of the upper swing body 3) can be obtained. Further, the positional relationship α3, α4 between the origin (intersection point between the turning base frame and the turning center) O3 of the shovel base coordinate system # 3 and the base end of the boom 5, and the dimensions α5, α6, α7 of the arm 5, the arm 6, and the bucket 7 If the boom angle θ5, the arm threat θ6, and the bucket angle θ7 are known, the position and orientation of the bucket tip coordinate system # 7 in the shovel base coordinate system # 3 can be obtained. Therefore, the three-dimensional positions of the GPS antennas 31, 32 obtained by the GPS receivers 43, 44 on the vehicle side are obtained as values in the global coordinate system Σ0, the pitch sensor θ2 of the hydraulic excavator 1 is obtained by the angle sensor 24, and the angle sensor By calculating the boom angle θ5, the arm angle θ6, and the bucket evenness θ7 at 21 to 23 and performing a coordinate conversion operation, the tip position of the bucket 7 can be obtained by the value of the global coordinate system Σ0.
[0034]
FIG. 5 is a diagram for explaining the concept of the global coordinate system. In FIG. 5, G is a reference ellipsoid used in GPS, and the origin O0 of the global coordinate system # 0 is set at the center of the reference ellipsoid G. The x0 axis direction of the global coordinate system Σ0 is located on a line passing through the intersection C of the equator A and the meridian B and the center of the reference ellipsoid G, and the z0 axis direction is on a line extending from the center of the reference ellipsoid G to the north and south. , And the y0 axis direction is located on a line orthogonal to the x0 axis and the z0 axis. In the GPS, the position on the earth is expressed by latitude and longitude and the height (depth) with respect to the reference ellipsoid G. By setting the global coordinate system $ 0 in this manner, the GPS position information is converted into the global coordinate system. It can be easily converted to a value of $ 0.
[0035]
FIG. 6 is a flowchart showing the three-dimensional position calculation processing procedure. In FIG. 6, first, the three-dimensional position (latitude, longitude, height) of the GPS antenna 31 obtained by the on-vehicle GPS receiver 43 is converted into a value GP1 of the global coordinate system # 0 based on the above idea (step S10). ), Since the arithmetic expression for this is generally well known, the description is omitted here. Similarly, the three-dimensional position of the GPS antenna 32 obtained by the on-board GPS receiver 44 is converted into a value GP2 of the global coordinate system # 0 (step S20). Next, the bitch angle θ2 measured by the inclination sensor 24 is input (step S30), and the three-dimensional positions GP1 and GP2 of the GPS antennas 31 and 32 in the global coordinate system Σ0 obtained in steps S10 and S20, and the pitch angle θ2 And the positional relationship L1, L2, L3 of the GPS antennas 31, 32 with respect to the origin O3 (intersection between the turning base frame and the turning center) of the shovel base coordinate system # 3 stored in the storage device. The posture (the direction of the upper revolving unit 3) is obtained by the value GPB of the global coordinate system # 0 (step S40). This calculation is coordinate transformation, and can be performed by a general mathematical method. Next, the boom angle θ5, the arm angle θ6, and the bucket angle θ7 detected by the angle sensors 21 to 23 are input, and these values and the origin of the shovel base coordinate system Σ3 stored in the storage device (the position between the turning base frame and the turning center). (Intersection) Obtain the bucket tip position BPBK in the shovel base coordinate system Σ3 from the positional relationship α3, α4 between O3 and the base end of the boom 5 and the dimensions α5, α6, α7 of the arms 5, arms 6, and the bucket 7 (step S50). . This calculation is also a coordinate transformation, and can be performed by a general mathematical method. Next, the bucket tip position GPBK in the global coordinate system # 0 is obtained from the value GPB of the shovel base coordinate system # 3 in the global coordinate system # 0 obtained in step S40 and the bucket tip position BPBK in the shovel base coordinate system # 3 obtained in step S50. Is obtained (step S60). Then, the bucket tip position GPBK in the global coordinate system # 0 is converted into a local plane rectangular coordinate system. The calculation formula for this is generally well-known, and will not be described here.
[0036]
By performing the above calculations, the absolute position of the tip end position of the bucket 7 in the three-dimensional space can be obtained.
[0037]
The obtained three-dimensional position of the bucket tip is transmitted by the wireless device 47 via the antenna 35. The transmitted position data of the tip of the bucket 7 is received by the wireless device 57 via the antenna 54 and is input to the computer 58. The computer 58 stores the input position data of the tip end of the bucket 7 and, similarly to the panel computer 25, displays a three-dimensional image of the main body of the excavator and the bucket on a monitor of the display device 59 in a predetermined memory in advance. It is displayed at the three-dimensional position on the target terrain. Thus, the work state of the excavator 1 can be managed in the office 51.
[0038]
7 to 10 show display examples of screens displayed on the display unit of the display device 46. FIG.
[0039]
FIG. 7 shows a first position display example displayed on the display unit of the display device 46. The display device 46 displays a first screen 46a and a second screen 46b. As shown in FIG. 7, the first screen 46a uses the three-dimensional position obtained by the three-dimensional position calculation processing in the panel computer 45 to display the main body S of the excavator and the bucket B, which is the tip excavation part of the working machine, as shown in FIG. The illustration is displayed at a three-dimensional position on the three-dimensional target terrain G stored in a predetermined memory in advance. Further, the target excavation surface TG taught by the excavation work teaching device of the present embodiment (the hatched surface in the figure) is displayed in a different color from the other excavation surfaces. The display screen displayed on the display device 48 can be operated to change the viewpoint arbitrarily by operating the setting device 48.
[0040]
The panel computer 45 also has a three-dimensional plane having a vertical section passing through the direction in which the bucket is facing (the plane of operation of the bucket, that is, the plane fixed to the upper revolving unit on which the bucket operates with the operation of the front work machine). The three-dimensional intersection with the target excavation plane is calculated, and the intersection, the main body S and the bucket B are displayed on the second screen 46b to inform the operator of the work situation.
[0041]
By simultaneously displaying the three-dimensional position display and the cross-sectional display, the positional relationship of the main body S and the bucket B with respect to the target excavation surface TG can be displayed intuitively.
[0042]
FIG. 8 shows a second position display example displayed on the display unit of the display device 46. On the first screen 46a, a two-dimensional image when the viewpoint is at the top is displayed. In the panel computer 25, a direction PL (a straight line when the bucket operation surface is viewed from directly above) of the bucket of the excavator that is currently facing and a normal direction of each small plane constituting the three-dimensional target terrain are set in advance. Within a certain range of error, a small plane in which the bucket operating direction PL is substantially parallel to the projection plane GL of the small plane in the normal direction to the horizontal plane is selected, and the small plane is automatically set as the target excavation plane TG. To select and display. In addition, the turning center O of the main body S of the excavator is also displayed on the screen.
[0043]
FIG. 9 shows a third position display example displayed on the display unit of the display device 46. If there is no small plane in which the bucket operation plane and the normal direction of each of the small planes forming the three-dimensional target terrain are parallel within a predetermined range of error, the panel computer 25 does not have a configuration that can be excavated. Is displayed on the second screen 46b of the display device 46. At this time, since the target excavation surface cannot be selected, the target excavation surface TG as shown in FIG. 7 is not displayed on the first screen 46a.
[0044]
FIG. 10 shows a fourth position display example displayed on the display unit of the display device 46. When there are a plurality of small planes in which the bucket operation plane and the normal direction of each of the small planes forming the three-dimensional target terrain are parallel within a predetermined range of error, the first screen 46a displays the plurality of small planes. Are displayed in different colors. At this time, the color is changed in accordance with the distance from the position of the main body, for example, by changing the color tone such as making the color of the closest constituent surface TG1 darker than the color of the farther constituent surface TG2, Whether the constituent surfaces are close or not is displayed at a glance. Here, the case where the number of the plurality of constituent surfaces is two is illustrated, but the color can be similarly changed and displayed with three or more constituent surfaces.
[0045]
FIG. 11 shows a fifth position display example displayed on the display unit of the display device 46. The display unit of the display device 46 is divided into two parts, left and right. A first screen 46a and a second screen 46b are provided on the left side, and a third screen 46c is provided on the right side. As shown in FIG. 7, an illustration of the main body S and the bucket B of the excavator is displayed on the first screen 46a using the three-dimensional position obtained by the three-dimensional position calculation processing in the panel computer 45 as shown in FIG. It is displayed at a three-dimensional position on the three-dimensional target terrain G stored in a predetermined memory in advance.
[0046]
Also, as shown in FIG. 7, the second screen 46b shows a three-dimensional intersection line between a plane of a vertical section passing through the direction of the bucket and the three-dimensional target excavation surface, the main body S and the bucket B. And are displayed.
[0047]
Further, on the third screen 46c, as in FIG. 8, a two-dimensional image when the viewpoint is on the upper side is displayed.
[0048]
FIG. 12 is an external perspective view of the setting device 48 used in the present embodiment. The setting unit 48 includes a switch 48a for turning ON / OFF the start of display on the display device 46, an automatic / manual switch 48b for switching between automatically teaching or manually setting a target excavation surface, and excavating a bucket during automatic teaching. Move to the desired excavation surface and press the switch to directly select the target excavation surface selection switch 48c, the manual setting switch 48d for manually setting the target excavation surface during manual setting, and move the viewpoint of the three-dimensional display. And a two-dimensional display switch 48f for switching the screen of the display device to the two-dimensional display viewed from above as shown in FIG. When the automatic / manual switch 48b is pressed once, for example, automatic teaching is selected, and the LED 48g is turned on. Pressing the button once more switches to manual setting, and the LED 48h is turned on.
[0049]
Next, the processing functions of the panel computer 45 as the excavation surface teaching device according to the present embodiment will be described using the flowcharts shown in FIGS.
[0050]
When displaying the illustration of the main body and the bucket of the excavator shown in FIG. 7 at the three-dimensional position on the three-dimensional target terrain stored in a predetermined memory in advance, the panel computer 45 uses the bucket of the excavator that is currently facing. A small plane whose operating plane and the normal direction of each small plane constituting the three-dimensional target terrain are parallel within a predetermined range of error is selected, and the small plane is automatically set as a target excavation plane. Select and set.
[0051]
When excavating a certain target excavation surface by operating a bucket, the bucket edge does not cut into the target excavation surface unless the perpendicular of the operation surface of the bucket and the target excavation surface are substantially parallel to each other due to the width of the bucket. It will float off the excavation surface. Accordingly, in the present invention, a small plane in which the bucket operating surface of the hydraulic shovel that is currently facing and the normal direction of each of the small planes forming the three-dimensional target terrain are parallel within a predetermined range of error, that is, By automatically selecting a surface that can be excavated in the position of the hydraulic excavator, the operation of setting the target excavation surface by the operator can be omitted.
[0052]
In FIG. 13, it is determined whether or not the automatic setting of the target excavation surface has been selected (step S90). When the automatic setting is selected by operating the automatic / manual switch 48b of the setting device 48 shown in FIG. 11, the automatic setting process is executed (step S100). Details of the automatic setting process will be described later with reference to FIG. If the manual setting has been selected, a manual setting process is executed (step S300). Details of the manual setting process will be described later with reference to FIG.
[0053]
Next, the contents of the automatic setting process of the target excavation surface will be described with reference to FIG. In FIG. 14, the panel computer 45 sets a viewpoint in three-dimensional display to an initial value (step S105). Next, it is determined whether or not the three-dimensional display start switch 48a of the setting device 48 is on (step S110). If it is on, the process proceeds to step S115. The panel computer 45 acquires the position data of the antennas 31 and 32 from the GPS receivers 43 and 44, and calculates the three-dimensional coordinates of the tip position of the bucket 7 by the method described with reference to FIGS. 4 to 6 (step S115). . Details of steps S105 and S100 are as described in steps S10 to S70 of FIG.
[0054]
Next, it is determined whether or not the joystick 48e of the setting device 48 has been operated to change the viewpoint (step S120). If the viewpoint has been changed, the viewpoint is calculated in the three-dimensional display with respect to the changed viewpoint position. (Step S125). Then, as shown in FIG. 7, the three-dimensional target terrain G, the main body S, and the bucket B are ternarily displayed on the display unit of the display device 48 (step S130).
[0055]
Next, the operation direction of the bucket is calculated (step S135). Next, a component surface of the three-dimensional target terrain having a perpendicular line within a certain range with respect to the bucket operation direction is selected (step S140). Details of the processing in step S140 will be described later with reference to FIG.
[0056]
Next, it is determined whether or not there is one or more constituent surfaces of the three-dimensional target terrain having a perpendicular line within a certain range with respect to the bucket operation direction (step S145). Select a component surface, and if there are multiple corresponding component surfaces, prioritize multiple component surfaces by distance, select the closest component surface, and change the color of the selected component surface. indicate. (Step S150).
[0057]
Next, it is determined whether or not the two-dimensional display mode has been selected as the screen display mode (step S155). When the two-dimensional display switch 48f of the operation device 48 shown in FIG. 12 is pressed, the display is performed in the two-dimensional display mode shown in FIG. 8 (step S160). Otherwise, the process proceeds to step S165.
[0058]
Then, a three-dimensional intersection line between the bucket operation direction and the selected constituent surface is calculated (step S165), and as shown in FIG. 10, the three-dimensional intersection line viewed from the side of the main body is displayed on the sub screen 46b of the display device 46. The intersection, the body S and the bucket B are displayed (step S760).
[0059]
On the other hand, when there is no target constituent surface in step S145, the fact that there is no constituent surface of the target excavation landform that can be excavated in the current posture is displayed on the display device 46 as shown in FIG. 9 (step S175).
[0060]
FIG. 15 is a flowchart showing the details of the target component plane selection process in step S140.
[0061]
In FIG. 15, first, as to a component surface within a range of a predetermined distance (for example, a distance (10 m) at which a bucket can reach and excavate) from the center of the main body, “1” to “N” are set as variables n. Number. Next, “1” is set to the variable n as an initial value (step S210). Next, the operation direction of the bucket is compared with the normal direction of the nth constituent surface An of the plurality of constituent surfaces, and it is determined whether or not both angles are within a certain range (step S220). If it is within a certain range, this constituent surface is temporarily stored in the memory as corresponding to the target constituent surface (step S230). Thereafter, the variable n is increased by one (step S240). It is determined whether or not the value of the variable n is greater than the total number N of constituent surfaces (step S250). If the value is smaller, the process returns to step S210 and repeats the processing of steps S220 to S250. The surface is defined as the corresponding configuration surface (step S260).
[0062]
Next, the contents of the manual setting processing of the target excavation surface will be described with reference to FIG. The processing contents of steps S305 to S335 and S350 to S365 are the same as the processing contents of steps S105 to S135 and S155 to S170 in FIG.
[0063]
When the operator operates the bucket tip near the target excavation surface and presses the manual selection switch 48d of the setting device 48 to directly teach the target excavation surface (step S340), the selected excavation is performed. The display color is changed using the surface as the target excavation surface (step S345).
[0064]
In the above description, as shown in FIG. 7, the normal display device 46 displays a three-dimensional intersection line between the plane of the vertical section passing through the direction of the bucket and the three-dimensional target terrain. The intersection is calculated and the main body and the bucket are displayed on the same screen on the display device. At this time, when the operator depresses the switch 48f of the setting device 48, the three-dimensional target terrain, the main body, and the bucket can be displayed on the same screen as viewed from above, as shown in FIG. That is, the operator performs the work by checking the target excavation surface by appropriately switching the display selection switch.
[0065]
After setting the target excavation surface, the operator displayed the three-dimensional intersection line between the plane of the longitudinal section passing through the direction of the bucket shown in FIG. 7 and the three-dimensional target excavation surface, and the main body and the bucket. By excavating the target excavation surface while checking the screen, it is possible to excavate accurately even on complicated three-dimensional terrain.
[0066]
When it is displayed on the display device 46 that there is no constituent surface of the target excavation landform that can be excavated in the current posture in step S175 of FIG. Is executed again by executing the process of FIG. 14 so that the bucket operation surface of the newly-exposed hydraulic shovel and the normal direction of each of the small planes constituting the three-dimensional target terrain are parallel within a predetermined range of error. Is selected and displayed. If an appropriate component surface is not selected and displayed, the operator moves the lower traveling body in an appropriate direction and further turns the upper revolving unit to select and display the target excavation surface. can do.
[0067]
The above embodiment is not limited in its details to the above example, and various modifications are possible. As an example, the bucket and the vehicle body are displayed in the above embodiment, but at least the excavation part at the tip of the bucket may be displayed to display the whole or a part of the excavator. In addition, when there are a plurality of small planes in which the bucket operation surface of the hydraulic shovel that is currently facing and the normal direction of each of the small planes forming the three-dimensional target terrain are within a predetermined range of error, A touch panel may be adopted as a teaching method of the target excavation surface, and a triangular polygon displayed on the screen directly by a finger may be designated. Also, automatically select a small plane in which the bucket operating surface of the hydraulic shovel that is currently facing and the normal direction of each small plane constituting the three-dimensional target terrain are parallel within a predetermined range of error. A mode to be set and a setting change mode switch for the operator to select and set the target excavation plane from the beginning may be provided. Further, although a goniometer for detecting a rotation angle is used as a means for detecting a relative angle between members of the front device, a stroke of a cylinder may be detected. Although the detected three-dimensional position of the tip of the bucket is transmitted to the office's computer 58, the three-dimensional position data need not be transmitted unless management on the office side is particularly necessary.
[0068]
As described above, according to the present embodiment, in a complicated three-dimensional terrain in which the terrain shape to be excavated below the bucket changes as the excavator moves and as the bucket moves. Even if the target excavation surface is taught according to the current position of the construction machine, a three-dimensional intersection line between the plane of the longitudinal section passing through the direction in which the work machine is facing and the target excavation surface is calculated. Then, since the intersection line is displayed on the same screen on the display device as the main body and the working machine, the operator can grasp the target digging surface corresponding to the current position of the construction machine, and the target digging surface displayed on the display is displayed. By operating the work machine along the target excavation surface while looking at the surface and the work machine, a three-dimensional target terrain can be excavated. Also, select a small plane in which the normal direction line of the small plane and the direction line of the working machine of the construction machine are parallel within a predetermined range of error, and set this small plane as the target excavation plane. In addition, by displaying the screen looking down from the top surface in the same screen, the operator can easily grasp which plane can be excavated at present. Therefore, it is easy to grasp the target excavation surface, and the work efficiency in actual excavation can be improved.
[0069]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, even in the slope formation operation | work in a complicated three-dimensional terrain, it is easy to grasp | ascertain the target appropriate excavation surface, and the operation efficiency at the time of excavation can be improved.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a work position measurement system using an excavation work teaching device for a construction machine according to an embodiment of the present invention.
FIG. 2 is a diagram showing an external appearance of a hydraulic shovel equipped with a work position measuring system according to one embodiment of the present invention.
FIG. 3 is a block diagram showing a configuration of an office system having a role as a GPS reference station.
FIG. 4 is a diagram illustrating a coordinate system used to calculate an absolute position of a tip of a bucket in a three-dimensional space.
FIG. 5 is a diagram illustrating an outline of a global coordinate system.
FIG. 6 is a flowchart illustrating a three-dimensional position calculation processing procedure;
FIG. 7 shows a first position display example displayed on the display unit of the display device.
FIG. 8 shows a second position display example displayed on the display unit of the display device.
FIG. 9 shows a third position display example displayed on the display unit of the display device.
FIG. 10 shows a fourth position display example displayed on the display unit of the display device.
FIG. 11 shows a fifth position display example displayed on the display unit of the display device.
FIG. 12 is an external perspective view of a setting device used in the present embodiment.
FIG. 13 is a flowchart showing processing functions of a panel computer as an excavation surface teaching device according to the present embodiment.
FIG. 14 is a flowchart showing processing functions of a panel computer as an excavation surface teaching device according to the present embodiment.
FIG. 15 is a flowchart showing processing functions of a panel computer as an excavation surface teaching device according to the present embodiment.
FIG. 16 is a flowchart showing processing functions of a panel computer as an excavation surface teaching device according to the present embodiment.
[Explanation of symbols]
1 Hydraulic excavator
2 Undercarriage
3 Upper revolving superstructure
4 Front work machine
5 Boom
6 arm
7 buckets
21-23 Angle sensor
24 Tilt sensor
25 Rotation angle sensor
31, 32, 52 GPS antenna
33, 34, 35, 53, 54, wireless antenna
41, 42, 47, 56, 57 radio
43,44,55 GPS receiver
45 Panel Computer
46,59 display device
46a First screen
46b Second screen
46c 3rd screen
48 Setting device
51 offices
58 Computer

Claims (7)

An excavation work teaching device for a construction machine that performs an excavation operation by operating an excavation work machine to convert a three-dimensional terrain into a three-dimensional target terrain.
Position measuring means for measuring a three-dimensional position of the working machine of the construction machine;
Display means for displaying the positional relationship between the three-dimensional target terrain and the work implement according to the measurement result of the position measurement means,
The display means displays, as a first screen, an illustration of a whole or a part of the construction machine including a plurality of small planes constituting the three-dimensional target terrain, and a main body of the construction machine and at least a tip end of the work machine. And, on the first screen, identify, as a target excavation plane, one of a number of small planes constituting the three-dimensional target terrain, the normal plane direction of which is parallel to the operating plane of the work machine within an allowable error range. An excavation work instruction device for a construction machine characterized by displaying. The excavation work instruction device for a construction machine according to claim 1,
The display means may include an intersection line between the operation surface of the work machine and the plurality of small planes, and an illustration of the whole or a part of the construction machine as a second screen that is a cross-sectional view of the operation surface of the work machine, An excavation work instruction device for a construction machine, which is simultaneously displayed on one screen. The excavation work instruction device for a construction machine according to claim 1,
The excavation work teaching device for a construction machine, wherein the display means, when there are a plurality of the target excavation surfaces, identifies and displays an object closest to the work machine. The excavation work instruction device for a construction machine according to claim 1,
The construction machine, wherein, when there are a plurality of the target excavation planes, the display means displays the target excavation planes by changing the color tone in order from the one whose normal direction is the closest distance to the operation plane of the work machine. Excavation work teaching device. The excavation work instruction device for a construction machine according to claim 1,
Further comprising switching means for switching the selection of the target excavation surface from the automatic setting mode to the manual setting mode,
The excavating work teaching device for a construction machine, wherein the display means identifies and displays the small plane selected by the operator when the mode is switched to the manual setting mode by the switching means. The excavation work instruction device for a construction machine according to claim 1,
The excavation work teaching device for a construction machine, wherein the display unit identifies and displays a plurality of small planes constituting the three-dimensional target terrain within a predetermined distance from the construction machine. The excavation work instruction device for a construction machine according to claim 1,
The display means, if there is no one of a large number of small planes constituting the three-dimensional target terrain whose normal direction is parallel to the operation surface of the work machine within an allowable error range, indicates so. An excavation work instruction device for a construction machine characterized by displaying.

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