JP2017115369A - Shape data creation method for attachment of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately create, with respect to many types of attachments capable of being attached to a work machine of a construction machine in a replaceable manner, the attachments' shape data to be used for monitoring positional relation between an interference prevention area and the attachments.SOLUTION: An attachment 13 attached to the tip of a work machine 10 is grounded in three types of predetermined postures; positional relations between the attachment 13 and tangent lines L1, L2, L3 of the attachment 13 in the respective postures are identified. A circle C passing through intersection points Q1, Q2 between the tangent line L2 and the tangent lines L1, L2 and a reference point P of the tip of the work machine 10 is calculated as shape data on the attachment 13.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a method for creating attachment shape data of a construction machine such as a hydraulic excavator.

  In construction machines such as hydraulic excavators, various types of attachments such as buckets, crushers, forks, grapples, magnets, breakers, and the like can be attached to the front end of a work machine composed of a boom and an arm. What can be done is generally known.

  In the construction machine, in order to prevent the attachment at the tip of the work machine from interfering with the vehicle or the like, the positional relationship between the attachment and a preset interference prevention area is monitored during operation of the work machine. When an attachment enters or is about to enter an interference prevention area, it is known to have a function for automatically performing interference prevention processing such as forcibly stopping the operation of a work machine ( For example, see Patent Document 1).

  Here, in order to perform the interference prevention process as found in Patent Document 1, it is necessary to register shape data representing the external dimensions of the attachment in the control device of the construction machine. In this case, it is possible for the operator to manually register the attachment shape data in the control device.

  However, when there are many types of attachments that can be attached to the work machine, it is troublesome to manually register the attachment shape data in the control device. Therefore, for example, in Patent Document 2, when the attachment attached to the work machine is replaced with an attachment having a size different from that of the reference attachment, a predetermined part in a state where the attachment after replacement is grounded to the ground in a predetermined posture is described. There has been proposed a technique for measuring dimension data and estimating shape data of an attachment after replacement based on a difference between the measured value and a value corresponding to a reference attachment.

JP 2014-163156 A Japanese Patent No. 3224066

  In the technique proposed in Patent Document 2, the outer shapes of the reference attachment and the attachment after replacement are similar to each other, as in the case where both the reference attachment and the replacement attachment are buckets. It is premised on what to do.

  However, among the various types of attachments that are attached to the work implement, even if the same type (used for the same work purpose), the type of variation that causes variations in the overall outer shape or part of the shape. There is also an attachment. For example, each of the crusher as an attachment, the fork, etc. has variations in shape.

  For this reason, depending on the type of attachment, even if one attachment is used as a reference attachment, attachments of other sizes often have poor shape similarity to the reference attachment. In such a case, the technique found in Patent Document 2 has a disadvantage that the shape data of the attachment after replacement cannot be estimated correctly.

  As a result, the technique shown in Patent Document 2 cannot be applied appropriately to the types of attachments having variations in shape, and has poor versatility.

  The present invention has been made in view of such a background, and the attachment used for monitoring the positional relationship between the interference prevention region and the attachment for many types of attachments that can be exchangeably attached to the work machine of the construction machine. It is an object of the present invention to provide a method that makes it possible to appropriately generate the shape data.

In order to achieve the above object, a first aspect of a construction machine attachment shape data creation method according to the present invention includes a work machine in which a plurality of types of attachments are replaceably attached to a tip portion, the work machine, and the work An attitude state detection sensor for generating a detection output corresponding to the attitude state of the attachment to the machine, and an interference for monitoring a positional relationship between the interference prevention area set in advance as an area for preventing the attachment interference and the attachment In a construction machine comprising monitoring means, the interference monitoring means creates shape data of the attachment used for monitoring the positional relationship between the interference prevention region and the attachment,
The attachment in a state in which the work implement is operated so that the posture of the attachment attached to the work implement becomes one predetermined posture among three predetermined postures determined in advance according to the type of the attachment. A first step of sequentially performing contact with the ground around the construction machine for each of the three predetermined postures;
Based on the detection output of the posture state detection sensor in a state where the attachment is in contact with the ground, for each of the three types of predetermined postures, the position of the tangent line on the ground contacting the attachment and the attachment A second step of identifying the relationship;
Based on the specified positional relationship between each of the three tangent lines corresponding to each of the three predetermined postures and the attachment, one predetermined tangent line of the three tangent lines and the other two A third step of identifying a circle passing through two intersections with each of the tangent lines and a point at the tip of the work machine, and setting the circle as shape data of the attachment;
The three types of predetermined postures are determined by the circles defined by the three tangent lines corresponding to the three types of predetermined postures depending on the operating state of the work implement to which the attachments are attached among the attachments. Thus, it is predetermined for each type of the attachment so as to include at least the entire part that can enter the interference prevention region (first invention).

  In the present invention (including inventions other than the first invention), the three “predetermined postures” of the attachment are projected onto a plane perpendicular to the swing axis of the attachment relative to the tip of the work implement. The posture of the attachment.

  The “tangential line” is a line formed by projecting the ground (attachment grounding surface) on which the attachment is grounded in the first step onto a plane perpendicular to the swing axis. It is a line.

  Further, the “ground” for grounding the attachment is a flat surface whose relative position and posture with respect to the construction machine are known in advance at the grounding point of the attachment, or at least before the processing of the second step. It is a flat surface that can specify the relative position and orientation by measurement or the like. In this case, the “flat surface” includes a surface that can be regarded as substantially flat.

  According to the first invention, by performing the processing of the first step and the second step, each of the three tangent lines in contact with the attachment attached to the distal end portion of the working machine, and the position of the attachment Relationships are identified.

  In this case, since the ground whose attachment is grounded in the first step is a flat surface whose relative position and posture with respect to the construction machine are known, based on the detection output of the posture state detection sensor, the three The positional relationship between each tangent line and the attachment can be specified.

  And by the process of the third step, two intersections of one predetermined tangent line of the three tangent lines and each of the other two tangent lines, and a point at the tip of the working machine, A circle passing through is identified.

  Here, according to various studies by the inventors of the present application, the three predetermined postures of the attachment in the first step are defined by the three tangent lines respectively corresponding to the three predetermined postures. By appropriately determining the type of the attachment so as to include at least the entire part that can enter the interference prevention region according to the operating state of the work implement to which the attachment is attached, of the attachment. Regardless of the type or variation of the shape of the attachment, the working machine to which the attachment is attached is the circle defined by the three tangent lines respectively corresponding to the three types of predetermined postures. And a circle that includes at least the entire portion that can enter the interference prevention region according to the operating state of It can be so. Moreover, it can be avoided that the circle becomes an excessively large circle with respect to the attachment.

  Therefore, in the first invention, the circle is set as the shape data of the attachment. When the shape data of the attachment is set in this way, the state in which the circle as the shape data does not enter the interference prevention region is a state in which the attachment does not enter the interference prevention region.

  Further, since the circle does not become an excessively large circle with respect to the attachment, it is determined that the attachment has entered the interference prevention region in a state where the actual attachment is sufficiently separated from the interference prevention region. It will be possible to prevent this.

  Therefore, according to the first aspect of the present invention, the attachment shape data used for monitoring the positional relationship between the interference prevention area and the attachment is appropriately obtained for many types of attachments that can be exchangeably attached to the work machine of the construction machine. Can be created.

  In the first invention, when the plane area on the side where the attachment is present is defined as the attachment-side plane area among the plane areas on both sides of the three tangent lines respectively corresponding to the three types of predetermined postures, The three types of predetermined postures are set in advance so that overlapping regions of the attachment-side planar regions corresponding to the three tangent lines are open regions including the entire attachment, Of the two tangent lines, the predetermined tangent line is preferably a tangent line passing through two vertices of the overlapping region (second invention).

  In the second invention, the “planar area on both sides” of each tangent line is a plane area in which the boundary line between the two plane areas is the tangent line (in other words, the tangent line is classified as a boundary line). Two planar regions).

  The “open region” means a region that is not a closed region (triangular region) surrounded by three tangent lines on the entire circumference.

  According to the second aspect of the present invention, the whole of the attachment or a portion of the attachment other than a portion near the tip of the working machine can be included in the circle. For this reason, as a result, the whole part of the attachment that can enter the interference prevention area according to the operating state of the work implement to which the attachment is attached is included in the circle.

  Therefore, the positional relationship between the attachment and the interference prevention region can be appropriately monitored using the circle as the attachment shape data. Further, according to the second invention, the three kinds of predetermined postures can be easily set.

  As described above, in the second invention, as a result, the entire portion of the attachment that can enter the interference prevention area according to the operating state of the work machine to which the attachment is attached is included in the circle. It can satisfy the condition that

Therefore, the construction data creation method for an attachment of a construction machine according to the present invention can employ the configuration of the second aspect described below. That is, the second aspect of the method of creating the shape data of the attachment of the construction machine according to the present invention includes a work machine in which a plurality of types of attachments are replaceably attached to the tip, and the work machine and the posture state of the attachment with respect to the work machine Construction that includes a sensor for detecting a posture state that generates a detection output according to the condition, and an interference monitoring unit that monitors a positional relationship between an interference prevention region set in advance as a region for preventing interference of the attachment and the attachment In a machine, the interference monitoring means creates shape data of the attachment used for monitoring the positional relationship between the interference prevention region and the attachment,
The attachment in a state in which the work implement is operated so that the posture of the attachment attached to the work implement becomes one predetermined posture among three predetermined postures determined in advance according to the type of the attachment. A first step of sequentially performing contact with the ground around the construction machine for each of the three predetermined postures;
Based on the detection output of the posture state detection sensor in a state where the attachment is in contact with the ground, for each of the three types of predetermined postures, the position of the tangent line on the ground contacting the attachment and the attachment A second step of identifying the relationship;
Based on the specified positional relationship between each of the three tangent lines corresponding to each of the three predetermined postures and the attachment, one predetermined tangent line of the three tangent lines and the other two A third step of identifying a circle passing through two intersections with each of the tangent lines and a point at the tip of the work machine, and setting the circle as shape data of the attachment;
When the plane area on the side where the attachment exists is defined as an attachment-side plane area among the plane areas on both sides of the three tangent lines respectively corresponding to the three kinds of predetermined attitudes, the three kinds of predetermined attitudes Is set in advance such that the overlapping region of the attachment-side planar region corresponding to each of the three tangent lines is an open region that includes the entire attachment,
Of the three tangent lines, the predetermined tangent line is a tangent line passing through two vertices of the overlapping region (third invention).

  According to the third invention, as in the first invention, the circle set as the attachment shape data in the third step is not included in the attachment regardless of the type or variation of the attachment shape. The circle may include at least the entire portion that can enter the interference prevention area in accordance with the operating state of the work implement to which the attachment is attached. Moreover, it can be avoided that the circle becomes an excessively large circle with respect to the attachment.

  For this reason, according to the third invention, as in the first invention, for monitoring the positional relationship between the interference prevention area and the attachment for many types of attachments that can be exchangeably attached to the work machine of the construction machine. The shape data of the attachment to be used can be appropriately created. In addition, the three types of predetermined postures can be easily set according to the type of attachment.

  In the first to third aspects of the invention, the first predetermined posture corresponding to the predetermined tangent line among the three types of predetermined postures has two or more grounding points of the attachment on the predetermined tangent line. The second predetermined posture different from the first predetermined posture among the three types is a portion near one end of both ends of the entire ground contact portion of the attachment in the first predetermined posture. And a third predetermined posture different from the first predetermined posture and the second predetermined posture among the three types is the attachment in the first predetermined posture. It is preferable that the attachment is brought into contact with the ground at a portion near the other end of both ends of the entire grounding portion (fourth invention).

  In the fourth aspect of the invention, the posture in which the ground point of the attachment on the predetermined tangent line is two or more includes the state where the attachment is in line contact with the predetermined tangent line.

  According to the fourth aspect of the invention, of the three predetermined postures of the attachment, the grounding state of the attachment to the ground in the predetermined posture corresponding to the predetermined tangent line having the two intersections is a highly stable state. Can be. For this reason, in the second step, the positional relationship between the predetermined tangent line and the attachment can be specified with high reliability. As a result, the reliability of the circle as the shape data of the attachment can be enhanced.

  In the fourth aspect of the invention, the attachment attached to the distal end portion of the working machine may include a bifurcated type attachment configured to be openable and closable, for example. In this case, the first predetermined posture of the three types of predetermined postures set in advance corresponding to the bifurcated attachment type is configured so that the two tips of the attachment in the open state are opened on the attachment. The second predetermined posture is a posture in which only one of the two tips of the attachment in the open state is grounded to the ground, and the third predetermined posture. The posture is preferably a posture in which only the other tip of the two tips of the attachment in the open state is in contact with the ground (fifth invention).

  According to this, for the attachment of a bifurcated shape configured to be openable and closable, for example, for attachments such as a crusher, a fork, a grapple, etc., the circle as the shape data is consistent with the size of the attachment. A circle with a large size can be set with high reliability.

  Moreover, in the said 4th invention or 5th invention, the attachment attached to the front-end | tip part of the said working machine may contain the kind of attachment which has a flat part. In this case, the first predetermined posture among the three predetermined postures set in advance corresponding to the type of attachment having the flat portion is a posture for grounding the flat portion of the attachment to the ground. The second predetermined posture is a posture in contact with the ground at a portion closer to one end of both ends of the flat portion of the attachment, and the third predetermined posture is one of the two tips of the attachment. It is preferable that the other side is in a posture to contact the ground (the sixth invention).

  According to this, for the attachment of a type having a flat portion, for example, an attachment such as a bucket or a magnet, the circle as the shape data is set to a high size circle having high consistency with the size of the attachment. Can be set with reliability.

The figure which shows the whole structure of the construction machine (hydraulic excavator) to which one Embodiment of this invention is applied. The figure which shows the structure which concerns on control of the construction machine of embodiment. The flowchart which shows the creation process of the shape data of the attachment in the construction machine of embodiment. The figure which shows the grounding state of the attachment in a 1st attitude | position among the three types of predetermined attitude | positions of the attachment (crusher) of a 1st example. The figure which shows the earthing | grounding state of the attachment in the 2nd attitude | position among the three types of predetermined attitude | positions of the attachment (crusher) of a 1st example. The figure which shows the grounding state of the attachment in the 3rd attitude | position among the 3 types of predetermined attitude | positions of the attachment (crusher) of a 1st example. Explanatory drawing regarding the creation process of the circle as shape data of the attachment (crusher) of the first example. FIGS. 8A, 8B, and 8C are views showing the grounding state of the attachment in the first posture, the second posture, and the third posture, respectively, of the three types of predetermined postures of the attachment (bucket) of the second example. Explanatory drawing regarding the creation process of the circle as shape data of the attachment (bucket) of the 2nd example. FIGS. 10A, 10B, and 10C are views showing the grounding state of the attachment in the first posture, the second posture, and the third posture, respectively, among the three types of predetermined postures of the attachment (breaker) of the third example. Explanatory drawing regarding the creation process of the circle as shape data of the attachment (breaker) of the 3rd example. The figure which shows the other example of the construction machine which can apply this invention. The figure which shows the further another example of the construction machine which can apply this invention.

  An embodiment of the present invention will be described with reference to FIGS. With reference to FIG. 1, the construction machine in this embodiment is a hydraulic excavator 1, for example. The hydraulic excavator 1 includes a crawler type traveling body 2, a vehicle body 3 that is turnably supported by the traveling body 2, and a work machine 10 that extends from the vehicle body 3.

  The vehicle body 3 includes a driver boarding unit 4 (a driver's cab in the illustrated example). The vehicle body 3 is equipped with an engine, a hydraulic pump, a hydraulic circuit, etc. (not shown).

  The work machine 10 includes a boom 11 extended from the vehicle body 3, an arm 12 extended from the tip of the boom 11, and a first hydraulic cylinder 14 (so-called actuator) that swings the boom 11 with respect to the vehicle body 3. , Boom cylinder), a second hydraulic cylinder 15 (so-called arm cylinder) which is an actuator for swinging the arm 12 with respect to the boom 11, and an attachment 13 such as a bucket attached to the tip of the arm 12 with respect to the arm 12. And a third hydraulic cylinder 16 (so-called bucket cylinder) which is an actuator for swinging.

  In this case, the boom 11 is pivotally supported on the vehicle body 3 via the swing shaft 17 so as to be swingable about the axis of the swing shaft 17 with respect to the vehicle body 3. Then, both end portions (bottom portion and rod tip portion) of the first hydraulic cylinder 14 are respectively connected to the vehicle body 3 and the rod so that the boom 11 swings with respect to the vehicle body 3 by the expansion and contraction operation of the first hydraulic cylinder 14. It is connected to each of the booms 11.

  The arm 12 is pivotally supported on the tip of the boom 11 via the swing shaft 18 so that the arm 12 can swing around the axis of the swing shaft 18 with respect to the boom 11. Then, both ends (bottom portion and rod tip portion) of the second hydraulic cylinder 15 are respectively connected to the boom 11 and the rod so that the arm 12 swings with respect to the boom 11 by the expansion / contraction operation of the second hydraulic cylinder 15. It is connected to each of the arms 12.

  Various types of attachments 13 can be attached to the distal end portion of the arm 12 which is the distal end portion of the work machine 10 in a replaceable manner. For example, an attachment such as a bucket, a crusher, a fork, a grapple, a magnet, or a breaker can be attached to the tip of the arm 12.

  1 and FIGS. 4 to 7 illustrate a crusher 13a as a first example of the attachment 13, and FIGS. 8A to 8C and FIG. 9 illustrate a bucket 13b as a second example of the attachment 13. In FIG. 10A to FIG. 10C and FIG. 11, a breaker 13c as a third example of the attachment 13 is illustrated.

  All of these attachments 13 are attached to the tip of the arm 12 in the following manner.

  That is, the attachment 13 is pivotally supported on the tip end portion of the arm 12 via the swing shaft 19 so as to swing around the axis of the swing shaft 19, and the attachment shaft 13 of the attachment 13 is supported. A side portion is connected to the arm 12 via a bendable link 20. As described above, the attachment 13 is attached to the distal end portion of the arm 12 via the swing shaft 19 and the link 20.

  Then, both end portions (bottom portion and rod tip portion) of the third hydraulic cylinder 16 are connected to the portion of the arm 12 near the boom 11 and the bent portion of the link 20 respectively. As a result, the driving force during the expansion / contraction operation of the third hydraulic cylinder 16 is transmitted to the attachment 13 via the link 20. As a result, the attachment 13 swings around the axis of the swing shaft 19 with respect to the arm 12 by the expansion and contraction of the third hydraulic cylinder 16.

  In the hydraulic excavator 1 of the present embodiment, the axis directions of the swing shaft 17 of the boom 11 with respect to the vehicle body 3, the swing shaft 18 of the arm 12 with respect to the boom 11, and the swing shaft 19 of the attachment 13 with respect to the arm 12. Is the vehicle width direction of the vehicle body 3 and is parallel to each other. 1 and FIGS. 2 to 11 show the attachment 13 and the like of the excavator 1 projected onto a plane orthogonal to the axial direction of the swing shafts 17, 18, and 19. .

  As shown in FIG. 2, the hydraulic excavator 1 according to the present embodiment includes a control device 31 that controls the operation of the hydraulic excavator 1, and the swing amount of the boom 11 relative to the vehicle body 3 (rotation about the axis of the swing shaft 17. A first rotation sensor 32 that generates a detection output corresponding to the angle), and a second rotation sensor that generates a detection output corresponding to the swing amount of the arm 12 relative to the boom 11 (the rotation angle around the axis of the swing shaft 18). 33 and a third rotation sensor 34 that generates a detection output corresponding to the swing amount of the attachment 13 relative to the arm 12 (the rotation angle around the axis of the swing shaft 19).

  The control device 31 is composed of an electronic circuit unit including a CPU, RAM, ROM, interface circuit, and the like. The control device 31 may be composed of a plurality of electronic circuit units that can communicate with each other.

  The control device 31 is a function realized by a hardware configuration or a program (software configuration) to be mounted, and shape data creation for executing arithmetic processing for creating shape data of the attachment 13 of the excavator 1 as will be described later. As an area to prevent interference between the attachment 13 attached to the distal end of the arm 12 and the attachment 13 when various operations are performed by the processing unit 41 and the excavator 1 (when the work implement 10 is activated). And an interference monitoring unit 42 that monitors the positional relationship with the set interference prevention area AR.

  The interference monitoring unit 42 corresponds to interference monitoring means in the present invention. More specifically, the interference monitoring unit 42 sequentially monitors the positional relationship between the attachment 13 and the interference prevention area AR using the created shape data of the attachment 13 when various operations are performed by the excavator 1. .

  Here, in the present embodiment, the interference prevention area AR is an area for preventing the attachment 13 from interfering with the vehicle body 3. The interference prevention area AR is an area set in advance so as to surround the vehicle body 3, for example, as shown in FIG. Data indicating the interference prevention area AR (data indicating the positional relationship of the area with respect to the vehicle body 3) is stored and held in the control device 31 in advance. The interference prevention area AR is expressed as an area viewed in an arbitrarily set coordinate system such as a vehicle body coordinate system fixed to the vehicle body 3.

  The interference monitoring unit 42 forcibly stops the operation of the hydraulic cylinders 14 to 16 of the work implement 10 when the attachment 13 indicated by the shape data enters or is likely to enter the interference prevention area AR. Alternatively, control processing such as outputting an audible or visual alarm to the driver is executed. Thereby, it is prevented that the attachment 13 interferes with the vehicle body 3 in the interference prevention area AR.

  The first rotation sensor 32, the second rotation sensor 33, and the third rotation sensor 34 correspond to the posture state detection sensor in the present invention. These rotation sensors 32 to 34 can be configured by, for example, a rotary encoder, a potentiometer, or the like. The detection outputs of these rotation sensors 32 to 34 are input to the control device 31.

  The posture state detection sensor can generate a detection output corresponding to the posture state of the work implement 10 (specifically, the posture state of the boom 11 and the arm 12) and the posture state of the attachment 13 with respect to the work implement 10. If so, a sensor other than the rotation sensors 32 to 34 may be employed. For example, a displacement sensor or the like that generates a detection output corresponding to the stroke length (the amount of expansion / contraction) of the first hydraulic cylinder 14, the second hydraulic cylinder 15, and the third hydraulic cylinder 16 may be employed as the posture state detection sensor.

  Further, the excavator 1 is further provided with an attitude determination operation unit 35 and a mode switching operation unit 36 that are appropriately operated by the driver when creating the shape data of the attachment 13.

  At the time of creating the shape data of the attachment 13, the posture determination operation unit 35 sends a signal indicating that to the control device 31 when the driver touches the attachment 13 to the ground in a predetermined posture by operating the work machine 10. It is an operation part for giving.

  The mode switching operation unit 36 is an operation mode for the excavator 1, an operation mode for normal work that is an operation mode for performing various operations by the excavator 1, and an operation mode for creating shape data of the attachment 13. This is an operation unit for setting one of the certain shape data creation modes to the control device 31.

  These operation units 35 and 36 may be configured by operation switches, touch panels, voice input units, or the like installed in the driver boarding unit 4. Then, each operation signal of the operation units 35 and 36 is input to the control device 31.

  When the hydraulic excavator 1 can be remotely controlled, a part of the function of the control device 31 or the operation units 35 and 36 may be provided in the remote control device of the hydraulic excavator 1.

  Next, a process for creating shape data of various types of attachments 13 will be described in detail. When an operation is to be performed using the attachment 13 for which shape data has not been created, a process for creating the shape data of the attachment 13 is executed before the operation.

  In this case, the attachment 13 is attached to the distal end portion of the arm 12 (the distal end portion of the work machine 10). Further, the shape data creation mode is set as the operation mode of the hydraulic excavator 1 by the operation of the mode switching operation unit 36 by the driver.

  In this state, the operation of the hydraulic excavator 1 by the driver (operation to move the work implement 10) and the operation of the posture determination operation unit 35 are executed in a predetermined procedure.

  Specifically, the driver operates the work machine 10 so that the attachment 13 for which the shape data is to be created is grounded to the ground around the excavator 1 in three predetermined postures in order. The driver turns on the posture determination operation unit 35 every time the attachment 13 is grounded in each of the three predetermined postures.

  Here, the three types of predetermined postures are determined in advance for each type of attachment 13 for which shape data is to be created (hereinafter also referred to as the target attachment 13). These three types of predetermined postures are determined so that the ground contact portions of the target attachment 13 in each posture are different from each other.

  Then, the driver recognizes three types of predetermined postures according to the type of the target attachment 13 by using a preliminarily created manual surface or the like. Or it is also possible to make a driver recognize three kinds of predetermined postures by guidance display (guidance display by a display) in a driver boarding part 4, voice guidance, etc., for example.

  In the present embodiment, the ground on which the target attachment 13 is grounded in each of three predetermined postures is a flat surface on the same or substantially the same plane as the ground contact surface of the traveling body 2 of the excavator 1. In this case, the grounding surface of the traveling body 2 and the ground on which the target attachment 13 is grounded may be inclined surfaces that are inclined with respect to the horizontal plane.

  Supplementally, the work of bringing the target attachment 13 into contact with the ground around the excavator 1 in three predetermined postures in turn corresponds to the first step in the present invention.

  As described above, the control device 31 executes the process of the shape data creation processing unit 41 in parallel with the operation of grounding the target attachment 13 in order in three kinds of predetermined postures by operating the work machine 10. . This process is executed as shown in the flowchart of FIG.

  Referring to FIG. 3, shape data creation processing unit 41 determines whether or not the operation mode is set to the shape data creation mode in STEP 1 based on the operation signal of mode switching operation unit 36.

  If the determination result in STEP 1 is negative, the shape data creation processing unit 41 continues the determination process in STEP 1. Then, when the determination result in STEP 1 becomes affirmative, the shape data creation processing unit 41 next selects the first of the three types of predetermined postures of the target attachment 13 that are sequentially realized by the operation of the work machine 10 in STEP 2. Based on the operation signal of the posture determination operation unit 35, it is determined whether or not the posture determination operation unit 35 is turned on in the first predetermined posture (hereinafter referred to as the first posture).

  If the determination result in STEP 2 is negative, the shape data creation processing unit 41 continues the determination process in STEP 2. If the determination result in STEP 2 becomes affirmative, the shape data creation processing unit 41 then makes a tangent line on the ground that touches the target attachment 13 in STEP 3 in the current posture (first posture). Processing for specifying the positional relationship between L1 and the target attachment 13 by using the detection outputs of the first to third rotation sensors 32 to 34 in the current posture (first posture) of the target attachment 13 (details will be described later) Execute).

  Next, in STEP 4, the shape data creation processing unit 41 is in the state of the second predetermined posture (hereinafter referred to as the second posture) among the three predetermined postures of the target attachment 13, and the posture determination operation unit 35 It is determined based on an operation signal from the posture determination operation unit 35 whether or not the operation has been turned on.

  If the determination result in STEP 4 is negative, the shape data creation processing unit 41 continues the determination process in STEP 4. If the determination result in STEP 4 is affirmative, then the shape data creation processing unit 41 next in STEP 5 tangent lines on the ground that touch the target attachment 13 in the current posture (second posture) of the target attachment 13. Processing for specifying the positional relationship between L2 and the target attachment 13 using the detection outputs of the first to third rotation sensors 32 to 34 in the current posture (second posture) of the target attachment 13 (details will be described later) Execute).

  Next, in STEP 6, the shape data creation processing unit 41 is in the state of the third predetermined posture (hereinafter referred to as the third posture) among the three predetermined postures of the target attachment 13, It is determined based on an operation signal from the posture determination operation unit 35 whether or not the operation has been turned on.

  If the determination result in STEP 6 is negative, the shape data creation processing unit 41 continues the determination process in STEP 6. When the determination result in STEP 6 becomes affirmative, the shape data creation processing unit 41 next in STEP 7 tangent line L3 of the ground that touches the target attachment 13 in the current posture (third posture) of the target attachment 13. For specifying the positional relationship between the target attachment 13 and the target attachment 13 using the detection outputs of the first to third rotation sensors 32 to 34 in the current posture (third posture) of the target attachment 13 (details will be described later). ).

  Note that the operation signal of the posture determination operation unit 35 used in the determination processes of STEPs 2, 4, and 6 indicates which of the three predetermined postures the posture of the grounded target attachment 13 is. The posture determination operation unit 35 may be configured to obtain.

  For example, when a camera capable of imaging the grounded target attachment 13 is mounted on the hydraulic excavator 1, the posture of the target attachment 13 at the time of grounding is any of the three predetermined postures. The control device 31 may be configured so that the control device 31 can automatically recognize whether or not there is based on the captured image of the target attachment 13.

  As shown in FIG. 1, the processing of STEPs 3, 5, and 7 is a typical example in which the target attachment 13 is a bifurcated attachment 13 a (a crusher 13 a in the illustrated example) that is configured to be openable and closable. Is specifically described below. The processing of STEPs 3, 5, and 7 is processing corresponding to the second step in the present invention.

  In the following description, any one of the first posture, the second posture, and the third posture is referred to as the i-th posture (i = 1, 2, 3) and corresponds to the i-th posture. The tangent line L1, L2, or L3 to be referred to is referred to as i-th tangent line Li (or simply tangent line Li).

  When the target attachment 13 is a bifurcated-type target attachment 13a that can be freely opened and closed, the three predetermined postures that are determined in advance corresponding to the target attachment 13a are, in the present embodiment, fully open of the target attachment 13a. In the state (or an open state close thereto), as shown in FIG. 4, a posture in which only one of the two tips 13a1 and 13a2 of the target attachment 13a is grounded to the ground, as shown in FIG. There are three types of postures: a posture in which both the tips 13a1, 13a2 are in contact with the ground, and a posture in which only the other tip 13a2 is in contact with the ground as shown in FIG.

  Here, the fully open state of the target attachment 13a is a state in which the target attachment 13a is operated so as to maximize the distance between the tips 13a1 and 13a2 of the target attachment 13a. The target attachment 13a is opened and closed by operating a hydraulic actuator (not shown) provided in the target attachment 13a by a driver's steering operation.

  Note that the above-described three kinds of predetermined postures corresponding to the bifurcated target attachment 13a are not limited to the crusher, and the same applies to forks, grapples, and the like. However, the open state of the bifurcated target attachment 13a in three types of predetermined postures may be set to an open state different from the fully open state depending on the type of the bifurcated target attachment 13a.

  Supplementally, when the control device 31 can detect the open / closed state of the bifurcated target attachment 13a based on the steering operation amount for opening / closing the bifurcated target attachment 13a, when the target attachment 13a is not in a predetermined open state, The driver may be notified visually or audibly that a predetermined open state should be realized.

  In the following description, as an example, the posture of the bifurcated target attachment 13a as shown in each of FIGS. 4, 5, and 6 is realized by the first posture, Assume that there are two postures and a third posture. In this case, the tangent lines L1, L2, and L3 respectively corresponding to the first posture, the second posture, and the third posture are as shown in FIGS. 4, 5, and 6, respectively.

  Supplementally, the second posture related to the bifurcated target attachment 13a corresponds to the first predetermined posture in the present invention, and one of the first posture and the second posture is the second predetermined posture in the present invention, The other corresponds to the third predetermined posture in the present invention.

  With reference to FIGS. 4, 5, and 6, in the present embodiment, the shape data creation processing unit 41 performs the i-th tangent line Li (i = 1, 2, 3) in each of STEPs 3, 5, and 7. ) And the target attachment 13a as data indicating the positional relationship between the predetermined reference line A and the i-th tangent line Li, and the distance between the predetermined reference point P and the i-th tangent line Li. A pair with di (distance in a direction orthogonal to the reference line A) is calculated.

  The reference line A has a fixed positional relationship (fixed positional relationship) with respect to the target attachment 13a, and the reference line A with respect to the work implement 10 regardless of the actual size, shape, or the like of the target attachment 13a. Is projected onto a predetermined line (a plane orthogonal to the axial direction of the swing shaft 19 of the attachment 13 with respect to the arm 12) so as to be specified according to the posture state of the target attachment 13a with respect to the work machine 10. Line).

  As an example of such a reference line A, in the present embodiment, for example, a line passing through a connection point of the target attachment 13a with respect to the distal end portion of the arm 12 and a connection point of the link 20 with respect to the target attachment 13a is used. More specifically, the reference line A is defined by the swing center point of the target attachment 13a with respect to the tip of the arm 12 (the axial center point of the swing shaft 19) and the swing center point of the link 20 with respect to the target attachment 13a. A line passing through two points.

  The reference point P is a point determined so that the reference point P is in a fixed positional relationship with respect to the reference line A and the target attachment 13a (the axial center direction of the swing shaft 19 of the attachment 13 with respect to the arm 12). Projected on a plane orthogonal to the point).

  As an example of such a reference point P, in the present embodiment, a connection point of the target attachment 13a with respect to the distal end portion of the arm 12 (an oscillation center point of the target attachment 13a with respect to the distal end portion of the arm 12) is used.

  In the present embodiment, the reference line A and the reference point P are the same not only for the bifurcated attachment 13 a but also for any kind of attachment 13.

  For any type of target attachment 13, regarding the polarity of the angle θi between the reference line A and the i-th tangent line Li, the intersection of the reference line A and the i-th tangent line Li is the ground of the target attachment 13. When the reference line A is inclined with respect to the i-th tangent line Li so that it exists on the side farther from the vehicle body 3 than the portion (for example, as shown in FIG. 4), the angle θi is either positive or negative When the reference line A is inclined with respect to the i-th tangent line Li so that the intersection exists on the side closer to the vehicle body 3 than the grounding portion of the target attachment 13 (for example, FIG. 5 or FIG. Angle θi in the case of 6) is defined as an angle of the other polarity of positive and negative.

  A set of the angle θi and the distance di in the i-th posture of any type of target attachment 13 is calculated as follows.

  That is, the shape data creation processing unit 41 uses the detection outputs of the first to third rotation sensors 32 to 34 in a state where the target attachment 13 is grounded in the i-th posture, and the reference for the grounding surface of the traveling body 2 is used. The inclination angle of the line A is calculated as an angle θi formed by the i-th tangent line Li and the reference line A.

  Here, the postures of the vehicle body 3 with respect to the ground contact surface of the traveling body 2 in the pitch direction (direction around the axis of the vehicle body 3 in the vehicle width direction) and the roll direction (direction around the axis in the front-rear direction of the vehicle body 3) are substantially constant. The target attachment to the ground contact surface of the traveling body 2 according to the values of the three swing amounts of the swing amount of the boom 11 relative to the vehicle body 3, the swing amount of the arm 12 relative to the boom 11, and the swing amount of the target attachment 13 relative to the arm 12. Thirteen postures are uniquely defined.

  Accordingly, the inclination angle of the reference line A with respect to the grounding surface of the traveling body 2 in a state where the target attachment 13 is grounded in an arbitrary posture on the ground (a flat surface on the same or substantially the same plane as the grounding surface of the traveling body 2) Can be calculated as a function value of the three swing amount values.

  Therefore, the shape data creation processing unit 41 detects each of the three swing amounts detected by the detection outputs of the first to third rotation sensors 32 to 34 in a state where the target attachment 13 is grounded in the i-th posture. From the above, the angle θi is calculated by an arithmetic expression created in advance (an arithmetic expression representing the functional relationship between the three swing amounts and the tilt angle).

  When the target attachment 13 is a bifurcated target attachment 13a, the angles θ1, θ2, and θ3 corresponding to the first posture, the second posture, and the third posture are as shown in FIGS. 4, 5, and 6, respectively. It becomes an angle.

  Further, the reference point P from the grounding surface of the traveling body 2 in a state where the target attachment 13 is grounded in an arbitrary posture on the ground (a flat surface on the same or substantially the same plane as the grounding surface of the traveling body 2). The height can be calculated as a function value of two swing amount values of the swing amount of the boom 11 relative to the vehicle body 3 and the swing amount of the arm 12 relative to the boom 11.

  Therefore, the shape data creation processing unit 41 detects each of the two swing amounts detected by the detection outputs of the first and second rotation sensors 32 and 33 in a state where the target attachment 13 is grounded in the i-th posture. From the above, the height hi of the reference point P from the ground contact surface of the traveling body 2 is calculated according to an arithmetic expression prepared in advance (an arithmetic expression representing a functional relationship between the two swing amounts and the height).

  When the target attachment 13 is a bifurcated target attachment 13a, the heights h1, h2, and h3 corresponding to the first posture, the second posture, and the third posture are shown in FIGS. 4, 5, and 6, respectively. It becomes such a height.

  Then, the shape data creation processing unit 41 calculates the geometric calculation of the following equation (1) from the calculated value of the height hi and the calculated value of the angle θi when the target attachment 13 is grounded in the i-th posture. To calculate the distance di.

di = hi / cos (θi) (1)

In STEPs 3, 5, and 7, as described above, a set of the angle θi and the distance di as data indicating the positional relationship between the i-th tangent line Li (i = 1, 2, 3) and the target attachment 13 is calculated. The

  Supplementally, the data indicating the positional relationship between the i-th tangent line Li (i = 1, 2, 3) and the target attachment 13, or the reference line A and the reference point P related to the data are not limited to those described above. A wide variety of aspects can be employed.

  For example, as data indicating the positional relationship between the i-th tangent line Li and the target attachment 13, a set of the angle θi and the height hi may be employed. Further, for example, another line (a line parallel to the reference line A) having a certain distance from the reference line A, or another line intersecting the reference line A at a certain angle is referred to as a reference line related to the angle θi. May be adopted. Further, for example, another point having a certain positional relationship with the reference point P (for example, away from the reference point P in the direction of the reference line A or in the direction of a predetermined angle with respect to the reference line A by a predetermined distance). May be used as a reference point for the distance di.

  Further, the reference line A and the reference point P can be varied depending on the type of the target attachment 13.

  Further, as data indicating the positional relationship between the i-th tangent line Li and the target attachment 13, for example, an equation (expressing a straight line) of the i-th tangent line Li viewed in a coordinate system arbitrarily set to the target attachment 13 is used. The value of the coefficient parameter that defines the equation) may be used.

  Returning to FIG. 3, after executing the processing up to STEP 7 as described above, the shape data creation processing unit 41 next, in STEP 8, a predetermined one of the three tangent lines L 1, L 2, L 3. The positions of two intersections Q1 and Q2 between Lx and each of the other two tangent lines are obtained.

  Here, the predetermined tangent line Lx is determined in advance for each type of the target attachment 13. For example, when the target attachment 13 is a bifurcated attachment 13a, the predetermined tangent line Lx is a posture in which both the two tips 13a1 and 13a2 of the target attachment 13a are grounded (the second line shown in FIG. 5). Is a tangent line L2 corresponding to (posture).

  In this case, as shown in FIG. 7, the tangent line L2 (Lx) corresponding to the second posture among the three tangent lines L1, L2, and L3, the tangent line L1 corresponding to the first posture, and the third posture The intersections Q1 and Q2 with the corresponding tangent lines L3 are the two intersections obtained in STEP8. Note that the two intersections Q1 and Q2 are, in other words, two vertices (corner points) of an overlapping area ORa (hatched area in FIG. 7) described later.

  In the following description, for the sake of convenience, it is assumed that a predetermined tangent line Lx with respect to any type of target attachment 13 is a tangent line L2 corresponding to the second posture of the target attachment 13. The intersection of the tangent line L2 (Lx) and the tangent line L1 is Q1, and the intersection of the tangent line L2 (Lx) and the tangent line L3 is Q2.

  In the present embodiment, the positions of the intersection points Q1 and Q2 are expressed as positions (coordinate positions) viewed in an attachment coordinate system, which is a coordinate system fixedly set with respect to the target attachment 13, for example. As an example of the attachment coordinate system, for example, as shown in FIG. 7, the reference point P is the origin, the extending direction of the reference line A is the X-axis direction (or Y-axis direction), and the direction is perpendicular to the reference line A. Can be used a biaxial orthogonal coordinate system in which Y is the Y-axis direction (or X-axis direction).

  Note that the origin of the attachment coordinate system may be a point different from the reference point P (a point having a predetermined positional relationship with the reference point P). Further, the X-axis direction (or Y-axis direction) of the attachment coordinate system may be a direction different from the extending direction of the reference line A (a predetermined angle direction with respect to the reference line A). Also, the attachment coordinate system may be a polar coordinate system, for example.

  The positions of the intersections Q1 and Q2 viewed in the attachment coordinate system can be obtained as follows, for example. That is, a linear expression representing each tangent line Li (i = 1, 2, 3) viewed in the attachment coordinate system is calculated using the angle θi and the distance di obtained corresponding to the tangent line Li. The Then, the position of the intersection point Q1 of the tangent lines L2 and L1 is calculated from the respective linear expressions of the tangent lines L2 and L1. Similarly, the position of the intersection point Q2 of the tangent lines L2 and L3 is calculated from the respective linear expressions of the tangent lines L2 and L3.

  Supplementally, the positions of the intersections Q1 and Q2 viewed in the attachment coordinate system are appropriately determined by using the detected value of the swing amount indicated by the detection output of the first to third rotation sensors 32 to 34 in another coordinate system ( For example, the coordinate conversion can be performed at a position viewed in a vehicle body coordinate system fixed to the vehicle body 3. Therefore, the coordinate system representing the positions of the intersections Q1 and Q2 may be a coordinate system other than the attachment coordinate system.

  Returning to FIG. 3, next, in STEP 9, the shape data creation processing unit 41 and the intersection point Q 1 obtained in STEP 8 and the reference point P as a representative point of the distal end portion of the work machine 10 (the distal end portion of the arm 12). , Q2, and a circle C passing through the three points is calculated. Then, the shape data creation processing unit 41 sets this circle as the shape data of the target attachment 13. Thereby, the processing of the shape data creation processing unit 41 is completed.

  Note that the processing in STEPs 8 and 9 is processing corresponding to the third step in the present invention.

  In the present embodiment, the circle C (hereinafter sometimes referred to as a shape circle C) is defined by the center position of the shape circle C and the radius of the shape circle C (or parameters that define these) as viewed in the attachment coordinate system. Represented by value. The center position (two-component coordinate position) and radius of the shape circle C can be uniquely calculated from the coordinate positions of the three points (P, Q1, and Q2) with these as unknowns.

  Thereby, the shape data of the target attachment 13 is created. For example, when the target attachment 13 is a bifurcated attachment 13a, parameter values (such as the center position and radius values) indicating the shape circle Ca shown in FIG. 7 are obtained as shape data of the attachment 13a.

  Supplementally, the representative point of the distal end portion of the work machine 10 (the distal end portion of the arm 12) as a point through which the shape circle C passes other than the intersection points Q1 and Q2 may be a point shifted from the reference point P. . For example, a point slightly shifted from the reference point P toward the arm 12 may be adopted as a point through which the shape circle C passes except at the intersections Q1 and Q2. In addition to the intersection points Q1 and Q2, the point through which the shape circle C passes (the point at the tip of the work machine 10) may be varied depending on the type of the target attachment 13.

  The details of the processing of the shape data creation processing unit 41 have been described above.

  The shape data of any type of attachment 13 created as described above by the shape data creation processing unit 41 is stored and held in a storage unit (not shown) of the control device 31.

  Alternatively, the shape data may be stored and held in a portable memory that is detachable from the control device 31, or may be stored and held in an external server that can communicate with the control device 31. Then, the created shape data of any kind of attachment 13 may be taken into the control device 31 from the portable memory or server when necessary.

  Next, specific examples of the three types of predetermined postures (first posture, second posture, and third posture) for a plurality of types of attachments 13 and setting guidelines thereof will be described in more detail.

  In the case where the target attachment 13 is the above-mentioned bifurcated target attachment 13a (such as a crusher, a fork, a grapple, etc.), as described above, the three types of predetermined postures are as described above when the target attachment 13a is fully opened. A posture (first posture) in which only one of the two tips 13a1 and 13a2 is in contact with the ground (first posture), a posture in which both the tips 13a1 and 13a2 are in contact with the ground (second posture), and the other tip 13a2 There are three types of postures: a posture (third posture) in which only the ground is touched to the ground.

  In this case, the three types of predetermined postures are postures that satisfy the following conditions.

  That is, as shown in FIG. 7, the target attachment in the planar area on both sides of the tangent line L1 corresponding to the first posture of the target attachment 13a as seen by projection onto a plane orthogonal to the axial direction of the swing shaft 19 is seen. A plane area (attachment side plane area) on the side where 13a exists, and a plane area (attachment side plane area) on the side where the target attachment 13a is present among the plane areas on both sides of the tangent line L2 corresponding to the second posture; The overlapping area ORa where the plane area (attachment side plane area) on the side where the target attachment 13a exists out of the plane areas on both sides of the tangent line L3 corresponding to the third posture is the open area hatched in FIG. It becomes an area. Three types of predetermined postures are set so that the overlapping region ORa is a region including the entire target attachment 13a.

  In addition, the two intersection points Q1 and Q2 on the shape circle Ca of the target attachment 13a are, in other words, vertices (corner points) of the overlapping region ORa.

  When three types of predetermined postures corresponding to the bifurcated target attachment 13a are set as described above, the shape circle Ca of the target attachment 13a is the target attachment 13a with respect to the bifurcated target attachment 13b of any size. Regardless of the open / closed state, the circle includes the majority of the target attachment 13a (the whole except a part near the swing shaft 19), and the area of the shape circle Ca is the actual size of the target attachment 13a. The shape circle Ca can be created so as not to be excessively large compared to the size.

  In this case, a portion of the target attachment 13a that deviates from the shape circle Ca is a portion that cannot enter the interference prevention area AR. Therefore, the shape circle Ca can be created so that the entire portion of the target attachment 13a that may enter the interference prevention area AR is included in the shape circle Ca.

  Next, examples of three types of predetermined postures when the target attachment 13 is, for example, the bucket 13b illustrated in FIGS. 8A to 8C will be described. The bucket 13b is a representative example of the type of attachment 13 having a flat portion 13b1. The flat portion 13b1 of the bucket 13b is a portion between the bottom portion 13b2 of the bucket 13b and the toe portion 13b3.

  In the present embodiment, three types of predetermined postures corresponding to this type of target attachment 13b are as follows, as shown in FIG. 8B, a posture in which the flat portion 13b1 is in contact with the ground in a surface contact state, and as shown in FIG. A posture in which only one end side portion (in the illustrated example, the bottom portion 13b2 of the bucket 13b) of both ends of the flat portion 13b1 is grounded to the ground, and as shown in FIG. 8C, both ends of the flat portion 13b1 There are three types of postures including a posture in which only the other end side portion (in the illustrated example, the toe portion 13b3 of the bucket 13b) is in contact with the ground.

  In this case, among the tangent lines corresponding to each posture, the tangent line corresponding to the predetermined tangent line Lx having the intersections Q1 and Q2 is a tangent line corresponding to the posture where the flat portion 13b1 is grounded. 8A to 8C, for the sake of convenience, the posture of the target attachment 13b in FIG. 8A, the posture of the target attachment 13b in FIG. 8B, and the posture of the target attachment 13b in FIG. 8C are respectively the first posture, the second posture, and the third posture. As postures, reference signs L1, L2 (Lx), and L3 are attached to tangent lines corresponding to the postures, respectively.

  Supplementally, the second posture related to the bucket 13b corresponds to the first predetermined posture in the present invention, and one of the first posture and the second posture is the second predetermined posture in the present invention, and the other is the present invention. This corresponds to the third predetermined posture.

  Further, as shown in FIG. 9, the target attachment in the planar areas on both sides of the tangent line L1 corresponding to the first posture of the target attachment 13b as seen by projection onto a plane orthogonal to the axial direction of the swing shaft 19 is seen. A plane area (attachment side plane area) on the side where 13b exists, and a plane area (attachment side plane area) on the side where the target attachment 13b exists among the plane areas on both sides of the tangent line L2 corresponding to the second posture; The overlapping area ORb, which overlaps with the plane area on the side where the target attachment 13b exists (attachment side plane area) among the plane areas on both sides of the tangent line L3 corresponding to the third posture, is shown in FIG. It becomes an area.

  As in the case of the bifurcated target attachment 13a, three types of predetermined postures are set so that the overlapping region ORb is a region that encompasses the entire target attachment 13b.

  Note that the above-described three types of predetermined postures corresponding to the target attachment 13b having the flat portion 13b1 are not limited to the bucket, and the same applies to the lifting magnet and the like.

  In addition, the intersection points Q1 and Q2 on the shape circle Cb of the target attachment 13b are, in other words, two points that are the vertices (corner points) of the overlapping region ORb.

  When three types of predetermined postures corresponding to the target attachment 13b having the flat portion 13b1 are set as described above, the shape circle Cb of the target attachment 13b is set for the target attachment 13b having an arbitrary size having the flat portion 13b1. , Including most of the target attachment 13b (the entire portion excluding a portion near the connecting portion of the link 20 to the attachment 13b and the swing shaft 19), and the area of the shape circle Cb is that of the target attachment 13b. The shape circle Cb can be created so as not to be excessively large with respect to the actual size.

  In this case, a portion of the target attachment 13b that deviates from the shape circle Cb is a portion that cannot enter the interference prevention area AR. Therefore, as in the case of the bifurcated target attachment 13a, the shape circle Cb includes the entire portion of the target attachment 13b such as a bucket that may enter the interference prevention area AR. A circle Cb can be created.

  Next, examples of three types of predetermined postures when the target attachment 13 is, for example, the breaker 13c illustrated in FIGS. 10A to 10C will be described. Hereinafter, the breaker 13c is an attachment in which a rod-like portion 13c1 with a sharp tip is extended from a base portion 13c2 connected to the arm 12 and the link 20.

  In this embodiment, the three types of predetermined postures corresponding to this type of target attachment 13c (breaker) are in a state where the target attachment 13c extends in a direction substantially perpendicular to the ground as shown in FIG. 10B. The posture of grounding the tip of the rod-like portion 13c1 of the target attachment 13c to the ground, and as shown in FIG. 10A, the taper portion on one side of the outer peripheral portion of the tip of the target attachment 13c is grounded to the ground. The posture in which the target attachment 13c extends obliquely with respect to the ground, and as shown in FIG. 10C, the tapered portion on the side opposite to the one side of the outer peripheral portion on the tip side of the target attachment 13c is grounded to the ground. And three types of postures: a posture in which the target attachment 13c extends obliquely with respect to the ground.

  In this case, among the tangent lines corresponding to each posture, the tangent line corresponding to the predetermined tangent line Lx having the intersections Q1 and Q2 is a tangent line corresponding to a posture where the tip of the target attachment 13c is grounded. 10A to 10C, for convenience, the posture of the target attachment 13c in FIG. 10A, the posture of the target attachment 13c in FIG. 10B, and the posture of the target attachment 13c in FIG. 10C are respectively set to the first posture, the second posture, and the third posture. As postures, reference signs L1, L2 (Lx), and L3 are attached to tangent lines corresponding to the postures, respectively.

  Further, as shown in FIG. 11, the target attachment in the planar regions on both sides of the tangent line L1 corresponding to the first posture of the target attachment 13c as seen by projection onto a plane orthogonal to the axial direction of the swing shaft 19 is seen. A plane area on the side where 13c exists (attachment side plane area), and a plane area on the side where the target attachment 13c exists among the plane areas on both sides of the tangent line L2 corresponding to the second posture (attachment side plane area); The overlapping region ORc that overlaps the planar region on the side where the target attachment 13c exists (attachment-side planar region) among the planar regions on both sides of the tangent line L3 corresponding to the third posture is the open area hatched in FIG. It becomes an area. As in the case of the bifurcated target attachment 13a, three types of predetermined postures are set so that the overlapping region ORc is a region including the entire target attachment 13c.

  In addition, the intersection points Q1 and Q2 on the shape circle Cc of the target attachment 13c are, in other words, two points that are the vertices (corner points) of the overlapping region ORc.

  As described above, when three types of predetermined postures corresponding to the target attachment 13c having the rod-shaped portion 13c1 having a sharp tip are set, the target attachment is applied to the target attachment 13c having an arbitrary size having the rod-shaped portion 13c1. And the shape circle Cc of 13c is a circle that includes most of the target attachment 13c (the whole excluding a portion near the connection portion of the link 20 to the attachment 13c and the swing shaft 19), and The shape circle Cc can be created so that the area of the shape circle Cc does not become excessively large with respect to the actual size of the target attachment 13c.

  In this case, a portion of the target attachment 13c that deviates from the shape circle Cc is a portion that cannot enter the interference prevention area AR. Accordingly, as in the case of the bifurcated target attachment 13a, the shape circle Cc includes the entire portion of the target attachment 13c such as a breaker that may enter the interference prevention area AR. A circle Cc can be created.

  In the present embodiment, the shape data of each type of attachment 13 created as described above is used in the processing of the interference monitoring unit 42. That is, the interference monitoring unit 42 regards the shape of the attachment 13 attached to the tip of the arm 12 as a circular shape indicated by the shape data created previously corresponding to the type of the attachment 13, The positional relationship between the attachment 13 and the interference prevention area AR is monitored.

  In this case, the shape circle C of the attachment 13 swings around the axis of the swing shaft 19 (using the reference point P as a swing fulcrum) as the attachment 13 swings with respect to the arm 12. . At this time, the relationship between the swing amount of the attachment 13 with respect to the arm 12 and the position of the shape circle C with respect to the arm 12 is, for example, that the attachment 13 is grounded in any one i-position from the first to third positions. The tangent line when grounded on the ground (on the same plane as the ground contact surface of the traveling body 2) is set so as to coincide with the i-th tangent line obtained as described above.

  According to the embodiment described above, the attachment 13 having various sizes, shapes, and operation forms may include the entire portion of the attachment 13 that may enter the interference prevention area AR. Furthermore, a shape circle C as shape data of each type of attachment 13 can be created. In this case, the shape circle C can be prevented from becoming excessively large compared to the size of the attachment 13.

  For this reason, by performing the processing of the interference monitoring unit 42 using the shape data (shape circle C), the attachment 13 can be moved within the interference prevention area AR without excessively restricting the operation of the work machine 10 and the attachment 13. Interference with the vehicle body 3 can be prevented appropriately.

  Further, such a shape circle C can be created without requiring the dimension data of the reference attachment 13 or the like. Furthermore, the shape circle C can be created simply by manipulating the work implement 10 so that the driver achieves the three predetermined postures of the attachment 13. Therefore, the shape data of various attachments 13 can be appropriately created by a simple operation of the driver without requiring a complicated operation.

  Next, some modifications of the embodiment described above will be described. In the embodiment, the shape circle C as the shape data of the attachment 13 is a portion of the attachment 13 in the vicinity of the connection portion with the arm 12 (near the swinging shaft 19) or the vicinity of the connection portion with the link 20. Three types of predetermined postures of the attachment 13 were set for each type of the attachment 13 so as to form a circle including most of the portion excluding the portion.

  However, if the attachment 13 is a portion that cannot enter the interference prevention area AR in an arbitrary operating state of the work machine 10, a larger portion of the attachment 13 is not included in the shape circle. Three kinds of predetermined postures corresponding to the attachment 13 may be set.

  Alternatively, for example, by shifting one point other than the two intersection points Q1 and Q2 through which the shape circle C passes from the reference point P, the shape circle C may include the entire attachment 13. Is possible.

  Further, in the above-described embodiment, the case where the first posture, the second posture, and the third posture, which are the three predetermined postures of the attachment 13, are realized in this order by the operation of the work machine 10 has been described. However, the realization order of the three types of predetermined postures can be arbitrarily changed.

  In the embodiment, the case where the interference prevention area AR is an area for preventing the attachment 13 from interfering with the vehicle body 3 has been described. However, the interference prevention area may be set as an area for preventing the attachment from interfering with an object outside the construction machine, for example.

  Moreover, in the said embodiment, the case where the ground which grounds the object attachment 13 by three types of predetermined attitude | positions was the flat surface on the same or substantially the same plane as the grounding surface of the traveling body 2 of the hydraulic shovel 1 was demonstrated. However, when the positional relationship (height difference, inclination angle, etc.) between the grounding surface of the traveling body 2 and the ground on which the target attachment 13 is grounded is known by actual measurement or the like, the target attachment 13 is grounded. The ground may not be a flat surface on the same or substantially the same plane as the ground contact surface of the traveling body 2.

  In this case, the positional relationship between the grounding surface of the traveling body 2 and the ground on which the target attachment 13 is grounded is input to the control device 31. Then, in the control device 31, the traveling body 2 is identified by the process (the processes of STEP 3, 5, and 7) that specifies the positional relationship between the tangent lines L <b> 1 to L <b> 3 corresponding to each of the three predetermined postures and the target attachment 13. The positional relationship between the tangent lines L <b> 1 to L <b> 3 and the target attachment 13 can be appropriately specified by executing a calculation process using the positional relationship between the contact surface of the target and the ground on which the target attachment 13 is grounded. .

  Moreover, in the said embodiment, although the hydraulic excavator 1 of the form shown in FIG. 1 was shown as an example of a construction machine, the construction machine of the application object of this invention is not restricted to the hydraulic excavator of the form shown in FIG. Of course it is a thing. For example, the present invention can be applied to the construction machines 51 and 71 shown in FIG.

  A construction machine 51 shown in FIG. 12 includes a main boom 61 that can swing with respect to the vehicle body 53, and a work boom 60 that extends from the vehicle body 53 that can turn on the traveling body 52. A movable front boom 62 and an arm 63 swingable with respect to the front boom 62 are provided, and various attachments 64 can be swingably attached to the distal end portion of the arm 63.

  Further, the construction machine 71 shown in FIG. 13 includes a main boom 81 in which a work machine 80 extended from a vehicle body 73 that can turn on a traveling body 72 can swing with respect to the vehicle body 73, and a main boom 81. A front boom 82 that can swing with respect to the front boom 82, and an arm 84 that can swing with respect to the inter boom 83. Various attachments 85 can be swingably attached.

DESCRIPTION OF SYMBOLS 1,51,71 ... Construction machine 10, 60, 80 ... Work machine, 13, 13a, 13b, 13c, 64, 85 ... Attachment, 32 ... 1st rotation sensor (sensor for attitude state detection), 33 ... 2nd Rotation sensor (posture state detection sensor), 34... Third rotation sensor (posture state detection sensor), 42... Interference monitoring unit (interference monitoring means).

Claims (6)

A work machine in which a plurality of types of attachments are interchangeably attached to the tip, a posture state detection sensor that generates a detection output corresponding to the posture state of the work machine and the attachment to the work machine, and prevention of the attachment interference In a construction machine including an interference monitoring unit that monitors a positional relationship between an interference prevention region set in advance as a region for performing the attachment, the interference monitoring unit monitors a positional relationship between the interference prevention region and the attachment. A method for creating the shape data of the attachment used for
The attachment in a state in which the work implement is operated so that the posture of the attachment attached to the work implement becomes one predetermined posture among three predetermined postures determined in advance according to the type of the attachment. A first step of sequentially performing contact with the ground around the construction machine for each of the three predetermined postures;
Based on the detection output of the posture state detection sensor in a state where the attachment is in contact with the ground, for each of the three types of predetermined postures, the position of the tangent line on the ground contacting the attachment and the attachment A second step of identifying the relationship;
Based on the specified positional relationship between each of the three tangent lines corresponding to each of the three predetermined postures and the attachment, one predetermined tangent line of the three tangent lines and the other two A third step of identifying a circle passing through two intersections with each of the tangent lines and a point at the tip of the work machine, and setting the circle as shape data of the attachment;
The three types of predetermined postures are determined by the circles defined by the three tangent lines corresponding to the three types of predetermined postures depending on the operating state of the work implement to which the attachments are attached among the attachments. An attachment shape data creation method for a construction machine, characterized in that it is predetermined for each type of attachment so as to include at least the entire part that can enter the interference prevention region. In the construction machine attachment shape data creation method according to claim 1,
When the plane area on the side where the attachment exists is defined as an attachment-side plane area among the plane areas on both sides of the three tangent lines respectively corresponding to the three kinds of predetermined attitudes, the three kinds of predetermined attitudes Is set in advance such that the overlapping region of the attachment-side planar region corresponding to each of the three tangent lines is an open region that includes the entire attachment,
The method of creating shape data for an attachment of a construction machine, wherein the predetermined tangent line among the three tangent lines is a tangent line passing through two vertices of the overlapping region. A work machine in which a plurality of types of attachments are interchangeably attached to the tip, a posture state detection sensor that generates a detection output corresponding to the posture state of the work machine and the attachment to the work machine, and prevention of the attachment interference In a construction machine including an interference monitoring unit that monitors a positional relationship between an interference prevention region set in advance as a region for performing the attachment, the interference monitoring unit monitors a positional relationship between the interference prevention region and the attachment. A method for creating the shape data of the attachment used for
The attachment in a state in which the work implement is operated so that the posture of the attachment attached to the work implement becomes one predetermined posture among three predetermined postures determined in advance according to the type of the attachment. A first step of sequentially performing contact with the ground around the construction machine for each of the three predetermined postures;
Based on the detection output of the posture state detection sensor in a state where the attachment is in contact with the ground, for each of the three types of predetermined postures, the position of the tangent line on the ground contacting the attachment and the attachment A second step of identifying the relationship;
Based on the specified positional relationship between each of the three tangent lines corresponding to each of the three predetermined postures and the attachment, one predetermined tangent line of the three tangent lines and the other two A third step of identifying a circle passing through two intersections with each of the tangent lines and a point at the tip of the work machine, and setting the circle as shape data of the attachment;
When the plane area on the side where the attachment exists is defined as an attachment-side plane area among the plane areas on both sides of the three tangent lines respectively corresponding to the three kinds of predetermined attitudes, the three kinds of predetermined attitudes Is set in advance such that the overlapping region of the attachment-side planar region corresponding to each of the three tangent lines is an open region that includes the entire attachment,
The method of creating shape data for an attachment of a construction machine, wherein the predetermined tangent line among the three tangent lines is a tangent line passing through two vertices of the overlapping region. In the shape data creation method of the attachment of the construction machine according to any one of claims 1 to 3,
The first predetermined posture corresponding to the predetermined tangent line among the three types of predetermined postures is a posture in which the number of contact points of the attachment on the predetermined tangent line is two or more.
The second predetermined posture different from the first predetermined posture of the three types is a portion near one end of both ends of the entire grounding portion of the attachment in the first predetermined posture. Is a posture to touch the ground,
The third predetermined posture different from the first predetermined posture and the second predetermined posture among the three types is closer to the other end of both ends of the entire ground contact portion of the attachment in the first predetermined posture. An attachment shape data creation method for an attachment of a construction machine, wherein the attachment is in a posture in which the attachment is in contact with the ground. In the construction machine attachment shape data creation method according to claim 4,
The attachment attached to the distal end portion of the working machine includes a bifurcated type attachment configured to be openable and closable, and among the three types of predetermined postures set in advance corresponding to the bifurcated type attachment The first predetermined posture is a posture in which two tips of the attachment in the open state are brought into contact with the ground in the open state of the attachment, and the second predetermined posture is 2 of the attachment in the open state. A posture in which only one of the two tips is grounded to the ground, and the third predetermined posture is a posture in which only the other tip of the two tips of the open attachment is grounded. A construction data creation method for an attachment of a construction machine, characterized in that: In the method for creating shape data of an attachment for a construction machine according to claim 4 or 5,
The attachment attached to the distal end portion of the working machine includes an attachment of a type having a flat portion, and the first of the three types of predetermined postures set in advance corresponding to the attachment of the type having the flat portion. The predetermined posture is a posture in which a flat portion of the attachment is grounded to the ground, and the second predetermined posture is a posture in which a portion near one end of both ends of the flat portion of the attachment is grounded to the ground. And the third predetermined posture is a posture for making contact with the ground at a portion closer to the other of the two tip ends of the attachment.