JP2019190089A - Work machine - Google Patents

Abstract

To provide a work machine capable of determining a stability of a ground on which a vehicle body is grounded and notifying an operator of a determination result.SOLUTION: A controller 24 has a vehicle body stability calculation unit 44 that calculates a vehicle body stability α in accordance with the distance between a dynamic center of gravity position 70 of a hydraulic excavator 1 and sides constituting the support range graphic L, an amplitude estimation unit 45 that estimates an amplitude of the vehicle body based on posture information of vehicle bodies 10 and 11, and a ground stability determination unit 46 that determines that the ground stability, which is the stability of the ground to which the vehicle body is grounded, is low when the vehicle body stability, which is the stability of the vehicle body, is higher than a predetermined stability and the amplitude is greater than a predetermined amplitude, determines that the ground stability is high when the vehicle body stability is higher than the predetermined stability and the amplitude is equal to or less than the predetermined amplitude, and outputs a determination result to an information output device 31.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a work machine such as a hydraulic excavator.

  A work machine such as a hydraulic excavator needs to work in a state where the vehicle body stability is high so that the vehicle body does not fall during the work. The vehicle body stability here is an index representing the difficulty of the vehicle body falling, and means that the vehicle body is more likely to fall as the vehicle body stability is lower. For example, Patent Document 1 discloses a conventional technique of a work machine that can determine the stability of a vehicle body.

  Patent Document 1 discloses a lower traveling body, an upper swing body mounted on the lower traveling body, an attachment attached to the upper swing body, an operation content detection device that detects operation content, and the position and orientation of an excavator. An excavator comprising a positioning device for measuring the position, a posture detection device for detecting the posture of the attachment, and a control device, wherein the control device has a ground shape information acquisition unit and is detected by the posture detection device. Whether the excavator is in a stable state or an unstable state based on the transition of the posture of the attachment, the information on the current shape of the work target ground acquired by the ground shape information acquisition unit, and the position of the excavator (vehicle body An excavator is disclosed that determines the degree of stability) and restricts the movement of the excavator when it is determined to be unstable.

Japanese Patent Laid-Open No. 2006-172963

  By the way, in a working machine such as a hydraulic excavator, high construction accuracy may be required. In this case, it is necessary to ground the vehicle body on a highly stable ground. For example, when the work is performed with the vehicle body grounded on soft ground (ground with low stability), the ground is deformed due to its own weight or the reaction of the work, so that the vehicle body vibrates and precise work becomes difficult.

  Here, in the excavator described in Patent Document 1, although the vehicle body stability can be determined according to the shape of the ground on which the vehicle body is grounded, the deformation of the ground due to its own weight or the reaction of the work is not considered. Therefore, the stability of the ground cannot be determined. For this reason, at present, the operator determines the stability of the ground based on his / her own experience, resulting in variations in work efficiency and construction quality.

  The present invention has been made in view of the above problems, and an object thereof is to provide a work machine capable of determining the stability of the ground on which the vehicle body is grounded and notifying an operator of the determination result. It is in.

  To achieve the above object, the present invention provides a vehicle body, a work machine attached to the vehicle body, a posture information acquisition device that acquires posture information of the vehicle body and the work machine, an information output device, and the information A controller for controlling the output device, wherein the controller estimates a dynamic center of gravity position of the work machine based on the posture information; and A vehicle range stability unit that calculates a vehicle range stability of the work machine according to a distance between a support range calculation unit configured to calculate a support range graphic configured by a grounding point and a distance between the dynamic center of gravity position and a side configuring the support range graphic In the work machine having a degree calculation unit, the controller includes an amplitude estimation unit that estimates the amplitude of the vehicle body based on posture information of the vehicle body, and the vehicle body stability is higher than a predetermined stability. When the amplitude is greater than a predetermined amplitude, it is determined that the ground stability, which is the stability of the ground to which the vehicle body is grounded, is low, the vehicle body stability is higher than the predetermined stability, and the amplitude is A ground stability determination unit that determines that the ground stability is high when the amplitude is equal to or less than the predetermined amplitude and outputs a determination result to the information output device.

  According to the present invention configured as described above, the ground stability is determined based on the amplitude of the vehicle body in a state where the vehicle body stability is higher than the predetermined stability, and the determination result is transmitted to the operator via the information output device. Will be notified. As a result, the operator can grasp the stability of the ground to which the vehicle body is grounded during the work.

  According to the present invention, since the operator can grasp the stability of the ground on which the vehicle body of the work machine is in contact with the ground during work, it is possible to suppress variations in work efficiency and construction quality.

1 is a side view of a hydraulic excavator according to a first embodiment of the present invention. It is a block diagram of the ground stability notification system mounted in the hydraulic excavator shown in FIG. It is a figure which shows the physical model of the hydraulic shovel used by each calculation of the controller shown in FIG. It is explanatory drawing which shows the calculation method of the vehicle body stability by the vehicle body stability calculation part shown in FIG. It is explanatory drawing which shows the estimation method of the amplitude of a vehicle body by the amplitude estimation part shown in FIG. It is a flowchart which shows the determination method of the ground stability by the ground stability determination part in 1st Example of this invention. 1 is an external view of an information output apparatus according to a first embodiment of the present invention. It is a block diagram of the ground stability notification system mounted on the hydraulic excavator according to the second embodiment of the present invention. It is a flowchart which shows the determination method of the ground stability by the ground stability determination part in 2nd Example of this invention. It is a block diagram of a ground stability notification system mounted on a hydraulic excavator according to a third embodiment of the present invention. It is an external view of the allowable amplitude setting apparatus in the 4th example of the present invention. It is a block diagram of the ground stability notification system mounted on the hydraulic excavator according to the fourth embodiment of the present invention. It is an external view of the allowable amplitude setting apparatus in the 4th example of the present invention.

  Hereinafter, a hydraulic excavator will be described as an example of a working machine according to an embodiment of the present invention and will be described with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to an equivalent member and the overlapping description is abbreviate | omitted suitably.

  FIG. 1 is a side view of a hydraulic excavator according to a first embodiment of the present invention.

  In FIG. 1, a hydraulic excavator 1 is provided on a lower traveling body 10 and a lower traveling body 10 so as to be rotatable, and an upper revolving body 11 constituting a vehicle body together with the lower traveling body 10 and a rotatable structure on the upper revolving body 11. And a work front 12 provided.

  The work front 12 includes a boom 13 rotatably provided on the upper swing body 11, an arm 14 rotatably provided at the tip of the boom, a bucket 15 rotatably provided at the arm tip, and a boom. A boom cylinder 16 that drives the arm 13, an arm cylinder 17 that drives the arm 14, a bucket cylinder 18 that drives the bucket 15, a link 19 that couples the bucket cylinder 18 and the arm 14, a bucket cylinder 18 and the bucket 15. The link 20 includes a pin 33 that connects the arm 14 and the bucket 15, and a pin 34 that connects the link 20 and the bucket 15.

  The upper swing body 11 is disposed in a swing motor 21 that rotates the upper swing body 11, an operation chamber 22 in which an operator gets in, and the operation chamber 22, and converts operation information by the operator into a hydraulic signal. An operation lever 23 and a controller 24 that controls the operation of the excavator 1 are provided.

A boom IMU 25, an arm IMU 26, a bucket IMU 27, and a vehicle body IMU 28 are attached to the boom 13, the arm 14, the link 19, and the upper swing body 11, respectively. IMU is an abbreviation for Internal Measurement Unit (inertial measurement unit), can detect three-axis angle (or angular velocity) and acceleration, and includes a boom 13, an arm 14, a bucket 15, and an upper portion constituting the work front 12. It functions as a posture information acquisition device 41 that acquires posture information of the revolving structure 11. The IMUs 25, 26, and 27 can acquire the rotation angles and angular velocities of the boom 13, the arm 14, and the bucket 15, respectively. The tilt angle can be acquired. The operation chamber 22 includes an information output device 31 that outputs a determination of ground stability when the controller 24 determines that the ground stability is low.
[System configuration]
FIG. 2 is a block diagram of the ground stability notification system mounted on the hydraulic excavator 1 according to the present embodiment.

  The controller 24 includes a microcomputer (not shown) including a rewritable nonvolatile storage means such as a CPU, ROM, RAM, and flash memory, and a computer program and peripheral circuits stored in the ROM. Is configured to perform arithmetic processing. The controller 24 is connected to an attitude information acquisition device 41 composed of IMUs 25 to 28 and an information output device 31. The controller 24 determines the stability of the ground to which the excavator 1 is grounded based on the attitude information input from the attitude information acquisition device 41, and outputs information when it determines that the stability of the ground is low. The apparatus 31 is used to notify the operator.

  The controller 24 uses the dimensional information of the lower traveling body 10 stored in the controller 24 to form a grounding point between the lower traveling body 10 and the ground surface 32 when the excavator 1 stands upright on a flat ground. Based on the support range calculation unit 42 for calculating the support range figure L (shown in FIG. 4) and the posture information from the posture information acquisition device 41, the dynamic center of gravity position 70 (shown in FIG. 4) of the excavator 1 A dynamic center of gravity position estimating unit 43 for estimating the vehicle body stability of the hydraulic excavator 1 from the distance between the side constituting the support range calculation figure L and the dynamic center of gravity position 70, posture information Of the output of the acquisition device 41, the amplitude estimation unit 45 that estimates the amplitude of the vehicle bodies 10 and 11 from the time series change of the front and rear tilt angles and the left and right tilt angles of the upper swing body 11, and the vehicle body stability is higher than a predetermined stability. High, amplitude Of the case greater than the amplitude, and a is low ground stability and determining soil stability judging unit 46. Here, the vehicle body stability is an index representing the difficulty of falling of the vehicle bodies 10 and 11, and means that the lower the vehicle body stability is, the higher the possibility that the vehicle bodies 10 and 11 are toppled. On the other hand, the ground stability is an index representing the difficulty of deformation of the ground due to the weight of the excavator 1 or the reaction of the work. The lower the ground stability, the greater the vibration of the vehicle bodies 10 and 11 during work. means.

  The information output device 31 is configured to notify the operator of the excavator 1 when the ground stability determination unit 46 determines that the ground stability is low. Examples of the means for notifying include using at least one of a display device and an acoustic device (not shown). In the case of using a display device, there are methods such as changing a message, a figure, and a lighting pattern. In the case of using an acoustic device, there is a method using changes in volume, pitch, and timbre.

Next, each process performed by the controller 24 will be described with reference to FIGS.
[Explanation of calculation model]
FIG. 3 is a diagram showing a physical model of the hydraulic excavator 1 used for each calculation of the controller 24. The controller 24 performs calculations in two coordinate systems, a world coordinate system (O-X′Y′Z ′) and a machine reference coordinate system (O-XYZ).

  As shown in FIG. 3, the world coordinate system (O-X′Y′Z ′) is based on the direction of gravity and the direction opposite to gravity is the Z axis. On the other hand, the machine reference coordinate system (O-XYZ) is based on the lower traveling body 10, and the origin is a point O that contacts the ground surface 32 on the turning center line 11 c of the upper revolving body 11. The X axis is set in the longitudinal direction of 10, the Y axis is set in the horizontal direction, and the Z axis is set in the direction of the turning center line 11c. The relationship between the world coordinate system and the machine reference coordinate system is detected using the vehicle body IMU 28 described above.

  As the physical model of the hydraulic excavator 1, a concentrated mass model in which mass is concentrated at the center of gravity of each component member is used.

  The mass points 10P, 11P, 13P, 14P, and 15P of the lower traveling body 10, the upper swing body 11, the boom 13, the arm 14, and the bucket 15 are set to the gravity center positions of the respective constituent members, and the mass of each mass point is m10, Let m11, m13, m14, and m15. The position vectors of the respective mass points are assumed to be r10, r11, r13, r14, r15, acceleration vectors r ″ 10, r ″ 11, r ″ 13, r ″ 14, r ″ 15.

  Note that the mass point setting method is not limited to this, and for example, a part where the mass is concentrated (such as the boom cylinder 16) may be added.

  Further, the stability calculation index of the excavator 1 in the support range calculation unit 42, the dynamic center of gravity position estimation unit 43, and the vehicle body stability calculation unit 44 is calculated based on ZMP (Zero Moment Point) and the ZMP stability determination criterion. . Note that the concept of ZMP and the ZMP stability criterion is described in “LEGGED LOCATION ROBOTS: Miomir Vukobratovic” (“Walking Robot and Artificial Feet: Translated by Ichiro Kato, Nikkan Kogyo Shimbun”).

  Gravity, inertial force, external force, and these moments act on the ground surface 32 from the hydraulic excavator 1, but according to the Durambert principle, these react as floor reaction force and floor reaction as a reaction from the ground surface 32 to the hydraulic excavator 1. Balance with force moment.

  Therefore, when the excavator 1 is stably grounded to the ground surface 32, a pitch axis is formed on the side of the support range figure L connected so that the grounding point of the excavator 1 and the ground surface 32 is not concave or on the inside thereof. And there is a point (ZMP) where the moment in the roll axis direction becomes zero. In other words, if the ZMP exists in the support range figure L and the force acting on the ground surface 32 from the excavator 1 pushes the ground surface 32, that is, if the floor half force is positive, the excavator 1 is stable. It can be said that it is grounded.

That is, as the ZMP is closer to the center of the support range graphic L, the stability is higher, and if the ZMP is inside the support range graphic L, the excavator 1 can work without lifting, while the ZMP is in the support range graphic L. When it exists outside the figure L, the excavator 1 may be lifted. Therefore, by using ZMP for the dynamic gravity center position 70, the stability is calculated by comparing the support range graphic L formed at the contact point between the excavator 1 and the ground surface 32 with the dynamic gravity center position 70. be able to.
[Support range figure calculation]
The support range calculation unit 42 calculates a support range figure L that connects the ground contact point between the excavator 1 and the ground surface 32 so as not to be concave, based on the dimension information of the lower traveling body 10 registered in advance. It is configured.

When the lower traveling body 10 stands upright on the ground surface 32, the support range graphic L is equal to the planar shape of the lower traveling body 10. Therefore, when the planar shape of the lower traveling body 10 is rectangular, the support range graphic L is rectangular as shown in FIG. More specifically, the support range figure L in the case of having a crawler as the lower traveling body 10 is such that a line connecting the center points of the left and right sprockets is a front boundary line, and a line connecting the center points of the left and right idlers Is a quadrangle with a rear boundary line and left and right track link outer ends as left and right boundary lines. The front and rear boundaries may be the ground contact points of the frontmost lower roller and the rearmost lower roller.
[Dynamic center of gravity position estimation]
The dynamic gravity center position estimation unit 43 is configured to calculate the dynamic gravity center position 70 of the hydraulic excavator 1 from the output of the posture information acquisition device 41.

  First, kinematics calculation is sequentially performed for each link from the output result of the posture information acquisition device 41. The position vectors r10, r11, r13, r14, r15 of the mass points 10P, 11P, 13P, 14P, 15P and their acceleration vectors r ″ 10, r ″ 11, r ″ 13, r ″ 14, r ″ ″ 15 is calculated and converted into a value based on the machine reference coordinate system (O-XYZ).

  Here, a well-known method can be used as the kinematic calculation method. For example, the method described in “Robot Control Basics: Yoshikawa Tsuneo, Corona (1988)” can be used.

  The following ZMP equation is used to obtain the dynamic center of gravity position 70 using the position vector and acceleration vector of each mass point converted into the machine reference coordinate system (O-XYZ).

Where rzmp: dynamic centroid position vector mi: i-th mass point mass ri: i-th mass point position vector r ″ i: acceleration vector applied to the i-th mass point (including gravitational acceleration)
Mj: j-th external force moment sk: k-th external force action point position vector Fk: k-th external force vector. The vector is a three-dimensional vector composed of an X component, a Y component, and a Z component.

  Since the origin O of the machine reference coordinate system is set to a point where the lower traveling body 10 and the ground surface 32 are in contact, assuming that the Z-axis coordinate of the dynamic gravity center position 70 is on the ground surface 32, rzmpz = 0. is there. Further, if the work is not accompanied by a load, the external force can also be ignored, so that the external force Fk = 0 and the external force moment M = 0 are considered. Equation (1) is solved under such conditions, and the X coordinate rzmpx of the dynamic barycentric position 70 is calculated as follows.

Similarly, the equation (1) is solved, and the Y coordinate rzmpy of the dynamic barycentric position 70 is calculated as follows.

In equations (2) and (3), m is the mass of each mass point 10P, 11P, 13P, 14P, 15P shown in FIG. 3, and the mass m10, m11, m13, m14, m15 of each mass point is substituted. r ″ is the acceleration of each mass point, and the accelerations r ″ 10, r ″ 11, r ″ 13, r ″ 14, r ″ 15 of each mass point are substituted.

As described above, the coordinates of the estimated dynamic center-of-gravity position 70 can be obtained by using the posture information acquisition device 41 provided in each part of the excavator 1.
[Body stability calculation]
FIG. 4 is a diagram illustrating a vehicle body stability calculation method by the vehicle body stability calculation unit 44.

  The vehicle body stability calculation unit 44 is configured to calculate the vehicle body stability based on the dynamic center of gravity position 70 and the support range graphic L.

  As shown in FIG. 4A, a half line extending from the center point Lc (Xlc, Ylc) of the support range graphic L formed by the contact point between the excavator 1 and the ground surface 32 toward the dynamic center of gravity position 70. An intersection C (Xc, Yc) between Lz and the side of the support range graphic L is calculated. Then, the vehicle body stability α is calculated using the ratio of the distance from the center Lc to the intersection C and the distance from the center Lc to the dynamic center of gravity position 70 as shown in the following equation.

A larger value of the vehicle body stability α indicates that the dynamic center of gravity position 70 is closer to the center of the support range graphic L, and means that the vehicle bodies 10 and 11 are less likely to fall.

  A simple calculation method will be described with reference to FIG. In this method, the ratio between the maximum value that can be taken within the support range figure L and the dynamic barycentric position 70 is evaluated for the vehicle body stability α with respect to the X coordinate and the Y coordinate, respectively. At this time, the ratio in the X-axis direction

And Y axis direction ratio

A smaller value is selected as the vehicle body stability α. Here, Xmax is the maximum value of the X coordinate that can be taken within the support range graphic L, and Ymax is the maximum value of the Y coordinate that can be taken within the support range graphic L.

In the above description, the method of calculating the vehicle body stability α using the ratio of the distance between the side portion of the support range graphic L and the dynamic center of gravity position 70 has been described. The degree α may be calculated. By doing in this way, the stability change in the vicinity of the side of the support range figure L can be expressed in more detail.
[Amplitude estimation]
FIG. 5 is an explanatory diagram showing a method of estimating the amplitude of the vehicle bodies 10 and 11 by the amplitude estimating unit 45.

  The amplitude estimation unit 45 is configured to estimate the amplitudes of the vehicle bodies 10 and 11 using the front and rear inclination angles and the left and right inclination angles acquired from the vehicle body IMU 28 among the outputs of the posture information acquisition device 41.

  As shown in FIG. 5, it is assumed that the forward / backward inclination angle and the left / right inclination angle change with respect to the current time t as the respective inclination angle waveforms fx (t) and fy (t).

  The front-rear direction tilt amplitude Ampx is obtained from n pieces of sampling data acquired at a sampling period of Δt seconds up to the current time t. Specifically, it is determined using the following standard deviation formula.

Here, μx is an average value of the acquired sampling data fx (T).

  Next, the left-right direction inclination amplitude Ampy is similarly obtained by the following equation.

Here, μy is an average value of the acquired sampling data fy (T).

  In the above method, the inclination amplitude is estimated using the standard deviation of the inclination angle waveform in the past fixed section, but the inclination amplitude may be estimated using the Peak to Peak value of the inclination angle waveform in the past fixed section.

  As for Δt and sampling number n, the sampling number n is 10 or more at which the t value of the 95% confidence interval of the standard deviation is approximately converged, and nΔt is two or more of the vibration periods when the excavator 1 vibrates. It is desirable to set.

  Next, the amplitude Amp of the vehicle bodies 10 and 11 is obtained by the following equation.

Note that the amplitude Amp is not limited to the above-described method, and may be obtained by synthesis by coordinate transformation using the front-rear inclination angle and the left-right inclination angle.
[Ground stability determination]
FIG. 6 is a flowchart showing a ground stability determination method by the ground stability determination unit 46. The ground stability determination unit 46 repeatedly executes the flow shown in FIG. 6 at a predetermined cycle.

  In step S100, if it is determined that the vehicle body stability α is higher than a preset vehicle body stability threshold value, the process proceeds to step S101. Otherwise, the ground stability determination is not performed, and the process returns to step S100.

  If it is determined in step S101 that the amplitude Amp is higher than a preset amplitude threshold value, the process proceeds to step S102, and if not, the process proceeds to step S103. Here, the amplitude threshold value is set to the requested amplitude upper limit value.

Next, in step S102, it is determined that the ground stability is low, and in step S103, it is determined that the ground stability is high. Following step S102 or S102, the ground stability determination is output in step S104, and the process ends. Here, the vehicle body stability threshold value is set to 0 because vibration accompanied by lifting of the vehicle body occurs when the vibration is 0 or less. However, the safety factor may be set in consideration of the accuracy of the sensor to be used, modeling error, etc., and a value larger than 0 may be set (for example, 0.2). In addition, the amplitude upper limit value is defined by the error of the tilt angle measurement value in order to prevent erroneous detection due to the error of the measurement device. For example, it is defined by a standard deviation when the vehicle body is stopped for a predetermined time. If the standard deviation of the measured value is 0.5 degree, it is set to 1.5 times that is three times that. The amplitude threshold is not limited to the above method, and the maximum amplitude of the inclination angle when the vehicle body is stopped for a predetermined time, the specification value of the sensor, or at least two or more including the method are used. You may make it the structure set using the maximum value in a combination.
[Information output device]
FIG. 7 is an external view of the information output device 31 in this embodiment.

  The information output device 31 includes a monitor display unit 31a and a light emitting unit 31b. A ground stability determination output unit 60 is disposed on the monitor display unit 31a. When it is determined that the ground stability is low, the ground stability determination output unit 60 displays a message indicating that the ground under work for a certain period of time is unstable.

The output method is not limited to the message method shown in FIG. 7, but may be changed to lighting of an icon or a figure, or may be output by lighting or flashing of the light emitting unit 31b. Further, the sound device may be configured to output by changing the pitch of the buzzer sound, changing the volume, changing the output pattern, or the like. Moreover, you may comprise so that it may output combining at least 2 in any one of the monitor display part 31a, the light emission part 31b, and an audio equipment. The time for continuing the output may be set to a time that allows the operator to recognize the output, and is set to, for example, 1 second or more. Further, when combining outputs, the combined time is set to be 1 second or more.
[Action / Effect]
The hydraulic excavator 1 according to the present embodiment includes vehicle bodies 10 and 11, a work machine 12 attached to the vehicle bodies 10 and 11, a posture information acquisition device 41 that acquires posture information of the vehicle bodies 10 and 11 and the work machine 12, An information output device 31; and a controller 24 for controlling the information output device 31. The controller 24 estimates a dynamic gravity center position 70 of the excavator 1 based on the posture information; A support range calculation unit 42 that calculates a support range graphic L constituted by the grounding points of the vehicle bodies 10 and 11 based on dimensional information of the vehicle bodies 10 and 11, a dynamic center of gravity position 70, and sides that constitute the support range graphic L The vehicle body stability calculation unit 44 that calculates the vehicle body stability α of the hydraulic excavator 1 according to the distance between the vehicle body 10 and the vehicle 11 and the amplitude estimation that estimates the amplitude Amp of the vehicle bodies 10 and 11 based on the attitude information of the vehicle bodies 10 and 11. And stability of the ground to which the vehicle bodies 10 and 11 are grounded when the vehicle body stability α is higher than a predetermined stability (vehicle body stability threshold) and the amplitude Amp is larger than a predetermined amplitude (amplitude threshold). When the vehicle body stability α is higher than the predetermined stability and the amplitude Amp is less than the predetermined amplitude, it is determined that the ground stability is high, and the determination result is an information output device. 31 and a ground stability determination unit 46 that outputs to 31.

  According to the excavator 1 according to the present embodiment configured as described above, the ground stability is determined based on the amplitude Amp of the vehicle body in a state where the vehicle body stability α is higher than a predetermined stability, and the determination result is The operator is notified via the information output device 31. Thereby, since the operator can grasp | ascertain the stability of the ground in which the vehicle bodies 10 and 11 are earth | grounding during a work | work, it becomes possible to suppress the dispersion | variation in work efficiency and construction quality.

A hydraulic excavator 1 according to a second embodiment of the present invention will be described focusing on differences from the first embodiment.
[System configuration]
FIG. 8 is a block diagram of the ground stability notification system mounted on the hydraulic excavator 1 according to the present embodiment.

The hydraulic excavator 1 according to the present embodiment further includes a travel state acquisition device 47 configured by a travel pressure sensor 23a that acquires a hydraulic signal for transmitting travel information among the operation information output from the operation lever 23. . The traveling state acquisition device 47 is connected to the controller 24. The output of the traveling state acquisition device 47 is input to the ground stability determination unit 46 and is used for determination of the ground stability. In addition, the information output device 31 is configured to always notify while it is determined that the ground stability is low, instead of the output method of notifying for a certain time after it is determined that the ground stability is low.
[Ground stability determination]
FIG. 9 is a flowchart showing a ground stability determination method by the ground stability determination unit 46 in the present embodiment. The ground stability determination unit 46 repeatedly executes the flow shown in FIG. 9 at a predetermined cycle.

  In step S200, it is determined from the output of the traveling state acquisition device 47 whether or not it is in the traveling state. If it is in the traveling state, the process proceeds to step S204, it is determined that the ground stability is high, and the process proceeds to step S205. Output judgment and exit. If the vehicle is not in the running state, the process proceeds to step S201. Here, when the traveling state acquisition device 47 is the traveling pressure sensor 23a, the traveling state is determined as traveling while the pressure value exceeds a value at which traveling starts, and is determined to be stopped otherwise.

  In step S201, if the vehicle body stability α is higher than a preset vehicle body stability threshold and is stable, the process proceeds to step S202. Otherwise, the ground stability determination is not updated, and the process proceeds to step S205. Output ground stability judgment and end. Here, the method for setting the vehicle body stability threshold is the same as in the first embodiment.

  In step S202, when it is determined that the amplitude Amp is higher than the preset amplitude threshold and the vibration is detected, the process proceeds to step S203. Otherwise, the determination of the ground stability is not updated, and the process proceeds to step S205. Output ground stability judgment and end. Here, the method for setting the amplitude threshold is the same as that in the first embodiment.

  Finally, in step S203, it is determined that the ground stability is low, the process proceeds to step S205, the ground stability determination is output, and the process ends.

The information output device 31 always outputs a notification while it is determined that the ground stability is low, that is, while the work is continued on the unstable ground. Moreover, the notification which recommends the movement of the excavator 1 and the change of the direction of the lower traveling body 10 is output as the message and icon to be output.
[Action / Effect]
The hydraulic excavator 1 according to the present embodiment further includes a traveling state acquisition device 47 that acquires the traveling state of the vehicle bodies 10 and 11, and the ground stability determination unit 46 is traveling the vehicle bodies 10 and 11 based on the traveling state. Whether or not the vehicle bodies 10 and 11 are not traveling, the ground stability is determined, and the determination result is held until the vehicle bodies 10 and 11 start traveling.

  According to the excavator 1 configured as described above, when the ground under work is unstable, the operator can improve the work by urging the change or movement of the installation direction of the excavator 1.

A hydraulic excavator 1 according to a third embodiment of the present invention will be described focusing on differences from the second embodiment.
[System configuration]
FIG. 10 is a block diagram of the ground stability notification system mounted on the excavator 1 according to the present embodiment.

In the present embodiment, the excavator 1 according to the present embodiment, which can set the ground stability required by the operator selecting the work content, further includes an allowable amplitude setting device 48. The allowable amplitude setting device 48 is connected to the controller 24. The allowable amplitude setting device 48 includes an allowable amplitude input unit 49 for an operator to input a numerical value of the allowable amplitude, and an allowable amplitude storage unit 50 that stores an input value of the allowable amplitude input unit 49 and transmits it to the controller 24. In addition, the ground stability determination unit 46 determines the ground stability using the allowable amplitude input from the allowable amplitude storage unit 50 instead of the preset amplitude threshold.
[Allowable amplitude setting device]
The allowable amplitude setting device 48 has a microcomputer (not shown) composed of a rewritable nonvolatile storage means such as a CPU, ROM, RAM, and flash memory, and a computer program and peripheral circuits stored in the ROM. The computer program is operated to perform arithmetic processing.

FIG. 11 is an external view of the allowable amplitude setting device 48. The allowable amplitude setting device 48 includes a touch panel 48a as a GUI (Graphical User Interface) that also serves as input and display. On the touch panel 48a, a keyboard 49a for inputting numerical values and an input value display unit 49b for checking input values are arranged. The keyboard 49 a and the input value display unit 49 b constitute an allowable amplitude input unit 49.
[Ground stability determination]
The flow executed by the ground stability determination unit 46 in the present embodiment is the same as that in the second embodiment (shown in FIG. 9), but the allowable amplitude set by the allowable amplitude setting device 48 is used as the amplitude threshold in step S202. It is different in point.
[Action / Effect]
The hydraulic excavator 1 according to the present embodiment further includes an allowable amplitude setting device 48 for setting an allowable amplitude as a predetermined amplitude (amplitude threshold), and the allowable amplitude setting device 48 is used for inputting a numerical value of the allowable amplitude. The apparatus includes an allowable amplitude input unit 49 and an allowable amplitude storage unit 50 that stores a numerical value input to the allowable amplitude input unit 49 as the allowable amplitude.

  According to the hydraulic excavator 1 configured as described above, the allowable amplitude can be changed in consideration of the difference in allowable amplitude (allowable amplitude) for each work content, such as simple excavation work and excavation of a finished surface. Thus, it is possible to work on the ground with appropriate stability without reducing erroneous determination of ground stability and reducing work efficiency.

A hydraulic excavator 1 according to a fourth embodiment of the present invention will be described focusing on differences from the third embodiment.
[System configuration]
FIG. 12 is a block diagram of a ground stability notification system mounted on the hydraulic excavator 1 according to the present embodiment.

A work content selection unit 51 for an operator to select work content, and a permissible amplitude recorded in advance associated with the work content in accordance with the work content are input to the permissible amplitude setting device 48 to the permissible amplitude setting unit. The allowable amplitude selection unit 52 is further provided.
[Allowable amplitude setting device]
FIG. 13 is an external view of the allowable amplitude setting device 48. A work content list of the work content selection unit 51 is displayed on the touch panel 48a, and the work content can be selected by selecting the list.

  Returning to FIG. 12, the work content selected by the work content selection unit 51 is transmitted to the allowable amplitude selection unit 52 of the allowable amplitude setting device 48. The allowable amplitude selection unit 52 stores a plurality of preset work contents and allowable amplitudes associated with the work contents, and sets the allowable amplitude associated with the work contents selected by the work content selection unit 51. Search and output. The allowable amplitude storage unit 50 stores the allowable amplitude value output from the allowable amplitude selection unit 52 as an allowable amplitude setting value. Further, the allowable amplitude storage unit 50 uses the numerical value input by the allowable amplitude input unit 49 as the allowable amplitude when the work content is not selected by the work content selection unit 51 and the allowable amplitude value is not output from the allowable amplitude selection unit 52. Set as a setting value.

  The allowable amplitude is set to a reference value according to the following criteria.

1. 1. When there is a reference value described in the relevant standard of work contents 2. When there is a reference value of the tilt angle at which the function used in each work content determined by the manufacturer of the excavator 1 can be used. When there is a reference value of the inclination angle calculated from the construction accuracy required for each work content and the dimensional information of the excavator 1 When there is no clear reference value of 4.1 to 3. For example, the work content selection unit of FIG. The crane mode displayed in 51 defines the allowable amplitude as 1 degree based on the inclination angle of 1 degree during traveling according to the judgment standard 1 because there is a related standard.

  In the load measurement mode, when performing the load measurement function, for example, a function that allows up to ± 3 degrees of vibration is used, and therefore, according to the criterion 2, the allowable amplitude is defined as 3 degrees.

  In the case of the semi-automatic excavation mode and the semi-automatic excavation mode (finishing), the reference value varies depending on the construction accuracy and the machine size, and therefore follows the definition of judgment criterion 3. For example, for example, when a toe position of ± 10 cm is required and the class of the hydraulic excavator 1 is 20 t, the maximum reachable distance of the toe is 10 m, so that the allowable amplitude is 0 from Arctan (10 m, 10 cm) ≈0.6 degrees. Defined as 6 degrees.

  In the case of the normal excavation mode, there is no clear reference value, and therefore, it is defined according to the criterion 4. In the criterion 4, the allowable amplitude selection unit 52 does not select the allowable amplitude, and the allowable amplitude input by the allowable amplitude input unit 49 is stored in the allowable amplitude storage unit 50.

Note that the present invention is not limited to the work content shown in FIG. 13, and the reference value can be stored in advance in the allowable amplitude selection unit 52 according to the above-described determination criteria in various work contents so that the work can be selected.
[Action / Effect]
The hydraulic excavator 1 according to the present embodiment further includes an allowable amplitude setting device 48 that sets an allowable amplitude as a predetermined amplitude (amplitude threshold), and the allowable amplitude setting device 48 selects one of a plurality of work contents. And a work content selection unit 51 for storing the permissible amplitude value associated with each of the plurality of work content, and selecting a permissible amplitude value associated with the work content selected by the work content selection unit 51. And a permissible amplitude selection unit 52, and a permissible amplitude storage unit 50 that stores a numerical value selected by the permissible amplitude selection unit 52 as the permissible amplitude.

According to the excavator 1 according to the present embodiment configured as described above, the stability suitable for the work content can be intuitively set from the work content. Therefore, the work content due to a setting value input error or the like. Therefore, it is possible to prevent an inappropriate stability from being set, and to prevent deterioration in construction quality.
<Others>
The present invention is not limited to the embodiments described above, and includes various modifications. For example, the excavator 1 used in the description of the above embodiment includes the upper swing body 11, the boom 13, the arm 14, and the bucket 15, but the configuration of the work machine is not limited to this, for example, instead of the bucket 15. The present invention can also be applied to a working machine having a configuration including a lifting magnet and a grapple.

  The application target of the present invention is not limited to a hydraulic excavator, but can be applied to a working machine having a construction in which a working machine is attached to a moving body such as a mobile crane.

  In the above description, a hydraulic excavator that drives a hydraulic cylinder has been described as an example. However, a working machine that drives a working machine with a hydraulic cylinder such as a hydraulic cylinder or a pneumatic cylinder, or a working machine that drives a joint with an electric motor or the like. It is also possible to apply.

  Each part of the controller 24 does not need to be mounted on one computer as shown in FIG. 2, and may be distributed to a plurality of computers capable of mutual communication. In this case, the installation location of the computer is not limited to the work machine.

  The posture information acquisition device 41 uses an IMU, but has a posture such as a distance measuring sensor that detects a cylinder stroke, a potentiometer or rotary encoder that acquires a relative angle of a joint, a gyro sensor that detects angular velocity or acceleration, an acceleration sensor, and the like. Any device can be used as long as it can be detected, and a combination of these devices may be used.

  The dynamic centroid position estimation unit 43 may be configured to estimate the dynamic centroid position 70 using information from another vehicle body information acquisition device as long as the output of the posture information acquisition device 41 is used. For example, a pin force sensor such as a strain gauge is attached to each of the pins 33 and 34, and the dynamic center of gravity position 70 is calculated by substituting the external force information and position coordinates into the equation (1). Good. Further, a pressure sensor may be attached to the cylinders 16 to 18 as an external force, the external force is calculated using the pressure information and the posture information, and the dynamic gravity center position 70 is estimated by substituting it into the equation (1). .

  In the above embodiment, the travel state acquisition device 47 uses the pressure signal of the travel command, but may be configured to use the electrical signal of the travel command if the operation lever 23 is not hydraulic but electric. . Further, instead of using the travel command signal, it may be substituted by detecting whether or not the vehicle is moving by using the acceleration of the vehicle body IMU 28. Moreover, you may comprise so that the presence or absence of driving | running | working may be determined using that the coordinate changed with high precision GPS. Moreover, you may comprise so that a driving | running | working state may be acquired combining one of the above.

  In the above embodiment, the allowable amplitude setting device 48 is configured as an independent device, but may be configured to be distributed to the controller 24 and the information output device 31. At this time, an analog input device such as a switch or a potentiometer may be additionally connected to the controller 24 as an input device so that input can be performed as an alternative to the touch panel.

  In the embodiment described above, it is assumed that the operator gets on the operation chamber 22 provided on the excavator 1 and operates the excavator 1. However, there are cases where the excavator 1 is operated remotely by radio or the like. During remote operation, it is difficult to accurately grasp the posture of the work machine and the stability of the ground compared to when boarding, and it is also difficult for a skilled operator to grasp the stability of the ground sensuously. Therefore, more excellent effects can be achieved during remote operation. In the remote operation type work machine, the information output device 31 may be provided in the vicinity of the operator's operation place to additionally give the information on the excavator 1.

  DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator (work machine), 10 ... Lower traveling body (vehicle body), 11 ... Upper turning body (vehicle body), 12 ... Work front (work machine), 13 ... Boom, 14 ... Arm, 15 ... Bucket, 16 ... Boom cylinder, 17 ... arm cylinder, 18 ... bucket cylinder, 19, 20 ... link, 21 ... swing motor, 22 ... operating chamber, 23 ... operating lever, 23a ... running pressure sensor, 24 ... controller, 25 ... boom IMU, 26 DESCRIPTION OF SYMBOLS: Arm IMU, 27 ... Bucket IMU, 28 ... Car body IMU, 31 ... Information output device, 31a ... Monitor display part, 31b ... Light emission part, 32 ... Ground surface, 33, 34 ... Pin, 41 ... Posture information acquisition apparatus, 42 DESCRIPTION OF SYMBOLS ... Support range calculation part 43 ... Dynamic gravity center position estimation part 44 ... Car body stability calculation part 45 ... Amplitude estimation part 46 ... Ground stability determination part 47 ... Running condition acquisition apparatus 48 ... Allowable amplitude setting device, 48a ... Touch panel, 49 ... Allowable amplitude input section, 49a ... Keyboard, 49b ... Input value display section, 50 ... Allowable amplitude storage section, 51 ... Work content selection section, 52 ... Allowable amplitude selection section, 60: Ground stability determination output unit, 70: Dynamic gravity center position.

Claims (5)

The car body,
A work machine attached to the vehicle body;
Attitude information acquisition device for acquiring attitude information of the vehicle body and the work implement;
An information output device;
In a work machine comprising a controller for controlling the information output device,
The controller is
A dynamic center-of-gravity position estimating unit that estimates a dynamic center-of-gravity position of the work machine based on the posture information;
A support range calculation unit that calculates a support range figure configured by a grounding point of the vehicle body based on the dimensional information of the vehicle body;
A vehicle body stability calculating unit that calculates the vehicle body stability of the work machine according to the distance between the dynamic barycentric position and the sides constituting the support range graphic;
An amplitude estimation unit that estimates the amplitude of the vehicle body based on the posture information of the vehicle body;
When the vehicle body stability is higher than the predetermined stability and the amplitude is larger than the predetermined amplitude, it is determined that the ground stability, which is the stability of the ground to which the vehicle body is grounded, is low, and the vehicle body stability A ground stability determination unit that determines that the ground stability is high when the amplitude is higher than the predetermined stability and the amplitude is equal to or less than the predetermined amplitude, and outputs a determination result to the information output device. A working machine characterized by The work machine according to claim 1,
A travel state acquisition device for acquiring the travel state of the vehicle body;
The ground stability determination unit determines whether or not the vehicle body is traveling based on the traveling state, determines the ground stability only when the vehicle body is not traveling, and the vehicle body starts traveling. A work machine characterized by holding judgment results until it is done. The work machine according to claim 1,
A work machine further comprising a permissible amplitude setting device that sets a permissible amplitude as the predetermined amplitude. The work machine according to claim 3,
The allowable amplitude setting device includes:
An allowable amplitude input unit for inputting a numerical value of the allowable amplitude;
A work machine comprising: an allowable amplitude storage unit that stores a numerical value input to the allowable amplitude input unit as the allowable amplitude. The work machine according to claim 3,
The allowable amplitude setting device includes:
A work content selection section for selecting one of a plurality of work contents;
A permissible amplitude selection unit for storing a permissible amplitude value associated with each of the plurality of work contents and selecting a permissible amplitude value associated with the work content selected by the work content selection unit; ,
A work machine comprising: an allowable amplitude storage unit that stores the numerical value selected by the allowable amplitude selection unit as the allowable amplitude.

Images