JP2021050522A - Work machine - Google Patents

Abstract

To provide a work machine capable of easily measuring an abrasion loss at a wear part of an attachment even when a work machine is mounted with a position measuring system using a vehicle body coordinate system as a reference.SOLUTION: A controller 60 is configure to perform processing of: setting a measurement surface at a position of a bucket rear surface 39 in a vehicle body coordinate system based on posture data of a front work device 30 and position data of a bucket claw tip calculated in a state where the bucket rear surface is made contact on the ground; determining whether a posture of the front work device is held in a measurement posture for causing the bucket claw tip to be made contact on a contact surface of the bucket rear surface with the ground surface while holding a bucket 35 at a predetermined angle θ1 to the contact surface; calculating a distance between the measurement surface and the bucket claw tip based on a position of the bucket claw tip and a position of the measurement surface in the vehicle body coordinate system; and calculating an abrasion loss of a claw 37 based on a distance calculated upon determining that the front work device is held in the measurement posture.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work machine having an attachment in the work device that can be consumed by continuous use.

For example, in a work machine such as a hydraulic excavator, a work device (front work device) including an attachment such as a bucket is driven by an operator operating an operation lever. At this time, when excavating a groove of a predetermined depth or a slope of a predetermined slope, the operator shall judge whether or not the excavation is performed accurately according to the target shape only by visually observing the operation of the work equipment. It is difficult. In addition, it takes skill for the operator to be able to excavate such a slope with a predetermined slope efficiently and accurately according to the target shape. Therefore, for example, as in Patent Document 1, there is a technique for assisting an operator by displaying the position information of the tip (toe) of a bucket located at the tip of a work device on a display device.

In order to accurately display the position information of the bucket, it is necessary to accurately measure and set the positional relationship between the dimensions of each part of the work equipment and each sensor that detects the posture of each part. On the other hand, a plurality of claws, which are consumable parts, are attached to the tip of the bucket. If the tip of the claw is worn due to continuous use of the bucket and its length becomes shorter than the value measured and set in advance, the position information of the bucket cannot be displayed accurately. Therefore, every time the nail wears, it is necessary to accurately measure and set the length of the nail again. As a method of measuring the exact length of the nail, there is a method of manually measuring and inputting the measured value, but this method is troublesome. In order to reduce this trouble, there is a method of calculating the amount of wear of the nail based on at least two coordinates of the coordinates when the nail is brought into contact with a predetermined place and the coordinates acquired under different conditions (Patent Document 2). reference).

Japanese Unexamined Patent Publication No. 2012-172431 International Publication 2016/098741

However, the excavator of Patent Document 2 is equipped with a positioning sensor including a GPS receiver for calculating coordinates. In other words, it is premised that the coordinates in the earth coordinate system are calculated using the Global Navigation Satellite System (GNSS). That is, it is essential to install equipment for GNSS including antennas and receivers, and a hydraulic excavator equipped with a work machine that does not have these equipment (for example, a position measurement system based on the vehicle body coordinate system instead of the earth coordinate system). ) Cannot be applied. In addition, since it is necessary to determine the position for measuring the amount of wear of the nail in advance and detect that position, move the excavator to a predetermined position or re-position for measurement each time. Must be set.

The present invention has been made based on the above-mentioned matters, and an object of the present invention can be applied to a work machine equipped with a position measurement system based on a vehicle body coordinate system, and the amount of wear of a consumable part attached to an attachment can be reduced. The purpose is to provide a work machine that can be easily measured.

The present application includes a plurality of means for solving the above problems. For example, an articulated work device having an attachment provided with a consumable part at the tip and a posture for detecting the posture of the work device. The attitude data of the work device is calculated based on the sensor and the signal output from the attitude sensor, and the vehicle body of the control point set in the consumable portion is calculated based on the calculated attitude data and the dimension data of the work device. In a work machine provided with a controller for calculating position data in a coordinate system, the controller calculates the attitude data of the work device and the control in a state where the reference plane on the attachment is in contact with the measurement plane setting object. Based on the position data of the points, the first process of setting the measurement surface at the position of the reference surface in the vehicle body coordinate system and the attachment are predetermined to the contact surface in contact with the reference surface in the measurement surface setting object. The second process of determining whether or not the posture of the working device is held in the measurement posture of contacting the consumable portion of the attachment while holding at the angle of, and the position of the control point in the vehicle body coordinate system. The third process of calculating the distance between the measurement surface and the control point based on the position of the measurement surface set in the vehicle body coordinate system, and the work device holding the calculated distance in the measurement posture. It is assumed that the fourth process of calculating the amount of wear of the consumable portion based on the distance calculated when it is determined that the data is being used is executed.

According to the present invention, even in a work machine equipped with a position measurement system based on the vehicle body coordinate system, the amount of wear of the consumable portion attached to the attachment can be easily measured.

A side view of a hydraulic excavator according to an embodiment of the present invention. The control system block diagram according to 1st Embodiment of this invention. The flowchart of the control system according to 1st Embodiment of this invention. An example of measurement surface setting instruction information according to the first embodiment of the present invention. An example of measurement posture indicator information according to the first embodiment of the present invention. An example of grounding instruction information at the tip of an attachment according to the first embodiment of the present invention. The distance between the measurement surface and the tip of the nail according to the first embodiment of the present invention, depending on the presence or absence of wear. FIG. 6 is a configuration diagram of a control system according to a second embodiment of the present invention. The flowchart of the control system according to the 2nd Embodiment of this invention. An example of measurement surface setting instruction information according to the second embodiment of the present invention. An example of grounding instruction information at the tip of an attachment according to the second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the following, a hydraulic excavator will be described as an example of a work machine, but if it is a work machine equipped with an articulated work device having an attachment that wears due to continuous use at the tip, it can be used as a work machine other than the hydraulic excavator. Is also applicable. An example of an attachment for a hydraulic excavator is a bucket, but it can be applied to attachments other than buckets as long as the attachment is provided with a consumable part that wears due to continuous use.

<First Embodiment>
FIG. 1 is a side view of the hydraulic excavator according to the first embodiment. The hydraulic excavator shown in this figure includes a lower traveling body 10, an upper rotating body 20 rotatably attached to the upper part of the lower traveling body 10, and an attachment (bucket 35) provided with a consumable part (claw 37). It is provided with an articulated front working device 30 which is held at the tip and is attached to the upper swing body 20.

The lower traveling body 10 includes a pair of crawlers 11 and a crawler frame 12 (only one side is shown in the figure), and a pair of traveling hydraulic motors 13 (showing only one side in the figure) that independently drive and control each crawler 11. ， It is composed of its deceleration mechanism.

The upper swivel body 20 is the upper swivel body 20 (swivel frame 20) with respect to the lower traveling body 10 by the driving force of the swivel frame 21, the engine 22 as a prime mover provided on the swivel frame 21, and the swivel hydraulic motor 24. It is equipped with a swivel mechanism 23 for swiveling and driving the 21), a cab (driver's cab) 24 for the operator to board and operate, and the like.

The front working device 30 includes a boom 31, a boom cylinder 32 for driving the boom 31, an arm 33 rotatably supported by the tip of the boom 31, and an arm cylinder 34 for driving the arm 33. , A bucket (attachment) 35 rotatably supported at the tip of the arm 33, a bucket cylinder 36 for driving the bucket 35, and the like are provided.

A claw 37, which is a replaceable consumable part, is attached to the tip of the bucket 35, and the back surface 39 of the bucket 35 is formed so as to have a substantially flat surface toward the tip of the claw 37. In the present embodiment, the back surface 39 of the bucket 35 may be referred to as a reference plane.

Further, on the swivel frame 21 of the upper swivel body 20, hydraulic pressure (operation) for driving hydraulic actuators such as a traveling hydraulic motor 13, a swivel hydraulic motor 24, a boom cylinder 32, an arm cylinder 34, and a bucket cylinder 36 Calculates the positions of a hydraulic pump 41 that generates oil), a hydraulic system 40 that includes a control valve (not shown) for driving and controlling each actuator, and an arbitrary point (control point) set on the hydraulic excavator in the vehicle body coordinate system. A controller 60 is mounted to generate an image of a hydraulic excavator (see FIG. 4 or the like described later) to be displayed on the display device 67 (see FIG. 2 described later). The hydraulic pump 41 serving as a hydraulic source is driven by the engine 22.

The front work device 30 and the upper swivel body 20 have a boom 31, an arm 33, and a bucket as posture sensors for detecting the postures of the front members 31, 33, 35 and the upper swivel body 20 constituting the front work device 30. IMU50 (Inertial Measurement Unit, inertial measurement unit) is mounted on each of the 35 and the upper swing body 20. The controller 60 tilts the front members (boom 31, arm 33, bucket 35) and the upper swing body 20 constituting the front working device 30 based on the acceleration signals and angular velocity signals detected and output by the IMU 50. Can be calculated, and the calculated data of each tilt angle may be referred to as "posture data" here. The controller 60 is on the hydraulic excavator in the vehicle body coordinate system (three-dimensional coordinate system set in the hydraulic excavator) based on the calculated posture data and the dimensional data of each front member (boom 31, arm 33, bucket 35). The position of any point (for example, the position of the tip (bucket toe) of the claw 37 of the bucket 35) can be calculated. Note that FIG. 1 illustrates a case where the IMU 50 for acquiring the posture data of the bucket 35 is arranged on the constituent member (bucket link member) of the link mechanism connecting the arm 33 and the bucket 35, but the hydraulic excavator is used. Since the attitude data of the bucket 35 is indirectly acquired based on the design data of the above, it is treated as if the IMU 50 is mounted on the bucket 35, that is, the inclination angle of the bucket 35 is calculated by the output of the IMU 50. be able to.

The controller 60 designs an image reflecting the current posture of the hydraulic excavator on a display device 67 (see FIG. 2) such as a monitor installed in the cab 24 based on the calculated posture data and position data of the hydraulic excavator. It can be displayed together with the construction target surface. The design surface defines the completed shape of the terrain (work object), and is provided as three-dimensional data in this embodiment. The construction target surface is a cross-sectional view that appears when the three-dimensional data of the design surface is cut by the operating plane of the front work device 30, and the design surface near the hydraulic excavator is represented by the two-dimensional plane. In the embodiment, it is set in the vehicle body coordinate system. The construction target surface can be easily set by the operator independently of the design surface data. The posture data of the hydraulic excavator includes side views and front views of the hydraulic excavator, angle information of each joint, and information such as tilting of the hydraulic excavator back and forth and left and right. Information such as the design surface and the construction target surface created in advance and the distance between the tip of the claw 37 of the bucket 35 and the design surface and the construction target surface can also be displayed on the display device 67 as numerical values, indicators, and figures. it can. By performing the construction based on this information, the operator of the hydraulic excavator can proceed with the construction without installing the chopsticks and water threads that have been used as markers during the construction.

(System configuration)
Next, the machine guidance system according to the present embodiment will be described. FIG. 2 is a configuration diagram of a machine guidance system according to the first embodiment of the present invention. The machine guidance system of FIG. 2 includes a controller 60, and a plurality of IMUs 50, an input device 66, and a display device 67 communicatively connected to the controller 60.

The input device 66 is a device such as a button mounted in the cab (driver's cab) 24 and receiving an operator's input operation. Independent hardware may be adopted as the input device 66, but the display device 67 is configured as a touch panel type, and an image showing an input device such as a button is displayed on the screen of the display device 67. The operator's input may be detected by detecting the operation.

(Controller 60)
The controller 60 includes, for example, a CPU (Central Processing Unit) (not shown), a storage device such as a ROM (Read Only Memory) or an HDD (Hard Disk Drive) for storing various programs for executing processing by the CPU, and a program by the CPU. It is configured by using hardware including a RAM (Random Access Memory) which is a work area when executing the above. By executing the program stored in the storage device in this way, each unit described in the controller 60 of FIG. 2, that is, the posture calculation unit 61, the measurement surface setting unit 62, the measurement posture determination unit 63, and the distance calculation unit 64 , Functions as a wear amount setting unit 65.

(Posture calculation unit 61)
The posture calculation unit 61 determines the postures of the front members 31, 33, 35 and the upper swivel body 20 based on the detection signals output from each IMU 50 and the dimensions of each part of the front work device 30 input to the controller 60 in advance. The posture data) and the position (position data) of the control point (bucket toe) set at the tip of the claw 37 (consumable part) of the bucket 35 are calculated. The attitude data also includes the angle (back angle) of the back 39 of the bucket 35. The calculated posture data and position data are output to the measurement posture determination unit 63, the measurement surface setting unit 62, the distance calculation unit 64, the display device 67, and the like.

(Measurement surface setting unit 62)
The measurement surface setting unit 62 is based on the position of the toe of the bucket 35 calculated by the attitude calculation unit 61, the angle of the back surface 39, and the signal of the input device 66 operated by the operator of the hydraulic excavator, and the claw 37 of the bucket 35. A measurement surface for measuring the amount of wear is set (first process).

The measurement surface setting unit 62 is in a state where the back surface 39 of the bucket 35 is in contact with the measurement surface setting object (described later), and the attitude data of the front work device 30 calculated by the attitude calculation unit 61 and the position data of the bucket toe are obtained. Based on the signal input from the input device 66, the position of the bucket back surface 39 in the vehicle body coordinate system is calculated, and the measurement surface (described later) is set at the position of the bucket back surface 39 in the calculated vehicle body coordinate system. The measurement surface is a virtual surface set in the vehicle body coordinate system to measure the amount of wear of the claw 37 of the bucket 35, and the measurement surface setting object is used when setting the setting surface, and the back surface 39 of the bucket 35 is used. An object having a flat portion that can be surface-contacted, such as the ground, the ground surface, a metal plate, concrete or asphalt having a flat portion, and the like. When the back surface 39 of the bucket is brought into contact with the measurement surface setting object to set the measurement surface, as a result, the measurement surface is set to the surface (contact surface) in contact with the back surface 39 of the bucket in the measurement surface setting object.

(Measurement posture determination unit 63)
The measurement posture determination unit 63 measures the amount of wear of the claws 37 of the bucket 35 by the posture of the front work device 30 based on the posture data calculated by the posture calculation unit 61 and the signal input from the input device 66. It is determined whether or not the posture is held in the preset posture (measurement posture) (second process). The measurement posture is the tip of the claw 37 of the bucket 35 while holding the bucket 35 at a predetermined angle θ1 with respect to the measurement surface set on the measurement surface setting object (the contact surface in which the back surface 39 of the bucket is in contact with the measurement surface setting object). It is a posture in which. From the viewpoint of accurately measuring the amount of wear of the claw 37, it is possible to select an angle at which the back surface 39 of the bucket is held perpendicular to the measurement surface as a predetermined angle θ1 for holding the bucket 35 with respect to the measurement surface. preferable. That is, it is preferable that the measurement posture is such that the tip of the claw 37 of the bucket 35 is in contact with the back surface 39 of the bucket so as to be perpendicular to the measurement surface (contact surface).

Whether or not the bucket toe has come into contact with the measurement surface (contact surface) is based on the signal input from the input device 66 triggered by the operator inputting that the bucket toe has come into contact with the measurement surface to the input device 66. Whether or not the bucket 35 has a predetermined angle θ1 with respect to the measurement surface (contact surface) can be determined based on the attitude data input from the attitude calculation unit 61. The determination result of the measurement posture determination unit 63 is output to the wear amount setting unit 65 and the display device 67.

(Distance calculation unit 64)
The distance calculation unit 64 is based on the position data of the bucket tip (control point) in the vehicle body coordinate system calculated by the attitude calculation unit 61 and the position data of the measurement surface set in the vehicle body coordinate system by the measurement surface setting unit 62. Then, the distance between the measurement surface and the tip of the bucket (measurement surface distance) is calculated (third process). The calculated distance is output to the wear amount setting unit 65 and the display device 67.

(Abrasion amount setting unit 65)
When the measurement posture determination unit 63 determines that the posture of the front work device 30 is held in the measurement posture among the plurality of measurement surface distances sequentially input from the distance calculation unit 64, the wear amount setting unit 65 determines. The amount of wear of the claw (consumable part) 37 is calculated based on the measurement surface distance calculated by the distance calculation unit 64 (fourth process). In the present embodiment, when it is determined that the posture of the front work device 30 is held in the measurement posture, the measurement surface distance calculated by the distance calculation unit 64 is calculated as it is as the amount of wear of the claw 37 of the bucket 35. There is.

After the calculation of the amount of wear, the calculated amount of wear may be output to the attitude calculation unit 61, and the dimensional data of the front working device 30 may be automatically updated so that the value reflects the amount of wear. Further, the calculated wear amount may be displayed on the display device 67 to allow the operator to perform work necessary for reflecting the wear amount (for example, input work of the wear amount to the controller 60).

In this embodiment, the distance calculation unit 64 calculates the measurement surface distance at any time, and the process of calculating the amount of wear from the measurement surface distance when the front working device 30 takes the measurement posture is adopted. A process may be adopted in which the distance calculation unit 64 calculates the measurement surface distance only when the working device 30 takes the measurement posture, and calculates the amount of wear from the measurement surface distance.

(Display device 67)
The attitude data of the hydraulic excavator calculated by the attitude calculation unit 61, the measurement surface set by the measurement surface setting unit 62, and the distance between the tip of the claw 37 of the bucket 35 calculated by the distance calculation unit 64 and the measurement surface (measurement surface distance). Can be displayed on a display device 67 such as a monitor installed in the cab 24 of the hydraulic excavator, and information can be provided to the operator of the hydraulic excavator at any time.

(flowchart)
Next, a method of setting the amount of wear of the claws 37 of the bucket 35 will be described with reference to the flowchart of FIG. 3 summarizing the processes executed by the controller 60 of the present embodiment.

First, in step 1, the controller 60 determines whether or not the wear amount calculation mode (calculation mode) is ON based on the signal input from the input device 66. The wear amount calculation mode is a mode in which the controller 60 executes a process of calculating the wear amount of the toe. When the operator inputs a signal for turning on the wear amount calculation mode via the input device 66 installed in the cab 24, the wear amount calculation mode is turned on. If the condition is not satisfied (No in step 1), the state waits until the condition is satisfied.

When the wear amount calculation mode is ON in step 1 and the condition is satisfied (Yes in step 1), the controller 60 displays the measurement surface setting instruction information (first display) on the display device 67 (step 2). ). The measurement surface setting instruction information (first display) is, for example, the display shown in FIG. 4 showing the screen of the display device 67. (1) The back surface 39 of the bucket 35 is grounded (the back surface 39 of the bucket is attached to the measurement surface setting object). (2) Contacting the back surface (reference surface) 39 of the bucket 35 with the measurement surface is input to the controller 60 via the input device 66 (first input) to the operator. It is a display for instructing.

As shown in FIG. 4, the measurement surface setting instruction information includes a display instructing the back surface 39 of the bucket to be strongly grounded (grounded while being strongly pressed) rather than including a display instructing the back surface 39 of the bucket to be simply grounded. It is preferable to include it. By displaying (instructing) in this way, even when the measurement surface setting object is on a soft ground, the measurement surface can be compacted by the pressing force of the bucket back surface 39. As a result, it is possible to prevent the tip of the claw 37 from sneaking into the ground too much when the tip of the claw 37 of the bucket 35 is grounded (when the front working device 30 takes a measurement posture) in the subsequent processing, and the bucket 35 can be prevented. The amount of wear of the claw 37 can be set more accurately.

In step 3, after the measurement surface setting instruction information of step 2 is displayed, whether or not the controller 60 has performed an operator's input operation (first input) to the input device 66 according to the display (in other words, the bucket back surface 39 Whether or not it is grounded) is determined. If there is no input operation to the input device 66 (when the determination in step 3 is No), the state waits until the condition is satisfied.

On the other hand, when there is an input operation to the input device 66 (for example, when the "grounding completion button" of the input device 66 is pressed and the determination in step 3 is Yes), the controller 60 steps. In step 4, the measurement surface setting unit 62 sets the measurement surface on the surface passing through the back surface of the bucket 35 in the vehicle body coordinate system (executes the first process), and proceeds to step 5.

In step 5, the controller 60 displays the measurement attitude instruction information on the display device 67. The measurement posture instruction information is, for example, the display shown in FIG. 5 showing the screen of the display device 67, and is a posture in which the bucket 35 is at a predetermined angle θ1 with respect to the measurement surface set in step 4 (for example, the back surface of the bucket 35). And the posture in which the surface passing through the tip of the claw 37 of the bucket 35 is perpendicular to the measurement surface). At this time, as shown in FIG. 5, the current value of the angle of the bucket 35 with respect to the measurement surface is set to a numerical value so that the operator can judge the suitability of the current angle of the bucket 35 and the operation direction (dump or cloud) of the bucket 35. It is preferable to display it with an indicator or the like. The angle of the bucket 35 can be easily calculated from the posture data calculated by the posture calculation unit 61 and the position data of the measurement surface set by the measurement surface setting unit 62. In the example of FIG. 5, the current value of the angle formed by the back surface 39 of the bucket with the measurement surface is displayed.

In step 6, after the measurement posture instruction information of step 5 is displayed, the controller 60 determines whether or not the angle of the bucket 35 with respect to the measurement surface is held at a predetermined angle θ1 according to the display by the measurement posture determination unit 63. judge. When the angle of the bucket 35 is different from the predetermined angle θ1 (No in step 6), the state waits until the condition is satisfied.

When it is determined in step 6 that the angle of the bucket 35 is held at a predetermined angle θ1 (Yes in step 6), the controller 60 displays the grounding instruction information at the tip of the attachment (step 7). The grounding instruction information at the tip of the attachment is, for example, as shown in FIG. 6, and (1) the tip of the claw 37 of the bucket 35 is brought into contact with the measurement surface, and (2) the tip of the claw 37 of the bucket 35 is measured. This is a display for instructing the operator to input the contact to the surface to the controller 60 via the input device 66 (second input).

As shown in FIG. 6, it is preferable that the grounding instruction information includes a display instructing the bucket toe to be lightly grounded. By displaying (instructing) in this way, it is possible to prevent the tip of the claw 37 of the bucket 35 from slipping into the ground, and the amount of wear of the claw 37 of the bucket 35 can be set more accurately.

In step 8, after the grounding instruction information of step 7 is displayed, the controller 60 determines whether or not there is an input operation (second input) to the input device 66 according to the display by the measurement posture determination unit 63. If there is no input operation to the input device 66 (No in step 8), the process returns to the previous step 5 and is in a standby state until both steps 6 and 8 are satisfied.

On the other hand, when there is an input operation to the input device 66 (for example, when the "grounding completion button" of the input device 66 is pressed and Yes in step 8), the controller 60 (wear amount setting unit) 65) acquires the distance (measurement surface distance) between the tip position of the claw 37 of the bucket 35 and the measurement surface calculated by the distance calculation unit 64 at that time, and uses the measurement surface distance as the wear of the claw 37 of the bucket 35. Calculate as a quantity (step 9). Then, the controller 60 switches the wear amount calculation mode from ON to OFF and ends the process.

Here, the relationship between the measurement surface distance and the amount of wear of the claw 37 will be described with reference to FIG. 7. The distance between the tip position of the claw 37 of the bucket 35 and the measurement surface (measurement surface distance) is calculated based on the dimensional data set before the claw 37 of the bucket 35 is worn. Therefore, when the claw 37 of the bucket 35 is not worn, when the tip of the claw 37 of the bucket 35 is grounded to the measurement surface, the measurement surface distance becomes 0 mm as shown on the left side of FIG. However, when the claw 37 of the bucket 35 is worn, when the tip of the claw 37 of the bucket 35 is grounded to the measurement surface, the claw 37 of the bucket 35 is worn as shown on the right side of FIG. 7 in calculation and display. The tip of the nail is submerged below the measurement surface by the amount. At this time (in the case of the right side of FIG. 7), the measurement surface distance is the amount of wear of the claw 37 of the bucket 35. By updating the dimensional data in consideration of the amount of wear acquired here, it is possible to perform the posture calculation in consideration of the amount of wear of the claws 37 of the bucket 35.

In the present embodiment, the measurement attitude instruction information (step 5 (FIG. 5)) and the ground contact instruction information (step 7 (FIG. 6)) are displayed independently, but the combined information (second display) is displayed. It may be displayed on the display device 67. When this display is adopted, the determination of step 6 and step 8 may be performed at the same time, and the flowchart may be configured so as to proceed to step 9 when the conditions of both steps are satisfied.

(effect)
In the hydraulic excavator of the present embodiment configured as described above, when the back surface 39 of the bucket is pressed against, for example, the ground by an operator operation, the flat surface formed on the ground surface by the operator is used as the controller 60 (measurement surface setting unit 62). Is set in the vehicle body coordinate system as the measurement surface. Next, when the bucket 35 comes into contact with the measurement surface by an operator operation while maintaining a predetermined angle (for example, the angle at which the back surface 39 of the bucket and the surface passing through the bucket tip are perpendicular to the measurement surface). The controller 60 calculates the distance between the bucket tip and the measurement surface in the vehicle body coordinate system by the distance calculation unit 64, and calculates the amount of wear of the nail by the wear amount setting unit 65 based on the distance. As a result, even in a hydraulic excavator equipped with a position measurement system based on the vehicle body coordinate system, the amount of wear of the claws 37 of the bucket 35 can be easily measured.

<Second embodiment>
Next, a second embodiment of the present invention will be described. In the following, the same parts as those in the first embodiment will be described with the same reference numerals, and the description thereof will be omitted as appropriate, and mainly different parts will be described.

FIG. 8 is a configuration diagram of a machine guidance system according to a second embodiment of the present invention. The machine guidance system of FIG. 8 includes a controller 60, a plurality of IMUs 50 communicatively connected to the controller 60, a pressure sensor 69, and a display device 67.

The pressure sensor 69 is for detecting the ground contact of the tip of the bucket, and is attached to the bottom side of the boom cylinder 32, and sequentially outputs a pressure signal regarding the hydraulic oil on the bottom side to the controller 60.

The controller 60 can function as an attachment grounding determination unit 68 in addition to the units 61-65 of the first embodiment. The attachment grounding determination unit 68 determines whether or not the bucket 35 is grounded and how much the bucket 35 is grounded based on the information input from the pressure sensor 69.

(flowchart)
Next, a method of setting the amount of wear of the claws 37 of the bucket 35 will be described with reference to the flowchart of FIG. 9 summarizing the processes executed by the controller 60 of the present embodiment.

First, in step 1, the controller 60 determines whether or not the wear amount calculation mode (calculation mode) is ON based on the signal input from the input device 66. When a signal for turning on the wear amount calculation mode is input by the operator via the input device 66, the wear amount calculation mode is turned on. If the condition is not satisfied (No in step 1), the state waits until the condition is satisfied.

When the wear amount calculation mode is ON in step 1 and the condition is satisfied (Yes in step 1), the controller 60 displays the measurement surface setting instruction information (first display) on the display device 67 (step 12). ). The measurement surface setting instruction information (first display) of the present embodiment is, for example, the display shown in FIG. 10 showing the screen of the display device 67, and the back surface 39 of the bucket 35 is grounded (the back surface of the bucket is attached to the measurement surface setting object). It is a display for instructing the operator to make contact with 39).

In step 13, after the measurement surface setting instruction information of step 12 is displayed, the controller 60 determines whether or not the back surface 39 of the bucket is grounded according to the display. The detection value of the pressure sensor 69 is used for the determination. When the detected pressure of the pressure sensor 69 becomes equal to or less than the threshold value P1, the controller 60 (attachment grounding determination unit 68) determines that the bucket back surface 39 has touched the ground (that is, the bucket back surface 39 has come into contact with the measurement surface setting object). At this time, the threshold value P1 is set low as a value for detecting the grounding of the bucket 35 (for example, it is set lower than the threshold value P2 (step 15) described later) so that the back surface of the bucket 35 must be grounded strongly. It is possible to prevent it from being determined to have been done. As a result, when the tip of the claw 37 of the bucket 35 is brought into contact with the measurement surface in step 15, it is possible to prevent the tip of the claw 37 from slipping too far below the ground (measurement surface), and the claw 37 of the bucket 35 can be prevented. The amount of wear can be set more accurately. If the grounding of the back surface 39 of the bucket is not detected in step 13 (when the determination in step 13 is No), the state waits until the condition is satisfied.

On the other hand, when the contact of the back surface 39 of the bucket is detected in step 13, the controller 60 (measurement surface setting unit 62) sets the measurement surface in step S4 as in the first embodiment, and in step 14. move on.

In step 14, the controller 60 displays the grounding instruction information (second display) at the tip of the attachment. The grounding instruction information (second display) at the tip of the attachment is, for example, as shown in FIG. 11, and the tip of the claw 37 of the bucket 35 is brought into contact with the measurement surface while holding the bucket 35 at a predetermined angle θ1. This is a display for instructing the operator that (that is, holding the front working device 30 in the measuring posture). The predetermined angle θ1 is, for example, an angle at which the back surface of the bucket 35 and the surface passing through the tip of the claw 37 of the bucket 35 are perpendicular to the measurement surface.

In step 15, the controller 60 (attachment grounding determination unit 68, measurement posture determination unit 63) determines whether or not the front work device 30 (bucket 35) is held in the measurement posture. For the determination, the detection value of the pressure sensor 69 is used as in step 13, and the attitude data of the bucket 35 is also used. When the detected pressure of the pressure sensor 69 becomes equal to or less than the threshold value P2, the controller 60 (attachment grounding determination unit 68) determines that the bucket toe has touched the ground (that is, the front working device 30 has taken the measurement posture). At this time, the threshold value P2 is set higher as a value for detecting the ground contact of the bucket 35 (for example, it is set higher than the threshold value P1 (step 13) described above), so that the toe touches the ground lightly and touches the ground. Can be determined. As a result, it is possible to prevent the tip of the claw 37 of the bucket 35 from slipping below the measurement surface, and the amount of wear of the claw 37 of the bucket 35 can be set more accurately.

If it is determined in step 15 that the posture of the bucket 35 is different from the measurement posture (when the determination in step 15 is No), the state waits until the condition is satisfied. At this time, as shown in FIG. 11, the current value of the angle of the bucket 35 with respect to the measurement surface is set as a numerical value so that the operator can judge the suitability of the current angle of the bucket 35 and the operation direction (dump or cloud) of the bucket 35. It is preferable to display it with an indicator or the like.

On the other hand, when it is detected in step 15 that the posture of the bucket 35 is the measurement posture (when the determination in step 15 is Yes), the controller 60 (wear amount setting unit 65) is at that time the distance calculation unit. The distance (measurement surface distance) between the tip position of the claw 37 of the bucket 35 and the measurement surface calculated in 64 is acquired, and the measurement surface distance is calculated as the amount of wear of the claw 37 of the bucket 35 (step 9). Then, the controller 60 switches the wear amount calculation mode from ON to OFF and ends the process.

(effect)
In the hydraulic excavator of the present embodiment configured as described above, when the pressure sensor 69 detects that the back surface 39 of the bucket is pressed against the ground by an operator operation, it is formed on the ground surface by pressing the back surface 39 of the bucket. The controller 60 (measurement surface setting unit 62) automatically sets the flat surface as the measurement surface in the vehicle body coordinate system. Next, the toe of the bucket 35 comes into contact with the measurement surface while the bucket 35 holds a predetermined angle (for example, the angle at which the back surface 39 of the bucket and the surface passing through the toe of the bucket are perpendicular to the measurement surface) by the operator operation. When detected by the pressure sensor 69, the controller 60 automatically calculates the distance between the bucket toe and the measurement surface in the vehicle body coordinate system, and automatically calculates the amount of wear of the claw based on the distance. As a result, the operation load of the operator's input device 66 is reduced as compared with the first embodiment, so that the amount of wear of the claws 37 of the bucket 35 can be measured more easily than in the first embodiment.

<Others>
In the above two embodiments, the measurement surface is set as a surface that passes through the back surface 39 of the bucket 35 when the bucket 35 is grounded, but an external world recognition device such as a stereo camera or a laser sensor is attached to the cab 24, the front work device 30, or the like. If it is installed and configured to be able to acquire the current terrain, the current terrain acquired by the external world recognition device can be used as the measurement surface. As a result, the step of grounding the back surface 39 of the bucket 35 when setting the measurement surface can be omitted, and the amount of wear can be measured more easily.

In the above, a hydraulic excavator equipped with a so-called machine guidance system that displays the positional relationship between the front work device 30 (bucket 35) and the construction target surface on the display device 67 to support the operator's work has been illustrated. Flood control equipped with a so-called machine control system that automatically controls the hydraulic excavator (for example, the front work device 30 and the upper swing body 20) according to predetermined conditions based on the position of the control point set on the hydraulic excavator in the vehicle body coordinate system. It can also be applied to excavators. As the control by the machine control, for example, the toe of the bucket 35 is set as a control point, and the front work device 30 is controlled so that the toe of the bucket 35 moves along the construction target surface.

When using a work machine equipped with a machine control system, it can be configured to automatically take the measurement posture by machine control. For example, the construction target surface is set so that the back surface of the bucket 35 and the surface passing through the tip of the claw 37 of the bucket 35 are perpendicular to the measurement surface from the angle information of the measurement surface, and the back surface 39 of the bucket is set on the construction target surface. The angle of the bucket 35 is controlled so as to follow. This eliminates the need for the operator to take a measuring posture while checking the angle information of the bucket 35, so that the amount of wear can be measured more easily.

In the above two embodiments, the sensor for acquiring the posture of the front work device 30 is an IMU, but the present invention is not limited to this, and the tilt sensor attached to each part, the stroke sensor attached to each cylinder, each front member 31, and the like. It may be composed of a rotation angle sensor such as a potentiometer attached to a shaft (pin) connecting 33 and 35.

The present invention is not limited to the above-described embodiment, and includes various modifications within a range that does not deviate from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.

Further, each configuration related to the controller 60 and the functions and execution processing of each configuration are realized by hardware (for example, designing the logic for executing each function with an integrated circuit) in part or all of them. You may. Further, the configuration related to the controller 60 may be a program (software) in which each function related to the configuration of the controller 60 is realized by being read and executed by an arithmetic processing unit (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

Further, in the description of each of the above embodiments, the control lines and information lines are shown to be understood to be necessary for the description of the embodiment, but they do not necessarily indicate all the control lines and information lines related to the product. Not always. In reality, it can be considered that almost all configurations are interconnected.

10 ... lower traveling body, 11 ... crawler, 12 ... crawler frame, 13 ... left traveling hydraulic motor, 14 ... right traveling hydraulic motor, 20 ... upper turning body, 21 ... turning frame, 22 ... engine, 23 ... turning hydraulic pressure Motor, 24 ... cab, 30 ... front work equipment, 31 ... boom, 32 ... boom cylinder, 33 ... arm, 34 ... arm cylinder, 35 ... bucket, 36 ... bucket cylinder, 37 ... consumable part, 40 ... hydraulic system, 41 ... Hydraulic pump, 50 ... IMU, 60 ... Controller, 61 ... Attitude calculation unit, 62 ... Measurement surface setting unit, 63 ... Measurement attitude determination unit, 64 ... Distance calculation unit, 65 ... Wear amount setting unit, 66 ... Input device, 67 ... Display device, 68 ... Attachment grounding judgment unit, 69 ... Pressure sensor

Claims (8)

An articulated work device with an attachment provided with a consumable part at the tip, and
A posture sensor that detects the posture of the work equipment and
The attitude data of the work device is calculated based on the signal output from the attitude sensor, and based on the calculated attitude data and the dimensional data of the work device, in the vehicle body coordinate system of the control point set in the consumable portion. In a work machine equipped with a controller that calculates position data,
The controller
The measurement surface is located at the position of the reference surface in the vehicle body coordinate system based on the posture data of the work device and the position data of the control point calculated in a state where the reference surface on the attachment is in contact with the measurement surface setting object. The first process to set and
Whether or not the posture of the working device is held in the measurement posture of contacting the consumable portion of the attachment while holding the attachment at a predetermined angle with respect to the contact surface in contact with the reference surface in the measurement surface setting object. The second process to determine whether
A third process of calculating the distance between the measurement surface and the control point based on the position of the control point in the vehicle body coordinate system and the position of the measurement surface set in the vehicle body coordinate system.
Of the calculated distances, the fourth process of calculating the amount of wear of the consumable portion based on the calculated distance when it is determined that the work device is held in the measurement posture is executed. Characterized work machine. In the work machine of claim 1,
A first display instructing the operator to bring the reference plane into contact with the measurement plane setting object before the first process is executed by the controller.
It is further provided with a monitor that displays a second display instructing the operator to hold the posture of the work apparatus in the measurement posture before the second process is executed by the controller. Work machine. In the work machine of claim 2,
After the first display is displayed on the monitor, the first input for inputting to the controller that the reference plane has come into contact with the measurement plane setting object, and
After the second display is displayed on the monitor, it is further provided with an input device for inputting a second input for inputting to the controller that the posture of the working device is held in the measuring posture. Work machine. In the work machine of claim 2,
It is further equipped with a pressure sensor that detects the pressure acting on the actuator that drives the work device.
The controller
After the first display is displayed on the monitor, the first process is executed when it is detected by the pressure detected by the pressure sensor that the reference plane has come into contact with the measurement plane setting object.
After the second display is displayed on the monitor, the work machine executes the second process when it is detected by the pressure detected by the pressure sensor that the work apparatus has taken the measurement posture. .. In the work machine of claim 1,
The attachment is a bucket, the consumable part is a claw of the bucket, and the control point is a point set on the toe of the bucket.
The measuring posture is a posture in which the back surface of the bucket is held perpendicular to the contact surface and the toes of the bucket are in contact with the contact surface. In the work machine of claim 2,
The controller has a back surface of the bucket and a contact surface based on the posture data of the work device calculated based on the signal output from the posture sensor and the position of the measurement surface in the vehicle body coordinate system. A work machine characterized in that an angle formed is calculated and the calculated angle is displayed on the monitor. In the work machine of claim 1,
The controller is a work machine characterized in that the dimensional data of the work apparatus is updated based on the calculated amount of wear. In the work machine of claim 1,
The controller is a work machine that controls the work device based on the calculated position of the control point in the vehicle body coordinate system.

Images