JP6928740B2 - Construction management system, work machine, and construction management method - Google Patents

Description

The present invention relates to a construction management system, a work machine, and a construction management method.

There is known a technique for controlling a work machine based on a target shape of a work target, prioritizing operation of an operation device by an operator of the work machine. In the present specification, controlling the work machine with priority over the operation of the operation device by the operator of the work machine is referred to as intervention control.

International Publication No. 2014/167718

When the construction is carried out in the foundation work of the construction site, the work of marking the standard of the excavation position and the work of confirming the excavation depth are often carried out by the worker. In this case, a large number of workers and a great deal of labor are required. When the 3D design data of the construction target is created and the construction is carried out by intervention control, the number of workers is reduced. However, the creation of 3D design data requires a great deal of labor and a long creation period. Therefore, there is a possibility that the start time of construction will be delayed. In addition, when a design change occurs at the construction site, it is necessary to recreate the three-dimensional design data. In this case as well, there is a possibility that the construction period will be prolonged due to the delay in construction.

An object of the present invention is to provide a construction management system, a work machine, and a construction management method capable of suppressing a long construction period and carrying out highly accurate construction.

According to the first aspect of the present invention, a display device displays two-dimensional design data parallel to a reference plane defined as a construction target and work machine display data indicating at least a part of a work machine capable of excavating the construction target. The display control unit to be displayed on the screen, the input excavation depth data acquisition unit that acquires the input excavation depth data generated by operating the input device, and the reference plane based on the input excavation depth data. Provided is a construction management system including a work machine control unit that outputs a control signal for controlling the movement of the work machine in the depth direction of the work object that is orthogonal to each other.

According to the second aspect of the present invention, a work machine including the construction management system of the first aspect is provided.

According to the third aspect of the present invention, a display device displays two-dimensional design data parallel to a reference plane defined as a construction target and work machine display data indicating at least a part of a work machine capable of excavating the construction target. The depth of the construction object orthogonal to the reference plane based on the input excavation depth data generated by operating the input device and the input excavation depth data. A construction management method including outputting a control signal for controlling the movement of the working machine with respect to a direction is provided.

According to the aspect of the present invention, there is provided a construction management system, a work machine, and a construction management method capable of suppressing a long construction period and carrying out highly accurate construction.

FIG. 1 is a diagram schematically showing an example of a construction management system according to the present embodiment. FIG. 2 is a perspective view showing an example of a work machine according to the present embodiment. FIG. 3 is a side view schematically showing an example of the work machine according to the present embodiment. FIG. 4 is a rear view schematically showing an example of the work machine according to the present embodiment. FIG. 5 is a plan view schematically showing an example of the work machine according to the present embodiment. FIG. 6 is a schematic view showing an example of the flood control system according to the present embodiment. FIG. 7 is a schematic view showing an example of the flood control system according to the present embodiment. FIG. 8 is a functional block diagram showing an example of the control system according to the present embodiment. FIG. 9 is a diagram schematically showing an example of a construction site constructed by the work machine according to the present embodiment. FIG. 10 is a flowchart showing an example of the construction management method according to the present embodiment. FIG. 11 is a diagram schematically showing an example of a display device according to the present embodiment. FIG. 12 is a flowchart showing an example of a method for creating two-dimensional design data according to the present embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of each embodiment described below can be combined as appropriate. In addition, some components may not be used.

In the following description, a three-dimensional global coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) will be defined, and the positional relationship of each part will be described.

The global coordinate system is a coordinate system based on the origin fixed to the earth. The global coordinate system is a coordinate system defined by GNSS (Global Navigation Satellite System). GNSS refers to a global navigation satellite system. GPS (Global Positioning System) is an example of a global navigation satellite system. GNSS has a plurality of positioning satellites. GNSS detects the position defined by the coordinate data of latitude, longitude, and altitude.

The global coordinate system is defined by an Xg axis in the horizontal plane, a Yg axis orthogonal to the Xg axis in the horizontal plane, and a Zg axis orthogonal to the Xg axis and the Yg axis. The direction parallel to the Xg axis is defined as the Xg axis direction, the direction parallel to the Yg axis is defined as the Yg axis direction, and the direction parallel to the Zg axis is defined as the Zg axis direction. Further, the rotation or tilt direction centered on the Xg axis is defined as the θXg direction, the rotation or tilt direction centered on the Yg axis is defined as the θYg direction, and the rotation or tilt direction centered on the Zg axis is defined as the θZg direction. The Zg axis direction is the vertical direction.

The vehicle body coordinate system refers to a coordinate system based on the origin fixed to the work machine.

The vehicle body coordinate system is defined by an Xm axis extending in one direction with respect to the origin fixed to the vehicle body of the work machine, a Ym axis orthogonal to the Xm axis, and a Zm axis orthogonal to the Xm axis and the Ym axis. NS. The direction parallel to the Xm axis is defined as the Xm axis direction, the direction parallel to the Ym axis is defined as the Ym axis direction, and the direction parallel to the Zm axis is defined as the Zm axis direction. Further, the rotation or tilt direction centered on the Xm axis is defined as the θXm direction, the rotation or tilt direction centered on the Ym axis is defined as the θYm direction, and the rotation or tilt direction centered on the Zm axis is defined as the θZm direction. The Xm axis direction is the front-rear direction of the work machine, the Ym axis direction is the vehicle width direction of the work machine, and the Zm axis direction is the vertical direction of the work machine.

First embodiment.
[Construction management system]
FIG. 1 is a diagram schematically showing an example of a construction management system 1000 according to the present embodiment. The construction management system 1000 includes the server 2000 and implements the construction plan and construction management of the construction site 3000. The work machine 100 operates at the construction site 3000. In the present embodiment, the construction site 3000 includes a construction site for constructing a building.

The server 2000 includes a computer system. The server 2000 can perform data communication with the work machine 100 at the construction site 3000 and the information terminal 4100 installed at the construction company 4000. Data communication is possible between the server 2000, the work machine 100 of the construction site 3000, and the information terminal 4100 of the construction company 4000 via the communication line 5000. The communication line 5000 includes at least one of the Internet, a mobile phone communication network, and a local area network.

The information terminal 4100 of the construction company 4000 includes, for example, a personal computer. The construction company 4000 creates a design drawing of the construction site 3000. The worker of the construction company 4000 creates a design drawing using the information terminal 4100. The design drawing data indicating the design drawing created by the construction company 4000 is transmitted to the server 2000 via the communication line 5000.

[Working machine]
FIG. 2 is a perspective view showing an example of the work machine 100 according to the present embodiment. In this embodiment, an example in which the work machine 100 is a hydraulic excavator will be described. In the following description, the work machine 100 is appropriately referred to as a hydraulic excavator 100.

As shown in FIG. 2, the hydraulic excavator 100 is an operation for operating the work machine 1 operated by flood control, the vehicle body 2 supporting the work machine 1, the traveling device 3 supporting the vehicle body 2, and the work machine 1. A device 40 and a control device 50 for controlling the work machine 1 are provided. The vehicle body 2 can turn around the turning shaft RX while being supported by the traveling device 3. The vehicle body 2 is arranged on the traveling device 3. In the following description, the vehicle body 2 is appropriately referred to as an upper turning body 2, and the traveling device 3 is appropriately referred to as a lower traveling body 3.

The upper swing body 2 has a driver's cab 4 on which the driver is boarded, a machine room 5 in which the engine and the hydraulic pump are housed, and a handrail 6. The driver's cab 4 has a driver's seat 4S on which the driver sits. The machine room 5 is arranged behind the driver's cab 4. The handrail 6 is arranged in front of the machine room 5.

The lower running body 3 has a pair of tracks 7. The rotation of the track 7 causes the hydraulic excavator 100 to travel. The lower traveling body 3 may have wheels or tires.

The work machine 1 can excavate the construction target. The working machine 1 is supported by the upper swing body 2. The working machine 1 has a bucket 11 having a cutting edge 10, an arm 12 connected to the bucket 11, and a boom 13 connected to the arm 12. The cutting edge 10 of the bucket 11 may be the tip of a convex blade provided on the bucket 11. The cutting edge 10 of the bucket 11 may be the tip of a straight-shaped blade provided on the bucket 11.

The bucket 11 and the arm 12 are connected via a bucket pin. The bucket 11 is rotatably supported by the arm 12 about the rotation axis AX1. The arm 12 and the boom 13 are connected via an arm pin. The arm 12 is rotatably supported by the boom 13 about the rotation shaft AX2. The boom 13 and the upper swing body 2 are connected via a boom pin. The boom 13 is rotatably supported by the vehicle body 2 about the rotation shaft AX3.

The rotation axis AX1, the rotation axis AX2, and the rotation axis AX3 are parallel to each other. The rotation axes AX1, AX2, AX3 and the axis parallel to the rotation axis RX are orthogonal to each other. The Ym axis of the vehicle body coordinate system is parallel to the rotation axes AX1, AX2, and AX3. The Xm axis of the vehicle body coordinate system is orthogonal to both the rotation axes AX1, AX2, AX3 and the turning axis RX. The Zm axis of the vehicle body coordinate system is parallel to the turning axis RX. The direction in which the work machine 1 exists is forward with respect to the driver seated in the driver's seat 4S.

The bucket 11 may be a tilt bucket. The tilt bucket is a bucket that can be tilted and tilted in the vehicle width direction by operating the bucket tilt cylinder. When the hydraulic excavator 100 operates on a slope, the bucket 11 tilts and tilts in the vehicle width direction, so that the slope or flat ground can be freely formed or leveled.

The operation device 40 is arranged in the driver's cab 4. The operating device 40 includes an operating member operated by the driver of the hydraulic excavator 100. The operating member includes an operating lever or a joystick. By operating the operating member, the working machine 1 is operated.

The control device 50 includes a computer system. The control device 50 includes a processor such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface device.

FIG. 3 is a side view schematically showing the hydraulic excavator 100 according to the present embodiment. FIG. 4 is a rear view schematically showing the hydraulic excavator 100 according to the present embodiment. FIG. 5 is a plan view schematically showing the hydraulic excavator 100 according to the present embodiment.

As shown in FIGS. 2 and 3, the hydraulic excavator 100 has a hydraulic cylinder 20 for driving the work machine 1. The hydraulic cylinder 20 is driven by hydraulic oil. The hydraulic cylinder 20 includes a bucket cylinder 21 for driving the bucket 11, an arm cylinder 22 for driving the arm 12, and a boom cylinder 23 for driving the boom 13.

As shown in FIG. 3, the hydraulic excavator 100 includes a bucket cylinder stroke sensor 14 arranged on the bucket cylinder 21, an arm cylinder stroke sensor 15 arranged on the arm cylinder 22, and a boom cylinder stroke arranged on the boom cylinder 23. It has a sensor 16. The bucket cylinder stroke sensor 14 detects the bucket cylinder length, which is the stroke length of the bucket cylinder 21. The arm cylinder stroke sensor 15 detects the arm cylinder length, which is the stroke length of the arm cylinder 22. The boom cylinder stroke sensor 16 detects the boom cylinder length, which is the stroke length of the boom cylinder 23.

In the present embodiment, the position of the upper swing body 2 defined by the global coordinate system is detected. Further, the position of the bucket 11 defined by the vehicle body coordinate system and the position of the bucket 11 defined by the global coordinate system are detected.

In the present embodiment, the origin of the vehicle body coordinate system is defined by the upper swing body 2. The origin of the vehicle body coordinate system is, for example, the center of the swing circle of the upper swing body 2. The center of the swing circle exists on the swivel axis RX of the upper swivel body 2. The Zm axis of the vehicle body coordinate system coincides with the turning axis RX of the upper turning body 2. The Xm axis direction is the front-rear direction of the upper swing body 2. The Ym axis direction is the vehicle width direction of the upper turning body 2. The Zm axis direction is the vertical direction of the upper swivel body 2.

As shown in FIGS. 3, 4, and 5, the hydraulic excavator 100 includes a position detecting device 30 that detects the position of the upper swing body 2. The position detection device 30 includes a vehicle body position detector 31 that detects the position of the upper swivel body 2 defined by the global coordinate system, a posture detector 32 that detects the posture of the upper swivel body 2, and the orientation of the upper swivel body 2. Includes an orientation detector 33 for detecting.

The vehicle body position detector 31 includes a GPS receiver. The vehicle body position detector 31 detects the three-dimensional position of the upper swing body 2 defined by the global coordinate system. The vehicle body position detector 31 detects the coordinate data in the Xg axis direction, the coordinate data in the Yg axis direction, and the coordinate data in the Zg axis direction of the upper swivel body 2.

A plurality of GPS antennas 31A are provided on the upper swing body 2. The GPS antenna 31A is provided on the handrail 6 of the upper swing body 2. The GPS antenna 31A may be arranged on a counterweight arranged behind the machine room 5. The GPS antenna 31A receives radio waves from GPS satellites and outputs a signal based on the received radio waves to the vehicle body position detector 31. The vehicle body position detector 31 detects the absolute position of the GPS antenna 31A defined by the global coordinate system based on the signal supplied from the GPS antenna 31A. The vehicle body position detector 31 detects the absolute position of the upper swing body 2 based on the absolute position of the GPS antenna 31A.

Two GPS antennas 31A are provided in the vehicle width direction. The vehicle body position detector 31 detects each of the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A. The vehicle body position detector 31A performs arithmetic processing based on the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and detects the absolute position and orientation of the upper swing body 2. In the present embodiment, the absolute position of the upper swing body 2 is the absolute position of one GPS antenna 31A. The absolute position of the upper swing body 2 may be the absolute position of the other GPS antenna 31A, or may be the position between the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A.

The attitude detector 32 includes an inertial measurement unit (IMU). The posture detector 32 is provided on the upper swing body 2. The attitude detector 32 is arranged in the lower part of the driver's cab 4. The attitude detector 32 detects the inclination angle of the upper swivel body 2 with respect to the horizontal plane (XgYg plane). The tilt angle of the upper swivel body 2 with respect to the horizontal plane is the roll angle θa indicating the tilt angle of the upper swivel body 2 in the Ym axis direction (vehicle width direction) and the tilt angle of the upper swivel body 2 in the Xm axis direction (front-rear direction). Includes the indicated pitch angle θb.

The direction detector 33 detects the direction of the upper swivel body 2 with respect to the reference direction defined by the global coordinate system based on the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A. The reference direction is, for example, north. The direction detector 33 performs arithmetic processing based on the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and detects the direction of the upper swivel body 2 with respect to the reference direction. The azimuth detector 33 calculates a straight line connecting the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and makes an upper turn with respect to the reference azimuth based on the angle formed by the calculated straight line and the reference azimuth. Detects the orientation of body 2. The orientation of the upper swivel body 2 with respect to the reference orientation includes a yaw angle (azimuth angle) θc indicating an angle formed by the reference orientation and the orientation of the upper swivel body 2.

The direction detector 33 may be a device different from the position detection device 30. The orientation detector 33 may detect the orientation of the upper swing body 2 by using a magnetic sensor.

The hydraulic excavator 100 includes a work machine position detector 34 that detects the position of the work machine 1 in the vehicle body coordinate system. The work machine position detector 34 detects the relative position of the cutting edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 in the vehicle body coordinate system.

In the present embodiment, the work equipment position detector 34 includes the detection result of the bucket cylinder stroke sensor 14, the detection result of the arm cylinder stroke sensor 15, the detection result of the boom cylinder stroke sensor 16, and the length L1 of the bucket 11. , The relative position of the cutting edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 is calculated based on the length L2 of the arm 12 and the length L3 of the boom 13.

The work machine position detector 34 calculates the inclination angle α of the cutting edge 10 of the bucket 11 with respect to the arm 12 based on the bucket cylinder length detected by the bucket cylinder stroke sensor 14. The work equipment position detector 34 calculates the inclination angle β of the arm 12 with respect to the boom 13 based on the arm cylinder length detected by the arm cylinder stroke sensor 15. The work machine position detector 34 calculates the inclination angle γ of the boom 13 with respect to the Z axis of the upper swing body 2 based on the boom cylinder length detected by the boom cylinder stroke sensor 16.

The length L1 of the bucket 11 is the distance between the cutting edge 10 of the bucket 11 and the rotation shaft AX1 (bucket pin). The length L2 of the arm 12 is the distance between the rotation shaft AX1 (bucket pin) and the rotation shaft AX2 (arm pin). The length L3 of the boom 13 is the distance between the rotating shaft AX2 (arm pin) and the rotating shaft AX3 (boom pin).

The work equipment position detector 34 is relative to the cutting edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 based on the inclination angle α, the inclination angle β, the inclination angle γ, the length L1, the length L2, and the length L3. Calculate the position.

Further, the work machine position detector 34 detects the position of the work machine 11 in the global coordinate system. The work machine position detector 34 detects the position of the cutting edge 10 of the bucket 11 in the global coordinate system. The cutting edge detector 34 is based on the absolute position of the upper swinging body 2 detected by the position detecting device 30 and the relative position between the origin of the upper swinging body 2 and the cutting edge 10 of the bucket 11, of the cutting edge 10 of the bucket 11. Calculate the absolute position. The relative position between the absolute position of the upper swing body 2 and the origin of the upper swing body 2 is known data derived from the specification data of the hydraulic excavator 100. Therefore, the work machine position detector 34 is based on the absolute position of the upper swing body 2, the relative position between the origin of the upper swing body 2 and the cutting edge 10 of the bucket 11, and the specification data of the hydraulic excavator 100. The absolute position of the cutting edge 10 of 11 can be calculated.

The work equipment position detector 34 may include an angle sensor such as a potentiometer tilt meter. The angle sensor may detect the tilt angle α of the bucket 11, the tilt angle β of the arm 12, and the tilt angle γ of the boom 13.

[Intervention control]
In the present embodiment, the control device 50 implements intervention control for controlling the work machine 1 in preference to the operation of the operation device 40 by the driver of the hydraulic excavator 100. The control device 50 intervenes and controls the work machine 1 by, for example, PI control (proportional-integral control). In the intervention control, the position of the bucket 11 is controlled.

By operating the operation device 40, the dump operation of the bucket 11, the excavation operation of the bucket 11, the dump operation of the arm 12, the excavation operation of the arm 12, the raising operation of the boom 13, and the lowering operation of the boom 13 are executed. ..

In the present embodiment, the operating device 40 includes a right operating lever arranged on the right side of the driver seated in the driver's seat 4S and a left operating lever arranged on the left side. When the right operating lever is moved in the front-rear direction, the boom 13 performs a lowering operation and an raising operation. When the right operating lever is moved in the left-right direction (vehicle width direction), the bucket 11 performs an excavation operation and a dump operation. When the left operating lever is moved in the front-rear direction, the arm 12 performs a dump operation and an excavation operation. When the left operating lever is moved in the left-right direction, the upper swivel body 2 turns left and right. Even if the upper swivel body 2 turns right and left when the left operation lever is moved in the front-rear direction, and the arm 12 performs a dump operation and excavation operation when the left operation lever is moved in the left-right direction. good.

In the intervention control, the bucket 11 and the arm 12 are driven based on the operation of the operating device 40 by the driver. The boom 13 is driven based on at least one of the operation of the operation device 40 by the driver and the control by the control device 50.

When excavating the construction target, the bucket 11 and the arm 12 are excavated. The control device 50 controls to intervene in the movement of the boom 10 so that the cutting edge 10 of the bucket 11 is arranged at the target position while the bucket 11 and the arm 12 are excavated by the operation of the operation device 40. .. For example, the control device 50 controls the boom cylinder 23 so that the boom 13 is raised while the bucket 11 and the arm 12 are being excavated.

[Flood system]
Next, an example of the hydraulic system 300 according to the present embodiment will be described. The hydraulic cylinder 20 including the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23 is operated by the hydraulic system 300. The hydraulic cylinder 20 is operated by the operating device 40.

In the present embodiment, the operating device 40 is a pilot pressure type operating device. In the following description, the oil supplied to the hydraulic cylinder 20 for operating the hydraulic cylinder 20 (bucket cylinder 21, arm cylinder 22, boom cylinder 23) is appropriately referred to as hydraulic oil. The directional control valve 41 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 20. The directional control valve 41 is operated by the supplied oil. In the following description, the oil supplied to the directional control valve 41 in order to operate the directional control valve 41 is appropriately referred to as pilot oil. Further, the pressure of the pilot oil is appropriately referred to as a pilot pressure.

FIG. 6 is a schematic view showing an example of the hydraulic system 300 that operates the arm cylinder 22. By operating the operating device 40, the arm 12 executes two types of operations, an excavation operation and a dump operation. When the arm cylinder 22 is extended, the arm 12 is excavated, and when the arm cylinder 22 is contracted, the arm 12 is dumped.

The hydraulic system 300 applies a variable displacement main hydraulic pump 42 that supplies hydraulic oil to the arm cylinder 22 via a directional control valve 41, a pilot pressure pump 43 that supplies pilot oil, and a pilot pressure for the directional control valve 41. It includes an operating device 40 for adjustment, oil passages 44A and 44B through which pilot oil flows, pressure sensors 46A and 46B arranged in the oil passages 44A and 44B, and a control device 50. The main hydraulic pump 42 is driven by a prime mover such as an engine (not shown).

The directional control valve 41 controls the direction in which the hydraulic oil flows. The hydraulic oil supplied from the main hydraulic pump 42 is supplied to the arm cylinder 22 via the directional control valve 41. The direction control valve 41 is a spool system in which a rod-shaped spool is moved to switch the direction in which hydraulic oil flows. As the spool moves in the axial direction, the supply of hydraulic oil to the cap side oil chamber 20A (oil passage 47A) of the arm cylinder 22 and the supply of hydraulic oil to the rod side oil chamber 20B (oil passage 47B) are switched. The oil chamber 20A on the cap side is a space between the cylinder head cover and the piston. The rod-side oil chamber 20B is a space in which the piston rod is arranged. Further, by moving the spool in the axial direction, the supply amount of hydraulic oil (supply amount per unit time) to the arm cylinder 22 is adjusted. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the arm cylinder 22.

The directional control valve 41 is operated by the operating device 40. The pilot oil delivered from the pilot pressure pump 43 is supplied to the operating device 40. The pilot oil sent from the main hydraulic pump 42 and depressurized by the pressure reducing valve may be supplied to the operating device 40. The operating device 40 includes a pilot pressure regulating valve. The pilot pressure is adjusted based on the amount of operation of the operating device 40. The pilot pressure drives the directional control valve 41. By adjusting the pilot pressure by the operating device 40, the moving amount and moving speed of the spool in the axial direction are adjusted.

The directional control valve 41 has a first pressure receiving chamber and a second pressure receiving chamber. The spool is driven by the pilot pressure of the oil passage 44A, the first pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the first pressure receiving chamber. The spool is driven by the pilot pressure of the oil passage 44B, the second pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the second pressure receiving chamber.

The pressure sensor 46A detects the pilot pressure of the oil passage 44A. The pressure sensor 46B detects the pilot pressure of the oil passage 44B. The detection signals of the pressure sensors 46A and 46B are output to the control device 50.

When the operating lever of the operating device 40 is moved to one side from the neutral position, a pilot pressure corresponding to the operating amount of the operating lever acts on the first pressure receiving chamber of the spool of the directional control valve 41. When the operating lever of the operating device 40 is moved to the other side from the neutral position, a pilot pressure corresponding to the operating amount of the operating lever acts on the second pressure receiving chamber of the spool of the directional control valve 41.

The spool of the directional control valve 41 moves by a distance corresponding to the pilot pressure adjusted by the operating device 40. For example, when the pilot pressure acts on the first pressure receiving chamber, the hydraulic oil from the main hydraulic pump 42 is supplied to the cap side oil chamber 20A of the arm cylinder 22, and the arm cylinder 22 extends. When the arm cylinder 22 is extended, the arm 12 excavates. When the pilot pressure acts on the second pressure receiving chamber, the hydraulic oil from the main hydraulic pump 42 is supplied to the rod side oil chamber 20B of the arm cylinder 22, and the arm cylinder 22 contracts. When the arm cylinder 22 contracts, the arm 12 dumps. Based on the movement amount of the spool of the directional control valve 41, the supply amount of hydraulic oil per unit time supplied from the main hydraulic pump 42 to the arm cylinder 22 via the directional control valve 41 is adjusted. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied per unit time.

The hydraulic system 300 that operates the bucket cylinder 21 has the same configuration as the hydraulic system 300 that operates the arm cylinder 22. By operating the operating device 40, the bucket 11 executes two types of operations, an excavation operation and a dump operation. When the bucket cylinder 21 is extended, the bucket 11 is excavated, and when the bucket cylinder 21 is contracted, the bucket 11 is dumped. A detailed description of the hydraulic system 300 that operates the bucket cylinder 21 will be omitted.

FIG. 7 is a schematic view showing an example of the hydraulic system 300 that operates the boom cylinder 23. By operating the operating device 40, the boom 13 executes two types of operations, an raising operation and a lowering operation. The directional control valve 41 has a first pressure receiving chamber and a second pressure receiving chamber. The spool is driven by the pilot pressure of the oil passage 44A, the first pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the first pressure receiving chamber. The spool is driven by the pilot pressure of the oil passage 44B, the second pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the second pressure receiving chamber. The hydraulic oil supplied from the main hydraulic pump 42 is supplied to the boom cylinder 23 via the directional control valve 41. By moving the spool of the directional control valve 41 in the axial direction, the hydraulic oil is supplied to the cap side oil chamber 20A (oil passage 47B) of the boom cylinder 23 and the hydraulic oil to the rod side oil chamber 20B (oil passage 47A). The supply switches. When the hydraulic oil is supplied to the first pressure receiving chamber, the hydraulic oil is supplied to the rod side oil chamber 20B via the oil passage 47A and the boom cylinder 13 contracts, so that the boom 13 lowers. When the hydraulic oil is supplied to the second pressure receiving chamber, the hydraulic oil is supplied to the cap side oil chamber 20A via the oil passage 47B and the boom cylinder 13 is extended, so that the boom 13 is raised.

As shown in FIG. 7, the hydraulic system 300 that operates the boom cylinder 23 includes a main hydraulic pump 42, a pilot pressure pump 43, a directional control valve 41, and an operating device 40 that adjusts the pilot pressure with respect to the directional control valve 41. , The oil passages 44A, 44B, 44C through which the pilot oil flows, the control valves 45A, 45B, 45C arranged in the oil passages 44A, 44B, 44C, and the pressure sensors 46A, 46B arranged in the oil passages 44A, 44B, 44C. And a control device 50 for controlling the control valves 45A, 45B, 45C.

The control valves 45A, 45B and 45C are electromagnetic proportional control valves. The control valves 45A, 45B, 45C adjust the pilot pressure based on the control signal from the control device 50. The control valve 45A adjusts the pilot pressure of the oil passage 44A. The control valve 45B adjusts the pilot pressure of the oil passage 44B. The control valve 45C adjusts the pilot pressure of the oil passage 44C.

As described with reference to FIG. 6, when the operating device 40 is operated, a pilot pressure corresponding to the operating amount of the operating device 40 acts on the directional control valve 41. The spool of the directional control valve 41 moves according to the pilot pressure. Based on the amount of movement of the spool, the amount of hydraulic oil supplied from the main hydraulic pump 42 to the boom cylinder 23 via the directional control valve 41 is adjusted per unit time.

The control device 50 can control the control valve 45A to reduce the pressure of the pilot pressure acting on the first pressure receiving chamber. The control device 50 can control the control valve 45B to reduce the pressure of the pilot pressure acting on the second pressure receiving chamber. In the example shown in FIG. 7, the pilot pressure adjusted by the operation of the operating device 40 is reduced by the control valve 45A, so that the pilot oil supplied to the directional control valve 41 is limited. The pilot pressure acting on the directional control valve 41 is reduced by the control valve 45A, so that the lowering operation of the boom 13 is restricted. Similarly, the pilot pressure adjusted by the operation of the operating device 40 is reduced by the control valve 45B, thereby limiting the pilot oil supplied to the directional control valve 41. The pilot pressure acting on the directional control valve 41 is reduced by the control valve 45B, so that the raising operation of the boom 13 is restricted. The control device 50 controls the control valve 45A based on the detection signal of the pressure sensor 46A. The control device 50 controls the control valve 45B based on the detection signal of the pressure sensor 46B.

In the present embodiment, for intervention control, a control valve 45C that operates based on a control signal for intervention control output from the control device 50 is provided in the oil passage 44C. The pilot oil delivered from the pilot pressure pump 43 flows through the oil passage 44C. The oil passage 44C and the oil passage 44B are connected to the shuttle valve 48. The shuttle valve 48 supplies the pilot oil of the oil passage 44B and the oil passage 44C having the higher pilot pressure to the directional control valve 41.

The control valve 45C is controlled based on the control signal output from the control device 50 to execute the intervention control.

When the intervention control is not executed, the control device 50 does not output a control signal to the control valve 45C so that the directional control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. For example, the control device 50 fully opens the control valve 45B and closes the oil passage 44C at the control valve 45C so that the directional control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. ..

When executing the intervention control, the control device 50 outputs a control signal to the control valves 45B and 45C so that the directional control valve 41 is driven based on the pilot pressure adjusted by the control valve 45C. For example, when executing intervention control that limits the movement of the boom 13, the control device 50 outputs a control signal to the control valve 45C so that the pilot pressure corresponds to the boom target speed. For example, the control device 50 outputs a control signal to the control valve 45C so that the pilot pressure adjusted by the control valve 45C is higher than the pilot pressure adjusted by the operation device 40. When the pilot pressure of the oil passage 44C becomes larger than the pilot pressure of the oil passage 44B, the pilot oil from the control valve 45C is supplied to the directional control valve 41 via the shuttle valve 48.

By supplying the pilot oil to the directional control valve 41 via at least one of the oil passage 44B and the oil passage 44C, the hydraulic oil is supplied to the cap side oil chamber 20A via the oil passage 47B. As a result, the boom cylinder 23 is extended and the boom 13 is raised.

If the amount of operation for raising the boom 13 by the operating device 40 is large so that the cutting edge 10 of the bucket 11 does not dig into the target excavation terrain, intervention control is not executed. The operating device 40 is operated so that the boom 13 is raised at a speed faster than the boom target speed, and the pilot pressure is adjusted based on the operating amount, so that the pilot pressure adjusted by the operation of the operating device 40 is adjusted. Is higher than the pilot pressure adjusted by the control valve 45C. As a result, the pilot oil of the pilot pressure adjusted by the operation of the control valve 45C of the control device 50 is selected by the shuttle valve 48 and supplied to the directional control valve 41. When the pilot pressure based on the control signal output from the control device 50 to the control valve 45C is smaller than the pilot pressure based on the boom operation amount, the pilot oil adjusted by the operation of the operation device 40 is selected by the shuttle valve 48. , The boom 13 is operated.

[Control system]
Next, the control system 200 of the hydraulic excavator 100 according to the present embodiment will be described. FIG. 8 is a functional block diagram showing an example of the control system 200 according to the present embodiment.

As shown in FIG. 8, the control system 200 includes a control device 50 for controlling the work machine 1, a position detection device 30, a work machine position detector 34, a control valve 45 (45A, 45B, 45C), and a pressure. It includes sensors 46 (46A, 46B), a display device 71, and an input device 72.

As described above, the position detection device 30 including the vehicle body position detector 31, the attitude detector 32, and the direction detector 33 detects the absolute position of the upper swing body 2. In the following description, the absolute position of the upper swing body 2 is appropriately referred to as a vehicle body position.

The control valves 45 (45A, 45B, 45C) adjust the supply amount of hydraulic oil to the hydraulic cylinder 20. The control valve 45 operates based on a control signal from the control device 50. The pressure sensor 46 (46A, 46B) detects the pilot pressure of the oil passage 44 (44A, 44B). The detection signal of the pressure sensor 46 is output to the control device 50.

The display device 71 is arranged in the driver's cab 4. The display device 71 includes a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD). The display device 71 displays display data based on the control signal output from the control device 50. The driver of the driver's cab 4 can visually recognize the display screen of the display device 71.

The input device 72 is arranged in the driver's cab 4. The input device 72 includes, for example, at least one of a computer keyboard, mouse, and touch panel. The driver of the driver's cab 4 can operate the input device 72. The input data generated by operating the input device 72 is supplied to the control device 50.

As described above, the hydraulic excavator 100 and the server 2000 can perform data communication via the communication line 5000. The control device 50 can perform data communication with the server 2000 via the communication line 5000. In the present embodiment, the server 2000 and the control device 50 wirelessly perform data communication.

The server 2000 and the control device 50 may be connected by wire, and the two-dimensional design data may be transmitted from the server 2000 to the control device 50. Even if the control device 50 has a reading device capable of reading data recorded in a recording medium such as a flash memory and the data generated by the server 2000 is supplied to the control device 50 via the recording medium. good.

The control device 50 includes a vehicle body position data acquisition unit 51, a work machine position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, and a work machine control. It has a unit 56, a storage unit 57, and an input / output unit 58.

The processor of the control device 50 includes a vehicle body position data acquisition unit 51, a work machine position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, and a work machine control unit 56. including. The storage device of the control device 50 includes a storage unit 57. The input / output interface device of the control device 50 includes an input / output unit 58.

The vehicle body position data acquisition unit 51 acquires vehicle body position data indicating the absolute position of the upper swivel body 2 in the global coordinate system from the position detection device 30 via the input / output unit 58.

The work machine position data acquisition unit 52 receives the work machine position data indicating the position of the work machine 1 in the vehicle body coordinate system from the work machine position detector 34 via the input / output unit 58, and the work machine 1 in the global coordinate system. Acquire the work machine position data indicating the position.

The work machine position data acquisition unit 52 uses the work machine position detector 34 as the work machine position data to perform the relative position of the cutting edge 10 of the bucket 11 with respect to the origin of the upper swivel body 2 in the vehicle body coordinate system via the input / output unit 58. Get the data. Further, the work machine position data acquisition unit 52 acquires the relative position data of the cutting edge 10 of the bucket 11 in the global coordinate system from the work machine position detector 34 via the input / output unit 58 as the work machine position data.

The two-dimensional design data acquisition unit 53 acquires the two-dimensional design data of the construction target of the construction site 3000 from the server 2000 via the input / output unit 58. In this embodiment, the server 2000 creates two-dimensional design data. The two-dimensional design data is design data parallel to the reference plane FL defined for the construction target of the construction site 3000.

The input excavation depth data acquisition unit 54 acquires the input excavation depth data generated by operating the input device 72 from the input device 72 via the input / output unit 58.

The display control unit 55 displays on the display device 71 two-dimensional design data parallel to the reference plane FL defined as the construction target and work machine display data indicating at least a part of the work machine 1 capable of excavating the construction target. Let me. Further, in the present embodiment, the display control unit 55 causes the display device 71 to display the target excavation depth data from the reference plane FL.

The work machine control unit 56 intervenes and controls the movement of the work machine 1 in the depth direction of the construction target orthogonal to the reference plane FL based on the input excavation depth data acquired by the input excavation depth data acquisition unit 54. The control signal to be output is output to the control valve 45. The work machine control unit 56 calculates a boom target speed based on the distance between the cutting edge 10 and the target depth surface of the construction target defined by the input excavation depth data, and the boom is based on the calculated boom target speed. The boom cylinder 23 that drives the 13 is controlled.

The storage unit 57 stores the specification data of the hydraulic excavator 100.

[Construction for construction]
FIG. 9 is a diagram schematically showing an example of a construction site 3000 constructed by the hydraulic excavator 100 according to the present embodiment. In the first embodiment, the construction target OBP of the hydraulic excavator 100 is the ground of the construction site where the building is constructed. The hydraulic excavator 100 carries out foundation work at a construction site.

At the construction site of a building, a reference plane FL parallel to the horizontal plane is defined. The reference plane FL is often defined by the height of the floor finish of the building after construction, for example, called the floor level.

In this embodiment, the reference plane FL and the excavation depth ΔDP from the reference plane FL are defined. The hydraulic excavator 100 excavates the construction target OBP by the excavation depth ΔDP.

In the present embodiment, the work machine control unit 56 intervenes and controls the movement of the work machine 1 in the depth direction of the construction target. That is, the work machine control unit 56 intervenes and controls the work machine 1 so that the cutting edge 10 of the bucket 11 does not move below the excavation depth ΔDP from the reference surface FL. As a result, it is possible to prevent the OBP to be constructed from being dug too much.

On the other hand, the movement of the work machine 1 in the horizontal direction is not controlled by intervention. The work machine 1 moves in the horizontal direction parallel to the reference plane FL by the operation of the operation device 40 by the driver. The driver operates the operating device 40 to rotate the upper swivel body 2, expand and contract the working machine 1, and run the lower traveling body 3, thereby using the bucket 11 of the working machine 1 as a reference surface. It can move in the horizontal direction parallel to the FL.

That is, in the present embodiment, the movement of the bucket 11 in the depth direction orthogonal to the reference plane FL is intervention-controlled, and the movement of the bucket 11 in the horizontal direction parallel to the reference plane FL is not intervention-controlled. In other words, although the intervention control of the work machine 1 is performed for the excavation depth orthogonal to the reference plane FL, the intervention control of the work machine 1 is not carried out for the excavation range parallel to the reference plane FL.

[Construction management method]
Next, an example of the construction management method according to the present embodiment will be described. FIG. 10 is a flowchart showing an example of the construction management method according to the present embodiment.

In the present embodiment, the construction management method includes a step of creating two-dimensional design data parallel to the reference plane FL defined as the construction target (step S100) and a step of uploading the two-dimensional design data to the hydraulic excavator 1 (step). S200), a step of setting a reference plane FL at the construction site 3000 (step S300), a step of acquiring work machine position data indicating the position of the work machine 1 including the cutting edge 10 of the bucket 11 (step S400), and construction. A display device that displays two-dimensional design data parallel to the reference surface FL specified for the target, work machine display data indicating at least a part of the work machine 1 capable of excavating the construction target, and target excavation depth data from the reference surface FL. Based on the step of displaying on the 71 (step S500), the step of acquiring the input drilling depth data generated by operating the input device 72 (step S600), and the input drilling depth data, the reference plane FL The step (step S700) of outputting a control signal for intervening control of the movement of the work machine 1 in the depth direction of the construction target orthogonal to and performing the construction is included.

(Step S100: Creation of 2D design data)
The process of creating two-dimensional design data will be described. Design drawing data showing the design drawings created by the construction company 4000 is supplied to the server 2000. Further, at the construction site 3000, the position of the reference point of the construction target in the site coordinate system is measured. The position of the reference point is described in the design drawing, and the operator measures the position of the reference point in the three-dimensional field coordinate system.

Multiple reference points are defined so as to surround the construction target. In this embodiment, there are four reference points so as to surround the construction target. The reference points may be present at at least three places.

After the site coordinate system is defined by the measurement of the reference point, the process of associating the site coordinate system with the global coordinate system is performed. As described above, the position detection device 30 detects the position of the hydraulic excavator 100 in the global coordinate system. By associating the field coordinate system with the global coordinate system, the relative position between the design drawing and the hydraulic excavator 100 is defined.

The server 2000 edits the design drawing data to create the two-dimensional design data. Design drawings often contain a large number of lines, symbols, letters, and numbers. The server 2000 simplifies the design drawing data so that the operator of the hydraulic excavator 100 can easily see it, and creates the two-dimensional design data which is the simplified design drawing data. Further, the server 2000 creates the two-dimensional design data by converting the design drawing data into a file format that can be read by the control device 50 of the hydraulic excavator 100.

The server 2000 creates two-dimensional design data including guide data that defines the excavation range and target excavation depth data that indicates the target excavation depth from the reference plane FL. In the present embodiment, the guide data that defines the excavation range is the guideline GL. The target excavation depth data indicating the target excavation depth from the reference plane FL is numerical data of the target excavation depth.

(Step S200: Uploading 2D design data)
After the two-dimensional design data is created, the two-dimensional design data is transmitted from the server 2000 to the hydraulic excavator 100. The two-dimensional design data acquisition unit 53 of the control device 50 of the hydraulic excavator 100 acquires the two-dimensional design data.

(Step S300: Setting of reference plane)
Before the start of construction, the reference plane FL is defined. The construction site 3000 is provided with a reference member indicating the reference surface FL, or is indicated to indicate the reference surface FL. The driver of the hydraulic excavator 100 operates the operating device 40 to bring the cutting edge 10 of the bucket 11 into contact with the reference member or the like. The working machine position detector 34 can detect the absolute position of the cutting edge 10 of the bucket 11. The work machine position data acquisition unit 52 acquires the position data of the cutting edge 10 of the bucket 11 in contact with the reference member or the like. The work machine control unit 56 acquires the position data of the reference plane FL in the Zg axis direction in the global coordinate system. The position data in the height direction of the reference plane FL in the global coordinate system is stored in the storage unit 57.

The position data of the reference plane FL may be stored in the storage unit 57 by the operation of the input device 72 by the driver. For example, the driver may select data from points registered in the existing construction data and operate the input device 72 to input the position data of the reference plane FL.

(Step S400: Acquisition of work equipment position data)
The work machine position data acquisition unit 52 acquires the work machine position data from the work machine position detector 34. An indicator 10D, which will be described later, is created based on the work equipment position data.

(Step S500: Display)
The display control unit 55 receives two-dimensional design data parallel to the reference plane FL defined as the construction target, work machine display data indicating at least a part of the work machine 1 capable of excavating the construction target, and the reference plane FL. The target excavation depth data is displayed on the display device 71.

FIG. 11 is a diagram schematically showing an example of the display device 71 according to the present embodiment. As shown in FIG. 11, the display control unit 55 causes the display device 71 to display the guideline GL, which is the guide data that defines the excavation range by the work machine 1, as the two-dimensional design data. Further, the display control unit 55 causes the display device 71 to display the indicator 10D indicating the cutting edge 10 of the bucket 11 of the work machine 1 as the work machine display data. Further, the display control unit 5 displays numerical data indicating the target excavation depth as the target excavation depth data. In the example shown in FIG. 11, "IFL-2100" is displayed as numerical data indicating the target excavation depth in the first excavation range, and "IFL-2700" is displayed as numerical data indicating the target excavation depth in the second excavation range. Is displayed. "IFL-2100" indicates that the first excavation range should be excavated in the depth direction by 2100 [mm] from the reference plane FL. "IFL-2700" indicates that the second excavation range should be excavated in the depth direction by 2700 [mm] from the reference plane FL.

As shown in FIG. 11, the display control unit 55 simultaneously displays the two-dimensional design data and the work equipment display data on the display device 71 at the same scale in the same coordinate system.

(Step S600: Acquisition of input excavation depth data)
When excavating the first excavation range using the work machine 1, the driver operates the input device 72 to input the excavation depth in the first excavation range. When excavating the first excavation range using the work machine 1, the driver sees the numerical value of "-2100" displayed on the display device 71 and operates the input device 72 to "-2100". Enter the value of.

The input excavation depth data generated by operating the input device 72 is acquired by the input excavation depth data acquisition unit 54. In the present embodiment, the work machine control unit 56 is the work machine 1 regarding the depth direction of the construction target orthogonal to the reference plane FL based on the input excavation depth data acquired by the input excavation depth data acquisition unit 54. A control signal for intervening control of the movement of the vehicle is output to the control valve 45.

The driver may input the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71 into the input device 72, or input the target excavation depth displayed on the display device 71 to the input device 72. A numerical value different from the indicated numerical value may be input to the input device 72. By inputting the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71 to the input device 72, intervention control is performed based on the excavation depth shown in the original design drawing data. Will be done. By inputting a numerical value different from the numerical value indicating the target excavation depth displayed on the display device 71 to the input device 72, the excavation depth indicated in the original design drawing data is finely adjusted by the driver. Intervention control is implemented based on the finely tuned drilling depth.

(Step S700: Construction)
Construction for the first excavation range is started. The driver operates the operating device 40 while observing the guideline GL and the indicator 10D displayed on the display device 71 to adjust the position of the bucket 11 in the horizontal direction parallel to the reference plane FL. On the display device 71, the indicator 10D indicating the two-dimensional design data and the work equipment display data is simultaneously displayed at the same scale in the same coordinate system. Therefore, the driver can operate the operation device 40 so that the bucket 11 is positioned in the first excavation range to be excavated while looking at the guideline GL and the indicator 10D displayed on the display device 71.

After the bucket 11 is positioned in the first excavation range in the horizontal direction, the driver operates the operating device 40 to move the bucket 11 in the depth direction and start excavation in the first excavation range. In the present embodiment, the movement of the bucket 11 in the depth direction of the construction target orthogonal to the reference plane FL is intervened and controlled based on the input excavation depth data generated by operating the input device 72. .. The work equipment control unit 56 prevents the cutting edge 10 of the bucket 11 from moving downward from the excavation depth input via the input device 72, that is, the bucket 11 from the excavation depth input via the input device 72. Outputs a control signal to the control valve 45 so that the engine does not dig into the construction target.

In the present embodiment, the reference plane FL is set in step S300, and after the reference plane FL is set, the input device 72 is operated and the excavation depth is specified. Therefore, the work machine control unit 56 can control the work machine 1 so that the bucket 11 does not dig the construction target more than the input excavation depth based on the set reference plane FL and the input excavation depth data. can.

The position of the bucket 11 in the horizontal direction is adjusted by the operation of the operating device 40 by the driver. The driver can operate the operating device 40 so that the indicator 10D is aligned with the guideline GL in the horizontal direction while looking at the guideline GL and the indicator 10D displayed on the display device 71.

The example in which the first construction range is constructed has been described above. The construction of the second construction range is carried out in the same manner as the construction of the first construction range.

[Action and effect]
As described above, according to the present embodiment, the two-dimensional design data of the construction target is created, and the construction of the construction target is carried out based on the two-dimensional design data. The creation period of the two-dimensional design data is sufficiently shorter than the creation period of the three-dimensional design data. Therefore, the delay in the start time of construction is suppressed. Further, even if a design change occurs at the construction site 3000 and it is necessary to recreate the two-dimensional design data, the delay in construction can be suppressed because the creation period of the two-dimensional design data is short. Therefore, the lengthening of the construction period is suppressed.

Further, in the present embodiment, the work machine control unit 56 intervenes and controls the movement of the work machine 1 in the depth direction of the construction target based on the input excavation depth data. Therefore, the hydraulic excavator 100 can be installed with high accuracy in the depth direction.

Further, in the present embodiment, the intervention control is performed based on the input excavation depth data manually input by the driver. Therefore, when the driver wants to perform intervention control based on the excavation depth specified in the original design drawing data, the driver inputs the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71. Just enter in. On the other hand, when the driver wants to finely adjust the excavation depth for intervention control, the driver can input a numerical value different from the numerical value indicating the target excavation depth displayed on the display device 71 to the input device 72.

Further, in the present embodiment, the display control unit 55 includes two-dimensional design data parallel to the reference plane FL defined as the construction target, the indicator 10D which is the work machine display data indicating the cutting edge 10 of the work machine 1. The target excavation depth data is displayed on the display device 71 provided in the driver's cab 4 of the hydraulic excavator 100. Therefore, the driver of the hydraulic excavator 100 can specify the construction range to be excavated in the construction target based on the two-dimensional design data displayed on the display device 71 and the indicator 10D. Further, the driver of the hydraulic excavator 100 operates the operating device 40 based on the two-dimensional design data displayed on the display device 71 and the indicator 10D to position the cutting edge 10 of the bucket 11 in the construction range to be excavated. be able to.

Further, the driver of the hydraulic excavator 100 operates the input device 72 based on the target excavation depth data displayed on the display device 71 to indicate the input excavation depth indicating the target value for the intervention control in the depth direction. Data can be entered. By manually inputting the target value for the intervention control in the depth direction by the driver, the complexity of the two-dimensional design data is suppressed, and the burden of data processing in the control device 50 is suppressed. For example, when the two-dimensional design data including the target value of the intervention control in the depth direction is created, the two-dimensional design data becomes complicated, and the effect of shortening the creation period of the two-dimensional design data is reduced. Further, when the intervention control is performed based on the complicated two-dimensional design data, the burden of data processing in the control device 50 increases. In the present embodiment, the input excavation depth data indicating the target value for the intervention control in the depth direction is manually input by the driver via the input device 72, so that the two-dimensional design data is complicated and the control device. It is possible to carry out intervention control of the work machine 1 in the depth direction while suppressing the burden of data processing in 50. Further, in the present embodiment, when a slight design change occurs in the excavation depth, the design change can be dealt with only by re-inputting the input excavation depth data via the input device 72.

Further, in the present embodiment, the work machine 1 moves in a direction parallel to the reference plane FL by the operation of the operation device 40 by the operator of the hydraulic excavator 100. That is, in the present embodiment, the intervention control of the work machine 1 is carried out with respect to the excavation depth, but the intervention control of the work machine 1 is not carried out with respect to the excavation range. As a result, the degree of freedom of construction in the horizontal direction is secured. Further, since the intervention control is performed for the excavation depth and not for the excavation range, the burden of control in the control device 50 is reduced.

At the construction site, although high accuracy is required for the excavation depth, the accuracy required for the excavation range is often relatively low. For example, although high precision is required for the thickness of concrete for the foundation of a building, the range of concrete can be slightly wider than the range specified in the original blueprint. Further, at the construction site, the excavation range is often finely adjusted by the driver. In the present embodiment, the intervention control is performed for the excavation depth and not for the excavation range. Therefore, the construction is carried out in accordance with the requirements of the construction site while reducing the control load on the control device 50. be able to.

Further, in the present embodiment, the display control unit 55 simultaneously displays the two-dimensional design data and the work machine display data on the display device 71 in the same global coordinate system. Therefore, the driver of the hydraulic excavator 100 can intuitively grasp the excavation range to be excavated and the relative position of the work machine 1, and can smoothly carry out the excavation work by the work machine 1.

Further, in the present embodiment, the two-dimensional design data includes the guideline GL which is the guide data for defining the construction range, and the display control unit 55 causes the display device 71 to display the guideline GL. Therefore, the driver of the hydraulic excavator 100 can operate the operation device 40 while looking at the guideline GL displayed on the display device 71 to position the cutting edge 10 of the bucket 11 in the construction range to be excavated.

Second embodiment.
The second embodiment will be described. In the following description, the same or equivalent components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

In this embodiment, a modified example of the above-mentioned creation of two-dimensional design data (step S100) will be described.

In the above-described embodiment, in step S100, four reference points provided at the construction site 3000 are measured, and the site coordinate system and the global coordinate system are associated with each other.

At the construction site, four reference points may not be provided. In particular, in a narrow construction site, it is often the case that four reference points are not provided.

In the present embodiment, when there is no reference point at the construction site 3000, a process of associating the site coordinate system with the global coordinate system will be described based on the Japanese plane orthogonal coordinate system and the geoid file.

The plane Cartesian coordinate system is a plane Cartesian coordinate system formulated for surveying in Japan. The plane Cartesian coordinate system is predetermined. The plane Cartesian coordinate system data indicated by the plane Cartesian coordinate system indicates latitude and longitude. The Ministry of Land, Infrastructure, Transport and Tourism has released the latitude and longitude that indicate the origin in Japan's Cartesian coordinate system. There are 19 origins in Japan.

A geoid is a plane perpendicular to the direction of gravity at a certain point on the earth that coincides with the average level plane at sea. The geoid file is predetermined. The geoid data indicated by the geoid file indicates altitude. Due to the influence of geomagnetism, the rotation of the earth, the shape of the earth, etc., the position of the origin of the plane orthogonal coordinate system in the Zg axis direction shifts, the position error in the Zg axis direction occurs depending on the latitude and longitude, GPS The detection data in the Zg axis direction of the receiver may contain an error. In the present embodiment, the work machine position data acquisition unit 52 corrects the work machine position data acquired from the work machine position detector 34 based on the plane orthogonal coordinate system data and the geoid data.

FIG. 12 is a flowchart showing an example of a method for creating two-dimensional design data according to the present embodiment.

Data indicating the origin closest to the construction site 3000 among the 19 origins disclosed by the Ministry of Land, Infrastructure, Transport and Tourism is input to the control device 50 of the hydraulic excavator 100. The work machine position data acquisition unit 53 acquires plane rectangular coordinate system data (step S110).

The geoid file is input to the control device 50 of the hydraulic excavator 100. The work equipment position data acquisition unit 53 relates to the latitude and longitude of the origin of the plane orthogonal coordinate system acquired in step S110 among the plurality of geoid data for each of the plurality of latitudes and longitudes included in the geoid file. Acquire geoid data (step S120).

The work machine position data acquisition unit 52 acquires the work machine position data from the work machine position detector 34. The work machine position data acquisition unit 52 is the work machine position data acquisition unit 52 in the Zg axis direction of the work machine position data acquired from the work machine position detector 34 based on the plane orthogonal coordinate system data acquired in step S110 and the geoid data acquired in step S120. Correct the data (step S130).

Next, the association between the field coordinate system and the global coordinate system is carried out. The positions of the two reference points of the construction target corresponding to at least two reference points specified in the design drawing of the construction target are detected by using the work machine 1. The driver operates the operating device 40 to bring the cutting edge 10 of the bucket 11 into contact with each of the two reference points to be constructed. As a result, the positions of at least two reference points of the construction target in the global coordinate system are detected using the work machine 1. The position data of at least two reference points of the construction target detected by using the cutting edge 10 of the bucket 11 is acquired by the work machine position data acquisition unit 52. The position data of at least two reference points to be constructed is transmitted to the server 2000.

The server 2000 has a global coordinate system and a site based on the positions of at least two reference points of the construction target detected by using the work machine 1 and the positions of at least two reference points of the design drawing of the construction target. Associate with the coordinate system. The server 2000 is two-dimensionally designed so that the positions of at least two reference points of the construction target detected by using the work machine 1 and the positions of at least two reference points of the design drawing of the construction target match. Adjust the scale of the data. As a result, the two-dimensional design data displayed on the display device 71, which is associated with the global coordinate system and adjusted in scale, is generated (step S140).

As described above, the two-dimensional design data is created. The created two-dimensional design data is uploaded from the server 2000 to the hydraulic excavator 100. Subsequent processing is the same as in steps S200 to S700 described in the above-described embodiment.

Other embodiments.
In the above-described embodiment, the server 2000 may have a part or all of the functions of the control device 50 of the hydraulic excavator 100. That is, the server 2000 has a vehicle body position data acquisition unit 51, a work machine position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, a work machine control unit 56, and storage. It may have at least one of a unit 57 and an input / output unit 58. For example, the vehicle body position data detected by the position detecting device 30 and the working machine position data detected by the working machine position detector 34 are supplied to the server 2000 via the communication line 5000, and the vehicle body position provided in the server 2000 is provided. The data acquisition unit 51 and the work machine position data acquisition unit 52 may acquire the vehicle body position data and the work machine position data. Further, the display control unit 55 provided in the server 2000 generates display data including the two-dimensional design data, the indicator 10D, and the target excavation depth data, and hydraulically feeds the generated display data via the communication line 5000. It may be transmitted to the display device 71 of the excavator 100. Further, the input excavation depth data generated by operating the input device 72 of the hydraulic excavator 100 by the driver is supplied to the server 2000 via the communication line 5000, and the input excavation depth provided in the server 2000 is provided. The data acquisition unit 54 may acquire the input excavation depth data. Further, the work machine control unit 56 provided in the server 2000 generates a control signal for intervention control of the work machine 1 based on the input excavation depth data, and the generated control signal is generated via the communication line 5000. May be transmitted to the control valve 45 of the hydraulic excavator 100.

In the above-described embodiment, the operating device 40 is a pilot pressure type operating device. The operating device 40 may be an electric system.

In the above-described embodiment, the operating device 40 is provided on the hydraulic excavator 100. The operating device 40 may be provided at a remote location away from the hydraulic excavator 100, and the hydraulic excavator 100 may be remotely controlled. When the work machine 1 is remotely controlled, a control signal for operating the work machine 1 is wirelessly transmitted to the hydraulic excavator 100 from an operation device 40 provided at a remote location.

In the above-described embodiment, the work machine 100 is a hydraulic excavator. The construction management system 1000 described in the above-described embodiment can be applied to all work machines having a work machine, such as a bulldozer or a wheel loader.

1 Work machine, 2 Body (upper swivel body), 3 Traveling device (lower traveling body), 4 Driver's cab, 4S driver's seat, 5 Machine room, 6 Handrail, 7 Shoe band, 10 Cutting edge, 10D indicator, 11 bucket, 12 arm , 13 boom, 14 bucket cylinder stroke sensor, 15 arm cylinder stroke sensor, 16 boom cylinder stroke sensor, 20 hydraulic cylinder, 20A cap side oil chamber, 20B rod side oil chamber, 21 bucket cylinder, 22 arm cylinder, 23 boom cylinder, 30 position detector, 31 vehicle body position detector, 31A GPS antenna, 32 attitude detector, 33 orientation detector, 34 work equipment position detector, 40 operating device, 41 direction control valve, 42 main hydraulic pump, 43 pilot pressure pump , 44A, 44B, 44C oil passage, 45A, 45B, 45C control valve, 46A, 46B pressure sensor, 47A, 47B oil passage, 48 shuttle valve, 50 control device, 51 vehicle body position data acquisition unit, 52 work equipment position data acquisition Unit, 53 Two-dimensional design data acquisition unit, 54 Input depth data acquisition unit, 55 Display control unit, 56 Work equipment control unit, 57 Storage unit, 58 Input / output unit, 71 Display device, 72 Input device, 100 Hydraulic excavator ( Work machine), 200 control system, 300 hydraulic system, 1000 construction management system, 2000 server, 3000 construction site, 4000 construction company, 4100 information terminal, 5000 communication line, AX1 rotation axis, AX2 rotation axis, AX3 rotation axis, FL standard Surface, GL guideline, L1 length, L2 length, L3 length, RX swivel axis, α tilt angle, β tilt angle, γ tilt angle.

Claims (9)

A work machine position data acquisition unit that acquires work machine position data indicating the position of the work machine from the work machine position detector, and
A two-dimensional design data acquisition unit that acquires the two-dimensional design data of the construction target parallel to the reference plane in the depth direction of the construction target, and
Based on the working machine position data the acquired, a display control unit for displaying a working machine display data indicative of at least a portion of the excavation work machine with the working object and the two-dimensional design data on the display device,
An input excavation depth data acquisition unit that acquires input excavation depth data generated by operating the input device,
A work machine control unit that outputs a control signal for controlling the movement of the work machine in the depth direction of the construction target orthogonal to the reference plane based on the input excavation depth data is provided.
Construction management system. The two-dimensional design data includes guide data that defines the excavation range.
The construction management system according to claim 1. The display control unit causes the display device to display numerical data indicating a target excavation depth in the excavation range together with guide data defining the excavation range.
The construction management system according to claim 1 or 2. The work machine display data includes an indicator indicating the cutting edge of the work machine, and includes an indicator.
The display control unit simultaneously displays the two-dimensional design data and the work machine display data on the display device at the same scale in the same coordinate system.
The construction management system according to any one of claims 1 to 3. The display control unit causes the display device to display the target excavation depth data from the reference plane.
The construction management system according to any one of claims 1 to 4. It is provided with a work machine position data acquisition unit that acquires work machine position data indicating the position of the work machine from the work machine position detector.
The work equipment position data acquisition unit corrects the work equipment position data based on predetermined plane orthogonal coordinate system data indicating latitude and longitude and geoid data indicating altitude.
It is displayed on the display device based on the positions of at least two reference points of the construction target detected by using the working machine and the positions of at least two reference points of the design drawing of the construction target. Adjusting the scale of the two-dimensional design data,
The construction management system according to any one of claims 1 to 5. A work machine provided with the construction management system according to any one of claims 1 to 6. Acquiring work equipment position data indicating the position of the work equipment,
Acquiring the two-dimensional design data of the construction target parallel to the reference plane in the depth direction of the construction target, and
And that on the basis of the working machine position data the acquired displays the working machine display data indicative of at least a portion of the excavation work machine with the working object and the two-dimensional design data on the display device,
To acquire the input excavation depth data generated by operating the input device,
Based on the input excavation depth data, including outputting a control signal for controlling the movement of the work machine in the depth direction of the construction target orthogonal to the reference plane.
Construction management method. The two-dimensional design data includes guide data that defines the excavation range.
The construction management method according to claim 8.

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