JP7043471B2 - Work machine - Google Patents

Description

The present disclosure relates to, for example, a work machine for performing information-oriented construction.

Conventionally, inventions relating to a work machine control system and a work machine used for a work machine provided with a work machine are known (see Patent Document 1 below). In this conventional invention, for a work machine that performs information-oriented construction based on the result of positioning the position of the work machine, the work machine can be accurately and continuously controlled when the information-oriented construction is performed, and It is an object of the present invention to provide a work machine control system and a work machine capable of realizing at least one of displaying appropriate information on a work guidance screen.

Patent Document 1 is a system for controlling a work machine having a work tool and a work machine provided with a traveling device as a means for solving the above-mentioned problems, and is a position detection device, a state detection device, and a position information generation unit. And the control system of the work machine including the target value generation unit (see the same document, claim 1 and the like). The position detecting device detects the position of the working machine. The state detection device detects operation information indicating the operation of the work machine. The position information generation unit operates in any one of a first mode, a second mode, and a third mode.

The first mode of the position information generation unit is a mode in which information on the position detected by the position detection device is output as position information related to the position of the work machine. The second mode of the position information generation unit uses both the specific point as a reference of the work machine and the operation information detected by the state detection device before the positioning by the position detection device becomes abnormal. In this mode, the obtained position information is output as the position information. The third mode of the position information generation unit is a mode in which the position information is not output.

The position information generation unit operates in the first mode when the positioning by the position detection device is normal. Further, the position information generation unit operates in the second mode when the positioning by the position detection device is abnormal and the work machine is in a statically indeterminate state. Further, the position information generation unit operates in the third mode when the positioning by the position detection device is abnormal and the work machine is in a non-statically indeterminate state. The target value generation unit obtains the position of the work machine based on the position information obtained from the position information generation unit.

Japanese Unexamined Patent Publication No. 2016-224038

In the control system of the conventional work machine, even if the positioning by the position detection device is abnormal, the position detection device operates in the second mode or the third mode, so that the target value generation unit The position of the working machine can be obtained. However, in the conventional control system of the work machine, when the positioning by the position detection device is abnormal, the position may change even though the work machine is in a static state due to slipping of the work machine, or the position of the work machine may change. There is a problem that the accurate position of the work machine cannot be output when the turning operation exceeds a predetermined condition.

The present disclosure provides a work machine capable of estimating the position of the work machine more accurately than before in the event of an abnormality in the position detection device that detects the position of the work machine.

One aspect of the present disclosure is a first aspect of detecting the positions of a main body, a work device provided on the main body, a traveling device for traveling the main body, a first control device mounted on the main body, and the position of the main body. A position detecting device, a moving body that can move independently of the main body, a second control device mounted on the moving body, a second position detecting device that detects the position of the moving body, and the moving body. A work machine provided with a relative position detecting device for detecting a relative position with respect to the main body, and a first central processing device constituting the first control device detects an abnormality in the first position detecting device. The second central processing device that notifies the second control device and constitutes the second control device moves the moving body when the notification is given, and the moving body is moved by the second position detecting device. The relative position is detected by the relative position detecting device, and the first central processing device detects the abnormality of the first position detecting device, and then the position and the relative position of the moving body. It is a work machine characterized by calculating the estimated position of the main body based on the above.

According to the above aspect of the present disclosure, when the first position detecting device of the main body is abnormal, the second position detecting device of the moving body and the relative position detecting device for detecting the relative position between the moving body and the main body are conventionally used. It is possible to provide a work machine capable of estimating the position of the main body more accurately.

The schematic diagram which shows one Embodiment of the work machine of this disclosure. The schematic diagram which shows one Embodiment of the work machine of this disclosure. The functional block diagram of the 1st control device and the 2nd control device of the work machine shown in FIGS. 1 and 2. FIG. 3 is a flow chart of position detection and position estimation by the first control device and the second control device shown in FIG. FIG. 3 is a flow chart of position estimation by the second control device shown in FIG. The transition diagram of the positioning mode of the work machine shown in FIGS. 1 and 2. An image diagram showing an example of an image of an image display device of a work machine shown in FIGS. 1 and 2.

Hereinafter, embodiments of the work machine of the present disclosure will be described with reference to the drawings.

1 and 2 are schematic views showing an embodiment of the work machine of the present disclosure. The work machine 1 of the present embodiment is, for example, a hydraulic excavator provided with a system for assisting information-oriented construction. In computerized construction, for example, in construction at the site of resource mining or construction work, information and communication technology is utilized and electronic information obtained from each process is exchanged to realize highly efficient and highly accurate construction. More specifically, management and construction of the work machine 1 using the three-dimensional position information of the work machine 1 obtained by a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). It manages the state and controls the work machine 1.

Although the details will be described later, the work machine 1 of the present embodiment is characterized by the following configuration. The work machine 1 includes a main body 10, a work device 20 provided on the main body 10, and a traveling device 30 for traveling the main body 10. Further, the work machine 1 includes a first control device 100 mounted on the main body 10, a first position detection device 40 for detecting the position of the main body 10, and a moving body 50 that can move independently of the main body 10. I have. Further, the work machine 1 detects the relative positions of the second control device 200 mounted on the moving body 50, the second position detecting device 60 for detecting the position of the moving body 50, and the moving body 50 and the main body 10. It includes a relative position detecting device 70. The first central processing unit 101 constituting the first control device 100 detects an abnormality in the first position detection device 40 and notifies the second control device 200. The second central processing unit 201 constituting the second control device 200 moves the moving body 50 when the first control device 100 gives the notification, and the second position detecting device 60 determines the position of the moving body 50. It is detected, and the relative position between the main body 10 and the moving body 50 is detected by the relative position detecting device 70. After detecting the abnormality of the first position detection device 40, the first central processing unit 101 calculates the estimated position of the main body 10 based on the position of the moving body 50 and the relative position between the moving body 50 and the main body 10. do.

Hereinafter, the configuration of the work machine 1 of the present embodiment will be described in more detail. The work machine 1 includes, for example, the main body 10, the work device 20, the traveling device 30, the first position detection device 40, the moving body 50, the second position detection device 60, the relative position detection device 70, the first control device 100, and the above-mentioned main body 10. In addition to the second control device 200, an image display device 80 (FIG. 7), a power supply device 91, a cable 92, an emergency power supply 93, and a third control device 300 are provided. In the following description, a three-dimensional Cartesian coordinate system consisting of an X-axis parallel to the front-back direction of the work machine 1, a Y-axis parallel to the width direction of the work machine 1, and a Z-axis parallel to the height direction of the work machine 1 will be described. Each part of the work machine 1 may be described with reference to it.

The main body 10 is mounted on the traveling device 30 so as to be swivelable, for example. The main body 10 is driven by, for example, a hydraulic motor or an electric motor (not shown). Specifically, for example, when an operator operates an operation lever in the driver's cab 11, the main body 10 moves the traveling device 30 around a rotation axis parallel to the height direction (Z direction) of the work machine 1 according to the operation. Turn against. The main body 10 houses, for example, a prime mover (not shown), a hydraulic mechanism including a hydraulic pump and a plurality of valves, a first control device 100 and a third control device 300, a counterweight, and the like.

An cab 11 is provided at the front of the main body 10 in the front-rear direction (X direction) of the work machine 1. Although some are not shown, inside the driver's cab 11, there is a driver's seat on which the operator sits, an operation lever and operation pedal operated by the operator, and an image display device 80 (see FIG. 7) visually recognized by the operator. is set up.

The work device 20 is a work device that performs work such as excavation work. The work device 20 is provided, for example, at the front portion of the main body 10 in the front-rear direction (X-axis direction) and at the center portion of the main body 10 in the vehicle width direction (Y-axis direction), and is adjacent to the driver's cab 11 in the vehicle width direction. ing. The working device 20 includes, for example, a boom 21, an arm 22, and a bucket 23. Further, the working device 20 has, for example, a boom cylinder 21s, an arm cylinder 22s, a bucket cylinder 23s, and a link mechanism 23l.

The base end portion of the boom 21 is connected to the main body 10 via a rotation axis (not shown) parallel to the width direction (Y direction) of the work machine 1, for example. The boom 21 is driven by, for example, a boom cylinder 21s, which is a hydraulic actuator, and rotates in a predetermined angle range around a rotation axis (not shown) attached to the main body 10.

The base end portion of the arm 22 is connected to the tip end portion of the boom 21 via a rotation shaft 22a parallel to the width direction (Y direction) of the work machine 1, for example. The arm 22 is driven by, for example, an arm cylinder 22s, which is a hydraulic actuator, and rotates in a predetermined angle range around a rotation shaft 22a attached to the boom 21.

The base end portion of the bucket 23 is connected to the tip end portion of the arm 22 via, for example, a rotation shaft 23a parallel to the width direction (Y direction) of the work machine 1 and a link mechanism 23l. The bucket 23 is driven by, for example, the bucket cylinder 23s, which is a hydraulic actuator, and rotates in a predetermined angle range around a rotation shaft 23a attached to the arm 22.

The boom cylinder 21s, arm cylinder 22s, and bucket cylinder 23s are a cylinder tube, a piston slidably arranged axially along the inner peripheral surface of the cylinder tube, and a rod connected to one end of the piston. have. The inside of the cylinder tube is divided into a rod chamber on the rod side and a bottom chamber on the opposite side to the rod by a piston. The boom cylinder 21s, arm cylinder 22s, and bucket cylinder 23s form, for example, a part of a hydraulic mechanism housed inside the main body 10 (not shown).

The hydraulic mechanism is configured so that when the operator operates the operation lever in the driver's cab 11, the pilot pressure corresponding to the operation is applied to the switching valve. The hydraulic mechanism changes the flow rate and supply destination of the hydraulic oil pumped from the hydraulic pump according to the pilot pressure by various valves including the switching valve, and the bottoms of the boom cylinder 21s, the arm cylinder 22s, and the bucket cylinder 23s, respectively. Supply hydraulic oil to the chamber or rod chamber. As a result, the rods of the boom cylinder 21s, the arm cylinder 22s, and the bucket cylinder 23s expand and contract, and as described above, the boom 21, the arm 22, and the bucket 23 are driven.

The traveling device 30 includes, for example, left and right crawlers 31 having endless track tracks, and left and right traveling motors (not shown). The traveling device 30 drives the work machine 1 by driving the left and right crawlers 31 by the left and right traveling motors, respectively. The left and right traveling motors are, for example, hydraulic motors that form a part of the above-mentioned hydraulic mechanism. By operating the operation lever or the operation pedal in the driver's cab 11, the operator can rotate the left and right traveling motors of the traveling device 30 in any direction to drive the work machine 1.

The first position detection device 40 includes, for example, antennas 41 and 42 attached to the main body 10 and constituting an RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System). The first position detecting device 40 has, for example, two antennas 41 and 42 arranged behind the driver's cab 11 and separated from each other on the main body 10. The first position detecting device 40 detects the position and posture of the main body 10 by detecting the three-dimensional position information of each of the two antennas 41 and 42 provided on the main body 10.

The mobile body 50 is a UAV (Unmanned Aerial Vehicle) such as a drone. Although not particularly limited, in the examples shown in FIGS. 1 and 2, the moving body 50 includes a plurality of propellers. The mobile body 50 can move independently of the main body 10, for example, by rotating a plurality of propellers and flying autonomously.

The second position detecting device 60 is mounted on the moving body 50, for example, and detects the position of the moving body 50. Specifically, the second position detection device 60 includes antennas 61 and 62 that are attached to the moving body 50 and constitute the RTK-GNSS, for example. The second position detection device 60 is not limited to the RTK-GNSS, and may be configured to include, for example, a 3-axis acceleration sensor or a gyro sensor.

The relative position detecting device 70 is mounted on the moving body 50, for example, and detects the relative position between the moving body 50 and the main body 10. As the relative position detection device 70, for example, an image pickup device such as a monocular camera or a stereo camera, or a distance measuring device such as a LIDAR (Light Detection and Ranging) device can be used. In order to facilitate the detection of the position and posture of the main body 10 by the relative position detecting device 70, the main body 10 may have two or more markers detected by the relative position detecting device 70. Specifically, for example, when the relative position detection device 70 is a lidar device, a prism or a mirror that reflects a laser can be used as a marker.

The image display device 80 shown in FIG. 7 is mounted on the main body 10, for example. More specifically, the image display device 80 is arranged at a position visible to the operator in, for example, the driver's cab 11. The image display device 80 is composed of, for example, a liquid crystal display device or an organic EL display device, and is configured to display an image based on a control signal from the first control device 100. The image display device 80 may include, for example, an input device such as a touch panel on which an operator can input information.

The power feeding device 91 is mounted on the main body 10, for example, and supplies electric power to the mobile body 50 via the cable 92. The power feeding device 91 can be configured by, for example, a generator or a battery mounted on the main body 10. The cable 92 has, for example, a feeding line connected to an output terminal of the power feeding device 91 and a power supply terminal of the mobile body 50, and supplies electric power from the power feeding device 91 to the mobile body 50. The cable 92 has, for example, a signal line connecting the signal input / output unit of the first control device 100 and the signal input / output unit of the second control device 200.

The emergency power supply 93 is mounted on the mobile body 50 and supplies electric power necessary for moving and controlling the mobile body 50 in an emergency such as a disconnection of a cable 92. The emergency power supply 93 can be configured by, for example, a battery such as a lithium ion secondary battery or an all-solid-state lithium ion secondary battery.

The first control device 100 and the third control device 300 are mounted on the main body 10, for example, and the second control device 200 is mounted on the mobile body 50, for example. The first control device 100, the second control device 200, and the third control device 300 are, for example, a central processing unit including a control device and an arithmetic unit, a main storage device, an auxiliary storage device, a program stored in these, and a program stored therein. Equipped with input / output terminals, etc. In the following, the central processing unit constituting the first control device 100 is the first central processing unit 101, the central processing unit constituting the second control device 200 is the second central processing unit 201, and the central processing unit constituting the third control device 300. The processing unit is referred to as a third central processing unit 301.

FIG. 3 is a functional block diagram of the first control device 100, the second control device 200, and the third control device 300 of the work machine 1 shown in FIGS. 1 and 2. The first control device 100 has, for example, a position detection function F11 of the main body 10, a system state management function F12, a position / posture calculation function F13 of the main body 10, and a movement instruction function F14 of the moving body 50. There is. Note that, for example, due to hardware restrictions or the like, a control device other than the first control device 100 may have a position detection function F11, and the first control device 100 may not have a position detection function F11.

The second control device 200 includes a state management function F21 for the moving body 50, a position / posture calculation function F22 for the moving body 50, a relative position / posture calculation function F23 between the moving body 50 and the main body 10, and a moving body 50. It has a movement control function F24. The third control device 300 has a vehicle body control function F31 that controls the main body 10, the work device 20, and the traveling device 30 of the work machine 1. Each of these functions is realized by a central processing unit, a storage device, a program, and the like that constitute the first control device 100, the second control device 200, and the third control device 300.

FIG. 4 is a flow chart of position detection and position estimation by the first control device 100 and the second control device 200. When the signal S1 regarding the position of the main body 10 is input from the first position detection device 40 to the position detection function F11 of the first control device 100, the work machine 1 has the position detection function F11 and the state management function of the first control device 100. The process P1 for determining whether or not the first position detection device 40 is normal is performed by F12.

In the process P1, the position detection function F11 of the first control device 100 determines the state of the signal S1 input from the first position detection device 40 by, for example, the first central processing unit 101, and the determination result is the state management function. Output to F12. The state management function F12 is, for example, the state of the signal S1 of the first position detection device 40 which is the output of the position detection function F11 and the state of each part of the moving body 50 which is the output of the state management function F21 of the second control device 200. Is used as input information. The state management function F12 determines the state of the entire system by the first central processing unit 101, for example, based on these input information, and transfers the determination result to the movement instruction function F14 and the vehicle body control function F31 of the third control device 300. Output.

In the process P1, the state management function F12 of the first control device 100, for example, has the position measurement accuracy of the first position detection device 40 not lower than a predetermined level, and the signal S1 of the first position detection device 40. If the state of is not abnormal, the first central processing unit 101 determines that the first position detection device 40 is normal (YES). Then, the movement instruction function F14 of the first control device 100 into which the determination result is input executes the process P2 for stopping the moving body 50.

More specifically, in the process P2, as shown in FIG. 1, if the moving body 50 is located at the home position on the main body 10, the movement instruction function F14 is stopped by the first central processing unit 101. The signal to be maintained is output to the movement control function F24 of the second control device 200. As a result, the movement control function F24 of the second control device 200 maintains the state in which the moving body 50 is located at the home position and the moving body 50 is stopped.

On the other hand, in the process P2, as shown in FIG. 2, when the moving body 50 is moved to a position away from the main body 10, the movement instruction function F14 of the first control device 100 moves the moving body 50 to the main body 10. The instruction to return to the home position above and stop the moving body 50 is output to the movement control function F24 of the second control device 200 by the first central processing unit 101. As a result, the movement control function F24 of the second control device 200 controls the actuator of the moving body 50 by the second central processing unit 201, returns the moving body 50 to the home position on the main body 10, and moves the moving body 50. Stop it.

Next, in the processing P3, the position detection function F11 of the first control device 100 determines the three-dimensional position of the main body 10 by the first central processing unit 101 based on the signal S1 input from the first position detection device 40. The calculation is performed, and the calculated position is output to the third control device 300. When a signal including two or more positions of the main body 10 is input from the first position detection device 40 to the first control device 100, the first central processing unit 101 determines the three-dimensional position and posture of the main body 10. The calculation may be performed and these positions and postures may be output to the third control device 300.

As described above, when the first position detection device 40 is normal, the third control device 300 uses the position and posture of the main body 10 based on the signal of the first position detection device 40 mounted on the main body 10. It controls the turning of the 10th, the driving of the working apparatus 20, and the traveling of the working machine 1 by the traveling apparatus 30.

On the other hand, in the process P1, the state management function F12 of the first control device 100 has, for example, the position measurement accuracy of the first position detection device 40 is lower than a predetermined level, or the signal of the first position detection device 40. When the state of S1 is abnormal, the first central processing unit 101 determines that the first position detection device 40 is not normal (NO). Then, the movement instruction function F14 of the first control device 100 into which the determination result is input causes the movement control function F24 of the second control device 200 to be notified of the abnormality of the first position detection device 40 by the first central processing unit 101. The notification process P4 is executed.

Further, in the processing P4, when the state management function F12 of the first control device 100 detects an abnormality of the first position detecting device 40, for example, the first central processing unit 101 causes the image display device 80 shown in FIG. Is to display the image G1 notifying the abnormality of the first position detection device 40. Next, the movement instruction function F14 of the first control device 100 outputs an instruction to execute the process P5 for starting the alternative positioning to the movement control function F24 of the second control device 200 by the first central processing unit 101.

In the processing P5, the movement instruction function F14 of the second control device 200 activates the moving body 50 by the second central processing unit 201, and moves the moving body 50 to a position away from the main body 10. More specifically, the second central processing unit 201 takes off a moving body 50, which is a UAV such as a drone, from the home position of the main body 10 and makes it stay in the air above the main body 10. Further, in the processing P5, the second central processing unit 201 can detect the position of the moving body 50 by the second position detecting device 60, and the relative position between the main body 10 and the moving body 50 by the relative position detecting device 70. The moving body 50 is moved to a position where the above can be detected.

More specifically, in the processing P5, the state management function F21 of the second control device 200 mounted on the moving body 50 is relative to the second position detecting device 60 by the second central processing unit 201 based on the signal S2. It is determined whether or not the measurement state of the position detection device 70 is good. Here, the signal S2 includes the measurement state of the second position detection device 60 and the relative position detection device 70 mounted on the moving body 50. Further, the state management function F21 outputs the determination result of the measurement state by the second central processing unit 201 to the movement control function F24. The state management function F21 controls the actuator of the moving body 50 by the second central processing unit 201, and moves the moving body 50 to a position where the measurement states of both the second position detecting device 60 and the relative position detecting device 70 are good. Let me.

Next, the state management function F21 of the second control device 200 executes the process P6 for determining whether or not the alternative positioning is normal. In the process P6, first, the signal S3 of the position of the moving body 50, which is the output of the second position detecting device 60 mounted on the moving body 50, is input to the position / attitude calculation function F22. Then, the position and the posture of the moving body 50 based on the signal S3 are calculated by the second central processing unit 201, and the calculation result is input to the state management function F21. Further, in the processing P6, the signal S4 which is the output of the relative position detecting device 70 is input to the relative position / posture calculation function F23, and the second central processing unit 201 causes the relative between the main body 10 and the moving body 50 based on the signal S4. The position and relative posture are calculated, and the calculation result is input to the state management function F21.

In the process P6, the state management function F21 of the second control device 200 does not include information regarding the abnormality of each part of the moving body 50 in the signal S2 input from each part of the moving body 50, and the position of the moving body 50 and the position of the moving body 50 and the information regarding the abnormality of each part of the moving body 50 are not included. If the posture, the relative position between the main body 10 and the moving body 50, and the relative posture are measured in a good state, the second central processing unit 201 determines that the alternative positioning is normal (YES), and performs the alternative positioning. Proceed to the process P7 to be carried out.

In the process P7, the position / posture calculation function F22 of the second control device 200 outputs the position and posture of the moving body 50 calculated by the second central processing unit 201 to the position / posture calculation function F13 of the first control device 100. do. Further, the relative position / posture calculation function F23 of the second control device 200 calculates the relative position and posture of the main body 10 and the moving body 50 calculated by the second central processing unit 201, and calculates the position / posture of the first control device 100. Output to function F13.

In the process P7, the position / posture calculation function F13 of the first control device 100 is the position and posture of the moving body 50 input from the second control device 200, and the relative position and posture of the main body 10 and the moving body 50. The estimated position and estimated posture of the main body 10 are calculated by the first central processing unit 101 based on the above. The first control device 100 outputs the estimated position and the estimated posture of the main body 10 calculated by the position / posture calculation function F13 to the vehicle body control function F31 of the third control device 300.

On the other hand, in the process P6, the state management function F21 of the second control device 200 includes information about the abnormality in the signal S2 including the presence or absence of the abnormality in each part of the moving body 50, or the position and posture of the moving body 50. Alternatively, if the measurement state of the relative position and the relative posture between the main body 10 and the moving body 50 is poor, the second central processing unit 201 determines that the alternative positioning is not normal (NO), and the first control device 100 determines that the alternative positioning is not normal (NO). The determination result is output to the position / attitude calculation function F13, and the process proceeds to the process P8 for stopping the alternative positioning.

In the processing P8, the position / attitude calculation function F13 of the first control device 100 outputs a signal indicating that the alternative positioning is abnormal by the first central processing unit 101 to the movement instruction function F14. The movement instruction function F14 of the first control device 100 outputs an instruction to stop the moving body 50 to the movement control function F24 of the second control device 200 by the first central processing unit 101. The movement control function F24 of the second control device 200 controls the actuator of the moving body 50 by the second central processing unit 201, and makes the moving body 50 land at the home position on the main body 10 shown in FIG.

Next, the state management function F12 of the first control device 100 performs the process P9 for notifying the abnormality of the alternative positioning by the first central processing unit 101, for example. Specifically, in the process P9, the state management function F12 causes the image display device 80 shown in FIG. 7, for example, to display the image G2 indicating that the alternative positioning is abnormal by the first central processing unit 101.

Further, with reference to FIG. 5, the alternative positioning by the second control device 200 mounted on the mobile body 50 will be described in more detail. FIG. 5 is a flow chart of position estimation of the main body 10 by the second control device 200 shown in FIG.

In the alternative positioning of the main body 10 by the second control device 200 mounted on the mobile body 50, first, as shown in FIG. 5, it is determined from the first control device 100 whether or not there is a notification indicating an abnormality of the first position detection device 40. Processing P201 is performed. In the process P201, the movement control function F24 of the second control device 200 determines, for example, whether or not the movement instruction function F14 of the first control device 100 notifies whether or not there is a notification indicating an abnormality of the first position detection device 40. Determined by the central processing unit 201. If there is no notification indicating an abnormality in the first position detection device 40 in the process P201 (NO), the process proceeds to the process P202.

In the process P202, the movement control function F24 maintains the state in which the moving body 50 is stopped by the second central processing unit 201. When the moving body 50 is moved to a position away from the main body 10 in the processing P202, the movement control function F24 controls the actuator of the moving body 50 by the second central processing unit 201 to control the moving body 50. Is moved to the home position on the main body 10, the moving body 50 is stopped, and the alternative positioning is completed.

On the other hand, if there is a notification indicating an abnormality in the first position detection device 40 in the process P201 (YES), the process proceeds to the process P203. In the processing P203, the movement control function F24 of the second control device 200 controls the actuator of the moving body 50 by the second central processing unit 201 to take off the moving body 50 from the home position of the main body 10, and the main body 10 Stay in the sky.

At this time, the movement control function F24 is based on the instruction from the movement instruction function F14 of the first control device 100, and the signals S3 and S4 from the second position detection device 60 and the relative position detection device 70 mounted on the moving body 50. Then, the actuator of the moving body 50 is controlled by the second central processing unit 201. As a result, the flight position and attitude of the moving body 50 are controlled by the second central processing unit 201. The flight position immediately after takeoff, that is, the initial flight position, which is an instruction from the movement instruction function F14 of the first control device 100, may be set by the operator according to, for example, the situation at the site.

Next, the state management function F21 of the second control device 200 performs the process P204 of determining whether or not the mobile body 50 is normal. In the processing P204, the state management function F21 of the second control device 200 determines the presence / absence of an abnormality in each part of the moving body 50 by the second central processing unit 201 based on the signal S2 including the presence / absence of an abnormality in each part of the moving body 50. judge. Here, when the abnormal information contained in the signal S2 makes the flight of the mobile body 50 unsustainable, the second central processing unit 201 determines that the mobile body 50 is not normal (NO), and determines that the mobile body 50 is not normal (NO). The process proceeds to process P205 for stopping the moving body 50 and notifying the abnormality.

In the processing P205, the movement control function F24 of the second control device 200 controls the actuator of the moving body 50 by the second central processing unit 201, and the moving body 50 lands at the home position on the main body 10 shown in FIG. Let me. Further, the state management function F12 of the first control device 100 is the first central processing unit 101 based on the determination result indicating the abnormality of the second position detection device 60 input from the state management function F21 of the second control device 200. The image display device 80 shown in FIG. 7 is caused to display an image G2 indicating an abnormality of the second position detection device 60.

More specifically, for example, in the processing P204, when the signal S2 indicating the disconnection of the cable 92 is input to the state management function F21 of the second control device 200, the moving body 50 of the second central processing unit 201 is normal. It is determined that it is not (NO). Then, in the processing P205, the movement control function F24 of the second control device 200 moves the moving body 50 by the second central processing unit 201 using the emergency power supply 93, and the moving body 50 is the main body 10 shown in FIG. Land on the upper home position and display the image notifying the abnormality on the image display device 80.

On the other hand, in the processing P204, for example, when the information of the abnormality contained in the signal S2 does not make the flight of the moving body 50 unsustainable, the second central processing unit 201 has the moving body 50 normal (YES). The process proceeds to process P206 for detecting the position of the moving body 50. In the process P206, the position / attitude calculation function F22 of the second control device 200 calculates the position and attitude of the moving body 50 by the second central processing unit 201 based on the signal S3 input from the second position detection device 60. do. Next, the state management function F21 of the second control device 200 executes the process P207 for determining whether or not the measurement state of the second position detection device 60 is normal by the second central processing unit 201.

In the process P207, the state management function F21 of the second control device 200 determines whether or not the position and posture of the moving body 50 input from the position / attitude calculation function F22 are normal by the second central processing unit 201. do. In the process P207, when the second position detection device 60 is abnormal or the measurement accuracy of the second position detection device 60 is lower than a predetermined level, the second central processing unit 201 detects the second position. It is determined that the measurement state of the device 60 is not normal (NO), and the process proceeds to process P208 for measuring the duration of the abnormality.

In the process P208, the state management function F21 of the second control device 200 measures and measures the duration of the abnormal state in which the measurement state of the second position detection device 60 is not normal, for example, by the second central processing unit 201. Proceed to process P209 for comparing the duration with the time threshold T. In the process P209, the state management function F21 compares the duration of the abnormality with the threshold value T of the time by the second central processing unit 201, and if the duration of the abnormality is equal to or greater than the threshold value T (YES). , The above-mentioned process P205 for stopping the moving body 50 and notifying the abnormality is executed. On the other hand, in the process P209, if the duration of the abnormality is smaller than the threshold value T (NO), the second central processing unit 201 ends the flow shown in FIG. 5, and again performs the flow shown in FIG. Start.

Further, in the processing P207, when there is no abnormality in the second position detecting device 60 and the measurement accuracy of the second position detecting device 60 is equal to or higher than a predetermined level, the second central processing unit 201 is the second position detecting device 60. It is determined that the measurement state of is normal (YES), and the process proceeds to the process P210 for detecting the relative position. In the processing P210, the relative position / attitude calculation function F23 of the second control device 200 uses the second central processing unit 201 to connect the moving body 50 and the main body 10 based on the signal S4 input from the relative position detecting device 70. The relative position and relative posture are calculated and output to the state management function F21.

Next, the state management function F21 of the second control device 200 executes the process P211 for determining whether or not the measurement state of the relative position detection device 70 is normal. In the processing P211th, the state management function F21 has a second central processing unit 201 when there is an abnormality in the relative position detecting device 70 or the measurement accuracy of the relative position detecting device 70 is lower than a predetermined level. It is determined that the measurement state of the relative position detection device 70 is not normal (NO), and the process proceeds to the above-mentioned process P208 for measuring the duration of the abnormal state.

On the other hand, in the processing P211 of the processing P211, the position / attitude calculation function F22 is the second central processing unit 201 when there is no abnormality in the relative position detecting device 70 and the measurement accuracy of the relative position detecting device 70 is equal to or higher than a predetermined level. It is determined that the measurement state of the relative position detection device 70 is normal (YES), and the process proceeds to process P212 for transmitting the relative position and relative posture of the moving body 50 and the main body 10. In the process P212, the relative position / attitude calculation function F23 of the second control device 200 outputs the relative position and the relative attitude to the position / attitude calculation function F13 of the first control device 100 by the second central processing unit 201, and communicates. Proceed to the process P213 for determining whether or not the operation was normally performed.

In the process P213, the state management function F21 communicates between the relative position / attitude calculation function F23 of the second control device 200 and the position / attitude calculation function F13 of the first control device 100 by the second central processing unit 201. Judges whether or not was performed normally. If the communication is not normal (NO), the second central processing unit 201 proceeds to the above-mentioned processing P208 for measuring the duration of the abnormal state. On the other hand, if the communication is normal (YES), the second central processing unit 201 ends the flow shown in FIG. 5 and starts the flow shown in FIG. 5 again.

FIG. 6 is a transition diagram of the positioning mode of the work machine 1. In FIG. 6, the normal positioning mode M1 is a positioning mode in which the position of the main body 10 is measured by the first position detecting device 40 mounted on the main body 10. The alternative positioning mode M2 is a positioning mode in which the estimated position of the main body 10 is calculated by the second position detecting device 60 and the relative position detecting device 70 mounted on the moving body 50. The non-positioning mode M3 is a positioning mode in which the position of the main body 10 cannot be measured due to an abnormality in the first position detecting device 40 and the second position detecting device 60 or the relative position detecting device 70.

As for the positioning mode of the work machine 1, the initial mode at startup is the normal positioning mode M1. Further, the positioning mode of the work machine 1 shifts to the alternative positioning mode M2 when there is an abnormality in the first position detection device 40 or the position measurement accuracy of the first position detection device 40 is low. Further, in the alternative positioning mode M2, when the first position detection device 40 is normal and the position measurement accuracy is equal to or higher than a predetermined level, the positioning mode of the work machine 1 transitions from the alternative positioning mode M2 to the normal positioning mode M1. ..

Further, the positioning mode of the work machine 1 satisfies the transition condition to the alternative positioning mode M2, and the second position detection device 60 or the relative position detection device 70 has an abnormality, or the measurement accuracy thereof is predetermined. When the level is lower than the level, the mode transitions from the normal positioning mode M1 to the non-positioning mode M3. Further, when the positioning mode of the work machine 1 is the non-positioning mode M3, the first position detection device 40 is normal and the position measurement accuracy is at least a predetermined level, the positioning mode of the work machine 1 is from the non-positioning mode M3. Transition to the normal positioning mode M1.

Further, the positioning mode of the work machine 1 is the non-positioning mode M3, the transition condition to the alternative positioning mode M2 is satisfied, and there is no abnormality in the second position detecting device 60 and the relative position detecting device 70, and the measurement accuracy is predetermined. When the level is equal to or higher than the above level, the positioning mode of the work machine 1 transitions from the positioning impossible mode M3 to the alternative positioning mode M2. The transition of the positioning mode of the work machine 1 shown in FIG. 6 is autonomously executed by the first central processing unit 101 of the first control device 100 and the second central processing unit 201 of the second control device 200, and is operated by the operator. do not need.

FIG. 7 is an image diagram showing an example of an image of the image display device 80 of the work machine 1 shown in FIGS. 1 and 2. The first central processing unit 101 and the second central processing unit 201 may display, for example, the transition of the positioning mode of the work machine 1 shown in FIG. 6 on the image display device 80. Further, as described above, the first central processing unit 101 and the second central processing unit 201 have an image G1 indicating an abnormality or a decrease in accuracy of the first position detection device 40 on the image display device 80, and a second position detection device 60. Alternatively, an image G2 indicating an abnormality or a decrease in accuracy of the relative position detection device 70 may be displayed.

Hereinafter, the operation of the work machine 1 of the present embodiment will be described in comparison with the conventional work machine control system.

If the conventional work machine cannot acquire the three-dimensional position information for some reason, it becomes impossible to perform the work by the information-oriented construction at that time. In particular, if the positioning accuracy of the work machine deteriorates during construction such as excavation by the work machine, the accuracy of the construction may decrease. For example, in the above-mentioned conventional control system of a work machine, even if the positioning by the position detection device is abnormal, the position detection device operates in the second mode or the third mode, whereby the target. The position of the working machine can be obtained by the value generation unit. However, in the conventional control system of the work machine, when the positioning by the position detection device is abnormal, the position may change even though the work machine is in a static state due to slipping of the work machine, or the position of the work machine may change. There is a problem that the accurate position of the work machine cannot be output when the turning operation exceeds a predetermined condition.

On the other hand, the work machine 1 of the present embodiment includes a main body 10, a work device 20 provided on the main body 10, and a traveling device 30 for traveling the main body 10, as described above. Further, the work machine 1 includes a first control device 100 mounted on the main body 10, a first position detection device 40 for detecting the position of the main body 10, and a moving body 50 that can move independently of the main body 10. I have. Further, the work machine 1 detects the relative positions of the second control device 200 mounted on the moving body 50, the second position detecting device 60 for detecting the position of the moving body 50, and the moving body 50 and the main body 10. It includes a relative position detecting device 70. The first central processing unit 101 constituting the first control device 100 detects an abnormality in the first position detection device 40 and notifies the second control device 200. The second central processing unit 201 constituting the second control device 200 moves the moving body 50 when the first control device 100 gives the notification, and the second position detecting device 60 determines the position of the moving body 50. It is detected, and the relative position between the main body 10 and the moving body 50 is detected by the relative position detecting device 70. After detecting the abnormality of the first position detection device 40, the first central processing unit 101 calculates the estimated position of the main body 10 based on the position of the moving body 50 and the relative position between the moving body 50 and the main body 10. do.

With this configuration, when the position of the first position detecting device 40 that detects the position of the main body 10 is abnormal, the second position detecting device 60 of the moving body 50 and the relative position detecting device that detects the relative position between the moving body 50 and the main body 10 are detected. With the 70, it is possible to provide the work machine 1 capable of estimating the position of the main body 10 more accurately than before. That is, even if the positioning accuracy of the first position detection device 40 provided in the main body 10 of the work machine 1 deteriorates, the moving body 50 that can move independently of the work machine 1 moves to an appropriate position. , Continue positioning of the main body 10. As a result, even if the work machine 1 moves by traveling or turning while the positioning accuracy of the first position detection device 40 is lowered, it is possible to continue the computerized construction using the position information of the main body 10. ..

Further, in the work machine 1 of the present embodiment, the first central processing unit 101 detects, for example, an abnormality in the first position detection device 40, and then when the abnormality is no longer detected, the first position detection device 40 The working device 20 and the traveling device 30 are controlled by using the position of the main body 10 detected by the above. With this configuration, when the first position detection device 40 recovers from the abnormality, it is possible to continue the computerization work by the work machine 1 without stopping.

Further, the work machine 1 of the present embodiment includes, for example, an image display device 80 mounted on the main body 10. Then, the first central processing unit 101 causes the image display device 80 to display the image G1 notifying the abnormality of the first position detection device 40, for example, when the abnormality of the first position detection device 40 is detected. Further, the second central processing unit 201 causes the image display device 80 to display the image G2 notifying the abnormality of the second position detection device 60, for example, when the abnormality of the second position detection device 60 is detected. With this configuration, the operator who operates the work machine 1 constantly recognizes the states of the first position detection device 40 and the second position detection device 60 during the work by the work machine 1, and reflects the state in the work by the work machine 1. It will be possible to do.

Further, the work machine 1 of the present embodiment is, for example, a power supply device 91 mounted on the main body 10, a cable 92 for supplying electric power from the power supply device 91 to the mobile body 50, and an emergency machine mounted on the mobile body 50. It is equipped with a power supply 93. When the second central processing unit 201 detects a disconnection of the cable 92, the second central processing unit 201 moves the moving body 50 by using the emergency power supply 93. With this configuration, while the work machine 1 is in operation, the moving body 50 can be continuously operated by being constantly supplied with electric power from the power feeding device 91 mounted on the main body 10. Further, for example, even if the power supply from the power supply device 91 to the mobile body 50 is interrupted due to the disconnection of the cable 92, the mobile body 50 is moved by the emergency power supply 93, and the mobile body 50 and other parts of the work machine 1 are moved. It is possible to safely stop the moving body 50 while avoiding a collision with the construction target.

Further, in the work machine 1 of the present embodiment, the second central processing unit 201 can detect the position of the moving body 50 by the second position detection device 60 when the first central processing unit 101 gives the notification. In addition, the moving body 50 is moved to a position where the relative position between the main body 10 and the moving body 50 can be detected by the relative position detecting device 70. With this configuration, even in an environment where positioning of the main body 10 by the first position detection device 40 is difficult, the position of the main body 10 is positioned by the second position detection device 60 and the relative position detection device 70 mounted on the moving body 50. It will be possible to continue.

Further, in the work machine 1 of the present embodiment, the second central processing unit 201 of the second control device 200 is a moving body, for example, by the relative position detection device 70 with respect to two or more different points on the main body 10. The relative position with 50 is detected. With this configuration, the first central processing unit 101 or the second central processing unit 201 is not only the three-dimensional position of the main body 10 but also the three-dimensional position of the main body 10 based on the relative positions of two or more different points on the main body 10 and the moving body 50. It becomes possible to detect the posture of the main body 10.

Further, in the working machine 1 of the present embodiment, the second central processing unit 201 detects two or more different relative positions of the main body 10 by, for example, the relative position detecting device 70. Then, the first central processing unit 101 is a relative position between the position of the main body 10 detected by the second position detection device 60 and two or more different points between the moving body 50 detected by the relative position detection device 70 and the main body 10. The positions and postures of the main body 10 and the working device 20 are calculated based on the above. With this configuration, the work machine 1 estimates the positions and postures of the main body 10 and the work device 20 of the work machine 1 more accurately than before even when the positioning accuracy of the main body 10 by the first position detection device 40 is lowered. Information-oriented construction can be continued with higher accuracy.

Further, the work machine 1 of the present embodiment includes a third control device 300 mounted on the main body 10 to control the work device 20 and the traveling device 30. When the second central processing unit 201 calculates the estimated position, the third central processing unit 301 constituting the third control device 300 controls the working device 20 and the traveling device 30 using the estimated position. With this configuration, even if the positioning accuracy of the main body 10 by the first position detection device 40 is lowered, the work machine 1 autonomously travels and turns, and continues the computerized construction with higher accuracy than before. Can be done.

Although the embodiment of the work machine according to the present disclosure has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are not deviated from the gist of the present disclosure. If any, they are included in this disclosure. For example, the working machines of the present disclosure are not limited to hydraulic excavators such as backhoes and drag shovels, and include, for example, loaders, backhoe loaders, and dump trucks. Further, the moving body is not limited to the UAV, and may be, for example, an unmanned traveling body traveling on the ground. Further, when the mobile body includes a battery, a cable connecting the mobile body and the main body is not always necessary, and communication between the mobile body and the main body may be wireless communication.

1 Working machine 10 Main body 20 Working device 30 Traveling device 40 First position detection device 50 Moving body 60 Second position detection device 70 Relative position detection device 80 Image display device 91 Power supply device 92 Cable 93 Emergency power supply 100 First control device 101 1st central processing unit 200 2nd control device 201 2nd central processing device 300 3rd control device 301 3rd central processing device G1 image G2 image

Claims (8)

A main body, a work device provided on the main body, a traveling device for traveling the main body, a first control device mounted on the main body, a first position detection device for detecting the position of the main body, and the main body. A moving body that can move independently of the moving body, a second control device mounted on the moving body, a second position detecting device that detects the position of the moving body, and a relative position between the moving body and the main body. A work machine equipped with a relative position detection device for detection.
The first central processing unit constituting the first control device detects an abnormality in the first position detection device and notifies the second control device.
The second central processing unit constituting the second control device moves the moving body when the notification is given, detects the position of the moving body by the second position detecting device, and detects the relative position. The device detects the relative position and
The first central processing unit is a work machine that calculates an estimated position of the main body based on the position of the moving body and the relative position after detecting an abnormality of the first position detecting device. The first central processing unit detects an abnormality in the first position detection device, and then when the abnormality is no longer detected, the working apparatus uses the position of the main body detected by the first position detection device. The work machine according to claim 1, wherein the traveling device is controlled. Equipped with an image display device mounted on the main body,
When the first central processing unit detects an abnormality in the first position detection device, the first central processing unit causes the image display device to display an image notifying the abnormality of the first position detection device.
The second central processing apparatus is characterized in that, when an abnormality of the second position detection apparatus is detected, the image display apparatus displays an image notifying the abnormality of the second position detection apparatus. The work machine described in. A power supply device mounted on the main body, a cable for supplying electric power from the power supply device to the mobile body, and an emergency power supply mounted on the mobile body are provided.
The work machine according to claim 1, wherein the second central processing unit moves the moving body by using the emergency power supply when the disconnection of the cable is detected. When the second central processing apparatus receives the notification, the second central processing apparatus can detect the position by the second position detecting apparatus, and the relative position detecting apparatus can detect the relative position. The work machine according to claim 1, wherein the moving body is moved. The work machine according to claim 1, wherein the second central processing unit detects two or more different relative positions of the main body by the relative position detecting device. The second central processing unit detects two or more different relative positions of the main body by the relative position detecting device.
The first central processing unit has the positions of the main body and the working device and the positions of the main body and the working device based on the positions detected by the second position detecting device and the two or more points relative positions detected by the relative position detecting device. The work machine according to claim 1, wherein the posture is calculated. A third control device mounted on the main body and controlling the work device and the traveling device is provided.
The third central processing unit constituting the third control device is characterized in that when the second central processing unit calculates the estimated position, the working device and the traveling device are controlled by using the estimated position. The work machine according to claim 1.

Images