JP7071203B2 - Work machine - Google Patents

Description

The present invention relates to a work machine, and particularly relates to progress management of construction of the work machine.

In work machines, it is important to manage the progress of construction in order to carry out appropriate construction according to the process. As an example of construction progress management technology, for example, a technology that installs a stereo camera on a work machine, wirelessly transmits the terrain data acquired by this stereo camera to a control server, and manages the progress of the construction site with the control server. It is disclosed in Patent Document 1 and Patent Document 2.

In the technique disclosed in Patent Document 1, "the shape measurement system is attached to a work machine, detects an object, and outputs the information of the object, and the object detection unit detected by the object detection unit. A shape detection unit that outputs shape information representing the three-dimensional shape of the target using the target information, and an information addition unit that outputs the shape information with time information for specifying the shape information. Including (summary excerpt) ".

Further, in the technique disclosed in Patent Document 2, "a terrain mapping system is disclosed. The system is at least one sensor configured to collect a plurality of current points defining the current surface of the site. And has a database containing multiple points previously collected that define the previous surface of the site (summary excerpt). "

International Publication No. 2017/0615111 International Publication No. 2009/102829

In the technique disclosed in Patent Document 1, since the transmission of topographical data from the work machine to the control server is left to the judgment of the operator of the work machine, the construction manager cannot manage the situation during construction in real time. Therefore, it is necessary for the work machine to transmit the surrounding terrain to the control server at an appropriate timing. Further, in the technique disclosed in Patent Document 2, filtering processing is performed on the data transmitted to the control server to remove the portion where the structure or the obstacle is reflected. Therefore, when the work machine transmits the terrain data to the control server at a fixed cycle, the terrain shape information that has not changed much from the previous measurement is also sent to the server, and for the current terrain data with little terrain change. There is a possibility of performing comparison processing and communication with the server, and there is a concern that an unnecessary load will be applied to the server and communication volume.

The present invention has been made in view of the above matters, and by appropriately timing the information obtained from the work machine having the external sensor to be sent to the control server, useless communication to the control server and processing on the control server are performed. The purpose is to provide a technology that enables construction managers to efficiently manage the progress of construction sites.

In order to achieve the above object, the features of the present invention include the configurations described in the claims. One example is a work machine that acquires and outputs the topographical shape around the work machine, and the work machine is a front work machine that excavates the periphery of the work machine and the posture of the front work machine. An attitude sensor that detects the above, an external sensor that detects the surrounding terrain shape including the work range of the front work machine and generates terrain shape information, an output device that is an output destination of the terrain shape information, and the attitude sensor. The external world sensor and the terrain shape information output device connected to each of the output devices are provided, and the terrain shape information output device is based on the output from the attitude sensor of the posture of the front working machine. The work progress calculation unit that calculates the history and calculates the progress of the work by the front work machine from the history of the posture, and determines the necessity of output to the output device according to the progress of the work. It is characterized by including an output determination unit.

According to the present invention, by making the timing of sending the information obtained from the work machine having the external sensor to the control server appropriate, unnecessary communication to the control server and processing on the server can be reduced, and the construction manager can perform the construction efficiently. It is possible to provide technology that can manage the progress of the site. Issues and effects other than those mentioned above will be clarified in the form for carrying out the invention.

Diagram showing an overview of hydraulic excavators The figure which shows an example of the control system of the hydraulic excavator of Embodiment 1. Diagram explaining the vehicle body coordinate system A diagram illustrating the relationship between the vehicle body coordinate system, the sensor coordinate system, and the site coordinate system. The figure which shows the operation scene example of a hydraulic excavator Functional block diagram of the terrain shape information output device of the first embodiment Flowchart showing the flow of work amount calculation process Diagram to illustrate the tip distance of the bucket The figure explaining the obstacle existence area calculation process Flowchart showing the flow of work range recording processing Flowchart showing the flow of work range amount calculation process Flowchart of terrain shape information output judgment processing Explanatory diagram of output control processing The figure which shows an example of the control system of the hydraulic excavator of Embodiment 2. Functional block diagram of terrain shape information output device Flowchart showing the flow of obstacle information acquisition processing Figure showing an example of obstacle information after conversion The figure explaining the obstacle existence area calculation process Flowchart showing the flow of obstacle existence area processing Explanatory diagram of the processing contents of the terrain shape information accuracy evaluation unit Flow chart showing the flow of terrain shape information accuracy evaluation processing Flow chart showing the flow of terrain shape information output judgment processing

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The same components are designated by the same reference numerals throughout the drawings, and duplicate description is omitted.

<Embodiment 1>
[Constitution]
First, a schematic configuration of the hydraulic excavator 100 of the present embodiment will be described. FIG. 1 is a diagram showing an overview of the hydraulic excavator 100 of the present embodiment.

The hydraulic excavator 100 includes an articulated front working machine 110 and a vehicle body 130.

The vehicle body 130 includes an upper swing body 131 and a lower traveling body 132. The upper swivel body 131 and the lower traveling body 132 are swiveled by the drive of the swivel motor 124, and travel in the front-rear direction by the drive of the right traveling motor 125 and the left traveling motor 126.

The articulated front working machine 110 has a boom 111 whose base end is vertically connected to the upper swing body 131, an arm 112 that is swingably connected to the tip of the boom 111, and a swingable tip of the arm 112. It is provided with a bucket 113 connected to. The boom 111, arm 112, and bucket 113 are driven by actuators of the boom cylinder 121, arm cylinder 122, and bucket cylinder 123, respectively, to perform excavation and transport of earth and sand.

Further, the upper swivel body 131 includes a driver's cab 151. An operation lever 152, a monitor (display device) 153, and a buzzer 154 (see FIG. 2) are installed in the driver's cab 151.

Further, the boom 111, the arm 112, the bucket 113, and the upper swivel body 131 have a boom angle detector 181 for detecting the respective rotation angles, an arm angle detector 182, a bucket angle detector 183, and a swivel body angle. A detector 184 is provided. These various angle detectors 181 to 184 correspond to attitude sensors.

Further, the hydraulic excavator 100 includes an obstacle sensor 156 (see FIG. 2) for acquiring obstacle information. The obstacle sensor 156 is, for example, a camera, a radar, a laser scanner, or the like.

Further, the hydraulic excavator 100 includes an external sensor 170 that detects the surrounding terrain and generates information indicating the terrain shape (terrain shape information). The external sensor 170 is, for example, a stereo camera, a laser scanner, a millimeter wave radar, or the like.

Further, the hydraulic excavator 100 includes a right GNSS receiver 171 and a left GNSS receiver 172.

Further, the hydraulic excavator 100 includes a posture detecting device 173 that detects an inclination angle with respect to the gravity of the vehicle body. The posture detection device 173 is, for example, an IMU (Inertial Measurement Unit) or the like. The attitude detection device 173 corresponds to an attitude sensor.

[Control system]
Next, the outline of the control system of the hydraulic excavator 100 of this embodiment will be described. FIG. 2 is a diagram showing an example of a control system of the hydraulic excavator 100.

The hydraulic excavator 100 further includes an engine 143, a hydraulic pump 142, a control valve 141, a main controller 162, and an information controller 161.
The hydraulic pump 142 is operated by the power of the engine 143. When the operator operates the operation lever 152, the operation information is converted into a control signal by the main controller 162. The control signal is sent to the hydraulic pump 142, the control valve 141 and the engine 143, thereby the swivel motor 124, the right traveling motor 125, the left traveling motor 126, the boom cylinder 121, the arm cylinder 122 and the bucket cylinder 123. And are driven.

The information controller 161 is configured using a computer in which the CPU 1611, the RAM 1612, the ROM 1613, and the external 1 / F 1614 are connected to each other by the bus 1615.

The external I / F 1614 is connected to a main controller 162, a buzzer 154, a monitor 153 (corresponding to one of the terrain shape information output devices), and a storage medium 155. The information controller 161 presents information to the operator via the buzzer 154 and the monitor 153, and outputs a control instruction of the control valve 141 to the main controller 162. The processing operation database (DB) 230 is stored in the storage medium 155. As will be described later, the processing operation DB 230 holds a control operation for each level set for each obstacle.

Further, the external I / F 1614 is connected to the right GNSS receiver 171 and the left GNSS receiver 172, various angle detectors 181 to 184, the attitude detection device 173, the outside world sensor 170, and the obstacle sensor 156. The terrain shape information output device 200 configured in the information controller 161 performs calculation / output processing using obstacle information and terrain shape information.

Further, the information controller 161 is connected to a wireless communication device 157 (corresponding to one of the terrain shape information output devices) that transmits and receives terrain shape information and control data to and from the outside of the hydraulic excavator 100 (for example, a control server). .. The wireless communication device 157 is a communication device connected to a wireless LAN, Wi-Fi, Bluetooth (registered trademark), a mobile line, or the like. The wireless communication device 157 and the monitor 153 correspond to a plurality of output devices that output topographical shape information from the information controller 161.

Prior to the description of the topographical shape information output device 200 of the present embodiment, the outline of the present embodiment will be described.

First, the coordinate system used in this embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is a diagram illustrating the vehicle body coordinate system 900 used in the present embodiment. FIG. 4 is a diagram illustrating the relationship between the vehicle body coordinate system 900, the sensor coordinate system 910, and the site coordinate system 930.

In the present embodiment, the vehicle body coordinate system 900 fixed to the vehicle body 130 shown in FIG. 3, the sensor coordinate system 910 fixed to the external sensor 170 shown in FIG. 4, and the site coordinates fixed to the reference position of the construction site. System 930 is used. In the following, the GNSS coordinate system is used as the site coordinate system 930, but it may be a local coordinate system common to the vehicle body, the ground of the construction site, and obstacles in the construction site.

The vehicle body coordinate system 900 shown in FIG. 3 has an X-axis and a Y-axis on a horizontal plane with the origin at the point where the turning center of the hydraulic excavator 100 and the surface where the lower traveling body 132 contacts the ground intersect, and in the vertical direction. It is a Cartesian coordinate system that takes the Z axis. In the present embodiment, the X-axis is taken in the left-right direction of the vehicle body 130, and the direction orthogonal to the X-axis on the horizontal plane is taken as the Y-axis.

Next, with reference to FIG. 4, the relationship between the vehicle body coordinate system 900, the sensor coordinate system 910, and the site coordinate system 930 and their coordinate conversion processing will be described.

First, the coordinate conversion from the sensor coordinate system 910 of the measurement point 920 to the vehicle body coordinate system 900 measured by the external world sensor 170 will be described. In FIG. 4, the measurement point 920 is represented as Ps (xs, ys, zs) on the sensor coordinate system 910 and is converted into Pv (xv, yv, zy) on the vehicle body coordinate system 900. The coordinate conversion formula at this time is represented by, for example, the following formula (1).

Rsv is a rotation matrix from the sensor coordinate system 910 to the vehicle body coordinate system 900, and αs, βs, and γs are formed by the X-axis, Y-axis, and Z-axis of the sensor coordinate system 910 and the vehicle body coordinate system 900, respectively. It is a horn. When the external sensor 170 is fixed to the hydraulic excavator 100, these formed angles are, for example, measured in advance and stored in the storage medium 155. Further, when the measurement is performed while the outside world sensor 170 is operating, the angle detected by the posture sensor may be used by equipping the outside world sensor 170 with a posture sensor.

Ts is a translational matrix from the sensor coordinate system 910 to the vehicle body coordinate system 900. xt, yt, and zt are equal to the origin coordinates of the sensor coordinate system 910 as seen from the vehicle body coordinate system 900, and the mounting position of the external world sensor 170 is often fixed to the hydraulic excavator 100, and these values are, for example, , The position is measured in advance and stored in the storage medium 155.

Next, the coordinate conversion from the sensor coordinate system 910 to the site coordinate system will be described. In FIG. 4, the measurement point 920 is represented as Ps (xs, ys, zs) on the sensor coordinate system 910 and is converted into Pg (xg, yg, zg) on the vehicle body coordinate system 900. The coordinate conversion formula at this time is expressed as, for example, the following formula (2).

Rvg is a rotation matrix from the vehicle body coordinate system 900 to the site coordinate system 930, and θr, θp, and θy are formed by the X-axis, Y-axis, and Z-axis of the vehicle body coordinate system 900 and the site coordinate system 930, respectively. It is a horn. For θr and θp, for example, the inclination angle with respect to gravity is calculated from the output of the posture detecting device 173 provided in the hydraulic excavator 100, and these are used. Further, θy may use the orientation of the hydraulic excavator 100 calculated from the positioning data received by the right GNSS receiver 171 and the left GNSS receiver 172 provided on the hydraulic excavator 100.

Further, Ts is a translational matrix from the sensor coordinate system 910 to the vehicle body coordinate system 900. xvg, yvg, and zvg are equal to the origin coordinates of the sensor coordinate system 910 as seen from the vehicle body coordinate system 900, and these values are, for example, hydraulic excavators calculated from the positioning data received by the right GNSS receiver 171 and the left GNSS receiver 172. The 100 position is used.

Next, the operation outline of the topographical shape information output device 200 of this embodiment will be described. FIG. 5 is a diagram showing an example of an operation scene of the hydraulic excavator 100. 5 (a) to 5 (c) are scenes in which the hydraulic excavator 100 excavates the surroundings, and the external sensor 170 provided in the hydraulic excavator 100 measures the terrain 430 and 440 to be constructed. When the terrain 430 to be constructed in FIG. 5 (a) has a small change in terrain compared to the time of the previous measurement, the terrain 440 to be constructed in FIGS. 5 (b) and (c) is compared with the time of the previous measurement. It shows the case where the construction is sufficiently performed and the topographical change is large.

The terrain 430 to be constructed in FIG. 5 (a) has not made much progress as compared with the previous measurement. In such a case, even if the terrain data measured by the external sensor 170 is transmitted to the control server by data processing or wireless communication, there is little change, so that it is wasted in terms of communication / processing costs. In such a case, the terrain shape information output device 200 does not process the data or communicate with the control server even if the external sensor 170 measures the terrain to be constructed, and reduces the communication and data processing load.

In addition, the terrain 440 to be constructed in FIG. 5B has made sufficient progress compared to the previous measurement, but since the first obstacle 420 is reflected in the measurement range 410 of the external sensor 170, the terrain shape is The accuracy (accuracy) of the data is small. Therefore, processing such as removing the structure from the data measured by the external sensor 170 is required, which increases the communication / processing load. In such a case, the terrain shape information output device 200 does not process the data or communicate with the control server even if the external sensor 170 measures the terrain to be constructed, and reduces the communication and calculation load. In this embodiment, the output is output only to the monitor 153, and the output is not performed to the wireless communication device 157.

The terrain 440 to be constructed in FIG. 5 (c) has made sufficient progress as compared with that before construction, and further, no obstacles other than the terrain have moved into the measurement range 410 of the external sensor 170. In such a case, in the terrain shape information output device 200 of the present embodiment, the external world sensor 170 processes the measured data of the terrain 440 to be constructed, displays it on the monitor 153, and further outputs it to the wireless communication device 157. The wireless communication device 157 transmits the terrain data to the control server via the wireless communication line. Output to the control server is mandatory, but monitor 153 is optional.

[Terrain shape information output device]
Hereinafter, the terrain shape information output device 200 of the present embodiment that realizes the progress management as described above will be described. FIG. 6 is a functional block diagram of the terrain shape information output device 200 of the present embodiment.

The terrain shape information output device 200 includes a machine state acquisition unit 531, a terrain measurement unit 541, a work progress calculation unit 561, an output determination unit 571, and an output control unit 581. Each of these parts is realized by the information controller 161 loading a predetermined program into the memory and executing the program. The program is stored in, for example, a storage medium 155 or the like. The information controller 161 is provided with hardware such as an ASIC (Application Specific Integrated Circuit) and an FPGA (field-programmable gate array), and all or part of the functions may be realized by these. Further, various data used for the processing of each part and various data generated during the processing are stored in the memory or the storage medium 155.

[Machine state acquisition unit 531]
The mechanical state acquisition unit 531 is an upper swivel body from a boom angle detector 181, an arm angle detector 182, a bucket angle detector 183, a swivel body angle detector 184, a right GNSS receiver 171 and a left GNSS receiver 172. The positioning position and orientation of 131 and the tip position of the bucket 113 are calculated.

In this specification, the position of the tip of the bucket 113 and the position / posture of the hydraulic excavator 100 are referred to as a mechanical state. The tip position of the bucket 113 is represented by the coordinate value of the vehicle body coordinate system 900. Further, the calculated mechanical state is held in the storage medium 155 and is output to the topographical shape information accuracy evaluation unit 551 and the work progress calculation unit 561.

[Terrain measurement unit 541]
The terrain measurement unit 541 converts the point cloud data of the surrounding terrain acquired by the outside world sensor 170 into the site coordinate system 930 and outputs it. The measurement timing of the external world sensor 170 is arbitrary, and may be measured at a preset cycle, may be determined by an operator, or may be measured according to a certain measurement algorithm. Further, the conversion formula from the external sensor 170 to the site coordinate system 930 is held in advance.

[Work progress calculation unit 561]
The work progress calculation unit 561 calculates the work amount and the work range amount of the hydraulic excavator 100 from the machine state acquired by the machine state acquisition unit 531 and transmits the work amount to the output determination unit 571. The work progress calculation unit 561 includes a work amount calculation unit 562, a work range recording unit 563, and a work range amount calculation unit 564.

[Work amount calculation unit 562]
The work amount calculation process will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing the flow of the work amount calculation process. FIG. 8 is a diagram for explaining the tip distance of the bucket.

The work amount calculation unit 562 calculates the work amount of the hydraulic excavator 100 from the tip distance Dt (corresponding to the machine state) of the bucket 113 acquired from the machine state acquisition unit 531. In the present embodiment, the work amount is estimated using the number of times (work amount Cg) that the tip of the bucket 113 reciprocates with an amplitude of a predetermined distance or more. The number of reciprocating motions corresponds to the posture history of the bucket 113. This "predetermined distance" corresponds to an amplitude that can be regarded as the bucket 113 performing the excavation operation. Whether or not the amplitude has been moved by a predetermined distance or more is determined by, for example, as shown in FIG. Judgment is made by. Hereinafter, the work amount calculation process of the work amount calculation unit 562 will be described along with each step of FIG. 7.

<Step S101>
The machine state acquisition unit 531 includes an angle acquired from the boom angle detector 181, the arm angle detector 182, and the bucket angle detector 183, and the boom 111, arm 112, and bucket 113 previously held by the machine state acquisition unit 531. The tip distance Dt of the bucket 113 is calculated based on the length of. Here, the tip distance Dt refers to the distance from the origin of the vehicle body coordinate system 900 to the tip of the bucket 113 as shown in FIG.

<Step S102>
The work amount calculation unit 562 acquires the tip position of the bucket 113 from the machine state acquisition unit 531 and determines whether the value of the tip distance Dt is Dtf or more, Dtn or less, or other than that. do. If the value of Dt is Dtf or more, step S102 proceeds to step S103. If the value of Dt is Dt or less, step S102 proceeds to step S104. In other cases, step S102 ends the work amount calculation process.

<Step S103>
The work amount calculation unit 562 calls up the values of Ctn and Cg stored in the storage medium 155.

<Step S104>
The work amount calculation unit 562 calls up the values of Ctf and Cg stored in the storage medium 155.

<Step S105>
The work amount calculation unit 562 determines whether or not Ctf is 1. If Ctf = 1, step S105 proceeds to step S108. If Ctf is not 1, step S105 proceeds to step S107.

<Step S106>
The work amount calculation unit 562 determines whether or not Ctf is 1. If Ctf = 1, step S106 proceeds to step S108. If Ctf is not 1, step S106 proceeds to step S109.

<Step S107>
The work amount calculation unit 562 proceeds to step S1410 with the values of Ctf and Cg set to Ctf = 1 and Cg = Cg, respectively.

<Step S108>
The work amount calculation unit 562 ends the work amount calculation process by setting the values of Cg, Ctf, and Ctn to Cg = Cg + 1, Cnf = 0, and Ctn = 0, respectively.

<Step S109>
The work amount calculation unit 562 proceeds to step S110 with the values of Ctn and Cg set to Ctn = 1 and Cg = Cg, respectively.

<Step S110>
The work amount calculation unit 562 saves the values of Ctf, Ctn, and Cg, and ends the work amount calculation process.

[Work range recording unit 563]
Next, the work range recording process in the work range recording unit 563 will be described. FIG. 9 is a diagram illustrating an obstacle existence area calculation process. FIG. 10 is a flowchart showing the flow of the work range recording process.

As shown in FIG. 9, the work range recording process is performed on the bucket 113 with respect to the work grid data 711 in which the peripheral area 700 for calculating the work range amount of the hydraulic excavator 100 is divided into a grid pattern with reference to the vehicle body coordinate system 900. Determines the area that has passed. Each grid of the work grid data 711 stores the center coordinates (Xn, Yn) of the grid and the flag Bbkn indicating whether or not the bucket 113 has passed. In the work grid data 711, Bbkn = 1 is assigned to the work grid 721 that the bucket 113 has passed through, and Bbkn = 0 for the other grids. Further, an index n is assigned to each grid. The center coordinates (Xn, Yn) and the index n of each grid are stored in the storage medium 155 in advance, and the grid including the coordinates is instantly set for the given coordinates (X, Y). It is desirable to be able to search. As the grid size of the work grid data 711, preset values are used in consideration of the size of the vehicle body, the specifications of the information controller 161 and the resolution of the external world sensor 170. The peripheral area 800 (see FIG. 18) for calculating the obstacle existence area and the peripheral area 700 for calculating the working range may be in the same range, or the measurement range 911 of the external sensor 170 or the measurement range 911. It may be extracted from different areas according to the areas where obstacles can be detected. Similarly, the grid sizes of the obstacle grid data 811 (see FIG. 18) and the work grid data 711 may be the same division width or different ones.

Hereinafter, the work range recording process of FIG. 10 will be described in order of each step.

<Step S201>
The machine state acquisition unit 531 includes an angle acquired from the boom angle detector 181, the arm angle detector 182, and the bucket angle detector 183, and the boom 111, arm 112, and bucket 113 previously held by the machine state acquisition unit 531. The position of the origin of the vehicle body coordinate system 900 and the position of the bucket tip in the vehicle body coordinate system 900 are calculated based on the length of.

<Step S202>
The work range recording unit 563 reads the work grid data 711 in the peripheral area 700 of the hydraulic excavator 100 from the storage medium 155. If the work grid data 711 does not exist in the initial step or the like, the work grid data 711 with the position of the vehicle body coordinate system 900 of the hydraulic excavator 100 calculated in step S202 as the origin is created.

<Step S203>
The work range recording unit 563 of the work grid data 711 called in step S202 has the origin coordinates (Xvg1, Yvg1, Zvg1) in the site coordinate system 930 and the vehicle body coordinate system 900 that can be placed in the site coordinate system 930 calculated in step S201. The distance R0 from the origin position (Xvg2, Yvg2, Zvg2) is calculated using the following equation (3).

<Step S204>
The work range recording unit 563 determines whether or not R0 calculated in step S203 is equal to or less than the distance threshold value Rds. If R0 is less than the distance threshold value Rds, the process proceeds to step S206. If R0 is equal to or greater than the distance threshold value Rds, the process proceeds to step S205.

<Step S205>
The work range recording unit 563 moves the origin of the work grid data 711 to the origin position of the vehicle body coordinate system 900 in the site coordinate system 930 calculated by step S203, and uses the value in the work grid data 711 as a reference to the origin after the movement. Update to the value (Xn, Yn, Bbkn). As an update method, for example, a new array of work grid data 711 after the origin movement is created, the center coordinates of each grid of the grid data before the origin movement are searched from the work grid data after the movement, and the corresponding points are found. If it exists, the Bbkn of the corresponding portion of the work grid data after the movement is set to the same value as the Bbkn of the work grid data before the movement.

<Step S206>
The work range recording unit 563 searches for the nearest neighbor grid at the tip of the bucket of the work grid data 711, and acquires the index n of the grid.

<Step S207>
The work range recording unit 563 sets Bbkn of the work grid data 711 corresponding to the index n acquired in step S206 to Bbkn = 1.

<Step S208>
The work range recording unit 563 stores the work grid data 711 in the storage medium 155, and ends the work range recording process.

[Work range amount calculation unit 564]
The work range amount calculation unit 564 calculates the work range amount of the hydraulic excavator 100 from the machine state acquired by the machine state acquisition unit 531. In the present embodiment, the movement locus of the tip of the bucket 113 is obtained, and the area where the movement locus is projected onto the ground is estimated as the working range. "Projection" can be realized by converting the X and Y coordinates represented by the vehicle body coordinate system 900 of the bucket 113 into the site coordinate system 930. FIG. 11 is a flowchart showing the flow of the work range amount calculation process.

The work range amount calculation unit 564 extracts the measurement range 911 of the external world sensor 170 from the work grid data 711 in the surrounding area 700 output by the work range recording unit 563, and the ratio of the area passed by the bucket 113 in the extracted area. From, the work range amount Ag is calculated. Hereinafter, the description will be given according to the order of each step in FIG.

<Step S301>
The work range amount calculation unit 564 extracts the measurement range 911 of the external world sensor 170. When the sensor coordinate system 910 is fixed to the vehicle body coordinate system 900, the measurement range of the external world sensor 170 is the work grid data using the index n of the corresponding work grid data 711 stored in advance. The target area of 711 may be extracted. Further, when the sensor coordinate system 910 is variable with respect to the vehicle body coordinate system 900, the measurement range 911 of the external world sensor 170 may be extracted from the machine state calculated by the machine state acquisition unit 531.

<Step S302>
The work range amount calculation unit 564 calculates the work range amount Ag from the number of grids Ng of the measurement range 911 extracted by step S301 and the number of grids Nw of the bucket 113 passed through the measurement range 911 of the external sensor 170. Then, the work range amount calculation process is terminated. For the number of lattices Ng included in the measurement range 911 of the external sensor 170, for example, the length of the extracted array is calculated. The number Nw of the working grid included in the measurement of the external world sensor 170 is, for example, the sum of all Bbkn in the extracted grid. The working range amount Ag is calculated by the following formula (4) using Ng and Nw.

[Output determination unit 571]
The output determination unit 571 uses the accuracy of the terrain shape information calculated by the terrain shape information accuracy evaluation unit 551 and the work amount and work range of the hydraulic excavator 100 calculated by the work progress calculation unit 561 to be used by the output determination unit 571. The processing content is determined and output to the output control unit 581. FIG. 12 is a flowchart of the terrain shape information output determination process. Hereinafter, the description will be given according to the order of each step in FIG.

<Step S401>
The output determination unit 571 receives the point cloud data output by the terrain measurement unit 541. If no point cloud data is received, the process proceeds to step S406.

<Step S402>
The output determination unit 571 determines whether or not the work range amount Ag calculated by the work range amount calculation unit 564 is equal to or greater than the preset work range amount threshold Ath (one of the work progress thresholds). If Ag is less than Ath, the process proceeds to step S406. If Ag is Ath or more, the process proceeds to step S403.

<Step S403>
The output determination unit 571 sets whether or not the work amount Cg calculated by the work amount calculation unit 562 is equal to or greater than the preset work amount threshold value Cth (one of the work progress threshold values). If Cg is less than Cth, the process proceeds to step S405. If Cg is Cth or more, the process proceeds to step S404.

<Step S404>
The output determination unit 571 sets the control value β to β = 1 and ends the terrain shape information output determination process.

<Step S405>
The output determination unit 571 sets the control value β to β = 2, and ends the terrain shape information output determination process.

<Step S406>
In step S406, the control value β is set to β = 3, and the terrain shape information output determination process is terminated.

[Output control unit 581]
When the output control unit 581 receives the terrain shape information around the hydraulic excavator 100 from the terrain measurement unit 541, the output determination unit 571 determines whether or not the output is necessary, and the output destination selected when the output determination unit 571 determines that the output is necessary ( The terrain shape information is processed based on the control value β), the terrain is output to the monitor 153, or the terrain shape information is transmitted from the wireless communication device 157 to the control server by wireless communication. 13 is an explanatory diagram of an output control process, FIG. 13A is an explanatory diagram for explaining an example of an operation database according to the embodiment of the present invention, and FIG. 13B is an explanatory diagram for explaining an example of the operation database of the embodiment of the present invention, and FIG. 13B is a monitor of the embodiment of the present invention. It is explanatory drawing for demonstrating an example of a display screen displayed in.

As shown in FIG. 13A, when the control value β calculated by the output determination unit 571 is 3, the output control unit 581 performs point cloud data processing (conversion processing from point cloud data to mesh data 333). No, the terrain is not displayed / updated on the monitor 153. The mesh data 333 is data obtained by dividing two-dimensional or three-dimensional data indicating the shape of the surrounding topography into a grid.

When the control value β calculated by the output determination unit 571 is 2, the output control unit 581 converts the point cloud into mesh data 333 and displays it on the monitor 153 on the terrain. When outputting to the monitor 153, for example, a bar display 334 may be displayed so that the height difference of the terrain can be easily understood. In the example of FIG. 13B, the monitor 153 displays the bucket 113 superimposed on the mesh data 333, but the arm 112 and the boom 111 that do not move on the working range are superimposed and displayed on the mesh data 333. Not done.

When the control value β calculated by the output determination unit 571 is 3, the output control unit 581 converts the point cloud into mesh data 333 and displays it on the monitor 153 on the terrain. Further, the converted mesh data 333 is output to the wireless communication device 157. The wireless communication device 157 transmits the converted mesh data 333 to the control server, and sets the values of the work amount Cg and the work range amount Ag to 0.

As described above, according to the present embodiment, the presence / absence of point cloud data processing taken by the external sensor 170 and the presence / absence of transmission to the control server are determined based on the amount of work progress, before construction or before data transmission. It is possible to suppress the transmission of point cloud data obtained by measuring the terrain with less progress than the terrain to the control server and the processing by the information controller 161 or the like. In addition, by limiting the output destination, such as outputting the measured topographical data only to the monitor 153 of the hydraulic excavator 100 according to the progress of construction, the load of communication with the control server is reduced, and the hydraulic pressure is applied to the operator. It is possible to recognize the construction status around the excavator 100. Therefore, the efficiency of progress management at the construction site can be improved.

<Embodiment 2>
Hereinafter, the differences from the first embodiment will be described, and duplicate description will be omitted.

[Control system]
The outline of the control system of the hydraulic excavator 100 of the second embodiment will be described. FIG. 14 is a diagram showing an example of a control system for the hydraulic excavator 100 according to the second embodiment.

In the present embodiment, in addition to the control system of the first embodiment, the storage medium 155 stores the obstacle database (obstacle DB) 210 and the ID management DB 240 in addition to the processing operation database (processing operation DB) 230. To.

The obstacle DB 210 holds obstacle information around the hydraulic excavator 100. The obstacle information to be held is acquired by, for example, an obstacle sensor 156 or the like. The obstacle information may be acquired by, for example, a sensor installed outside the hydraulic excavator 100 and transmitted to the information controller 161 by wireless communication. Further, the information acquired by the obstacle sensor 156 may be a combination of the transmitted information. The obstacle information held by the obstacle DB 210 is transmitted from the obstacle sensor 156 and the like at predetermined time intervals and updated.

Hereinafter, in the present embodiment, the obstacle refers to an object or a structure that the hydraulic excavator 100 does not work on.

The ID management DB 240 holds the size of the object set for each obstacle, as will be described later.

[Terrain shape information output device 200a]
FIG. 15 is a functional block diagram of the terrain shape information output device 200a of the present embodiment. The terrain shape information output device 200a according to the second embodiment further includes an obstacle information acquisition unit 511 and an obstacle existence area calculation unit 521 in addition to each configuration of the terrain shape information output device 200 according to the first embodiment.

[Obstacle information acquisition unit 511]
The obstacle information acquisition unit 511 acquires obstacle information from the obstacle DB 210 at predetermined time intervals. The timing of acquisition may be synchronized with the information update of the obstacle DB 210, or may be a predetermined timing. At this time, first, the presence or absence of obstacles around the hydraulic excavator 100 is determined from the output of the obstacle information acquisition unit 511. Then, when it is determined that there is an obstacle, the position information of each obstacle obtained from the obstacle information is converted into the vehicle body coordinate system 900, and the converted obstacle information is calculated. The conversion formula is retained in advance.

The flow of the obstacle information acquisition process by the obstacle information acquisition unit 511 will be described. FIG. 16 is a flowchart showing the flow of obstacle information acquisition processing.

<Step S501>
The obstacle information acquisition unit 511 acquires obstacle information from the obstacle DB 210.

<Step S502>
The obstacle information acquisition unit 511 refers to the obstacle information acquired from the obstacle DB 210 and determines the presence or absence of obstacles around the hydraulic excavator 100. For example, it is determined by the number of position information transmitted as obstacle information, if there is no position information transmitted as obstacle information, it is determined that there is no obstacle, and otherwise it is determined that there is an obstacle.

<Step S503>
When the obstacle information acquisition unit 511 determines that there is an obstacle, the number of obstacles is set to the number of obstacles Mobj (Mobj is an integer of 1 or more). Further, the position information of each obstacle is converted into the value of the vehicle body coordinate system 900, and the converted obstacle information is temporarily held in, for example, a storage medium 155, and the process is terminated.

<Step S504>
When the obstacle information acquisition unit 511 determines that there is no obstacle in step S502, the obstacle information acquisition unit 511 sets the number of obstacles Mobj (Mobj is an integer of 1 or more) to 0, and the obstacle after conversion. It is retained as physical information and the process is terminated.

Here, an example of the converted obstacle information is shown in FIG. As shown in this figure, the converted obstacle information 311 of the present embodiment holds the position information (x, y, z) 314 for each obstacle. An obstacle ID 313 may be attached to each obstacle and held together. Further, a record number 312 may be attached to each obstacle, and the record number may be further retained. If the size of the obstacle can be determined, the obstacle ID 313 is associated with the size of each obstacle. , The size of each obstacle may be maintained.

[Obstacle existence area calculation unit 521]
FIG. 18 is a diagram for explaining the obstacle existence area calculation process, and FIG. 19 is a flowchart showing the flow of the obstacle existence area process.

The obstacle existence area calculation unit 521 calculates an area in which an obstacle exists around the hydraulic excavator 100 by using the obstacle information of the converted obstacle information 311 acquired by the obstacle information acquisition unit 511. The generated obstacle existence area information is output to the terrain shape information accuracy evaluation unit 551.

As shown in FIG. 18, the obstacle existence area information determines the existence of an obstacle with respect to the obstacle grid data 811 in which the peripheral area 800 of the hydraulic excavator 100 is divided in a grid pattern with the vehicle body coordinate system 900 as the origin. Each grid of the obstacle grid data 811 stores the center coordinates (Xn, Yn) of the grid and the flag Bonn indicating the existence of the obstacle. In the obstacle grid data 811, Bobn = 1 is assigned to the obstacle existence grid 821 in which the obstacle exists, and Bobn = 0 in the other grids. Further, an index n is assigned to each grid. As for the center coordinates (Xn, Yn) and the index n of each grid, the association is stored in the storage medium 155 in advance, and the grid including the coordinates is instantly set for the given coordinates (X, Y). It is desirable to be able to search. As the grid size of the obstacle grid data 811, preset values are used in consideration of the size of the vehicle body, the specifications of the information controller 161 and the resolution of the external sensor 170.

Hereinafter, the obstacle existence area processing in FIG. 19 will be described in order of each step.

<Step S601>
The obstacle existence area calculation unit 521 uses the converted obstacle information 311 to determine the presence or absence of obstacles around the hydraulic excavator 100. Here, for example, the determination is made using the number of obstacles Mobj or the like. When the obstacle existence area calculation unit 521 determines that no obstacle exists, that is, when Mobj is 0, the obstacle existence area calculation process is terminated. Since there are no obstacles, it is not necessary to calculate the obstacle grid data 811.

<Step S602>
On the other hand, when the obstacle existence area calculation unit 521 determines that there is an obstacle, that is, when Mobj is 1 or more, the obstacle existence area calculation unit 521 performs the obstacle existence area calculation process for each obstacle. .. Here, serial numbers are assigned to each obstacle, and the following processing is performed in order from the first. First, 1 is set for the serial number counter m. Here, m is an integer of 1 or more.

<Step S604>
The obstacle existence area calculation unit 521 calculates the range in which the obstacle exists from the position and size of the obstacle Obj (m) to be processed. Here, the size of the obstacle Obj (m) to be processed may be a value actually measured by a sensor or the like, or is stored in advance in the obstacle ID 313 and the storage medium 155 of the converted obstacle information 311. The size of each obstacle stored in the ID management DB 240 in association with the existing ID management DB 240 may be used, or a preset value may be used for all obstacles. The obstacle existence area to be output is output in the form of, for example, the maximum and minimum values of X and the maximum and minimum values of Y with reference to the vehicle body coordinate system 900.

<Step S605>
The obstacle existence area calculation unit 521 searches for an area corresponding to the obstacle existence area information calculated in step S604 from the obstacle grid data 811. Then, Bobn = 1 is substituted for the Bobn of all the searched obstacle existence grids 821.

<Step S606, Step S603>
The obstacle existence area calculation unit 521 determines whether or not processing has been completed for all obstacles (m = Mobj?), And if there is unprocessed obstacle information, m is incremented by 1 (m = m + 1). Return to step S604. When the obstacle existence area calculation unit 521 finishes processing all the obstacle information, it outputs the obstacle grid data 811 to the terrain shape information accuracy evaluation unit 551 and ends the processing.

[Terrain shape information accuracy evaluation unit]
The processing contents of the topographical shape information accuracy evaluation unit 551 will be described. FIG. 20 is an explanatory diagram of the processing content of the terrain shape information accuracy evaluation unit 551, and FIG. 21 is a flowchart showing the flow of the terrain shape information accuracy evaluation processing.

The topographical shape information accuracy evaluation unit 551 uses the obstacle grid data 811 calculated by the obstacle existence area calculation unit 521 and the mechanical state acquired by the machine state acquisition unit 531 to occupy the measurement range 911 of the external sensor 170. Is calculated and transmitted to the output determination unit 571 as the accuracy of the terrain. Here, the accuracy of the terrain is the ratio of the area where the obstacle exists in the area where the external sensor 170 images the ground.

As shown in FIG. 20A, it is assumed that the first obstacle 420 and the second obstacle 460 exist around the hydraulic excavator 100. In this situation, the obstacle existence area calculation unit 521 calculates the obstacle grid data 811 including the obstacle existence grid 821 as shown in FIG. 20B. Therefore, the terrain shape information accuracy evaluation unit 551 searches for and extracts the measurement range 911 of the external world sensor 170 from the obstacle grid data 811. After that, in this measurement range 911, as shown in FIG. 20 (c), the accuracy Rg of the terrain is calculated from the number of grids Ng of the measurement range 911 and the number of grids Mob of the obstacle existence grid 821 included in the measurement range 911. ..

The processing flow of the topographical shape information accuracy evaluation unit 551 will be described along with the order of each step in FIG. 21.

<Step S701>
The terrain shape information accuracy evaluation unit 551 determines the presence or absence of obstacles existing around the hydraulic excavator 100. Here, for example, the determination is made using the number of obstacles Mobj or the like. If it is determined that an obstacle exists, the process proceeds to step S703. If it is determined that there is no obstacle, the process proceeds to step S702.

<Step S702>
The terrain shape information accuracy evaluation unit 551 sets the terrain accuracy Rg to 1, and ends the terrain shape information accuracy evaluation process.

<Step S703>
The terrain shape information accuracy evaluation unit 551 calculates the measurement range 911 of the external world sensor 170. When the sensor coordinate system 910 is fixed to the vehicle body coordinate system 900, the measurement range of the external world sensor 170 may use one in which the index n of the corresponding obstacle existence grid 821 is stored in advance. Further, when the sensor coordinate system 910 is movable with respect to the vehicle body coordinate system 900, the measurement range 911 of the external world sensor 170 may be calculated from the machine state calculated by the machine state acquisition unit 531. The measurement range 911 of the external sensor 170 is calculated as a set of indexes n of the corresponding obstacle grid.

<Step S704>
The terrain shape information accuracy evaluation unit 551 extracts the measurement range 911 calculated in step S703 from the obstacle grid data 811.

<Step S705>
The topographical shape information accuracy evaluation unit 551 has the number of grids Ng included in the measurement range 911 of the outside world sensor 170 and the obstacles included in the measurement range 911 of the outside world sensor 170 in the obstacle grid data 811 extracted by step S704. The number of lattices Nob in which is present is calculated. For the number of lattices Ng included in the measurement range 911 of the external sensor 170, for example, the length of the extracted array is calculated. The grid number Nob of the obstacle presence grid 821 included in the measurement range 911 of the outside world sensor 170 is processed, for example, by taking the sum of all the Bobn in the extracted grid. The accuracy Rg of the terrain is calculated by the following formula (5) using Ng and Nob, and the processing is completed.

[Output determination unit 571]
The output determination unit 571 uses the accuracy of the terrain shape information calculated by the terrain shape information accuracy evaluation unit 551 and the work amount and work range of the hydraulic excavator 100 calculated by the work progress calculation unit 561 to be used in the output control unit 581. The processing content is determined, and the control value indicating the processing content is output to the output control unit 581.

FIG. 22 is a flowchart showing the flow of the terrain shape information output determination process.

<Step S801>
The output determination unit 571 receives the point cloud data output by the terrain measurement unit 541. If no point cloud data is received, the process proceeds to step S807.

<Step S802>
The output determination unit 571 determines whether or not the accuracy Rg of the terrain calculated by the terrain shape information accuracy evaluation unit 551 is equal to or higher than the preset accuracy threshold Rth. If Rg is less than Rth, the process proceeds to step S807. If Rg is Rth or more, the process proceeds to step S803.

<Step S803>
The output determination unit 571 determines whether or not the work range amount Ag calculated by the work range amount calculation unit 564 is equal to or greater than the preset work range amount threshold value Ath. If Ag is less than Ath, the process proceeds to step S807. If Ag is Ath or more, the process proceeds to step S804.

<Step S804>
The output determination unit 571 sets whether or not the work amount Cg calculated by the work amount calculation unit 562 is equal to or higher than the preset work amount threshold value Cth. If Cg is less than Cth, the process proceeds to step S807. If Cg is Cth or more, the process proceeds to step S805.

<Step S805>
The output determination unit 571 sets the control value β to β = 1 and ends the terrain shape information output determination process.

<Step S806>
The output determination unit 571 sets the control value β to β = 2, and ends the terrain shape information output determination process.

<Step S807>
The output determination unit 571 sets the control value β to β = 3, and ends the terrain shape information output determination process.

As described above, according to the present embodiment, it is determined whether or not the point group data measured by the external sensor 170 is transmitted to the control server based on the obstacle information around the hydraulic excavator 100 and the work progress amount. , Suppresses the transmission of point group data that measures the terrain with less progress than the terrain before construction or data transmission to the control server, and the processing of the terrain shape information measured by the information controller 161 etc. can. Further, in addition to the first embodiment, it is possible to prevent the processing of the data in which the vehicle, the worker, or the like is reflected in the topographical shape information measured by the external world sensor 170 and the transmission to the control server. Furthermore, according to the progress of construction, the measured topographical shape information is output only to the monitor 153 of the hydraulic excavator 100, and the output destination is limited to reduce the load of communication with the control server and to the operator. It is possible to recognize the construction status around the hydraulic excavator 100. Therefore, the efficiency of progress management at the construction site can be improved.

The above embodiments are not intended to limit the present invention, and various modifications that do not deviate from the gist of the present invention are included in the technical scope of the present invention. For example, the work machine is not limited to the hydraulic excavator, but may be a wheel loader or a dozer. In that case, each process of the present embodiment can be executed by using the tip position of the front working machine mounted on each of the wheel loader and the dozer.

Further, in the above embodiment, the external world sensor 170 and the obstacle sensor 156 are configured by different sensors, but the external world sensor 170 and the obstacle sensor 156 may be configured by using the same sensor. As a result, if there is any of the obstacle sensor 156 or the external world sensor 170 that has been conventionally mounted, the ground can be measured using the obstacle sensor 156 or the external world sensor 170, and the output can be controlled by applying the present embodiment.

100: Hydraulic excavator 110: Articulated front work machine 111: Boom 112: Arm 113: Bucket 121: Boom cylinder 122: Arm cylinder 123: Bucket cylinder 124: Swing motor 125: Right traveling motor 126: Left traveling motor 130: Body 131 : Upper swing body 132: Lower traveling body 141: Control valve 142: Hydraulic pump 143: Engine 151: Driver's cab 152: Operation lever 153: Monitor 154: Buzzer 155: Storage medium 156: Obstacle sensor 157: Wireless communication device 161: Information controller 162: Main controller 170: External sensor 171: Right GNSS receiver 172: Left GNSS receiver 173: Attitude detector 181: Boom angle detector 182: Arm angle detector 183: Bucket angle detector 184: Swirling body angle Detector 200: Topographic shape information output device 200a: Topography shape information output device

Claims (11)

It is a work machine that acquires and outputs the topographical shape around the work machine.
The work machine is
A front work machine that excavates the area around the work machine and
An attitude sensor that detects the attitude of the front work equipment and
An external sensor that detects the terrain shape of the surrounding area including the work range of the front work machine and generates terrain shape information,
An output device to which the terrain shape information is output, and
The posture sensor, the outside world sensor, and the terrain shape information output device connected to each of the output devices are provided.
The terrain shape information output device is
A work progress calculation unit that calculates the posture history of the front work machine based on the output from the posture sensor and calculates the progress of the work by the front work machine from the posture history.
Includes an output determination unit that determines the necessity of output to the output device according to the progress of the work.
A work machine characterized by that. The work machine according to claim 1.
The terrain shape information output device is connected to an obstacle sensor that detects obstacles around the work machine and outputs obstacle information indicating the position of the obstacle, or an obstacle database that records the obstacle information. ,
The terrain shape information output device is
Based on the obstacle information, the obstacle existence area calculation unit that calculates the area where the obstacle exists within the measurement range of the external sensor, and the obstacle existence area calculation unit.
Further includes a terrain shape information accuracy evaluation unit that evaluates the accuracy of the terrain shape information with respect to the actual terrain shape according to the size of the area where the obstacle exists.
The output determination unit determines that the terrain shape information is output to the output device when the accuracy of the terrain shape information is equal to or higher than a predetermined accuracy threshold value.
A work machine characterized by that. The work machine according to claim 1.
The work progress calculation unit calculates the work amount by counting the number of reciprocating motions having an amplitude or more that can be regarded as the tip of the front work machine performing excavation operation based on the output from the posture sensor. Including the calculation part
The output determination unit determines whether or not output to the output device is necessary based on the amount of work.
A work machine characterized by that. The work machine according to claim 1.
The work progress calculation unit obtains the movement locus of the tip of the front work machine based on the output from the posture sensor, and the front work machine performs the work based on the area where the movement locus is projected on the ground. A work range recording unit that calculates and records the work range consisting of the ground,
Further provided with a work range amount calculation unit that reads out the recorded work range and calculates the work range amount, which is the size of the area estimated that the front work machine has performed the work.
The output determination unit determines the necessity of output to the output device based on the work range amount.
A work machine characterized by that. The work machine according to claim 4.
The work progress calculation unit calculates the work amount by counting the number of reciprocating motions having an amplitude or more that can be regarded as the tip of the front work machine performing excavation operation based on the output from the posture sensor. Including the calculation part
The output determination unit outputs the terrain shape information to the output device when the work amount is equal to or more than a predetermined work amount threshold value and the work range amount is equal to or more than a predetermined work range amount threshold value. Judging that
A work machine characterized by that. The work machine according to claim 1.
In the terrain shape information output device, a plurality of output devices are connected to each other.
The output determination unit selects an output destination of the terrain shape information according to the progress of the work.
A work machine characterized by that. The work machine according to claim 6.
The plurality of output devices are a display device mounted on the work machine and a wireless communication device.
When the progress of the work is less than the predetermined work progress threshold value, the output determination unit outputs the terrain shape information only to the display device, and the progress of the work is the work progress. When it is equal to or more than the threshold value, the terrain shape information is output to at least the wireless communication device, and the wireless communication device transmits the terrain shape information to the control server of the work machine.
A work machine characterized by that. The work machine according to claim 7.
The terrain shape information output device is
A terrain measurement unit that generates terrain shape information consisting of point cloud data based on the output from the outside world sensor, and
Further includes an output control unit that outputs the terrain shape information to the output device.
When the output determination unit determines that the topographical shape information is output to the output device, the output control unit converts the topographical shape information composed of the point cloud data into two-dimensional or three-dimensional data indicating the surrounding topographical shape. Converts to mesh data divided into grids and outputs to the display device.
A work machine characterized by that. The work machine according to claim 1.
The work machine is
With the lower running body,
With an upper swivel body mounted on the lower traveling body,
The front working machine is swingably connected to a boom whose base end is swayably connected to the upper swing body, an arm swayably connected to the tip of the boom, and the tip of the arm. An articulated front work machine, including a bucket,
The attitude sensor includes a boom angle detector that detects the angle of the boom, an arm angle detector that detects the angle of the arm, and a bucket angle detector that detects the angle of the bucket.
A work machine characterized by that. The work machine according to claim 2.
The external world sensor and the obstacle sensor are composed of the same sensor.
A work machine characterized by that. The work machine according to claim 2.
The outside world sensor and the obstacle sensor are configured by using at least one of a stereo camera, a laser scanner, and a millimeter wave radar.
A work machine characterized by that.

Images