JP7138018B2 - Scaffold design device and scaffold design method - Google Patents

Description

The present invention relates to a scaffold design device and a scaffold design method for generating a scaffold design surface for forming a scaffold for a work vehicle.

Patent Literature 1 discloses a technique for dredging a water bottom for which target topographic data is not prepared in advance, using a work vehicle that performs construction based on target topographic data. According to Patent Document 1, a work vehicle generates target topography data of a water bottom based on the current topography of a water bottom, and controls a work implement based on the target topography data.

WO2017/221692

In carrying out construction using a work vehicle, it is first necessary to form a scaffold for the work vehicle. The scaffolding is a flat surface to the extent that the work vehicle does not swing. A scaffold is formed by excavating or embanking the ground surface with a working machine of a working vehicle.

By the way, when constructing a slope using a work vehicle, high construction efficiency cannot be obtained if the ridgeline of the slope and the cutting edge of the bucket come into one-sided contact. Therefore, in order to improve construction efficiency in constructing a slope, it is necessary to form an appropriate scaffolding so that the cutting edge of the bucket does not hit one side.
An object of the present invention is to provide a scaffolding design device and a scaffolding designing method capable of designing an appropriate scaffolding for improving construction efficiency of a slope.

According to one aspect of the present invention, a scaffolding design device is a scaffolding design device that generates a scaffolding design surface for forming a scaffolding for a work vehicle, the scaffolding designing device showing a three-dimensional shape of the designing terrain in a site coordinate system. A slope selection unit 213 that selects a target slope, which is a slope to be constructed, from data, and a scaffolding design unit 217 that generates the scaffolding design plane parallel to the ridge line of the target slope.

According to the above aspect, the scaffolding design device can design an appropriate scaffolding for improving the construction efficiency of the slope.

FIG. 3 is a diagram showing an example of postures of a work vehicle and a work machine; 1 is a schematic diagram showing the configuration of a work vehicle according to a first embodiment; FIG. It is a figure which shows the structure inside the cab which concerns on 1st Embodiment. 1 is a schematic block diagram showing the configuration of a control device according to a first embodiment; FIG. 4 is a flow chart showing a scaffolding design method according to the first embodiment. It is a screen example of a selection screen of a target slope according to the first embodiment. 4 is an example of a screen for selecting edges according to the first embodiment. It is an example of a screen for inputting design conditions according to the first embodiment. 4 is a flowchart showing intervention control processing in the first embodiment; It is an example of a selection screen of terrain data according to the first embodiment.

<Coordinate system>
FIG. 1 is a diagram showing an example of postures of work vehicle 100 and work implement 130 .
In the following description, a three-dimensional site coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) are defined, and positional relationships are described based on these.

The site coordinate system is a coordinate system composed of the Xg axis extending north and south, the Yg axis extending east and west, and the Zg axis extending vertically with the position of the GNSS (Global Navigation Satellite System) reference station installed at the construction site as the reference point. be. An example of GNSS is GPS (Global Positioning System). Note that in other embodiments, a global coordinate system represented by latitude and longitude may be used instead of the field coordinate system.
The vehicle body coordinate system is a coordinate system composed of a longitudinally extending Xm axis, a laterally extending Ym axis, and a vertically extending Zm axis with reference to a representative point O defined on the revolving body 120 of the work vehicle 100 . With the representative point O of the revolving body 120 as a reference, the front is called +Xm direction, the rear is called -Xm direction, the left is called +Ym direction, the right is called -Ym direction, the upward direction is called +Zm direction, and the downward direction is called -Zm direction.
The site coordinate system and the vehicle body coordinate system can be mutually converted by specifying the position and tilt of work vehicle 100 in the site coordinate system.

<First Embodiment>
<<Configuration of Working Vehicle 100>>
FIG. 2 is a schematic diagram showing the configuration of the work vehicle 100 according to the first embodiment.
The work vehicle 100 operates at a construction site and constructs a construction target such as earth and sand. A work vehicle 100 according to the first embodiment is a hydraulic excavator.
Work vehicle 100 includes traveling body 110 , revolving body 120 , work implement 130 and driver's cab 140 .
The traveling body 110 supports the work vehicle 100 so that it can travel. The traveling body 110 is, for example, two pairs of left and right endless tracks. The revolving body 120 is supported by the traveling body 110 so as to be able to revolve about a revolving center. Work implement 130 is hydraulically driven. Work implement 130 is supported on the front portion of revolving body 120 so as to be vertically drivable. The operator's cab 140 is a space for an operator to operate the work vehicle 100 . The operator's cab 140 is provided in the front portion of the revolving body 120 .

<<Configuration of Revolving Body 120>>
The revolving body 120 includes a position and orientation detector 121 and an inclination detector 122 .

The position/orientation detector 121 calculates the position of the revolving superstructure 120 in the field coordinate system and the azimuth to which the revolving superstructure 120 faces. The position and orientation detector 121 has two antennas that receive positioning signals from artificial satellites that form the GNSS. The two antennas are installed at different positions on the revolving body 120, respectively. For example, two antennas are provided on the counterweight portion of the rotating body 120 . The position and orientation detector 121 detects the position of the representative point O of the revolving superstructure 120 in the site coordinate system based on the positioning signal received by at least one of the two antennas. The position and orientation detector 121 uses the positioning signals received by each of the two antennas to detect the orientation of the revolving superstructure 120 in the field coordinate system.

The tilt detector 122 measures the acceleration and angular velocity of the revolving structure 120, and detects the tilt of the revolving structure 120 (for example, roll representing rotation about the Xm axis and pitch representing rotation about the Ym axis) based on the measurement results. . The tilt detector 122 is installed, for example, below the driver's cab 140 . An example of the tilt detector 122 is an IMU (Inertial Measurement Unit).

<<Configuration of Work Machine 130>>
Work implement 130 includes boom 131 , arm 132 , bucket 133 , boom cylinder 134 , arm cylinder 135 and bucket cylinder 136 .

A base end of the boom 131 is attached to the revolving body 120 via a boom pin P1.
Arm 132 connects boom 131 and bucket 133 . The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin P2.
The bucket 133 includes a blade for excavating earth and sand and a container for containing the excavated earth and sand. The base end of the bucket 133 is attached to the tip of the arm 132 via a bucket pin P3.

A boom cylinder 134 is a hydraulic cylinder for operating the boom 131 . A base end of the boom cylinder 134 is attached to the rotating body 120 . A tip of the boom cylinder 134 is attached to the boom 131 . The boom cylinder 134 is provided with a boom stroke sensor 137 that detects the stroke amount of the boom cylinder 134 .
Arm cylinder 135 is a hydraulic cylinder for driving arm 132 . A base end of the arm cylinder 135 is attached to the boom 131 . A tip of the arm cylinder 135 is attached to the arm 132 . The arm cylinder 135 is provided with an arm stroke sensor 138 that detects the stroke amount of the arm cylinder 135 .
Bucket cylinder 136 is a hydraulic cylinder for driving bucket 133 . A base end of the bucket cylinder 136 is attached to the arm 132 . A tip of the bucket cylinder 136 is attached to a link member connected to the bucket 133 . The bucket cylinder 136 is provided with a bucket stroke sensor 139 that detects the stroke amount of the bucket cylinder 136 .

<<Configuration of Driver's Cabin 140>>
FIG. 3 is a diagram showing the internal configuration of the driver's cab 140 according to the first embodiment.
A driver's seat 141 , a first operating device 142 and a second operating device 143 are provided in the driver's cab 140 .

The first operation device 142 is an interface for driving the traveling body 110, the revolving body 120, and the working machine 130 by manual operation by an operator. The first operating device 142 includes a left operating lever 1421 , a right operating lever 1422 , a foot pedal 1423 and a travel lever 1424 .

Left operation lever 1421 is provided on the left side of driver's seat 141 . The right operating lever 1422 is provided on the right side of the driver's seat 141 . A left operating lever 1421 and a right operating lever 1422 are used to control the turning motion of the turning body 120 and the motion control of the boom 131 , the arm 132 and the bucket 133 .
Foot pedal 1423 is arranged on the floor in front of driver's seat 141 . The travel lever 1424 is pivotally supported by the foot pedal 1423, and configured such that the inclination of the travel lever 1424 and the depression of the foot pedal 1423 are interlocked. Foot pedal 1423 and travel lever 1424 are used for travel control of travel body 110 .

Second operation device 143 receives an operator's operation regarding intervention control of work implement 130 by control device 150, which will be described later. The second operation device 143 is, for example, a tablet terminal having a touch panel.

<<Configuration of Control Device 150>>
Work vehicle 100 includes a control device 150 for controlling work vehicle 100 .
The control device 150 restricts the movement of the bucket 133 in the direction toward the construction target so that the bucket 133 does not enter the design plane set at the construction site. The control device 150 restricting the operation of the bucket 133 based on the design aspect is also called intervention control.

For example, in intervention control when the operator only pulls the arm 131 to perform leveling work on a horizontal surface, the controller 150 controls the distance between the cutting edge of the bucket 133 and the design surface as the arm 131 moves. An operation signal for the boom cylinder 134 is generated so that the bucket 133 does not enter the design surface. As a result, when the operator only operates the arm 131, the control device 150 generates an operation signal for the boom cylinder 134 to raise the boom 131, restricting the movement of the bucket 133, thereby allowing the bucket 133 to move toward the design surface. Automatically prevent the entry of the cutting edge. .
Similarly, the control device 150 limits the movement of the arm cylinder 135 and the bucket cylinder 136 according to the distance between the cutting edge of the bucket 133 and the design surface so that the bucket 133 does not enter the design surface. To automatically prevent the cutting edge of a bucket 133 from entering.

Further, the control device 150 generates a scaffolding design surface for forming the scaffolding of the work vehicle 100 by the operation of the operator via the second operating device 143 . As a result, the control device 150 can assist the scaffold formation by performing intervention control based on the scaffold design surface. That is, the control device 150 is an example of a scaffolding design device.

FIG. 4 is a schematic block diagram showing the configuration of the control device 150 according to the first embodiment.
The control device 150 is a computer that includes a processor 210 , main memory 230 , storage 250 and interface 270 .

Storage 250 is a non-temporary, tangible storage medium. Examples of the storage 250 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory). , semiconductor memory, and the like. The storage 250 may be an internal medium directly connected to the bus of the control device 150, or an external medium connected to the control device 150 via the interface 270 or communication line. Storage 250 stores programs for controlling work vehicle 100 .

The program may be for realizing part of the functions that control device 150 is caused to perform. For example, the program may function in combination with another program already stored in the storage 250 or in combination with another program installed in another device. Note that in other embodiments, the control device 150 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLD include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by the processor may be implemented by the integrated circuit.

The storage 250 stores in advance designed landform data D1 representing the three-dimensional shape of the designed landform. The design landform data D1 is three-dimensional data expressed in the site coordinate system, and is three-dimensional landform data or the like composed of a plurality of triangular polygons representing a design surface. The triangular polygons forming the design landform data D1 have sides in common with other adjacent triangular polygons. In other words, the designed landform data D1 represents a continuous plane composed of a plurality of planes.

By executing the program, the processor 210 performs a detection information acquisition unit 211, a bucket position identification unit 212, a slope selection unit 213, a ridgeline selection unit 214, an inclination determination unit 215, a condition input unit 216, a scaffolding design unit 217, a design It functions as a surface selection unit 218 , an operation amount acquisition unit 219 , a control line determination unit 220 , an intervention control unit 221 and a display control unit 222 .

The detection information acquisition unit 211 acquires information detected by each of the boom stroke sensor 137 , the arm stroke sensor 138 , the bucket stroke sensor 139 , the position/orientation detector 121 and the tilt detector 122 . That is, the detection information acquisition unit 211 obtains the position information of the revolving superstructure 120 in the field coordinate system, the orientation of the revolving superstructure 120, the inclination of the revolving superstructure 120, the stroke length of the boom cylinder 134, the stroke length of the arm cylinder 135, and the bucket cylinder. Get a stroke length of 136.

The bucket position specifying unit 212 specifies the position of the cutting edge of the bucket 133 based on the information acquired by the detection information acquiring unit 211 . A method for specifying the position of the cutting edge of the bucket 133 will be described later.

When designing a scaffolding, the slope selection unit 213 receives a selection of a target slope, which is a slope to be constructed using the scaffolding, from a plurality of planes that constitute the design landform data D1.
The ridge line selection unit 214 receives selection of a ridge line that serves as a scaffold design reference from among the target slopes. In addition, in this embodiment, the "ridge line" refers to the shoulder and foot of the slope. That is, the ridge line selection unit 214 receives input of information indicating which of the slope shoulder and the slope bottom of the target slope is to be used as a scaffold design reference.
The inclination determination unit 215 determines the roll angle of the scaffold based on the selected ridgeline. The scaffold roll angle is equal to the roll angle of the work vehicle 100 when the work vehicle 100 is positioned on the scaffold so as to face the target slope. Specifically, the inclination determination unit 215 determines the inclination of the selected ridgeline as the roll angle of the foothold.

The condition input unit 216 receives input of scaffolding design conditions from the operator. Examples of design conditions include height offset, scaffold width, scaffold pitch angle, and scaffold shape. The pitch angle of the scaffold is equal to the pitch angle of the work vehicle 100 when the work vehicle 100 is positioned on the scaffold so as to face the target slope. In other words, the pitch angle of the scaffolding is the angle of rotation of the ridge around the axis. Condition input section 216 is an example of an offset input section.

The scaffold design unit 217 generates scaffold data D2, which is three-dimensional data representing a scaffold design surface, based on the roll angle determined by the inclination determination unit 215 and the design conditions input to the condition input unit 216. The scaffolding design unit 217 causes the storage 250 to store the generated scaffolding data D2.

The design surface selection unit 218 receives a selection of a design surface to be used for intervention control from among the design surface that constitutes the design topography data D1 and the scaffolding design surface represented by the scaffolding data D2.

The operation amount acquisition unit 219 acquires an operation signal indicating the operation amount from the first operation device 142 . The operation amount acquiring unit 219 acquires at least the operation amount related to the boom 131 raising operation and lowering operation, the operation amount related to the arm 132 pushing operation and pulling operation, and the operation amount related to the bucket 133 digging operation and dumping operation. .

A control line determination unit 220 determines a control line used for intervention control of the bucket 133 . The control line determination unit 220 determines, for example, the line of intersection between the longitudinal section of the bucket 133 and the selected design surface as the control line.

The intervention control unit 221 performs intervention control of the work implement 130 based on the operation amount of the first operating device 142 acquired by the operation amount acquisition unit 219 and the distance between the control line determined by the control line determination unit 220 and the bucket 133. I do.

Display control unit 222 generates an image to be displayed on second operation device 143 and outputs the image to second operation device 143 .

<<Method of Identifying Position of Edge of Bucket 133>>
Here, a method for identifying the position of the cutting edge of the bucket 133 will be described with reference to FIG. The position of the cutting edge of bucket 133 in the vehicle body coordinate system includes boom length L1, arm length L2, bucket length L3, boom angle α, arm angle β, bucket angle γ, and the position of boom pin P1 in the vehicle body coordinate system, and It can be specified based on the position of the representative point O in the field coordinate system.

Boom length L1 is the known distance from boom pin P1 to arm pin P2.
Arm length L2 is the known distance from arm pin P2 to bucket pin P3.
Bucket length L3 is the known distance from bucket pin P3 to the cutting edge of bucket 133 .

The boom angle α is represented by an angle formed by a half line extending upward (+Zm direction) of the revolving structure 120 from the boom pin P1 and a half line extending from the boom pin P1 to the arm pin P2. Note that the upward direction (+Zm direction) of the revolving body 120 and the vertically upward direction (+Zg direction) of the revolving body 120 do not necessarily match due to the inclination θ of the revolving body 120 .
The arm angle β is represented by an angle formed by a half line extending from the boom pin P1 to the arm pin P2 and a half line extending from the arm pin P2 to the bucket pin P3.
The bucket angle γ is represented by an angle formed by a half line extending from the arm pin P2 to the bucket pin P3 and a half line extending from the bucket pin P3 to the cutting edge of the bucket 133.

The position of the cutting edge of work implement 130 in the field coordinate system is specified, for example, by the following procedure. The bucket position specifying unit 212 specifies the position of the arm pin P2 in the vehicle body coordinate system based on the position of the boom pin P1 in the vehicle body coordinate system, the boom relative angle α, and the boom length L1. Bucket position specifying unit 212 specifies the position of bucket pin P3 in the vehicle body coordinate system based on the position of arm pin P2, arm relative angle β, and arm length L2 in the vehicle body coordinate system. Bucket position specifying unit 212 specifies the position of the cutting edge of bucket 133 in the vehicle body coordinate system based on the position of bucket pin P3 in the vehicle body coordinate system, bucket relative angle γ, and bucket length L3. The boom relative angle α, the arm relative angle β, and the bucket relative angle γ are specified by the detection values of the boom stroke sensor 137, the arm stroke sensor 138, and the bucket stroke sensor 139, respectively. Based on the position information of the revolving body 120 in the field coordinate system, the orientation of the revolving body 120, and the posture of the revolving body 120, the bucket position specifying unit 212 determines the position of the cutting edge of the bucket 133 in the vehicle body coordinate system to the field coordinate system. Convert to a position in .
Needless to say, detection of the boom relative angle α, the arm relative angle β, and the bucket relative angle γ is not limited to being performed by the stroke sensor, and may be performed by the angle sensor.

《Scaffolding design method》
FIG. 5 is a flow chart showing a scaffolding design method according to the first embodiment.
When forming a scaffold at a construction site, an operator first generates scaffold data representing a scaffold design surface. The operator operates the first operating device 142 to move the cutting edge of the bucket 133 to a position where it is desired to form a foothold. For example, the operator moves the cutting edge of the bucket 133 to a position a fixed distance away from the target slope. If the position where the scaffolding is desired to be formed is below the ground surface, the cutting edge of the bucket 133 is moved to a position directly above the position where the scaffolding is desired to be formed.

After moving the cutting edge of the bucket 133 to a position where the scaffolding is to be formed, the operator operates the second operating device 143 to instruct the control device 150 to execute the scaffolding design process. For example, the operator presses a scaffolding design button displayed on the screen of the second operating device 143 .

When the control device 150 starts scaffolding design processing, the detection information acquisition unit 211 acquires information detected by each of the boom stroke sensor 137, the arm stroke sensor 138, the bucket stroke sensor 139, the position and orientation detector 121, and the tilt detector 122. (step S1). The bucket position specifying unit 212 specifies the position of the cutting edge of the bucket 133 in the field coordinate system based on the information acquired by the detection information acquiring unit 211 (step S2).

The display control unit 222 reads out the designed landform data D1 from the storage 250, generates a target slope selection screen, and outputs it to the second operation device 143 (step S3). As a result, the second operating device 143 displays a target slope selection screen as shown in FIG. FIG. 6 is a screen example of a target slope selection screen according to the first embodiment.
The target slope selection screen includes a designed landform image G1 drawn from the designed landform data D1 and a work vehicle image G2 drawn from a three-dimensional model of the work vehicle 100 placed on the designed landform. . The bucket of work vehicle image G2 is drawn based on the position of the cutting edge specified by bucket position specifying unit 212 .

The slope selection unit 213 receives selection of a target slope from the operator (step S4). For example, when the operator presses the position of the target slope in the designed landform image G1, the slope selection unit 213 can specify the selected target slope. When the target slope is selected, the display control unit 222 generates a ridgeline selection screen and outputs it to the second operation device 143 (step S5). As a result, the second operating device 143 displays a ridge line selection screen as shown in FIG. FIG. 7 is a screen example of a ridge line selection screen according to the first embodiment.
The ridge line selection screen includes a design terrain image G1, a work vehicle image G2, a target slope image G3 representing the selected target slope, a ridge line image G4 representing the selected ridge, and an upper side of the target slope. , an upper button G5 for selecting the edge of the slope, that is, the top of the slope, a lower button G6 for selecting the lower edge of the target slope, that is, the bottom of the slope, and an enter button G7 for confirming the selection.

The ridge line selection unit 214 receives selection of a ridge line that serves as a scaffold design reference from among the target slopes (step S6). For example, the operator operates the second operating device 143 and presses the upper button G5 or the lower button G6 to select a ridgeline. By pressing the upper button G5 or the lower button G6, the ridge line image G4 represents either the shoulder of the slope or the bottom of the slope. When the edge line image G4 represents a desired edge line, the edge line selection unit 214 can specify the selected edge line by pressing the enter button G7.

The inclination determination unit 215 determines the angle formed by the selected ridgeline and the horizontal plane as the roll angle of the foothold (step S7). Next, the display control unit 222 generates an input screen for scaffolding design conditions, and outputs it to the second operating device 143 (step S8). As a result, the second operating device 143 displays a design condition input screen as shown in FIG. FIG. 8 is a screen example of a design condition input screen according to the first embodiment.
The design condition input screen includes a design terrain image G1, a working vehicle image G2, a target slope image G3 indicating the selected target slope, a design condition input window G8, and a preview image G9 of the scaffolding design surface. and are included. The input window G8 includes an input form for height offset, scaffold width, scaffold pitch angle, scaffold shape, and an enter button. The scaffold width may be entered, for example, as the diameter of the inscribed circle of the scaffold shape. Examples of the shape of the scaffold design surface include circles, squares, regular hexagons, and regular octagons.

The condition input unit 216 receives an input of scaffolding design conditions from the operator (step S9). For example, the operator operates the second operating device 143 to input values into the input form of the input window G8. The display control section 222 may change the shape of the preview image G9 each time the value of the input form changes. The initial value of the scaffold pitch angle is 0°. When the pitch angle is 0°, the scaffold design plane is parallel to the plane extending the ridgeline in the horizontal direction. When the operator presses the enter button on the input window G8, the condition input unit 216 can confirm the input of the design conditions.

Then, the scaffold design unit 217 generates scaffold data D2, which is three-dimensional data representing a scaffold design plane, based on the roll angle determined by the inclination determination unit 215 and the design conditions input to the condition input unit 216 (step S10). The scaffolding design unit 217 stores the generated scaffolding data D2 in the storage 250 (step S11).

<<Control method during operation>>
FIG. 9 is a flowchart showing intervention control processing in the first embodiment.
The operator operates the second operation device 143 to instruct the control device 150 to execute intervention control processing. For example, the operator presses a ground leveling assistance start button displayed on the screen of the second operating device 143 .

When the control device 150 starts the ground leveling assist process, the display control unit 222 generates a selection screen for terrain data and outputs it to the second operation device 143 (step S31). As a result, the second operating device 143 displays a terrain data selection screen as shown in FIG. FIG. 10 is an example of a selection screen for terrain data according to the first embodiment. The terrain data selection screen includes a selection button G10 for design terrain data D1 and a selection button G11 for scaffolding data D2.
The design surface selection unit 218 receives selection of terrain data to be used for intervention control from among the design terrain data D1 and the scaffolding data D2 (step S32). That is, the design surface selection unit 218 receives selection of a design surface to be used for intervention control from among the design surface and the scaffolding design surface included in the designed landform data D1. For example, when the operator presses the selection button G10 for the design landform data D1 or the selection button G11 for the scaffolding data D2, the design surface selection unit 218 can specify the selected landform data.

The design surface selection unit 218 determines whether the selected terrain data is scaffolding data (step S33). If the selected terrain data is not the scaffolding data D2, that is, if it is the design terrain data D1 (step S33: NO), the display control unit 222 generates a design surface selection screen as shown in FIG. Output to the operation device 143 (step S34). The design surface selection unit 218 receives a selection of a design surface to be used for intervention control from among the plurality of design surfaces of the design landform data D1 (step S35). When the design surface to be used for intervention control is selected, the design surface selection unit 218 reads the selected design surface from the design landform data D1 of the storage 250 (step S36).
On the other hand, if the selected terrain data is the scaffolding data D2 (step S33: YES), the display control unit 222 reads the scaffolding design surface from the scaffolding data D2 in the storage 250 (step S37).

Next, the detection information acquisition unit 211 acquires information detected by each of the boom stroke sensor 137, the arm stroke sensor 138, the bucket stroke sensor 139, the position/orientation detector 121, and the tilt detector 122 (step S38). The bucket position specifying unit 212 specifies the position of the cutting edge of the bucket 133 in the field coordinate system based on the information acquired by the detection information acquiring unit 211 (step S39).

The operation amount acquisition unit 219 acquires the operation amount related to the boom 131, the operation amount related to the arm 132, and the operation amount related to the bucket 133 from the first operation device 142 (step S40).
The control line determination unit 220 determines a control line based on the cutting edge of the bucket 133 and the design surface read by the design surface selection unit 218 (step S41).

The intervention control unit 221 determines whether or not the distance between the cutting edge and the control line is less than a predetermined distance (step S42). When the distance between the cutting edge and the control line is not less than the predetermined distance (step S42: NO), the intervention control unit 221 does not perform intervention control, and issues a control command for the work machine 130 based on the operation amount acquired by the operation amount acquisition unit 219. is generated (step S43). On the other hand, if the distance between the cutting edge and the control line is less than the predetermined distance (step S42: YES), the intervention control unit 221 determines the distance between the cutting edge and the control line based on the operation amount acquired by the operation amount acquisition unit 219. Intervention is performed accordingly to generate a control command for work implement 130 (step S44).

Next, the intervention control unit 221 determines whether or not the intervention control should be ended by the operator's operation (step S45). For example, the intervention control unit 221 determines whether or not the ground leveling assistance end button displayed on the screen of the second operating device 143 has been pressed. If the intervention control does not end (step S45: NO), the control device 150 returns the process to step S38 and continues the intervention control. On the other hand, if the intervention control ends (step S45: YES), the control device 150 ends the intervention control process.

《Action and effect》
Thus, according to the first embodiment, the control device 150 receives selection of the target slope and generates a scaffolding design plane parallel to the ridgeline of the target slope. When the work vehicle 100 is positioned on the scaffold formed based on the scaffold design surface, the cutting edge of the bucket 133 of the work vehicle 100 and the ridgeline of the target slope become parallel. As a result, the edge of the bucket 133 can be prevented from making one-sided contact with the ridgeline, and the slope can be efficiently excavated.

Further, according to the first embodiment, the control device 150 generates a scaffolding design plane based on the position of the work implement specified at the start timing of the scaffolding design process. As a result, the operator can inform the control device 150 of the position of the scaffolding design surface without inputting the coordinates. Note that in another embodiment, the control device 150 may receive an input of the center position of the scaffolding design plane from the operator. In another embodiment, the control device 150 may generate a scaffold design surface based on, for example, the position of the lowest point of the bucket 133 instead of the position of the cutting edge of the bucket 133 .

Further, according to the first embodiment, the control device 150 receives an input of the offset value of the height of the scaffold design surface with respect to the position of the cutting edge of the bucket 133 . As a result, even if the position where the scaffolding is desired to be formed is below the ground surface and it is difficult to move the cutting edge of the bucket 133 to the position where the scaffolding is desired to be formed because the ground surface is hard, the position of the scaffolding design surface can be easily determined. can do.

Further, according to the first embodiment, the control device 150 receives selection of one edge line from two edge lines above and below the target slope. This allows the operator to design scaffolds corresponding to arbitrary upper and lower ridgelines. In other embodiments, the ridge line used for designing the scaffolding may be fixed in advance to the upper ridge line or the lower ridge line.

Further, according to the first embodiment, the control device 150 accepts selection of one design surface from the scaffolding design surface and the surface of the design terrain data D1, and performs intervention control based on the selected design surface. Accordingly, the operator can drive the work vehicle 100 by switching between scaffolding formation and construction based on the design landform data D1.

Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the one described above, and various design changes and the like can be made.
For example, in the above-described embodiment, the control device 150 generates the scaffolding design surface, but the invention is not limited to this. For example, in another embodiment, the second operating device 143 may have a scaffolding design plane generation function. In another embodiment, a design terminal operated by a designer may generate a scaffolding design plane, and scaffolding data D2 representing the scaffolding design plane may be stored in the control device 150 . In other words, in other embodiments, the scaffolding design device may be realized by another device, and the scaffolding design device may be configured by a plurality of devices.

Further, in the above-described embodiment, the condition input unit 216 receives input of scaffolding design conditions, but is not limited to this. For example, the control device 150 according to another embodiment may generate a scaffolding design surface according to predetermined design conditions. At this time, the scaffolding design plane may be a plane parallel to the plane extending the ridgeline in the horizontal direction.

DESCRIPTION OF SYMBOLS 100... Work vehicle 110... Traveling body 120... Revolving body 130... Working machine 140... Driver's cab 121... Position and direction detector 122... Inclination detector 131... Boom 132... Arm 133... Bucket 134... Boom cylinder 135... Arm cylinder 136... Bucket cylinder 137 Boom stroke sensor 138 Arm stroke sensor 139 Bucket stroke sensor 141 Driver's seat No. 1142 Operating device No. 2143 Operating device 150 Control device 1421 Left operating lever 1422 Right operating lever 1423 Foot pedal 1424 ... Traveling lever 210 ... Processor 230 ... Main memory 250 ... Storage 270 ... Interface 211 ... Detection information acquisition part 212 ... Bucket position specifying part 213 ... Slope selection part 214 ... Ridge line selection part 215 ... Inclination determination part 216 ... Condition input part 217 Scaffold design unit 218 Design surface selection unit 219 Manipulated amount acquisition unit 220 Control line determination unit 221 Intervention control unit 222 Display control unit

Claims (7)

A scaffolding design device for generating a scaffolding design surface for forming a scaffolding for a work vehicle,
a slope selection unit that selects a target slope, which is a slope to be constructed, from design landform data representing a three-dimensional shape of the design landform;
a scaffolding design unit that generates the scaffolding design surface parallel to the ridgeline of the target slope;
A scaffolding design device comprising: a work machine position identifying unit that identifies the position of the work machine of the work vehicle;
The scaffolding design device according to claim 1, wherein the scaffolding design unit generates the scaffolding design plane based on the position of the work machine specified at one timing. an offset input unit that receives an input of an offset value of the height of the scaffolding design surface with respect to the identified position of the work machine;
The scaffold design device according to claim 2, wherein the scaffold design plane is a plane that passes through a point that is shifted by the offset value from the identified position of the working machine and that is parallel to the ridgeline. a ridgeline selection unit that receives selection of one ridgeline from two ridgelines above and below the target slope;
The scaffolding design device according to any one of claims 1 to 3, wherein the scaffolding design plane is a plane parallel to the selected ridgeline. 5. The controller according to any one of claims 1 to 4, further comprising a control unit that outputs a control command for the work implement based on a distance between the scaffolding design surface or one surface of the design terrain data and the work implement of the work vehicle. 2. The scaffolding design device according to item 1. a design surface selection unit that receives selection of one design surface from the scaffolding design surface and the surface of the design terrain data;
The scaffolding design device according to claim 5, wherein the control unit outputs the control command based on the selected design surface. A scaffold design method for generating a scaffold design surface for forming a scaffold for a work vehicle, comprising:
a step of selecting a target slope, which is a slope to be constructed, from the designed terrain data representing the three-dimensional shape of the designed terrain in the field coordinate system;
generating the scaffolding design surface parallel to the ridgeline of the target slope;
A scaffolding design method comprising:

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