JP7235521B2 - working machine - Google Patents

Description

The present invention relates to a working machine such as a hydraulic excavator used for civil engineering work.

As a working machine used for civil engineering work, etc., a revolving body is attached to the upper part of a traveling body that travels by a power system, and a multi-joint type work front is attached to the revolving body so that it can swing vertically. It is known to drive each front member constituting the front by an actuator. An example of such a working machine includes a boom whose one end is swingably connected to a revolving body, an arm whose one end is swingably connected to the tip of the boom, and a bucket or the like attached to the tip of the arm. There are shovels that are equipped with working tools so that desired work can be performed. Generally, in this type of excavator, an operator operates an operation lever to drive actuators for traveling, turning, and front of work, and performs various works such as excavation and shaping on the ground to be worked.

As a system for supporting the management of construction work using a hydraulic excavator, for example, Patent Document 1 discloses a system that acquires information on the topography of a construction target and information on the position and movement of the excavator, and controls the excavator based on the information on the movement of the excavator. A system has been disclosed which discriminates the content of work performed by a shovel, synthesizes topographical information representing the topography of a construction target, and a work content image representing the content of work performed by an excavator, and outputs the result.

One type of work using a hydraulic excavator is work for compacting the ground surface (rolling compaction work). Rolling compaction work is generally carried out during embankment work and slope formation work. In rolling compaction work, it is important to perform compaction without unevenness or excess or deficiency. In Patent Document 2, as a system for managing the compaction situation, when a compaction plate is installed at a predetermined position and a vibrator is activated to perform compaction work with the compaction plate, the position of the compaction plate And a compaction work management system that determines the work execution range from the angle and determines that compaction is completed when the cumulative value of the time during which the exciter is activated exceeds a predetermined threshold. .

JP 2016-98535 A JP 2017-141579 A

By using the technique of Patent Document 1, it becomes easy to manage the construction using a shovel, but in the system of Patent Document 1, only the details of the work performed using the shovel can be managed, and the degree of compaction can be controlled. It is not possible to check whether the work has been completed, and it is not possible to monitor the progress of the rolling compaction work or the quality of compaction.

Further, Patent Document 2 manages the completion of compaction using the start-up time of the vibrator, and cannot be applied to rolling compaction work using a bucket that does not have a vibrator.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a working machine capable of determining and accurately managing the finished state of compaction in rolling compaction work.

In order to achieve the above object, the present invention provides a vehicle body, a working machine rotatably attached to the vehicle body, an actuator for driving the working machine, and a position of the vehicle body. A vehicle body position detection device, an attitude detection device that detects the attitude and acceleration of the working machine, a load detection device that detects the load of the actuator, a controller having a calculation function, and a notification device that outputs the calculation result of the controller. and the controller controls the work machine to move the work machine based on the acceleration of the work machine detected by the attitude detection device and the load of the work machine detected by the load detection device. It determines whether or not a rolling compaction work , which is a work of compacting the ground by bringing it into contact with the ground, is being performed, determines the content of the rolling compaction work , and detects the position of the vehicle body and the posture during the execution of the rolling compaction work. Based on the output of the detection device, the compaction position, which is the position where the working machine contacts the ground, is calculated, and based on the details of the rolling compaction work and the outputs of the attitude detection device and the load detection device, the The degree of compaction contribution, which is the degree to which the work machine contributes to the compaction of the ground, is calculated according to the content of the compaction work , and the cumulative compaction contribution, which is the accumulation of the compaction contribution at the compaction position, is calculated. and determining the compaction progress at the compaction position based on the cumulative compaction contribution , dividing the work site of the work machine into a plurality of grids and storing the Information that associates the grid corresponding to the compaction position with the degree of compaction progress is output to the notification device.

According to the present invention configured as described above, it is possible to determine the compaction state based on the information from the sensor mounted on the working machine when performing the rolling compaction work using the working machine. In addition, by notifying the operator of the excavator of the compaction state via the notification device, the operator can perform work while recognizing the compaction finish state, and it is possible to prevent uneven compaction and excess or deficiency. . As a result, in the management of construction using a work machine, it is possible to grasp the compaction state and to more accurately manage the construction status and progress.

ADVANTAGE OF THE INVENTION According to this invention, in the rolling compaction work using a working machine, it becomes possible to determine the finishing state of compaction and to manage it correctly.

1 is a side view of a shovel according to a first embodiment of the present invention; FIG. FIG. 4 is a diagram showing a state of rolling compaction work of the shovel according to the first embodiment of the present invention; 1 is a view showing a compaction position of a shovel according to a first embodiment of the invention; FIG. FIG. 3 is a functional block diagram of a controller according to the first embodiment of the present invention; FIG. FIG. 4 is a diagram showing information held in a storage unit of the controller according to the first embodiment of the present invention; FIG. 4 is a flow chart showing the flow of arithmetic processing of the controller according to the first embodiment of the present invention; FIG. 5 is a diagram showing an example of changes in the boom cylinder holding force and the center-of-gravity velocity and center-of-gravity acceleration of the work front during rolling compaction work of the excavator according to the first embodiment of the present invention. It is a figure which shows the calculation method of the compaction area which concerns on 1st Example of this invention. FIG. 4 is a diagram showing a display example of the display device according to the first embodiment of the present invention; It is a figure which shows an example of the compaction target information, cumulative compaction contribution information, and compaction progress information which concerns on the modification of 1st Example of this invention. It is a flow chart which shows a flow of update processing of compaction progress information concerning a modification of the 1st example of the present invention. FIG. 5 is a diagram showing a display example of the display device by the machine guidance function according to the first embodiment of the present invention; FIG. 5 is a functional block diagram of a controller according to a second embodiment of the invention; FIG. 8 is a functional block diagram of a controller according to a third embodiment of the invention;

DESCRIPTION OF THE PREFERRED EMBODIMENTS An excavator will be described below as an example of a construction machine according to an embodiment of the present invention with reference to the drawings. In addition, in each figure, the same code|symbol is attached|subjected to the same member, and the overlapping description is abbreviate|omitted suitably.

A shovel according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 12. FIG.
<Target machine>
FIG. 1 is a side view of a shovel according to this embodiment.

In FIG. 1, an excavator 1 includes a traveling body 2, a revolving body 3 attached to the upper part of the traveling body 2 so as to be able to turn, and a work front 6 composed of an articulated link mechanism having one end connected to the revolving body 3. and Reference numeral 30 in the figure represents the ground.

The work front 6 has a boom 6A whose one end is connected to the revolving body 3, an arm 6B whose one end is connected to the other end of the boom 6A, and a bucket 6C whose one end is connected to the other end of the arm 6B. Each of these members is configured to rotate vertically or in the front-rear direction. As actuators for rotating each part of the work front 6, a boom cylinder 11A, an arm cylinder 11B, and a bucket cylinder 11C are provided.

The revolving body 3 is driven to revolve by a revolving motor 7 . A driver's cab 4 is provided on the revolving body 3 . In addition, at a required portion on the revolving structure 3, there is an engine that constitutes a power system, a drive hydraulic circuit for actuators, and the like. and a controller 60 for performing

Inside the operator's cab 4, an engine key switch for starting the engine, an operation lever 5 for an operator to input movement instructions to each actuator, and the like are provided. By operating the operation lever 5, the operator performs traveling, turning, and various operations using the work front 6. FIG. A display device 81 is provided in the operator's cab 4 as a notification device for notifying the operator of various types of information in addition to the operation device described above.
<State quantity detector>
The excavator 1 is equipped with a sensor that detects the state quantity of the machine as a state quantity detection device. The excavator 1 according to this embodiment includes a vehicle body position detection device 50 , an attitude detection device 70 and a load detection device 20 .

The vehicle body position detection device 50 is a device that measures the position and orientation of the excavator 1, and in this embodiment, positioning by the Global Navigation Satellite System (GNSS) is used. The vehicle body position detection device 50 has a pair of GNSS receiving antennas for receiving radio waves from positioning satellites, and demodulates the received radio waves to calculate the three-dimensional position and orientation of the excavator 1 based on signals from a plurality of positioning satellites. and outputs the three-dimensional position and orientation of the excavator 1 .

The attitude detection device 70 detects the attitude of the work front desk 6, and in this embodiment, an attitude sensor 70A provided on the boom 6A, an attitude sensor 70B provided on the arm 6B, and an attitude sensor 70B provided on the bucket 6C. and a posture sensor 70C. For example, an IMU (Inertial Measurement Unit) that detects angles (or angular velocities) and accelerations is used as the attitude sensor.

The load detection device 20 detects the force applied from the bucket 6C to the ground 30 when the bucket 6C of the excavator 1 is used to perform rolling compaction work. In this embodiment, as the load detection device 20, pressure sensors 20A and 20B are provided on the bottom side and the rod side of the boom cylinder 11A. The bottom-side pressure sensor 20A detects the pressure in the bottom chamber of the boom cylinder 11A, and the rod-side pressure sensor 20B detects the pressure in the rod chamber of the boom cylinder 11A.
<Controller>
The controller 60 includes a CPU (not shown), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage unit such as a flash memory, a microcomputer having them, and peripheral circuits (not shown). It operates according to a stored program. The controller 60 inputs signals from devices attached to the excavator 1 and external systems, and outputs signals to other devices mounted on the excavator 1, actuators of the excavator 1, external systems, and the like.

Before describing the details of each part, an overview of the rolling compaction operation of the excavator 1 and the processing performed by the controller 60 will be described. The controller 60 calculates the compaction state in the rolling compaction work using the excavator 1 based on the detection results of the vehicle body position detection device 50, the posture detection device 70, the load detection device 20, and the information held in the storage unit 60B. ,Output. In general, the rolling compaction work using the shovel 1 includes pressing work of pressing the bottom surface of the bucket 6C against the ground 30 and compacting the ground 30 by applying a static load, and pounding the bottom of the bucket 6C against the ground 30. There is also a soil beating work in which the ground 30 is compacted by applying an impact force to the ground 30. In either case, compaction is accomplished by grounding the bucket 6C on the ground 30. FIG.

FIG. 2 is a diagram showing a state of rolling compaction work. Various methods are conceivable for managing the compaction state in the rolling compaction work. A case of managing whether or not hardening is performed will be described as an example. In the rolling compaction work, the grid to which the bucket 6C is grounded is compacted. Various methods are conceivable for calculating the ground contact portion between the bucket 6C and the ground 30, but below, a part of the bucket bottom surface (hereinafter referred to as the bucket ground contact surface) 6C′ shown in FIG. Assuming contact, a case where the grid with which the bucket contact surface 6C' contacts is calculated as the compaction position will be described as an example.

One grid of the grid 101 shown in FIG. 3A corresponds to, for example, a square with a side of 200 mm. The side length of the grid 101 is preset to be shorter than the side length of the bucket ground plane 6C'. The finish of compaction differs depending on the type of soil to be compacted, the moisture content, etc., and has a correlation with the magnitude of the force acting on the ground 30, the force acting time, the number of acts, and the like. Various methods are conceivable for determining the finished state of compaction. A case where the target information 320 is used will be described as an example. The compaction target information 320 is held in the storage unit 60B, and the compaction state is determined by referring to the compaction target information 320 in the calculation unit 60A.

Below, the details of the arithmetic processing of the controller 60 will be described. 4 and 5 show functional block diagrams of the controller 60. FIG.
<Memory part>
The storage unit 60B holds information required for calculations performed by the calculation unit 60A, and outputs the held information in response to commands from the calculation unit 60A. In this embodiment, as shown in FIG. 5, grid information 310, compaction target information 320, vehicle specific information 330, cumulative compaction contribution information 350, and compaction progress information 360 are held.

The grid information 310 is information related to the grid 101 shown in FIG. 3A, and holds the side length of the grid 101 and central coordinate information of each grid.

The compaction target information 320 is information representing the correlation between the type of force (compaction force) acting on the ground 30, the magnitude of the compaction force, the duration of action, etc., and the compaction finish state (that is, progress). . Even if the same amount of force acts for the same amount of time and the same number of times, the finished compaction state differs depending on the type of soil and moisture content that constitute the ground 30. Therefore, the compaction target information 320 is It is set according to 30 types of soil. The compaction target information 320 may consist of a plurality of reference tables or a plurality of reference functions. Moreover, the compaction target information 320 may be stored in a single table for the entire area where the excavator 1 is working, or may be stored in a plurality of tables that differ depending on the soil quality, etc., and may be set for each grid 101. .

The vehicle body specific information 330 is information specific to the excavator 1 used for the calculation performed by the calculation unit 60A, and holds, for example, the link length of the work front desk 6, setting information of various sensors, and the like.

The cumulative compaction contribution information 350 is information representing the cumulative compaction strength achieved by the rolling compaction work so far. In this embodiment, the cumulative compaction contribution information 350 is represented as information for each grid and updated by the calculation unit 60A.

The compaction progress information 360 is information representing the finished state of compaction by the rolling compaction work so far, and holds the result of determining how much compaction has been achieved. The determination result is expressed as a degree of progress toward the compaction target, for example, as progress in several steps or as a percentage. Further, in this embodiment, the compaction progress information 360 is expressed as information for each grid and updated by the calculation unit 60A.
<Calculation part>
As shown in FIG. 4 or FIG. 5, the calculation unit 60A includes a rolling compaction determination unit 61 that determines whether or not the compaction work is being performed by the bucket 6C, and a compaction operation determination unit 61 that determines whether the compaction work is being performed by the bucket 6C. A compaction contribution calculation unit 62 that calculates the degree of compaction (hereinafter referred to as compaction contribution), a compaction position calculation unit 63 that calculates the compaction position, and a compaction progress determination unit 64 that determines the progress of compaction. , and an output generation unit 65 .

Before describing the details of each unit, the flow of processing performed by the calculation unit 60A will be described. FIG. 6 is a flow chart showing the flow of processing performed by the calculation unit 60A.

In the calculation unit 60A, first, the rolling compaction work determination unit 61 determines whether or not the rolling compaction work is being performed (step S101). If it is determined that the rolling compaction work has not been performed (NO), the process is terminated. When it is determined that the rolling compaction work is being performed (YES), the rolling compaction work determining unit 61 determines whether the rolling compaction work is pressing work or beating work (step S102). . Next, the compaction contribution calculation unit 62 calculates the compaction contribution using an arithmetic expression according to the type of rolling compaction work (step S103 or step S104). The compaction position calculator 63 calculates the compaction position in the rolling compaction work (step S105). Then, based on the compaction contribution calculated in step S103 or step S104 and the compaction position calculated in step S105, the compaction progress determination unit 64 determines the cumulative compaction contribution at the compaction position. (hereinafter referred to as cumulative compaction contribution) is calculated (step S106), and the degree of compaction progress is determined based on the cumulative compaction contribution (step S107). The output generation unit 65 generates output information based on the determination result of step S106 (step S108), and ends the processing in the calculation unit 60A.

The details of each unit will be described below.
Rolling Compaction Work Determining Unit The rolling compacting work determining unit 61 determines whether or not the excavator 1 is performing a compacting operation based on the detection results of the posture detection device 70 and the load detection device 20, and determines what type of compaction is performed. Determine whether the work is being done and output the determination result.

As described above, the rolling compaction work using the excavator 1 generally includes pressing work and soil beating work. The rolling compaction work determination unit 61 determines whether or not such a rolling compaction work is being performed, and also determines whether the rolling compaction work is pressing work or beating work. Various methods of determining the rolling compaction work are conceivable, but in the present embodiment, determination is made based on the acceleration of the work front 6 detected by the posture detection device 70 and the load of the work front 6 detected by the load detection device 20. .

First, in step S101 of FIG. 6, the rolling compaction work determining unit 61 determines whether or not the excavator 1 is performing the rolling compaction work. As shown in FIG. 2 , a vertical downward load is applied to the work front 6 due to the weight of the structure of the work front 6 and the load due to the earth and sand in the bucket 6C. On the other hand, during the rolling compaction work, the bucket 6C receives a vertically upward load due to the reaction force from the ground 30 in both the pressing work and the beating work. The holding force of the boom cylinder 11A is Fbm, the length of the vertical line drawn from the boom swing fulcrum to the boom cylinder 11A is Lbm, the mass of the work front 6 is Mf, the horizontal from the boom rotation fulcrum to the center of gravity of the work front 6 Let Lf be the distance, Fp be the reaction force that the bucket 6C receives from the ground 30, Lp be the horizontal distance from the boom rotation fulcrum to the contact point of the bucket 6C with the ground 30, and G be the gravitational acceleration. By the balance, the following formula holds.

Since a relatively large force is normally applied to the ground 30 during rolling compaction work, the holding force Fbm of the boom cylinder 11A becomes negative. Therefore, in this embodiment, the holding force Fbm of the boom cylinder 11A is calculated, and when Fbm is negative, it is determined that the rolling compaction operation is being performed. The holding force Fbm of the boom cylinder 11A is defined by the bottom side pressure Pb and the rod side pressure Pr of the boom cylinder 11A detected by the load detection device 20, where Ab is the bottom side pressure receiving area of the boom cylinder 11A and Ar is the rod side pressure receiving area. is calculated as follows.

Next, in step S102 of FIG. 6, the rolling compaction work determining unit 61 determines whether the rolling compaction work is pressing work or beating work. The center-of-gravity velocity Vf, the center-of-gravity acceleration Af, and the boom cylinder holding force Fbm of the work front 6 change as shown in FIG. 7A during pressing work, and change as shown in FIG. change as During the pressing work, the center-of-gravity acceleration Af of the work front 6 is almost zero. On the other hand, in the beating work, since the bucket 6C is hit against the ground 30, the center-of-gravity velocity Vf of the work front 6 changes abruptly, generating a large acceleration. In addition, since the boom 6A is rotated during the beating work, the velocity Vbm and the acceleration Abm of the boom 6A change similarly to the center-of-gravity velocity Vf and the center-of-gravity acceleration Af of the work front 6 . Therefore, in the present embodiment, a threshold Al is provided for the boom acceleration Abm, and when the boom acceleration Abm is below the threshold Al, it is determined that the pressing work is performed, and when the boom acceleration Abm exceeds the threshold Al, it is determined that the work is beating work. judge.
Compaction Contribution Degree Calculation Unit When the rolling compaction work determination unit 61 determines that the rolling compaction work is being performed, the compaction contribution degree calculation unit 62 uses the determination result of the rolling compaction work determination unit 61 and the posture detection device 70 and Based on the detection result of the load detection device 20, the degree of compaction contribution by the rolling compaction work is calculated.

In this embodiment, when the rolling compaction work is pressing work, the magnitude of the force applied from the bucket 6C to the ground 30 is taken as the degree of compaction contribution. The momentum due to the impact force (impulse) applied to the ground 30 is defined as the degree of compaction contribution.

When the rolling compaction work determination unit 61 determines that the pressing work is performed, the magnitude Fp of the force applied from the bucket 6C to the ground 30 is calculated as the compaction contribution degree based on the balance of the moments in the equation (1). . Fp is calculated as follows from equations (1) and (2).

Here, Ab and Ar are values included in the vehicle-specific information 330 held in the storage unit 60B, and Pb and Pr are values detected by the load detection device 20. FIG. Mf, Lf, Lbm, and Lp are calculated using the detection result of the posture detection device 71 and the vehicle-specific information 330 held in the storage unit 60B.

When the rolling compaction work determination unit 61 determines that the soil covering work is performed, the mass Mf of the work front 6 and the movement speed Vf of the center of gravity of the work front 6 are used to calculate the momentum due to the impact force applied to the ground 30. do. The momentum Pp due to the impact force is calculated using the velocity Vf0 before contact with the ground 30 as follows.

Compaction Position Calculation Section The compaction position calculation section 63 calculates the compaction position of the excavator 1 in the rolling compaction operation based on the detection results of the vehicle body position detection device 50 and the posture detection device 70 . Various methods are conceivable for calculating the compaction position. In the following, as described above, the grid corresponding to the bucket contact surface 6C' is calculated and output as the compaction area 150 (shown in FIG. 8). will be described as an example.

The compaction position calculation unit 63 first calculates the position information of the excavator 1 output from the vehicle body position detection device 50, the attitude information of the work front 6 output from the attitude detection device 70, and the vehicle body held in the storage unit 60B. A link operation is performed using the specific information 330 to calculate the coordinates of the end points P6a, P6b, P6c, and P6d of the bucket contact surface 6C'. Based on the grid information 310 held in the storage unit 60B and the calculation results of the coordinates of the endpoints P6a, P6b, P6c, and P6d, the grid included in the quadrangle 6C′ having the endpoints P6a, P6b, P6c, and P6d is extracted and tightened. Output as a solidified area 150 . Whether or not each grid is included in the quadrangle 6C' may be determined, for example, by determining whether the central coordinates of the grid 101 are within the quadrangle 6C', as shown in FIG. Specifically, when the center coordinates of the grid 101 are within the quadrangle 6C′, the grid is determined as the grid forming the compaction area 150 . For all grids 101, it is determined whether they are within the rectangle 6C', and a list of extracted grids is output as the compaction area 150. FIG.
Compaction Progress Determining Unit The compaction progress determining unit 64 calculates the results of the compaction contribution degree calculation unit 62, the calculation results of the compaction position calculation unit 63, and the compaction target information 320 held in the storage unit 60B. Based on, the cumulative compaction contribution information 350 is updated, the compaction progress is determined, and the compaction progress information 360 is updated.

More specifically, the compaction progress determination unit 64 updates the cumulative compaction contribution information 350 and the compaction progress information 360 for the grids included in the compaction area 150, and updates the compaction progress information 360. . As described above, the cumulative compaction contribution information 350 is information representing the cumulative compaction contribution by past rolling compaction operations in each grid 101, and is held in the storage unit 60B. The compaction progress determination unit 64 reads the cumulative compaction contribution information 350 from the storage unit 60B for each grid included in the compaction area 150, and determines the cumulative compaction contribution of the grid in the cumulative compaction contribution information 350. , the compaction contribution output from the compaction contribution calculator 62 is added. Subsequently, the compaction target information 320 is referred to, the compaction progress corresponding to the updated accumulated cumulative compaction contribution information is derived, and this is stored in the compaction progress information 360 as the compaction progress of the grid. do. As the compaction progress, for example, the percentage of progress toward the desired cumulative compaction contribution is stored. The compaction progress determination unit 64 performs the above processing for all grids included in the compaction area 150, saves the updated cumulative compaction contribution information 350 and compaction progress information 360 in the storage unit 60B, Compaction progress information 360 is output to the output generator 65 .
Output generation unit The output generation unit 65 generates output information based on the determination result of the compaction progress determination unit 64 . Various methods of outputting and using the compaction progress information 360 output by the compaction progress determination unit 64 are conceivable. An example will be described.

The output generation unit 65 generates a display command for the display device 81 using the compaction progress information 360 output from the compaction progress determination unit 64 . For example, as shown in the display example of FIG. In response to 360, a display command is issued to display the finished compaction state around the excavator 1 by filling the grid with a color or pattern.

As described above, in this embodiment, the positions of the vehicle body 3, the working machine 6 rotatably attached to the vehicle body 3, the actuator 11A for driving the working machine 6, and the vehicle body 3 are detected. an attitude detection device 70 for detecting the attitude of the working machine 6; a load detection device 20 for detecting the load on the actuator 11A; a controller 60 having a computing function; In the excavator 1 equipped with a notification device 80 that performs It is determined whether or not a rolling compaction operation, which is an operation of compacting the ground 30 by bringing the working machine 6 into contact with the ground, is being performed, and the vehicle body position detection device 50 and the posture detection device 70 are detected during the compaction operation. Based on the output, the compaction position, which is the position where the work implement 6 contacts the ground 30, is calculated, and based on the output of the load detection device 20, the degree of contribution of the work implement 6 to the compaction of the ground 30. Calculate the compaction contribution, calculate the cumulative compaction contribution that is the accumulation of the compaction contribution at the compaction position, and calculate the compaction progress at the compaction position based on the cumulative compaction contribution is determined and output to the notification device 80 .

The notification device 80 is a display device 81 provided in the cab of the working machine, and the display device 81 displays the position of the excavator 1 and the progress of compaction for each compaction position.

The controller 60 also stores compaction target information 320 representing the correlation between the cumulative compaction contribution and the compaction progress. to derive

According to this embodiment, when the shovel 1 is used for rolling compaction work, the compaction state can be determined based on the information from the sensor mounted on the shovel 1 . In addition, by notifying the operator of the excavator 1 of the compaction state via the display device 81, the operator can perform work while recognizing the compaction finish state, thereby preventing uneven compaction and excess or deficiency of compaction. can be done. As a result, in the management of construction using the shovel 1, the compaction state can be grasped, and the construction status and progress can be managed more accurately.

A modification of the first embodiment will be described below.
<Modified Example of Rolling Compaction Operation Determining Unit>
In the above embodiment, the rolling compaction work determination unit 61 determines whether the rolling compaction work is being performed based on the holding force of the boom cylinder 11A. You can go any way. As another method, for example, the boom bottom pressure Pb, which is the output value of the pressure sensors 20A and 20B, and the boom lot pressure Pr are compared, and if the boom bottom pressure Pb is lower than the boom rod pressure Pr, the roller compaction work is performed. There is a method for judging. By performing such a method, it is possible to more easily determine the rolling compaction work. Further, as another example, there is a method of calculating the pressing force Fp of the bucket 6C and determining that the rolling compaction operation is performed when the pressing force exceeds a predetermined value F1. By using the pressing force for determination, it is possible to determine that the rolling compaction work is performed without omission even when the compaction is performed with a smaller force.

Further, a lever operation amount detection device for detecting the operation amount of the operation lever 5 may be provided, and lever operation information may be used for determining the rolling compaction work and the type of the rolling compaction work. By using lever operation information, it is possible to determine whether or not changes in boom cylinder holding pressure and work front center-of-gravity acceleration are due to operator operations, making it possible to determine work more accurately. Become.
<Modified Example of Load Detector>
In the above embodiment, an example in which the pressure sensors 20A and 20B are provided in the boom cylinder 11A as the load detection device 20 is shown. Any device that detects the force applied from 6C to the ground 30 may be used. For example, instead of the pressure sensors 20A and 20B, a pin force sensor may be provided at the connecting portion between the arm 6B and the bucket 6C.
<Modified example of compaction position calculator>
In the above embodiment, the compaction position calculation unit 63 assumes that the bucket contact surface 6C′ always contacts the ground 30 during rolling compaction, and calculates the grid contacting the bucket contact surface 6C′ as the compaction area 150. I gave an example. Depending on the shape of the ground 30 to be compacted by the rolling compaction work, it is conceivable that only a portion of the bucket ground contact surface 6C' may be grounded, or a portion other than the bucket ground contact surface 6C' may be grounded. Based on the target surface information indicating the target shape, the current terrain information indicating the current terrain, and the attitude information of the bucket 6C, the contact point between the bucket 6C and the ground 30 is calculated, and the grid corresponding to the contact point is determined as the compaction area. It may be configured to be calculated as 150.
<Modified example of compaction progress determination method>
In the above embodiment, as a method of determining the finished state of compaction, the correlation between the type of force (compaction force) acting on the ground 30, the magnitude of the compaction force, the action time, etc. and the finished state of compaction is expressed. An example using compaction target information 320 has been provided. As a method for determining the compaction finish more easily, for example, a determination method using the correlation between the magnitude and number of times of force applied to the ground 30 and the compaction finish state is conceivable. FIG. 10 shows an example of compaction target information 320, cumulative compaction contribution information 350, and compaction progress information 360 when this method is adopted. In FIG. 10, cumulative compaction contribution information 350 includes a list of compaction contributions made to each grid. Compaction target information 320 includes compaction times and compaction progress against a list of compaction contribution ranges. Compaction progress information 360 includes the compaction progress of each grid. As shown in FIG. 10, when the compaction contribution list of a certain grid is given, the corresponding record of the compaction target information 320 is referred to derive the compaction progress of the grid. FIG. 6 is a flow chart showing the flow of processing performed by the compaction progress determination unit 64. As shown in FIG.

In FIG. 11, the compaction progress determination unit 64 first selects the first grid in the compaction area 150 (step S201). The compaction contribution list of the grid is read from the cumulative compaction contribution information 350 (step S202), and the compaction contribution is added to the compaction contribution list (step S203). A record of the compaction target information 320 corresponding to the compaction contribution list is retrieved (step S204). The progress of the grid in the compaction progress information 360 is updated with the progress of the search record (step S205). It is determined whether or not the grid is the final grid of the compaction area 150 (step S206). If it is determined that the grid is the final grid (YES), the process ends. If it is determined that the grid is not the final grid (NO), the grid next to the compaction area 150 is selected (step S207), and the process returns to step S202.

Further, the compaction contribution calculation unit 62 is configured to calculate the compaction force as the compaction contribution. Specifically, when the rolling compaction work is a pressing work, the force Fp applied from the bucket 6C to the ground 30 is calculated using the equation (3) as in the above embodiment, and the compaction force is Output. When the rolling compaction work is soil beating work, the maximum value Fmax of the impact force applied to the ground 30 is calculated using the mass Mf of the work front 6 and the maximum value Afmax of the center-of-gravity acceleration of the work front 6, Output as compaction force. The maximum value Afmax of the center-of-gravity acceleration of the work front 6 is calculated from the detection result of the attitude detection device 70, and the maximum value Fmax of the impact force is calculated as follows.

The compaction progress determination unit 64 adds the cumulative compaction contribution in the cumulative compaction contribution information 350 to the compaction contribution calculation unit 62 output for each grid in the compaction area 150 output by the compaction position calculation unit 63. add the compaction contribution. Based on the cumulative compaction contribution information 350 and the compaction target information 320, the compaction progress of each grid is determined, and the compaction progress information 360 is updated.

As a method for further simplifying the determination of the degree of compaction progress, for example, there is a method of determining using the correlation between the impulse received by the ground 30 and the degree of compaction progress. By using the impulse, it is possible to determine the pressing work and the beating work using the same index. When this method is employed, the cumulative compaction contribution information 350 stores the integrated value of the impulse applied to each grid as the cumulative compaction contribution. Compaction target information 320 represents the correlation between impulse and compaction progress, and includes, for example, the target value of impulse for each grid.

Further, the compaction contribution calculation unit 62 is configured to calculate an impulse as the compaction contribution. Specifically, when the rolling compaction work is pressing work, the product of the compaction force Fp calculated using the equation (3) and the calculation period ΔT is output as the impulse Pp. When the rolling compaction work is the beating work, the amount of momentum Pp is calculated using the equation (4) and output as an impulse in the same manner as in the above embodiment.

The compaction progress determination unit 64 determines the integrated impulse value (cumulative compaction contribution) held in the cumulative compaction contribution information 350 for each grid in the compaction area 150 output by the compaction position calculation unit 63. The impulse Pp output from the compaction contribution calculation unit 62 is added. In addition, by comparing the cumulative compaction contribution held in the cumulative compaction contribution information 350 and the impulse target value held in the compaction target information 320, the compaction progress of each grid is determined, and compaction is performed. The hardening progress information 360 is updated. By configuring in this way, the compaction target information 320 can be constructed more easily, although the determination accuracy of the degree of compaction progress is lowered.
<Machine with machine guidance function>
The above embodiment is also applicable to the excavator 1 equipped with the machine guidance function. The machine guidance function displays the target surface information indicating the target shape and the image of the bucket 6C on the display device 81 to clarify the positional relationship, thereby supporting the work of forming the predetermined target shape using the excavator 1. It is. FIG. 12A shows a display example of the display device 81 by a general machine guidance function. A general machine guidance function calculates and displays the positional relationship between the target surface 35 and the bucket 6C, thereby preventing the bucket 6C from entering below the target surface 35 during excavation work. By applying the present invention, it is possible to utilize the machine guidance function even in rolling compaction work. Specifically, when the machine guidance is displayed on the display device 81, as shown in FIG. . By performing such a display, the operator can simultaneously recognize the positional relationship with the target surface 35 and the finished state of compaction, and can form the target shape in the desired finished state of compaction. easier.

A shovel 1 according to a second embodiment of the present invention will be described with a focus on differences from the first embodiment. FIG. 13 shows a functional block diagram of the controller 60 according to this embodiment.

In this embodiment, the cumulative compaction contribution information 350 and the compaction progress information 360 are used for work site management. The excavator 1 according to this embodiment includes a communication device 85 instead of the display device 81 of the first embodiment. Also, the excavator 1 exchanges information with a site management system 200 provided outside the excavator via the communication device 85 .
<Communication device>
The communication device 85 is a device for communicating with the site management system 200 provided outside the excavator 1, and receives information from the site management system 200 via wireless communication such as a wireless network within the work site or a mobile phone network. It receives and transmits the information obtained by the excavator 1.
<On-site management system>
The site management system 200 is a system that performs site management and construction management based on information in the work site, and is provided outside the excavator such as a management office in the work site, for example. The site management system 200 may be configured as a single site management server, or may be configured by a combination of a system configured on a cloud and a computer connected to the cloud. The site management system 200 stores information such as construction targets and work processes, and collects information within the work site to determine the positions and work conditions of a plurality of work machines and workers within the site, including the excavator 1. , work environment in the site, topographic information, work progress, etc.
<Controller>
In this embodiment, the controller 60 has the same configuration as in the first embodiment (shown in FIG. 4), but the output generation section 65 of the calculation section 60A outputs information to the site management system instead of the output information to the display device 81. It generates information to be transmitted to 200 and outputs it to communication device 85 . The details of the output generator 65 in this embodiment will be described below.
Output generation unit The output generation unit 65 of the present embodiment generates information to be transmitted to the site management system 200 based on the compaction progress information 360 output from the compaction progress determination unit 64, and outputs it to the communication device 85. do. The information to be transmitted to the site management system 200 may be the compaction progress information 360 itself, or may be only information relating to grids that have been updated since the previous transmission in the compaction progress information 360 . The communication cycle with the site management system 200 is generally set to a longer cycle than the computation cycle of the computing section 60A. The output generation unit 65 may generate and output the vehicle body information at predetermined communication intervals, or may be performed only when the compaction progress information 360 around the excavator 1 satisfies a predetermined condition. can be Predetermined conditions include, for example, a case where grids whose degree of progress exceeds a predetermined value in the compaction progress information 360 exceeds a predetermined percentage, or a degree of change in the compaction progress information 360 from the previous output result is a predetermined For example, a case where the number is equal to or greater than the above is considered. By setting the conditions in this way, communication can be performed only at appropriate timings, and the amount of communication can be reduced.

As described above, in this embodiment, the notification device 80 is the communication device 85 that communicates with the site management system provided outside the excavator 1, and the controller 60 reports the degree of compaction progress as information for site management. The vehicle body information included therein is generated and output to the communication device 85, and the communication device 85 transmits the vehicle body information output from the controller 60 to the site management system.

According to this embodiment, the situation of the compaction work can be grasped and managed in the field management system 200, and the quality control of the compaction work can be facilitated. In addition, it becomes possible to grasp and manage the progress of work more accurately.

A shovel 1 according to a third embodiment of the present invention will be described with a focus on differences from the second embodiment. FIG. 14 shows a functional block diagram of the controller 60 according to this embodiment.

In the second embodiment, the compaction progress information 360 is transmitted from the excavator 1 to the site management system 200, but the excavator 1 according to this embodiment not only transmits information to the site management system 200, but also , the cumulative compaction contribution information 350 by the rolling compaction work performed by other working machines may be received from the site management system 200 . In such a configuration, the excavator 1 transmits the cumulative compaction contribution information 350 to the site management system 200 in addition to the compaction progress information 360 .

The site management system 200 receives cumulative compaction contribution information 350 from multiple work machines, including the excavator 1 , and integrates it to generate consolidated cumulative compaction contribution information 351 . Further, based on the integrated version cumulative compaction contribution degree information 351 , the same processing as the compaction progress determination unit 64 is performed to generate the integrated version compaction progress information 361 . In addition, the site management system 200 transmits integrated cumulative compaction contribution information 351 and integrated compaction progress information 361 to a plurality of work machines in the work site, including the excavator 1 .

The controller 60 of the excavator 1, as shown in FIG. 14, has a compaction progress information updating unit 66 in addition to the configuration of the second embodiment (shown in FIG. 13). The compaction progress information update unit 66 compares the compaction progress information 360 held in the storage unit 60B for each grid with the integrated version compaction progress information 361 received from the site management system 200, and updates the cumulative compaction contribution degree information. 350 and compaction progress information 360 are updated. When the rolling compaction work is being performed by other work machines, the consolidated compaction progress information 361 received from the site management system 200 indicates that the compaction progressed more than the compaction progress information 360 held in the storage unit 60B. Indicates status. Therefore, the compaction progress information update unit 66 compares the compaction progress information 360 and the integrated version compaction progress information 361 for each grid, and if the integrated version compaction progress information 361 indicates that compaction is progressing, , the cumulative contribution of the grid in the cumulative compaction contribution information 350 is replaced with the cumulative contribution of the grid in the integrated cumulative compaction contribution information 351, and the progress of the grid in the compaction progress information 360 is integrated. Replace with the progress of the corresponding grid in the stencil compaction progress information 361 . Since the storage unit 60B holds the cumulative compaction contribution information 350 and the compaction progress information 360 updated by the compaction progress information update unit 66, the compaction progress information update unit 66 can The same processing as for .

As described above, in this embodiment, the communication device 85 transmits the cumulative compaction contribution information 350 and the compaction progress information 360 to the site management system 200, and also transmits the compaction information of other work machines from the site management system 200. The integrated cumulative compaction contribution information 351 and the integrated compaction progress information 361 from the work are received, and the controller 60 uses the integrated cumulative compaction contribution information 351 and the integrated compaction progress information 361 to perform cumulative compaction. Update compaction contribution information 350 and compaction progress information 360 .

According to the present embodiment, the excavator 1 can make determinations in consideration of the conditions of compaction work performed by other working machines, and it is possible to grasp the condition of compaction work more accurately.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. Furthermore, it is also possible to add part of the configuration of another embodiment to the configuration of one embodiment, to delete part of the configuration of one embodiment, or to replace it with part of another embodiment. It is possible.

DESCRIPTION OF SYMBOLS 1... Excavator (work machine), 2... Running body, 3... Revolving body (vehicle body), 4... Driver's cab, 5... Control lever, 6... Work front (work machine), 6A... Boom, 6B... Arm, 6C Bucket 6C' Bucket contact surface 9 Operation control device 11A Boom cylinder (actuator) 11B Arm cylinder (actuator) 11C Bucket cylinder (actuator) 20 Load detector 20A, 20B Pressure sensor 30 Ground 35 Target surface 50 Car body position detection device 60 Controller 60A Calculation unit 60B Storage unit 61 Rolling compaction determination unit 62 Compaction contribution calculation unit 63... Compaction position calculation unit 64... Compaction progress determination unit 65... Output generation unit 66... Compaction progress information update unit 70... Posture detection device 70A, 70B, 70C... Posture sensor 81... Display Device (notification device) 85 Communication device (notification device) 101 Grid 150 Compaction area 200 Site management system 310 Grid information 320 Compaction target information 330 Car body specific information 350 ... Accumulated compaction contribution information, 351 ... Integrated cumulative compaction contribution information, 360 ... Compaction progress information, 361 ... Integrated compaction progress information.

Claims (6)

a vehicle body;
a work machine rotatably attached to the vehicle body;
an actuator that drives the work machine;
a vehicle body position detection device that detects the position of the vehicle body;
an attitude detection device that detects the attitude and acceleration of the working machine;
a load detection device that detects the load of the actuator;
a controller having a computing function;
A working machine comprising a notification device that outputs a calculation result of the controller,
Based on the acceleration of the work machine detected by the attitude detection device and the load of the work machine detected by the load detection device, the controller causes the work machine to contact the ground to tighten the ground. Determining whether or not a rolling compaction operation, which is a hardening operation , is being performed and the details of the rolling compaction operation ,
calculating a compaction position, which is a position at which the work machine contacts the ground, based on the outputs of the vehicle body position detection device and the attitude detection device during execution of the rolling compaction work;
Based on the content of the compaction work and the outputs of the attitude detection device and the load detection device, the degree of compaction contribution, which is the degree of contribution of the work machine to compaction of the ground according to the content of the compaction work, is determined. calculate,
Calculate a cumulative compaction contribution that is the accumulation of the compaction contribution at the compaction position,
Determining the degree of compaction progress at the compaction position based on the cumulative compaction contribution;
storing a work site of the work machine by dividing it into a plurality of grids;
A working machine , wherein information that associates the grid corresponding to the compaction position among the plurality of grids with the degree of compaction progress is output to the notification device. The work machine according to claim 1,
The notification device is a display device provided in a cab of the working machine,
The working machine, wherein the display device displays the position of the working machine and the degree of progress of compaction for each grid corresponding to the compaction position. The work machine according to claim 1,
The controller stores compaction target information representing a correlation between the cumulative compaction contribution and the compaction progress, and the compaction progress corresponding to the cumulative compaction contribution from the compaction target information. A working machine characterized by deriving a degree. a vehicle body;
a work machine rotatably attached to the vehicle body;
an actuator that drives the work machine;
a vehicle body position detection device that detects the position of the vehicle body;
an attitude detection device that detects the attitude of the working machine;
a load detection device that detects the load of the actuator;
a controller having a computing function;
A working machine comprising a notification device that outputs a calculation result of the controller,
The controller is
In this work, the working machine causes the working machine to contact the ground based on the attitude of the working machine detected by the attitude detection device and the load of the working machine detected by the load detection device to compact the ground. Judging whether or not rolling compaction work is being performed,
During execution of the rolling compaction work, based on the outputs of the vehicle body position detection device and the attitude detection device, a compaction position, which is a position where the work machine contacts the ground, is calculated. Based on the output of the load detection device, at least one of the magnitude and impulse of the force applied to the ground through the work machine is determined as a compaction contribution degree, which is the degree of contribution of the work machine to the compaction of the ground. calculated as
Calculate a cumulative compaction contribution that is the accumulation of the compaction contribution at the compaction position,
Based on the cumulative compaction contribution, determine the compaction progress at the compaction position and output to the notification device.
A working machine characterized by: The work machine according to claim 1,
The notification device is a communication device that communicates with a site management system provided outside the work machine,
The controller generates vehicle body information including the degree of compaction progress as information for on-site management, outputs the information to the communication device,
The working machine, wherein the communication device transmits the vehicle body information output from the controller to the site management system. a vehicle body;
a work machine rotatably attached to the vehicle body;
an actuator that drives the work machine;
a vehicle body position detection device that detects the position of the vehicle body;
an attitude detection device that detects the attitude of the working machine;
a load detection device that detects the load of the actuator;
a controller having a computing function;
A working machine comprising a notification device that outputs a calculation result of the controller,
The controller causes the work machine to contact the ground to tighten the ground based on the attitude of the work machine detected by the attitude detection device and the load of the work machine detected by the load detection device. Determine whether or not rolling compaction work, which is work to harden, is being performed,
During execution of the rolling compaction work, based on the outputs of the vehicle body position detection device and the attitude detection device, a compaction position, which is the position where the work machine contacts the ground, is calculated, and the output of the load detection device is calculated. Based on, calculate the degree of compaction contribution, which is the degree of contribution of the work machine to the compaction of the ground,
Calculate a cumulative compaction contribution that is the accumulation of the compaction contribution at the compaction position,
Based on the cumulative compaction contribution, determine the compaction progress at the compaction position, output to the notification device,
The notification device is a communication device that communicates with a site management system provided outside the work machine,
The communication device transmits the cumulative compaction contribution information and the compaction progress information to the site management system, and from the site management system integrated cumulative compaction contribution information by rolling compaction work of other working machines. and receive consolidated compaction progress information,
A working machine, wherein the controller updates the cumulative compaction contribution information and the compaction progress information using the integrated cumulative compaction contribution information and the integrated compaction progress information.

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