JP7274831B2 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- JP7274831B2 JP7274831B2 JP2018144230A JP2018144230A JP7274831B2 JP 7274831 B2 JP7274831 B2 JP 7274831B2 JP 2018144230 A JP2018144230 A JP 2018144230A JP 2018144230 A JP2018144230 A JP 2018144230A JP 7274831 B2 JP7274831 B2 JP 7274831B2
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- JP
- Japan
- Prior art keywords
- controller
- work machine
- excavation
- terrain
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
Description
2 運搬車両
12 作業機
13 旋回体
27 コントローラ
33 位置センサ
35 地形センサ
36 第1カメラ
Claims (12)
- 作業機と、
前記作業機が取り付けられた旋回体と、
地形を計測する地形センサと、
前記地形センサが計測した現在の地形と、目標地形とに基づいて、前記作業機による掘削開始位置を決定し、前記作業機の現在位置から前記掘削開始位置まで前記作業機を移動させるコントローラと、
を備え、
前記コントローラは、前記目標地形を記憶する記憶装置を含み、
前記コントローラは、前記目標地形に垂直な方向において、前記現在の地形のうち前記目標地形から最も離れた位置を前記掘削開始位置に決定する、
作業機械。 - 前記コントローラは、前記現在位置から前記掘削開始位置までを結ぶ旋回経路を決定し、前記旋回経路に従って、前記作業機を移動させる、
請求項1に記載の作業機械。 - 旋回経路には途中点があり、
前記コントローラは、前記途中点を通って前記作業機の刃先が移動するように、前記作業機及び前記旋回体を制御する、
請求項2に記載の作業機械。 - 前記コントローラは、前記掘削開始位置の上方に移動目標位置を設定し、
前記現在位置から前記移動目標位置までを結ぶ旋回経路を決定し、前記旋回経路に従って、前記作業機を移動させる、
請求項1に記載の作業機械。 - 前記コントローラは、前記作業機によって運搬する素材の目標体積と前記地形データとに基づいて、前記掘削開始位置から掘削終了位置までを結ぶ掘削経路を決定する、
請求項1乃至4のいずれかに記載の作業機械。 - 前記コントローラは、前記旋回経路に従って前記作業機の刃先を移動させた後、前記掘削経路に従って前記刃先が移動するように、前記作業機を制御する、
請求項5に記載の作業機械。 - 作業機械を制御するために目標地形を記憶する記憶装置を含むコントローラによって実行される方法であって、
前記作業機械付近の現在の地形と、前記目標地形とに基づいて、旋回体に取り付けられた作業機による掘削開始位置を決定する第1処理と、
前記作業機の現在位置から前記掘削開始位置まで前記作業機を移動させる第2処理と、
を備え、
前記第1処理では、前記目標地形に垂直な方向において、前記現在の地形のうち前記目標地形から最も離れた位置を前記掘削開始位置に決定する、
方法。 - 前記第1処理では、前記現在位置から前記掘削開始位置までを結ぶ旋回経路を決定し、
前記第2処理では、前記旋回経路に従って前記作業機を移動させる、
請求項7に記載の方法。 - 前記第1処理では、前記旋回経路に途中点を設定し、
前記第2処理では、前記途中点を通って前記作業機の刃先が移動するように、前記作業機及び前記旋回体を制御する、
請求項8に記載の方法。 - 前記第1処理では、前記掘削開始位置の上方に移動目標位置を設定して、前記現在位置から前記移動目標位置までを結ぶ旋回経路を決定し、
前記第2処理では、前記旋回経路に従って、前記作業機を移動させる、
請求項7に記載の方法。 - 前記第1処理では、前記作業機によって運搬する素材の目標体積と前記地形データとに基づいて、前記掘削開始位置から掘削終了位置までを結ぶ掘削経路を決定する、
請求項7乃至10のいずれかに記載の方法。 - 前記第2処理の後、前記掘削経路に従って前記刃先が移動するように、前記作業機を制御する第3処理を備える、
請求項11に記載の方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018144230A JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
CN201980015036.8A CN111757962B (zh) | 2018-07-31 | 2019-03-27 | 作业机械 |
US16/975,163 US20200407949A1 (en) | 2018-07-31 | 2019-03-27 | Work machine |
DE112019001124.3T DE112019001124T5 (de) | 2018-07-31 | 2019-03-27 | Arbeitsmaschine |
PCT/JP2019/013341 WO2020026522A1 (ja) | 2018-07-31 | 2019-03-27 | 作業機械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018144230A JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020020153A JP2020020153A (ja) | 2020-02-06 |
JP7274831B2 true JP7274831B2 (ja) | 2023-05-17 |
Family
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Family Applications (1)
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JP2018144230A Active JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200407949A1 (ja) |
JP (1) | JP7274831B2 (ja) |
CN (1) | CN111757962B (ja) |
DE (1) | DE112019001124T5 (ja) |
WO (1) | WO2020026522A1 (ja) |
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JP2022041683A (ja) * | 2020-09-01 | 2022-03-11 | コベルコ建機株式会社 | アタッチメントの目標軌跡変更システム |
JP7472751B2 (ja) * | 2020-10-02 | 2024-04-23 | コベルコ建機株式会社 | 掘削位置決定システム |
JP7491185B2 (ja) | 2020-10-28 | 2024-05-28 | コベルコ建機株式会社 | 経路設定システム |
JP7392178B2 (ja) * | 2021-01-08 | 2023-12-05 | 日立建機株式会社 | 建設機械 |
US20230304261A1 (en) | 2021-03-19 | 2023-09-28 | Hitachi Construction Machinery Co., Ltd. | Work machine |
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JP2024065413A (ja) * | 2022-10-31 | 2024-05-15 | 株式会社小松製作所 | 制御装置、制御方法、および作業機械 |
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-
2018
- 2018-07-31 JP JP2018144230A patent/JP7274831B2/ja active Active
-
2019
- 2019-03-27 US US16/975,163 patent/US20200407949A1/en active Pending
- 2019-03-27 CN CN201980015036.8A patent/CN111757962B/zh active Active
- 2019-03-27 DE DE112019001124.3T patent/DE112019001124T5/de active Pending
- 2019-03-27 WO PCT/JP2019/013341 patent/WO2020026522A1/ja active Application Filing
Patent Citations (4)
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JP2000291076A (ja) | 1999-04-01 | 2000-10-17 | Tokai Rika Co Ltd | パワーショベル |
JP2001090120A (ja) | 1999-09-17 | 2001-04-03 | Hitachi Constr Mach Co Ltd | 自動運転ショベル |
JP2017172316A (ja) | 2016-03-16 | 2017-09-28 | 住友重機械工業株式会社 | ショベル |
JP2017180079A (ja) | 2017-02-16 | 2017-10-05 | 株式会社小松製作所 | 作業機械の制御装置、作業機械及び作業機械の制御方法 |
Also Published As
Publication number | Publication date |
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JP2020020153A (ja) | 2020-02-06 |
WO2020026522A1 (ja) | 2020-02-06 |
US20200407949A1 (en) | 2020-12-31 |
CN111757962A (zh) | 2020-10-09 |
DE112019001124T5 (de) | 2020-12-03 |
CN111757962B (zh) | 2022-08-30 |
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