JP7324100B2 - working machine - Google Patents

Description

The present invention relates to a working machine having an attachment on the working device that can be worn out with continued use.

For example, in a work machine such as a hydraulic excavator, an operator operates a control lever to drive a work device (front work device) including attachments such as a bucket. At this time, when excavating a trench of a predetermined depth or a slope of a predetermined gradient, the operator can judge whether the excavation is performed accurately according to the target shape by simply observing the operation of the work equipment. It is difficult. In addition, the operator needs skill to be able to excavate the slope of such a predetermined gradient efficiently and accurately according to the target shape. For this reason, there is a technique for assisting the operator by displaying the position information of the tip (toe) of the bucket positioned at the tip of the working device on a display device, for example, as in Patent Document 1.

In order to accurately display the position information of the bucket, it is necessary to accurately measure and set the dimensions of each part of the work equipment and the positional relationship of each sensor that detects the attitude of each part. On the other hand, a plurality of consumable claws are attached to the tip of the bucket. With continued use of the bucket, the tips of the pawls wear out and their length becomes shorter than the previously measured and set value, making it impossible to accurately display the position information of the bucket. Therefore, it is necessary to accurately measure and set the length of the claw again each time the claw is worn. As a method of measuring the exact length of the nail, there is a method of manually measuring and inputting the measured value, but this method is time-consuming. In order to reduce this time and effort, there is a method of calculating the wear amount of the nail based on at least two coordinates: the coordinate when the nail is brought into contact with a predetermined place and the coordinate obtained under different conditions (Patent Document 2). reference).

JP 2012-172431 A WO2016/098741

However, the excavator of Patent Document 2 is equipped with a positioning sensor including a GPS receiver for calculating coordinates. That is, it is premised on calculating the coordinates in the earth coordinate system using the global navigation satellite system (GNSS). In other words, it is essential to install equipment for GNSS, including antennas and receivers. ) cannot be applied. In addition, since it is necessary to determine the position for measuring the amount of nail wear in advance and detect that position, the excavator must be moved to a predetermined position each time measurement is performed, or the position for measurement must be relocated. Must be set.

The present invention has been made based on the above-mentioned matters, and its object is to be applicable to working machines equipped with a position measuring system based on the vehicle body coordinate system, and to measure the amount of wear of consumable parts attached to attachments. To provide a working machine that can be easily measured.

The present application includes a plurality of means for solving the above problems. One example is an articulated working device having an attachment provided with a consumable part at the tip, and a posture for detecting the posture of the working device. A vehicle body at a control point set in the consumable part based on the calculated posture data and the dimensional data of the working device. a controller that calculates position data in a coordinate system and controls the work device based on the calculated position data of the control points, wherein the controller sets a reference plane on the attachment to a measurement plane setting object; a first process of setting a measurement plane at the position of the reference plane in the vehicle body coordinate system based on the posture data of the work device and the position data of the control points calculated while the work device is in contact with the work device; Determining whether or not the posture of the work device is held in a measurement posture in which the consumable portion of the attachment is brought into contact while holding the attachment at a predetermined angle with respect to the contact surface of the set object with which the reference surface is in contact. and a third process of calculating the distance between the measurement plane and the control point based on the position of the control point in the vehicle body coordinate system and the position of the measurement plane set in the vehicle body coordinate system. and a fourth process of calculating the amount of wear of the consumable portion based on the distance calculated when it is determined that the working device is held in the measurement posture, out of the calculated distance. shall be

According to the present invention, it is possible to easily measure the amount of wear of the consumable part attached to the attachment even in a working machine equipped with a position measuring system based on the vehicle body coordinate system.

1 is a side view of a hydraulic excavator according to an embodiment of the present invention; FIG. 1 is a configuration diagram of a control system according to a first embodiment of the present invention; FIG. 4 is a flow chart of the control system according to the first embodiment of the present invention; An example of measurement plane setting instruction information according to the first embodiment of the present invention. An example of measurement attitude instruction information according to the first embodiment of the present invention. An example of grounding instruction information for the tip of the attachment according to the first embodiment of the present invention. The distance between the measurement surface and the tip of the claw with or without wear according to the first embodiment of the present invention. FIG. 4 is a configuration diagram of a control system according to a second embodiment of the present invention; 4 is a flow chart of a control system according to a second embodiment of the present invention; An example of measurement plane setting instruction information according to the second embodiment of the present invention. An example of grounding instruction information for the tip of the attachment according to the second embodiment of the present invention.

An embodiment of the present invention will be described below with reference to the drawings.

In the following explanation, a hydraulic excavator will be used as an example of a working machine. is also applicable. Also, although a bucket is exemplified as an attachment for a hydraulic excavator, attachments other than buckets are also applicable as long as they are provided with consumable parts that wear out due to continuous use.

<First embodiment>
FIG. 1 is a side view of the hydraulic excavator according to the first embodiment. The hydraulic excavator shown in this figure comprises a lower traveling body 10, an upper revolving body 20 rotatably attached to the upper part of the lower traveling body 10, and an attachment (bucket 35) provided with a consumable portion (claw 37). A multi-joint type front working device 30 is provided at the tip and attached to the upper revolving body 20 .

The lower traveling body 10 includes a pair of crawlers 11 and a crawler frame 12 (only one side is shown in the figure), and a pair of traveling hydraulic motors 13 (only one side is shown in the figure) for independently driving and controlling each crawler 11. , its speed reduction mechanism, etc.

The upper revolving body 20 is driven by a revolving frame 21, an engine 22 as a prime mover provided on the revolving frame 21, and a hydraulic motor 24 for revolving to rotate the upper revolving body 20 (revolving frame) with respect to the lower traveling body 10. 21), and a cab (cab) 24 where an operator rides and operates.

The front working device 30 includes a boom 31, a boom cylinder 32 for driving the boom 31, an arm 33 rotatably supported at the tip of the boom 31, and an arm cylinder 34 for driving the arm 33. , a bucket (attachment) 35 rotatably supported on the tip of an arm 33, a bucket cylinder 36 for driving the bucket 35, and the like.

The bucket 35 has a claw 37 attached to its tip, which is a replaceable consumable part, and the rear surface 39 of the bucket 35 is formed so as to become a substantially flat surface toward the tip of the claw 37 . In this embodiment, the back surface 39 of the bucket 35 may be called a reference plane.

Further, on the revolving frame 21 of the upper revolving structure 20, hydraulic pressure (operating force) for driving hydraulic actuators such as the traveling hydraulic motor 13, the revolving hydraulic motor 24, the boom cylinder 32, the arm cylinder 34, and the bucket cylinder 36 is provided. A hydraulic system 40 including a hydraulic pump 41 that generates hydraulic oil, a control valve (not shown) for driving and controlling each actuator, and a position of an arbitrary point (control point) set on the hydraulic excavator in the vehicle body coordinate system is calculated. A controller 60 is mounted for generating an image of a hydraulic excavator (see FIG. 4 etc. described later) to be displayed on a display device 67 (see FIG. 2 described later). A hydraulic pump 41 serving as a hydraulic source is driven by the engine 22 .

The front work device 30 and the upper swing body 20 are provided with a boom 31, an arm 33, and a bucket as attitude sensors for detecting the attitudes of the front members 31, 33, and 35 and the upper swing body 20 that constitute the front work device 30. 35 and the upper revolving body 20 are each equipped with an IMU 50 (Inertial Measurement Unit). The controller 60 adjusts the tilt angles of the front members (the boom 31, the arm 33, and the bucket 35) that constitute the front work device 30 and the upper swing body 20 based on the acceleration signals and angular velocity signals detected and output by the IMU 50. can be calculated, and the calculated data of each tilt angle may be referred to herein as "attitude data". Based on the calculated attitude data and the dimension data of each front member (boom 31, arm 33, bucket 35), the controller 60 controls the position of the hydraulic excavator in the vehicle body coordinate system (three-dimensional coordinate system set in the hydraulic excavator). (for example, the position of the tip of the claw 37 of the bucket 35 (bucket toe)) can be calculated. Note that FIG. 1 illustrates the case where the IMU 50 for acquiring the posture data of the bucket 35 is arranged in the constituent member (bucket link member) of the link mechanism that connects the arm 33 and the bucket 35. Since the posture data of the bucket 35 is indirectly obtained based on the design data of the IMU 50, it is assumed that the IMU 50 is mounted on the bucket 35, that is, the tilt angle of the bucket 35 is calculated from the output of the IMU 50. be able to.

The controller 60 displays an image reflecting the current posture of the hydraulic excavator on a display device 67 (see FIG. 2) such as a monitor installed in the cab 24 based on the calculated posture data and position data of the hydraulic excavator. It can be displayed together with the construction target surface. The design surface defines the completed shape of the topography (work object), and is provided as three-dimensional data in this embodiment. The construction target plane is a cross-sectional view that appears when the three-dimensional data of the design plane is cut by the operation plane of the front work device 30, and the one in the vicinity of the hydraulic excavator in the design plane is represented by a two-dimensional plane. In the embodiment, it is set to the vehicle body coordinate system. The construction target plane can also be easily set by the operator independently of the design plane data. The posture data of a hydraulic excavator includes information such as the side view and front view of the hydraulic excavator, the angle information of each joint, and the tilt of the hydraulic excavator in all directions. The display device 67 can also display information such as the design surface, the target construction surface created in advance, and the distance between the tip of the claw 37 of the bucket 35 and the design surface or the target construction surface in the form of numerical values, indicators, figures, and the like. can. By using this information, the hydraulic excavator operator can proceed with construction without having to set up stakes or water strings, which have traditionally been used as markers during construction.

(System configuration)
Next, a machine guidance system according to this embodiment will be described. FIG. 2 is a configuration diagram of the machine guidance system according to the first embodiment of the present invention. The machine guidance system of FIG. 2 comprises a controller 60, a plurality of IMUs 50, an input device 66 and a display device 67 communicably connected to this.

The input device 66 is a device such as a button that is installed in the cab (cab) 24 and receives an operator's input operation. As the input device 66, independent hardware may be adopted. The operator's input may be detected by detecting the operation.

(controller 60)
The controller 60 includes, for example, a CPU (Central Processing Unit) (not shown), a storage device such as a ROM (Read Only Memory) or an HDD (Hard Disc Drive) that stores various programs for executing processing by the CPU, and a program in which the CPU is stored. It is configured using hardware including a RAM (Random Access Memory) that serves as a work area when executing. By executing the program stored in the storage device in this way, each unit described in the controller 60 in FIG. , functions as the wear amount setting unit 65 .

(Posture calculation unit 61)
The posture calculation unit 61 calculates the postures ( Posture data) and the position (position data) of the control point (bucket tip) set at the tip of the claw 37 (consumable portion) of the bucket 35 are calculated. The attitude data also includes the angle of the back surface 39 of the bucket 35 (back surface angle). The calculated attitude data and position data are output to the measurement attitude determination section 63, the measurement plane setting section 62, the distance calculation section 64, the display device 67, and the like.

(Measurement surface setting unit 62)
The measurement plane setting unit 62 determines the claw 37 of the bucket 35 based on the position of the toe of the bucket 35 and the angle of the back surface 39 calculated by the posture calculation unit 61 and the signal of the input device 66 operated by the operator of the hydraulic excavator. set a measurement surface for measuring the amount of wear (first process).

The measurement plane setting unit 62 calculates the posture data of the front work device 30 and the position data of the toe of the bucket, which are calculated by the posture calculation unit 61, in a state in which the back surface 39 of the bucket 35 is in contact with a measurement plane setting object (described later). Based on the signal input from the input device 66, the position of the bucket back surface 39 in the vehicle body coordinate system is calculated, and a measurement plane (described later) is set at the calculated position of the bucket back surface 39 in the vehicle body coordinate system. The measurement plane is a virtual plane set in the vehicle body coordinate system for measuring the amount of wear of the claws 37 of the bucket 35, and the measurement plane setting object is used when setting the setting plane, and the back surface 39 of the bucket 35 It is an object that has a flat portion that can be in surface contact, such as the ground, the surface of the earth, a metal plate, concrete or asphalt that has a flat portion, and the like. When the bucket back surface 39 is brought into contact with the measurement surface setting object to set the measurement surface, as a result, the measurement surface is set on the surface (contact surface) of the measurement surface setting object with which the bucket back surface 39 is in contact.

(Measurement Posture Determination Unit 63)
Based on the posture data calculated by the posture calculation unit 61 and the signal input from the input device 66, the measurement posture determination unit 63 determines the posture of the front work device 30 for measuring the amount of wear of the claws 37 of the bucket 35. It is determined whether or not a preset posture (measurement posture) is maintained (second processing). The measurement posture refers to the tip of the claw 37 of the bucket 35 held at a predetermined angle θ1 with respect to the measurement surface set on the measurement surface setting object (the contact surface with which the bucket back surface 39 is in contact with the measurement surface setting object). is in contact with the From the viewpoint of accurately measuring the amount of wear of the claws 37, it is possible to select an angle at which the back surface 39 of the bucket is held perpendicular to the measurement surface as the predetermined angle θ1 at which the bucket 35 is held with respect to the measurement surface. preferable. That is, it is preferable that the measurement posture is a posture in which the tips of the claws 37 of the bucket 35 are brought into contact so that the back surface 39 of the bucket is perpendicular to the measurement surface (contact surface).

Whether or not the toe of the bucket has come into contact with the surface to be measured (contact surface) is determined based on a signal input from the input device 66 triggered by the operator's input to the input device 66 that the toe of the bucket has come into contact with the surface to be measured. , and whether or not the bucket 35 is at a predetermined angle θ1 with respect to the measurement surface (contact surface) can be determined based on the posture data input from the posture calculation unit 61 . The determination result of the measurement posture determination section 63 is output to the wear amount setting section 65 and the display device 67 .

(Distance calculator 64)
Based on the position data of the bucket toe (control point) in the vehicle body coordinate system calculated by the attitude calculation unit 61 and the position data of the measurement plane set in the vehicle body coordinate system by the measurement plane setting unit 62, the distance calculation unit 64 Then, the distance between the measurement surface and the tip of the bucket (measurement surface distance) is calculated (third processing). The calculated distance is output to the wear amount setting section 65 and the display device 67 .

(Wear amount setting unit 65)
The wear amount setting unit 65 determines, among the plurality of measured surface distances sequentially input from the distance calculation unit 64, when the measurement posture determination unit 63 determines that the posture of the front work device 30 is held in the measurement posture. The amount of wear of the pawl (consumable portion) 37 is calculated based on the measured surface distance calculated by the distance calculator 64 (fourth processing). In this embodiment, when it is determined that the posture of the front work device 30 is held in the measurement posture, the measurement surface distance calculated by the distance calculation unit 64 is directly calculated as the wear amount of the claws 37 of the bucket 35. there is

After calculating the wear amount, the calculated wear amount may be output to the attitude calculation unit 61, and the dimension data of the front working device 30 may be automatically updated so that the value reflects the wear amount. Further, the calculated wear amount may be displayed on the display device 67, and the operator may be allowed to perform the work required to reflect the wear amount (for example, the work of inputting the wear amount to the controller 60).

In this embodiment, the distance calculation unit 64 calculates the measured surface distance at any time, and the wear amount is calculated from the measured surface distance when the front work device 30 is in the measurement posture. A process may be employed in which the distance calculator 64 calculates the measured surface distance only when the working device 30 takes the measurement posture, and the wear amount is calculated from the measured surface distance.

(Display device 67)
The posture data of the hydraulic excavator calculated by the posture calculation unit 61, the measurement surface set by the measurement surface setting unit 62, and the distance between the tip of the claw 37 of the bucket 35 and the measurement surface (measurement surface distance) calculated by the distance calculation unit 64. can be displayed on a display device 67 such as a monitor installed in the cab 24 of the hydraulic excavator, and information can be provided to the operator of the hydraulic excavator at any time.

(flowchart)
Next, a method of setting the amount of wear of the claws 37 of the bucket 35 will be described along the flowchart of FIG. 3 summarizing the processing executed by the controller 60 of this embodiment.

First, in step 1, the controller 60 determines whether or not the wear amount calculation mode (calculation mode) is ON based on the signal input from the input device 66. FIG. The wear amount calculation mode is a mode in which the controller 60 executes processing for calculating the wear amount of the toe. When the operator inputs a signal for turning on the wear amount calculation mode through the input device 66 installed in the cab 24, the wear amount calculation mode is turned on. If the conditions are not met (No in step 1), the process waits until the conditions are met.

If the wear amount calculation mode is ON in step 1 and the conditions are satisfied (Yes in step 1), the controller 60 displays measurement surface setting instruction information (first display) on the display device 67 (step 2 ). The measurement plane setting instruction information (first display) is, for example, the display shown in FIG. and (2) inputting to the controller 60 via the input device 66 that the back surface (reference surface) 39 of the bucket 35 is in contact with the measurement surface (first input) to the operator It is a display for instructing.

As shown in FIG. 4, the measurement plane setting instruction information includes an indication that the bucket back surface 39 is strongly grounded (strongly pressed while being grounded) rather than including an indication that the bucket back surface 39 is simply grounded. preferably included. By displaying (instructing) in this way, even if the object for which the measurement surface is set is soft ground, the pressing force of the bucket back surface 39 can harden the measurement surface. As a result, when the tip of the claw 37 of the bucket 35 is grounded in the subsequent process (when the front work device 30 takes the measurement posture), it is possible to prevent the tip of the claw 37 from sinking too far into the ground. The amount of wear of the claws 37 can be set more accurately.

In step 3, the controller 60 determines whether or not the operator has performed an input operation (first input) to the input device 66 in accordance with the display of the measuring surface setting instruction information in step 2 (in other words, the bucket back surface 39 is grounded). If there is no input operation to the input device 66 (if the determination in step 3 is No), the process waits until the condition is established.

On the other hand, when there is an input operation to the input device 66 (for example, when the "grounding completion button" which is the input device 66 is pressed and the determination in step 3 is Yes), the controller 60 performs step In 4, the measurement plane setting unit 62 sets the measurement plane to a plane passing through the back surface of the bucket 35 in the vehicle body coordinate system (performs the first processing), and proceeds to step 5.

In step 5, the controller 60 displays the measurement posture instruction information on the display device 67. FIG. The measurement attitude instruction information is, for example, the display shown in FIG. and a posture in which the surface passing through the tips of the claws 37 of the bucket 35 is perpendicular to the measurement surface). At this time, as shown in FIG. It is preferable to display with an indicator or the like. The angle of the bucket 35 can be easily calculated from the posture data calculated by the posture calculation section 61 and the position data of the measurement plane set by the measurement plane setting section 62 . In addition, in the example of FIG. 5, the current value of the angle formed by the back surface 39 of the bucket and the measurement surface is displayed.

In step 6, after the measurement attitude instruction information in step 5 is displayed, the controller 60 causes the measurement attitude determination unit 63 to determine whether the angle of the bucket 35 with respect to the measurement surface is held at a predetermined angle θ1 according to the displayed information. judge. If the angle of the bucket 35 is different from the predetermined angle θ1 (No in step 6), the process waits until the conditions are met.

If it is determined in step 6 that the angle of the bucket 35 is held at the predetermined angle θ1 (Yes in step 6), the controller 60 displays grounding instruction information for the tip of the attachment (step 7). The grounding instruction information of the tip of the attachment is displayed, for example, as shown in FIG. This is a display for instructing the operator to input (second input) to the controller 60 via the input device 66 that the surface has been touched.

As shown in FIG. 6, it is preferable that the grounding instruction information include an indication to instruct the toe of the bucket to lightly touch the ground. By displaying (instructing) in this way, it is possible to prevent the tips of the claws 37 of the bucket 35 from sinking into the ground, and it is possible to set the amount of wear of the claws 37 of the bucket 35 more accurately.

In step 8, after the grounding instruction information in step 7 is displayed, the controller 60 determines whether or not an input operation (second input) has been made to the input device 66 in accordance with the display by the measurement posture determination unit 63. If there is no input operation to the input device 66 (No in step 8), the process returns to before step 5 and enters a standby state until both steps 6 and 8 are established.

On the other hand, when there is an input operation to the input device 66 (for example, when the "grounding completion button" which is the input device 66 is pressed, and when Yes in step 8), the controller 60 (wear amount setting unit 65) obtains the distance (measurement surface distance) between the tip position of the claw 37 of the bucket 35 and the measurement surface calculated by the distance calculation unit 64 at that time, and uses the measurement surface distance as the wear of the claw 37 of the bucket 35. Calculate as a quantity (step 9). Then, the controller 60 switches the wear amount calculation mode from ON to OFF, and terminates the process.

Here, the relationship between the measured surface distance and the amount of wear of the claw 37 will be explained with reference to FIG. The distance between the tip position of the claw 37 of the bucket 35 and the measurement surface (measurement surface distance) is calculated based on the dimensional data set before the claw 37 of the bucket 35 wears. Therefore, in a state in which the claws 37 of the bucket 35 are not worn, when the tips of the claws 37 of the bucket 35 touch the measuring surface, the measuring surface distance becomes 0 mm as shown on the left side of FIG. However, in a state where the claws 37 of the bucket 35 are worn, if the tips of the claws 37 of the bucket 35 are grounded on the measurement surface, the abrasion of the claws 37 of the bucket 35 as shown on the right side of FIG. The tip of the toe is in a state of being submerged below the measurement surface by a minute. The measured surface distance at this time (in the case of the right side of FIG. 7) is the wear amount of the claws 37 of the bucket 35 . By updating the dimension data in consideration of the amount of wear acquired here, it is possible to perform posture calculation in consideration of the amount of wear of the claws 37 of the bucket 35 .

In this embodiment, the measurement attitude instruction information (step 5 (Fig. 5)) and the grounding instruction information (step 7 (Fig. 6)) are displayed independently, but the combined information (second display) It may be displayed on the display device 67 . If this display is adopted, the flow chart may be configured so that the judgments of steps 6 and 8 are performed simultaneously, and if the conditions of both steps are satisfied, the flow proceeds to step 9.

(effect)
In the hydraulic excavator of this embodiment configured as described above, when the back surface 39 of the bucket is pressed against the ground, for example, by an operator's operation, the controller 60 (measurement surface setting unit 62) controls the flat surface formed on the ground surface. is set in the vehicle body coordinate system as the measurement plane. Next, when the bucket 35 is held at a predetermined angle (for example, the angle at which the plane passing through the bucket back surface 39 and the toe of the bucket is perpendicular to the measurement surface) with respect to the measurement surface by the operator's operation, the toe of the bucket 35 comes into contact with the measurement surface. The controller 60 calculates the distance between the tip of the bucket and the measurement surface in the vehicle body coordinate system by means of a distance calculation section 64, and calculates the amount of wear of the pawls by means of a wear amount setting section 65 based on that distance. This makes it possible to easily measure the amount of wear of the claws 37 of the bucket 35 even in a hydraulic excavator equipped with a position measurement system based on the vehicle body coordinate system.

<Second embodiment>
Next, a second embodiment of the invention will be described. In the following description, the same reference numerals are omitted for the same parts as in the first embodiment, and the description is omitted as appropriate, and mainly different parts will be described.

FIG. 8 is a configuration diagram of a machine guidance system according to a second embodiment of the present invention. The machine guidance system of FIG. 8 comprises a controller 60, a plurality of IMUs 50, a pressure sensor 69 and a display device 67 communicably connected to this.

The pressure sensor 69 is for detecting the grounding of the toe of the bucket, is attached to the bottom side of the boom cylinder 32, and sequentially outputs to the controller 60 pressure signals related to the hydraulic oil on the bottom side.

The controller 60 can function as an attachment contact determination section 68 in addition to the sections 61 to 65 of the first embodiment. Based on information input from the pressure sensor 69, the attachment ground contact determining unit 68 determines whether the bucket 35 has grounded and to what extent the bucket 35 has grounded.

(flowchart)
Next, a method of setting the amount of wear of the claws 37 of the bucket 35 will be described with reference to the flowchart of FIG. 9 summarizing the processing executed by the controller 60 of this embodiment.

First, in step 1, the controller 60 determines whether or not the wear amount calculation mode (calculation mode) is ON based on the signal input from the input device 66. FIG. When the operator inputs a signal to turn on the wear amount calculation mode through the input device 66, the wear amount calculation mode is turned on. If the conditions are not met (No in step 1), the process waits until the conditions are met.

If the wear amount calculation mode is ON in step 1 and the conditions are satisfied (Yes in step 1), the controller 60 displays measurement surface setting instruction information (first display) on the display device 67 (step 12 ). The measurement plane setting instruction information (first display) of the present embodiment is, for example, the display shown in FIG. 39) to the operator.

In step 13, the controller 60 determines whether or not the back surface 39 of the bucket has touched the ground according to the display after the measurement surface setting instruction information in step 12 is displayed. A value detected by the pressure sensor 69 is used for determination. The controller 60 (attachment grounding determination unit 68) determines that the bucket back surface 39 has grounded (that is, the bucket back surface 39 has come into contact with the measurement surface setting object) when the pressure detected by the pressure sensor 69 is equal to or less than the threshold value P1. The threshold value P1 at this time is set to be low as a value for detecting the grounding of the bucket 35 (for example, it is set lower than the threshold value P2 (step 15) described later), so that if the back surface of the bucket 35 is not strongly grounded, grounding will occur. It is possible to prevent it from being judged as having been done. As a result, when the tip of the claw 37 of the bucket 35 is brought into contact with the surface to be measured in step 15, the tip of the claw 37 can be prevented from slipping too far below the ground (measurement surface). The amount of wear can be set more accurately. If the grounding of the bucket back surface 39 is not detected in step 13 (if the determination in step 13 is No), the process waits until the conditions are satisfied.

On the other hand, when the grounding of the bucket back surface 39 is detected in step 13, the controller 60 (measurement surface setting unit 62) sets the measurement surface in step S4 as in the first embodiment, and proceeds to step 14. move on.

In step 14, the controller 60 displays the grounding indication information (second display) of the tip of the attachment. The grounding instruction information (second display) of the tip of the attachment is, for example, a display as shown in FIG. This is a display for instructing the operator to do so (that is, to hold the front work device 30 in the measurement posture). The predetermined angle θ1 is, for example, the angle at which the plane passing through the rear surface of the bucket 35 and the tips of the claws 37 of the bucket 35 is perpendicular to the measurement plane.

In step 15, the controller 60 (attachment contact determination section 68, measurement posture determination section 63) determines whether or not the front working device 30 (bucket 35) is held in the measurement posture. For the determination, the detected value of the pressure sensor 69 is used as in step 13, and the posture data of the bucket 35 is also used. The controller 60 (attachment grounding determination unit 68) determines that the toe of the bucket has grounded (that is, the front work device 30 has taken the measurement posture) when the pressure detected by the pressure sensor 69 is equal to or less than the threshold value P2. At this time, the threshold value P2 is set high as a value for detecting the grounding of the bucket 35 (for example, it is set higher than the threshold value P1 (step 13) described above), so that the grounding occurs when the toe lightly touches the ground. can be determined. As a result, the tips of the claws 37 of the bucket 35 can be prevented from slipping under the measurement surface, and the amount of wear of the claws 37 of the bucket 35 can be set more accurately.

When it is determined in step 15 that the posture of the bucket 35 is different from the measured posture (when the determination in step 15 is No), the process enters a standby state until the condition is established. At this time, as shown in FIG. 11, the current value of the angle of the bucket 35 with respect to the measurement surface is numerically or numerically determined so that the operator can determine whether the current angle of the bucket 35 is appropriate and the operating direction of the bucket 35 (dump or cloud). It is preferable to display with an indicator or the like.

On the other hand, when it is detected in step 15 that the posture of the bucket 35 is the measurement posture (when the determination in step 15 is Yes), the controller 60 (wear amount setting unit 65) sets the distance calculation unit The distance between the tip position of the claw 37 of the bucket 35 and the measurement surface (measurement surface distance) calculated in step 64 is acquired, and the measurement surface distance is calculated as the wear amount of the claw 37 of the bucket 35 (step 9). Then, the controller 60 switches the wear amount calculation mode from ON to OFF, and terminates the process.

(effect)
In the hydraulic excavator of the present embodiment configured as described above, when the pressure sensor 69 detects that the back surface 39 of the bucket is pressed against the ground, for example, by the operator's operation, a The controller 60 (measurement plane setting unit 62) automatically sets the flat plane as the measurement plane in the vehicle body coordinate system. Next, when the bucket 35 is held at a predetermined angle (for example, the angle at which the plane passing through the bucket back surface 39 and the toe of the bucket is perpendicular to the measurement surface) with respect to the measurement surface by the operator's operation, the toe of the bucket 35 comes into contact with the measurement surface. When detected by the pressure sensor 69, the controller 60 automatically calculates the distance between the toe of the bucket and the measuring surface in the vehicle body coordinate system, and automatically calculates the wear amount of the claw based on that distance. As a result, the burden of operating the input device 66 on the operator is reduced as compared with the first embodiment, so that the amount of wear of the claws 37 of the bucket 35 can be measured more easily than in the first embodiment.

<Others>
In the above two embodiments, the measurement plane is set as a plane passing through the back surface 39 of the bucket 35 when the bucket 35 is grounded. If the device is equipped with a configuration that can acquire the current terrain, the current terrain acquired by the external world recognition device can be used as a measurement plane. As a result, the step of grounding the back surface 39 of the bucket 35 when setting the measurement surface can be omitted, and the amount of wear can be measured more easily.

In the above description, the hydraulic excavator equipped with a so-called machine guidance system that displays the positional relationship between the front working device 30 (bucket 35) and the target work surface on the display device 67 to assist the operator's work was illustrated. A hydraulic system equipped with a so-called machine control system that automatically controls the hydraulic excavator (for example, the front working device 30 and the upper rotating body 20) according to predetermined conditions based on the position of the control point set on the hydraulic excavator in the vehicle body coordinate system. It can also be applied to excavators. Control by machine control includes, for example, setting the toe of the bucket 35 as a control point and controlling the front working device 30 so that the toe of the bucket 35 moves along the work target surface.

When using a work machine equipped with a machine control system, it can be configured so that the machine control automatically assumes the measurement posture. For example, from the angle information of the measurement plane, the target construction plane is set so that the plane passing through the back surface of the bucket 35 and the tip of the claw 37 of the bucket 35 is perpendicular to the measurement plane, and the back surface 39 of the bucket is set on the target construction plane. The angle of the bucket 35 is controlled to follow. This eliminates the need for the operator to take a measurement posture while confirming the angle information of the bucket 35, so the wear amount can be measured more easily.

In the above two embodiments, the IMU is used as a sensor for acquiring the attitude of the front working device 30. However, the present invention is not limited to this. A rotation angle sensor such as a potentiometer attached to a shaft (pin) connecting 33 and 35 may be used.

It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications without departing from the scope of the invention. For example, the present invention is not limited to those having all the configurations described in the above embodiments, but also includes those with some of the configurations omitted. Also, it is possible to add or replace part of the configuration according to one embodiment with the configuration according to another embodiment.

In addition, each configuration related to the controller 60 and the functions and execution processing of each configuration are implemented partially or entirely by hardware (for example, logic for executing each function is designed by an integrated circuit). can be Further, the configuration related to the controller 60 may be a program (software) that realizes each function related to the configuration of the controller 60 by being read and executed by an arithmetic processing unit (for example, CPU). Information related to the program can be stored, for example, in a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

In addition, in the description of each of the above embodiments, the control lines and information lines have been shown to be necessary for the description of the embodiments, but they do not necessarily represent all the control lines and information lines related to the product. not necessarily. In reality, it can be considered that almost all configurations are interconnected.

DESCRIPTION OF SYMBOLS 10... Lower traveling body 11... Crawler 12... Crawler frame 13... Left traveling hydraulic motor 14... Right traveling hydraulic motor 20... Upper revolving body 21... Revolving frame 22... Engine 23... Revolving hydraulic pressure Motor 24 Cab 30 Front working device 31 Boom 32 Boom cylinder 33 Arm 34 Arm cylinder 35 Bucket 36 Bucket cylinder 37 Consumable part 40 Hydraulic system 41 Hydraulic pump 50 IMU 60 Controller 61 Attitude calculation unit 62 Measurement surface setting unit 63 Measurement orientation determination unit 64 Distance calculation unit 65 Wear amount setting unit 66 Input device 67... Display device, 68... Attachment grounding determination unit, 69... Pressure sensor

Claims (7)

an articulated working device having an attachment with a consumable part at its tip;
an attitude sensor that detects the attitude of the working device;
The attitude data of the working device is calculated based on the signal output from the attitude sensor, and based on the calculated attitude data and the dimensional data of the working device, the control point set in the consumable part in the vehicle body coordinate system. A working machine comprising a controller that calculates position data and controls the working device based on the calculated position data of the control points ,
The controller is
Based on the posture data of the working device and the position data of the control points calculated while the reference plane on the attachment is in contact with the measurement plane setting object, the position of the reference plane in the vehicle body coordinate system is set to the measurement plane. a first process for setting
Whether or not the posture of the working device is maintained in a measurement posture in which the consumable portion of the attachment is brought into contact while holding the attachment at a predetermined angle with respect to the contact surface of the measurement surface setting object contacted by the reference surface. A second process for determining whether
a third process of calculating the distance between the measurement plane and the control point based on the position of the control point in the vehicle body coordinate system and the position of the measurement plane set in the vehicle body coordinate system;
and executing a fourth process of calculating the amount of wear of the consumable portion based on the calculated distance when it is determined that the working device is held in the measurement posture, out of the calculated distance. A working machine characterized by: The work machine of claim 1,
a first display for instructing an operator to bring the reference plane into contact with the measurement plane setting object before the first processing is executed by the controller;
and a monitor for displaying a second display for instructing an operator to hold the posture of the working device in the measurement posture before the second processing is executed by the controller. working machine. The working machine of claim 2,
a first input for inputting to the controller that the reference plane has come into contact with the measurement plane setting object after the first display is displayed on the monitor;
an input device for inputting a second input for inputting to the controller that the posture of the working device is held in the measurement posture after the second display is displayed on the monitor. and working machine. The working machine of claim 2,
further comprising a pressure sensor that detects pressure acting on the actuator that drives the work device;
The controller is
After the first display is displayed on the monitor, the first processing is executed when the contact of the reference surface with the measurement surface setting object is detected by the pressure detected by the pressure sensor,
A working machine characterized in that, after the second display is displayed on the monitor, the second processing is executed when it is detected by the pressure detected by the pressure sensor that the working device has assumed the measurement posture. . The work machine of claim 1,
the attachment is a bucket, the consumable part is a claw of the bucket, the control point is a point set at the tip of the bucket,
A working machine, wherein the measurement posture is a posture in which the back surface of the bucket is held perpendicular to the contact surface and the toe of the bucket is in contact with the contact surface. The working machine of claim 2,
The controller calculates the angle between the attachment and the contact surface based on the attitude data of the working device calculated based on the signal output from the attitude sensor and the position of the measurement surface in the vehicle body coordinate system. and displaying the calculated angle on the monitor. The work machine of claim 1,
A working machine, wherein the controller updates the dimension data of the working device based on the calculated wear amount.

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