US20240117592A1 - Method for recovering posture of work machine, posture recovery system, and posture recovery apparatus - Google Patents

Method for recovering posture of work machine, posture recovery system, and posture recovery apparatus Download PDF

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Publication number
US20240117592A1
US20240117592A1 US18/276,780 US202218276780A US2024117592A1 US 20240117592 A1 US20240117592 A1 US 20240117592A1 US 202218276780 A US202218276780 A US 202218276780A US 2024117592 A1 US2024117592 A1 US 2024117592A1
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Prior art keywords
posture
work machine
excavation
recovery
trajectory
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US18/276,780
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English (en)
Inventor
Tatsuya Yoshimoto
Hiroshi Yoshida
Masafumi Nomura
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NEC Corp
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NEC Corp
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Publication of US20240117592A1 publication Critical patent/US20240117592A1/en
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    • 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
    • E02F9/20—Drives; Control devices
    • 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
    • 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
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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

Definitions

  • the present invention relates to a method for recovering a posture of a work machine.
  • Patent Literatures 1 and 2 listed below.
  • Patent Literature 1 relates to a work machine capable of performing a continuous execution of automatic construction appropriately in accordance with communication performance of a communication network.
  • the work machine has at least one on-board control unit or external control unit that performs an intervention degree determination process of comparing acquired communication performance information composed of a response time and a communication band, which are related to communications on a communication network, with a preset reference range of communication performance information, comparing acquired construction state information composed of machine body posture information and construction surface state information, which is information on a construction surface that is to be constructed by a work machine, with a preset reference range of a construction state, and determining the degree of intervention to the operation of the work machine in an automatic construction process in accordance with a result of the comparison of the communication performance information and a result of the comparison of the construction state information.
  • the on-board control unit or the external control unit automatically or semi-automatically controls the operation of the work machine in accordance with the degree of intervention determined in the intervention degree determination process.
  • Patent Literature 2 relates to a remote control system for remotely controlling a construction machine such as a hydraulic excavator or dump truck.
  • An operation control apparatus includes: a position and posture measurement means for measuring the position and posture of a construction machine; a position and posture storage means for storing, on a time-series basis, the position and posture measured by the position and posture measurement means; a reception status determination means for determining a reception status of radio waves transmitted from a wireless remote control apparatus; and an automatic return means for returning the posture of the construction machine to a posture at any point in time in the past on the basis of the posture information stored in the posture storage means.
  • the automatic return means returns the posture of the construction machine to a posture at a point in time at which the radio waves could be received, on the basis of position and posture recording information stored in the position and posture storage means.
  • the changed posture may fall within an unfavorable range in terms of safety. In such a case, it is preferable to carry out a recovery operation so that the posture of the work machine is automatically recovered.
  • Patent Literature 1 The invention described in Patent Literature 1 is the invention in which the degree of intervention to the operation of the work machine is determined by reference to the communication performance information, but does not provide a solution to the above-described problem associated with the posture change caused by the normal operation of the work machine.
  • Patent Literature 2 is the invention in which, in a case where radio waves cannot be received, the posture of the construction machine is returned to a posture in which the construction machine could receive radio waves, but does not provide a solution to the above-described problem associated with the posture change caused by the normal operation of the work machine.
  • An example aspect of the present invention has been made in view of the above problem, and an example of the object is to provide a technique that enables automatic recovery of a posture of a work machine which has changed due to a normal operation of the work machine.
  • a method for recovering a posture of a work machine in accordance with an example aspect of the present invention includes: setting a safe posture range based on a posture of a work machine before operation; acquiring posture information on the work machine in operation; and in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, carrying out a recovery operation of the work machine.
  • a posture recovery system in accordance with an example aspect of the present invention includes: a first detection means for detecting posture information on a work machine; a setting means for setting a safe posture range based on a posture of the work machine before operation; and a recovery means for, in a case where, by reference to the posture information on the work machine in operation that has been acquired from the first detection means, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, instructing the work machine to carry out a recovery operation.
  • a posture recovery apparatus in accordance with an example aspect of the present invention includes: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.
  • FIG. 1 is a block diagram illustrating a functional configuration of a posture recovery apparatus in accordance with a first example embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating a flow of a posture recovery method in accordance with the first example embodiment of the present invention.
  • FIG. 3 is a block diagram illustrating a functional configuration of a posture recovery system in accordance with a second example embodiment.
  • FIG. 4 is a block diagram illustrating a functional configuration of a posture recovery apparatus in accordance with a third example embodiment of the present invention.
  • FIG. 5 is a view for describing tilt information on an excavation apparatus.
  • FIG. 6 is a view for describing position information on the excavation apparatus.
  • FIG. 7 is a graph showing an example of a change in the tilt information on the excavation apparatus in excavation.
  • FIG. 8 is a view illustrating an example of a recovery operation of the excavation apparatus.
  • FIG. 9 is a view illustrating another example of the recovery operation of the excavation apparatus.
  • FIG. 10 is a view illustrating still another example of the recovery operation of the excavation apparatus.
  • FIG. 11 is a view for describing a case where the posture of the excavation apparatus has not been recovered by the recovery operation.
  • FIG. 12 is a view for describing a resumption excavation operation of the excavation apparatus in a case where the posture has been recovered by the recovery operation.
  • FIG. 13 is a flowchart illustrating a flow of a posture recovery method in accordance with the third example embodiment.
  • FIG. 14 is a block diagram illustrating a functional configuration of a posture recovery system in accordance with a fourth example embodiment.
  • FIG. 15 is a view illustrating a configuration example of a computer.
  • FIG. 1 is a block diagram illustrating a functional configuration of the posture recovery apparatus 10 .
  • the posture recovery apparatus 10 includes a setting unit 11 , an acquisition unit 12 , and a recovery unit 13 .
  • the posture recovery apparatus 10 is an example of a type built in a heavy machine, in which the posture recovery apparatus 10 is built in a work machine.
  • the setting unit 11 sets a safe posture range based on a posture of a work machine before operation and outputs the safe posture range to the recovery unit 13 .
  • the safe posture range is a posture range that is based on a posture of a work machine before operation and that is for determining whether the posture of the work machine requires a recovery operation.
  • the expression “posture of the work machine” includes:
  • the phrase “posture of the work machine” can also be expressed as a “spatial state of the work machine”, and this phrase includes, as an example, at least the followings: the tilt of the work machine; and the position of the work machine.
  • safe posture range in accordance with the present example embodiment refers to, as an example, a range of a tilt and position of the work machine based on a tilt and position of the work machine before operation.
  • the work machine in accordance with the present example embodiment is provided with, for example, an apparatus that detects a tilt amount and position of a machine body of the work machine, and the setting unit 11 sets the safe posture range on the basis of a result of the detection to which this apparatus subjects the work machine before operation.
  • the operations carried out by the work machine are roughly divided into the following two operations: a normal operation and a recovery operation.
  • the normal operation includes, for example, excavation, rotation, leveling, and lifting.
  • the recovery operation is an operation that the work machine is caused to carry out so that the posture information on the work machine falls within the safe posture range.
  • specific examples of the work machine can include: excavation apparatuses (hydraulic shovels) such as a backhoe, a YUMBO shovel, and a power shovel; cranes such as a crawler crane, a truck crane, and a wheel crane; machines for foundation work such as a pile driver, a diesel hammer, and a hydraulic hammer; and a bulldozer.
  • excavation apparatuses such as a backhoe, a YUMBO shovel, and a power shovel
  • cranes such as a crawler crane, a truck crane, and a wheel crane
  • machines for foundation work such as a pile driver, a diesel hammer, and a hydraulic hammer
  • bulldozer a bulldozer
  • the acquisition unit 12 acquires the posture information on the work machine in operation and outputs the posture information to the recovery unit 13 .
  • the recovery unit 13 causes the work machine to carry out the recovery operation by providing an operation instruction.
  • the posture information includes information such as tilt information on the machine body of the work machine and the position information on the machine body of the work machine, and is information for determining a current posture of the work machine.
  • the recovery unit 13 determines that the work machine has deviated from the safe posture range.
  • the recovery unit 13 causes the work machine to carry out the recovery operation, confirms that the work machine is within the safe posture range, and then causes the work machine to resume the normal operation.
  • the recovery unit 13 may cause the work machine to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.
  • a specific time period of the first period does not limit the present embodiment, but may be, as an example, a predetermined period of about 0.5 seconds to 1.0 second.
  • a configuration may be employed in which the first period is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.
  • the first period is a time for detecting a machine body tilt and a sideslip. Whether the recovery operation is necessary is determined depending on whether the work machine has deviated from the safe posture range continuously for the first period.
  • the reason why the first period is provided is that, even when the posture of the work machine temporarily collapses, the posture of the work machine may return to its original posture after some period of time has elapsed. Thus, even when the posture of the work machine carrying out the normal operation has deviated from the safe posture range, the recovery operation is not carried out unless the work machine has deviated from the safe posture range for the first period during which automatic recovery is assumed to be possible.
  • a waiting time for determining whether automatic recovery is possible may be set as a period that differs from the first period.
  • a waiting time for natural recovery may be set. In a case where a safe posture of the work machine has not remained for the second period even after the third period has elapsed, the recovery operation will be started. Note that the third period may be the same period as the first period or may be another period.
  • individual units of the posture recovery apparatus 10 may be provided in separate apparatuses.
  • the setting unit 11 and the acquisition unit 12 may constitute a single apparatus
  • the recovery unit 13 may constitute a single apparatus.
  • These units may be mounted on a single apparatus or may be mounted on separate apparatuses. For example, in a case where these units are mounted on separate apparatuses, information on each unit is transmitted and received via a communication network to proceed with a process.
  • the recovery unit 13 in a case where, by reference to the posture information, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit 13 causes the work machine to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.
  • the recovery unit 13 causes the work machine to carry out a recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation. Therefore, it is possible to easily carry out the recovery operation.
  • FIG. 2 is a flowchart illustrating a flow of the posture recovery method.
  • the setting unit 11 sets a predetermined range based on a posture of the work machine before operation (S 1 ).
  • the acquisition unit 12 acquires posture information on the work machine in operation (S 2 ). Then, by reference to the posture information, the recovery unit 13 determines whether the posture of the work machine in operation has deviated from the safe posture range for a first period (S 3 ).
  • the recovery unit 13 may cause the work machine to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.
  • the posture recovery method in accordance with the present example embodiment in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for the first period, the work machine is caused to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.
  • the work machine is caused to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation. Therefore, it is possible to easily carry out the recovery operation.
  • FIG. 3 is a block diagram illustrating a functional configuration of a posture recovery system 1 in accordance with a second example embodiment of the present invention.
  • the posture recovery system 1 includes a setting unit 11 , a recovery unit 13 , a first detection apparatus 20 , and an excavation apparatus 40 . Further, in the present example embodiment, a case in which the excavation apparatus 40 is an example of the work machine will be described.
  • the first detection apparatus 20 detects posture information on the work machine 40 .
  • the first detection apparatus 20 is constituted by an apparatus, which is installed in the work machine 40 , for detecting a tilt amount of a machine body, such as an IMU and a slope sensor, and detects which direction the work machine 40 is tilted in.
  • the first detection apparatus 20 is wirelessly connected to a communication network such as a local area network (LAN) and is capable of communicating with the setting unit 11 and the recovery unit 13 .
  • LAN local area network
  • the communication between the first detection apparatus 20 and the setting unit 11 and the recovery unit 13 may be short-range communication via wireless LAN, such as Wireless Fidelity (WiFi) (registered trademark), a beacon, Small Cell, local 5G, local long term evolution (LTE).
  • WiFi Wireless Fidelity
  • LTE local long term evolution
  • the setting unit 11 sets a safe posture range based on a posture of the work machine 40 before operation.
  • the recovery unit 13 In a case where, by reference to the posture information on the work machine 40 in operation obtained from the first detection apparatus 20 , the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit 13 instructs the work machine to carry out the recovery operation.
  • the setting unit 11 and the recovery unit 13 may be mounted on a single apparatus or may be mounted on separate apparatuses.
  • the individual units may be dispersedly located on a cloud (i.e., on a communication network). For example, in a case where the individual units are mounted on a cloud or on separate apparatuses, information on each unit is transmitted and received via a communication network to proceed with a process.
  • the recovery unit 13 in a case where, by reference to the posture information, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for the first period, the recovery unit 13 causes the work machine to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.
  • FIG. 4 is a block diagram illustrating a functional configuration of a posture recovery apparatus 10 b in accordance with a third example embodiment.
  • the posture recovery apparatus 10 b includes a setting unit 11 , an acquisition unit 12 , a recovery unit 13 , a resumption unit 14 , a first detection unit 15 , and a second detection unit 16 .
  • the posture recovery apparatus 10 b is an example of a type built in a heavy machine, in which the posture recovery apparatus 10 b is built in a work machine.
  • the resumption unit 14 causes the work machine to resume an operation of the work machine in a case where it has been detected that the work machine has remained within a safe posture range for a second period after the recovery unit 13 has caused the work machine to carry out the recovery operation.
  • the reason why the second period is provided is that, even when the posture of the work machine is returned by the recovery operation of the work machine, there may be a case in which the return is temporary, and the posture of the work machine deviates from the safe posture range again.
  • the second period is a period for determining whether the recovery operation of the work machine has been successful.
  • a specific time period of the second period does not limit the present embodiment, but may be, as an example, a predetermined period of about 0.5 seconds to 1.0 second.
  • a configuration may be employed in which the second period is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.
  • the first detection unit 15 is constituted by an apparatus, which is installed in the excavation apparatus, for detecting a tilt amount of a machine body, such as an inertial measurement unit (IMU) and a slope sensor, and detects which direction the excavation apparatus is tilted in.
  • IMU inertial measurement unit
  • FIG. 5 is a view for describing tilt information on the excavation apparatus 40 .
  • the first detection unit 15 installed in the excavation apparatus 40 detects a tilt in a pitch direction (forward tilt, backward tilt) of the machine body of the excavation apparatus 40 and a tilt in a roll direction (right tilt, left tilt) thereof.
  • the posture information is assumed to include the tilt information in these four directions, but is not limited to this.
  • the posture information may be tilt information in either one of the pitch direction or the roll direction, or may be information on tilts in directions the number of which is more than four.
  • the second detection unit 16 is constituted by a global positioning system (GPS), a laser sensor, or the like, and detects two-dimensional plane coordinates of the center position of the machine body of the excavation apparatus 40 and mainly detects a side slip or the like of the excavation apparatus 40 .
  • GPS global positioning system
  • FIG. 6 is a view for describing position information on the excavation apparatus 40 .
  • the second detection unit 16 detects rotation center coordinates (x, y) of the excavation apparatus 40 .
  • the posture information includes position information in a total of four directions, which are positive and negative directions of these two axes (x-axis, y-axis).
  • the setting unit 11 sets a safe posture range of a machine body tilt to a certain angle range on the basis of the tilt information in the four directions which is included in the posture information on the excavation apparatus 40 before excavation. In addition, the setting unit 11 sets a safe posture range of a machine body position to a certain distance range on the basis of the position information in the four directions which is included in the posture information on the excavation apparatus 40 before excavation.
  • a specific angle of the certain angle range does not limit the present embodiment, but may be, as an example, a predetermined angle of about 1.0 degree to 2.0 degrees.
  • a configuration may be employed in which the certain angle range is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.
  • the acquisition unit 12 acquires, from the first detection unit 15 , the tilt information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14 .
  • the acquisition unit 12 acquires, from the second detection unit 16 , the position information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14 .
  • the recovery unit 13 acquires the safe posture range set by the setting unit 11 and holds this safe posture range. In addition, the recovery unit 13 receives inputs of the tilt information in the four directions of the excavation apparatus 40 in excavation and the position information in the four directions thereof, which are outputted from the acquisition unit 12 , and determines whether the recovery operation of the excavation apparatus 40 is necessary.
  • the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary.
  • the recovery unit 13 determines that the machine body of the excavation apparatus 40 has slipped sideways and determines that the recovery operation of the excavation apparatus 40 is necessary.
  • FIG. 7 is a graph showing an example of a change in the tilt information on the excavation apparatus 40 in excavation.
  • a horizontal axis represents time (seconds)
  • a vertical axis represents a machine body angle (degrees).
  • a reference angle of the excavation apparatus 40 before excavation is ⁇ 0.2 degrees
  • a safe posture range of the machine body angle is approximately ⁇ 1.65 to +1.25.
  • FIG. 6 shows only one of the pitch direction and the roll direction, and the same applies to the other.
  • the machine body angle deviates from the safe posture range in the vicinity of 12 seconds, and such a state continues up to 13 seconds.
  • the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary. Since the machine body angle remains within the safe posture range after 13 seconds, the recovery unit 13 determines that the machine body angle remains within the second period safe posture range for the second period, and determines that the posture of the excavation apparatus 40 has been recovered.
  • FIG. 8 is a view illustrating an example of the recovery operation of the excavation apparatus 40 .
  • An excavation operation trajectory extending from A1 to A5 is a trajectory of the bucket in a normal excavation operation carried out by the excavation apparatus 40 .
  • the posture of the excavation apparatus 40 deviates from the safe posture range for the first period, and the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary.
  • the recovery unit 13 causes the excavation apparatus to carry out, as a recovery operation, an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory extending from A5 to B1 such that the bucket is gradually moved in a direction which is opposite to a direction of an operation trajectory extending from A4 to A5 of the bucket during the excavation and which is a height direction.
  • the recovery unit 13 causes the bucket to move such that the bucket follows the recovery operation trajectory extending from B1 to B4. This allows the bucket to be released from the soil, and the posture of the excavation apparatus 40 is expected to be returned to its posture within the safe posture range.
  • FIG. 9 is a view illustrating another example of the recovery operation of the excavation apparatus 40 .
  • a third detection apparatus for detecting earth and sand or the like at the excavation site is installed, and the third detection apparatus detects a height of earth and sand or the like in a certain area.
  • the posture recovery apparatus 10 b includes the third detection apparatus that detects earth and sand accumulated in the vicinity of the operation trajectory of the bucket of the excavation apparatus 40 , and the recovery unit 13 causes the excavation apparatus 40 to carry out, as an example, an operation trajectory which is obtained by adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation in accordance with a position where earth and sand of a given height or more height is accumulated.
  • the third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory of the bucket of the excavation apparatus or at a position rearward thereof.
  • the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • a specific height of the given height does not limit the present embodiment, but may be, as an example, a predetermined height of about 1 m.
  • a configuration may be employed in which the given height is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like. Further, if the given height is 1 m, the offset can be set to about 1.5 m.
  • the third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory extending from A1 to A5 of the bucket of the excavation apparatus 40 or at a position rearward thereof.
  • the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • the normal excavation operation is an operation carried out by the excavation apparatus 40 while the excavation apparatus 40 is carrying out a normal excavation process.
  • the recovery unit 13 causes the bucket to move so that the bucket follows a recovery operation trajectory extending from C1 to C4 obtained by adding an offset in the height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation and further adding an offset in the forward direction thereto.
  • FIG. 10 is a view illustrating still another example of the recovery operation of the excavation apparatus 40 .
  • the third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory of the bucket of the excavation apparatus or at a position rearward thereof.
  • the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • the recovery unit 13 causes the bucket to move so that the bucket follows a recovery operation trajectory extending from D1 to D4 obtained by adding an offset in the height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation and further adding an offset in the rearward direction thereto.
  • the above-described recovery operation by which the bucket is released is carried out in a case where the machine body tilt of the excavation apparatus 40 has deviated from the safe posture range for the first period and in a case where a sideslip has occurred in the excavation apparatus 40 , and the machine body position has deviated from the safe posture range for the first period.
  • an additional recovery operation may be carried out.
  • the arm of the excavation apparatus 40 may be folded or the bucket may be in a posture that contacts the ground so that the posture of the excavation apparatus 40 returns to a posture within the safe posture range.
  • some notification may be issued to the operator of the excavation apparatus 40 .
  • the excavation apparatus 40 may be caused to carry out an operation as described below with reference to FIG. 11 .
  • FIG. 11 is a view for describing a case where the posture of the excavation apparatus 40 has not been recovered by the recovery operation.
  • the recovery operation of the excavation apparatus is carried out.
  • the excavation apparatus 40 is caused to move once to a turnabout position, and then the excavation apparatus 40 is caused to move back to the ideal excavation position.
  • FIG. 12 is a view for describing a resumption excavation operation of the excavation apparatus 40 in a case where the posture has been recovered by the recovery operation.
  • An excavation operation trajectory extending from E1 to E6 is a trajectory of the bucket in a normal excavation operation carried out by the excavation apparatus 40 .
  • the excavation operation trajectory of the bucket is set such that the bucket excavates shallowly in order to prevent the recurrence of a tilt or sideslip of the machine body of the excavation apparatus 40 .
  • the resumption unit 14 resumes the excavation with use of a trajectory which is obtained by adding an offset in the height direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.
  • the resumption unit 14 causes the bucket to move so that the bucket follows an excavation operation trajectory extending from F1 to F6 which is obtained by adding a slight offset in the height direction to the excavation operation trajectory extending from E1 to E6 in a normal time.
  • FIG. 13 is a flowchart illustrating a flow of the posture recovery method.
  • the setting unit 11 sets a safe posture range based on a posture of the excavation apparatus 40 before operation (S 11 ).
  • the acquisition unit 12 acquires posture information on the excavation apparatus 40 in operation (S 12 ). Then, by reference to the posture information, the recovery unit 13 determines whether the posture of the excavation apparatus 40 in operation has deviated from the safe posture range for a first period (S 13 ).
  • the process returns to step S 12 , and the subsequent processes are repeated.
  • the recovery operation of the excavation apparatus 40 is carried out (S 14 ).
  • the resumption unit 14 determines whether the excavation apparatus 40 has remained within the safe posture range for a second period after the recovery operation of the excavation apparatus 40 has been carried out by the recovery unit 13 (S 16 ). In a case where the excavation apparatus 40 has not remained within the safe posture range for the second period (No in S 16 ), the process returns to step S 14 , and the subsequent processes are repeated.
  • the resumption unit 14 causes the excavation apparatus 40 to resume the operation (S 17 ).
  • the resumption unit 14 causes the work machine to resume an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for the second period after the recovery unit 13 has caused the work machine to carry out the recovery operation. Therefore, it is possible to automatically resume the operation of the work machine.
  • the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to release the bucket from the soil and recover the posture of the excavation apparatus 40 .
  • the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to recover the posture of the excavation apparatus 40 while avoiding earth and sand accumulated at a position forward of excavation apparatus 40 .
  • the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to recover the posture of the excavation apparatus 40 while avoiding earth and sand accumulated at a position rearward of excavation apparatus 40 .
  • the resumption unit 14 resumes the excavation with use of a trajectory which is obtained by adding an offset in the height direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation, it is possible to prevent the recurrence of a state that requires the recovery operation.
  • FIG. 14 is a block diagram illustrating a functional configuration of a posture recovery system 1 in accordance with a fourth example embodiment of the present invention.
  • the posture recovery system 1 includes a posture recovery apparatus 10 c , a first detection apparatus 20 , a second detection apparatus 30 , an excavation apparatus 40 , a communication network 50 , and a third detection apparatus 80 .
  • a posture recovery apparatus 10 c is mounted separately from the excavation apparatus 40 .
  • the first detection apparatus 20 is provided in the excavation apparatus 40 and detects posture information on the excavation apparatus 40 .
  • the first detection apparatus 20 is constituted by an apparatus, which is installed in the excavation apparatus 40 , for detecting a tilt amount of a machine body, such as an IMU and a slope sensor, and detects which direction the excavation apparatus 40 is tilted in.
  • the first detection apparatus 20 is wirelessly connected to the communication network 50 such as LAN and is capable of communicating with the posture recovery apparatus 10 b .
  • the communication between the first detection apparatus 20 and the posture recovery apparatus 10 b may be short-range communication via wireless LAN, such as WiFi (registered trademark), a beacon, Small Cell, local 5G, local LTE, or the like.
  • the second detection apparatus 30 is constituted by a GPS, a laser sensor, or the like, and detects the two-dimensional plane coordinates of the center position of the machine body of the excavation apparatus 40 and mainly detects a side slip or the like of the excavation apparatus 40 .
  • the second detection apparatus 30 is connected to the communication network 50 such as LAN in a wired or wireless manner and is capable of communicating with the posture recovery apparatus 10 b.
  • the third detection apparatus 80 is constituted by a measurement apparatus such as a 3D sensor disposed at an upper portion of the excavation apparatus 40 and measures heights at a plurality of points in an area including earth and sand that are an excavation target.
  • a 3D sensor include: cameras such as a depth camera, a stereo camera, and a Time-of-Flight (ToF) camera; laser sensors such as 2DLiDAR (Light Detection and Ranging), and 3DLiDAR; and radar sensors.
  • the third detection apparatus 80 is installed at an upper portion of the excavation apparatus 40 and is capable of measuring an excavation target. In an environment in which the excavation target (earth and sand) is sequentially added by a truck or the like, the third detection apparatus 80 can be fixed.
  • the third detection apparatus 80 may be configured to be attached to a crane or the like so that the third detection apparatus 80 moves with the movement of the excavation apparatus 40 .
  • the third detection apparatus 80 may be attached to the upper portion of the excavation apparatus 40 and move together with the excavation apparatus 40 .
  • the third detection apparatus 80 may be installed on, for example, a ceiling, a column or beam commanding a broad view, an aerial work vehicle, and a flight vehicle such as a drone.
  • the third detection apparatus 80 is connected to the communication network 50 such as LAN in a wired or wireless manner and is capable of communicating with the posture recovery apparatus 10 b .
  • the excavation apparatus 40 is wirelessly connected to the communication network 50 such as LAN.
  • the posture recovery apparatus 10 c includes a setting unit 11 , an acquisition unit 12 , a recovery unit 13 , a resumption unit 14 , and a communication unit 17 .
  • the communication unit 17 is connected to the communication network 50 such as LAN and receives information from the first detection apparatus 20 , the second detection apparatus 30 , and the third detection apparatus 80 .
  • the setting unit 11 sets a safe posture range of a machine body tilt to a certain angle range on the basis of the tilt information in the four directions which has been received from the first detection apparatus 20 and which is included in the posture information on the excavation apparatus 40 before excavation.
  • the setting unit 11 sets a safe posture range of a machine body position to a certain distance range on the basis of the position information in the four directions which has been received from the second detection apparatus 30 and which is included in the posture information on the excavation apparatus 40 before excavation.
  • the acquisition unit 12 acquires, from the first detection apparatus 20 via the communication unit 17 , the tilt information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14 .
  • the acquisition unit 12 acquires, from the second detection apparatus 30 via the communication unit 17 , the position information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14 .
  • the recovery unit 13 acquires the safe posture range set by the setting unit 11 and holds this safe posture range. In addition, the recovery unit 13 receives inputs of the tilt information in the four directions of the excavation apparatus 40 in excavation and the position information in the four directions thereof, which are outputted from the acquisition unit 12 , and determines whether the recovery operation of the excavation apparatus 40 is necessary.
  • the recovery unit 13 In a case where the recovery unit 13 has determined that the recovery operation of the excavation apparatus 40 is necessary, the recovery unit 13 carries out the above-described recovery operation. At this time, the recovery unit 13 transmits an instruction related to the recovery operation to the excavation apparatus 40 via the communication unit 17 .
  • the resumption unit 14 In a case where the resumption unit 14 has determined that the posture of the excavation apparatus 40 has been recovered by the recovery operation, the resumption unit 14 carries out the above-described resumption operation. At this time, the resumption unit 14 transmits an instruction related to the resumption operation to the excavation apparatus 40 via the communication unit 17 .
  • individual units of the posture recovery apparatus 10 b may be provided in separate apparatuses.
  • the setting unit 11 and the acquisition unit 12 may constitute a single apparatus
  • the recovery unit 13 and the resumption unit 14 may constitute a single apparatus.
  • These may be mounted on a single apparatus or may be mounted on separate apparatuses.
  • the individual units may be dispersedly located on a cloud (i.e., on a communication network). For example, in a case where the individual units are mounted on a cloud or on separate apparatuses, information on each unit is transmitted and received via the communication network 50 so that each unit proceeds with a process.
  • the recovery unit 13 causes the excavation apparatus 40 to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the excavation apparatus 40 .
  • the functions of part of or all of the posture recovery apparatuses 10 , 10 a , 10 b , and 10 c can be realized by hardware such as an integrated circuit (IC chip) or can be alternatively realized by software.
  • each of the posture recovery apparatuses 10 , 10 a , 10 b , and 10 c is realized by, for example, a computer that executes instructions of a program that is software realizing the foregoing functions.
  • FIG. 15 illustrates an example of such a computer (hereinafter, referred to as “computer 60 ”).
  • the computer 60 includes at least one processor 61 and at least one memory 62 which are connected to each other via an internal bus 63 .
  • the memory 62 stores a program P for causing the computer 60 to function as the posture recovery apparatuses 10 , 10 a , 10 b , and 10 c .
  • the processor 61 reads the program P from the memory 62 and executes the program P, so that the functions of the posture recovery apparatuses 10 , 10 a , 10 b , and 10 c are realized.
  • the processor 61 for example, it is possible to use a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a microcontroller, general-purpose computing on graphics processing units (GPGPU), or a combination of these.
  • the memory 62 can be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these.
  • the computer 60 can further include a random access memory (RAM) in which the program P is loaded when the program P is executed and in which various kinds of data are temporarily stored.
  • the computer 60 can further include a communication interface for carrying out transmission and reception of data with other apparatuses.
  • the computer 60 can further include an input-output interface for connecting input-output apparatuses such as a keyboard, a mouse, a display and a printer.
  • the program P can be stored in a non-transitory tangible storage medium 70 which is readable by the computer 60 .
  • the storage medium 70 can be, for example, a compact disc-read only memory (CD-ROM), a digital versatile disc (DVD), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like.
  • the computer 60 can obtain the program P via the storage medium 70 .
  • the program P can be transmitted via a transmission medium.
  • the transmission medium can be, for example, a communications network, a broadcast wave, or the like.
  • the computer 60 can obtain the program P also via such a transmission medium.
  • the present invention is not limited to the foregoing example embodiments, but may be altered in various ways by a skilled person within the scope of the claims.
  • the present invention also encompasses, in its technical scope, any example embodiment derived by appropriately combining technical means disclosed in the foregoing example embodiments.
  • a method for recovering a posture of a work machine including: setting a safe posture range based on a posture of a work machine before operation; acquiring posture information on the work machine in operation; and in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, carrying out a recovery operation of the work machine.
  • the method according to supplementary note 1 or 2 further including resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.
  • a posture recovery system including: a first detection means for detecting posture information on a work machine; a setting means for setting a safe posture range based on a posture of the work machine before operation; and a recovery means for, in a case where, by reference to the posture information on the work machine in operation that has been acquired from the first detection means, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, instructing the work machine to carry out a recovery operation.
  • the posture recovery system according to supplementary note 7, wherein the recovery means causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.
  • the posture recovery system according to supplementary note 7 or 8, further including: a first resumption means for resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.
  • the posture recovery system according to any of supplementary notes 7 to 10, wherein the work machine is an excavation apparatus, the posture recovery system further comprises a second detection means for detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery system according to supplementary note 10 or 11, further including: a second resumption means for, in a case where the excavation carried out by the excavation apparatus is to be resumed, causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • a posture recovery apparatus including: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.
  • the posture recovery apparatus according to supplementary note 13, wherein the recovery means causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.
  • the posture recovery apparatus further including: a first resumption means for resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the work machine has been caused to carry out the recovery operation by the recovery means.
  • the posture recovery according to any of supplementary notes 13 to 15, wherein the work machine is an excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.
  • the posture recovery apparatus according to any of supplementary notes 13 to 16, wherein the work machine is an excavation apparatus, the posture recovery apparatus further comprises a second detection means for detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery apparatus according to supplementary note 16 or 17, further including: a second resumption means for causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the work machine is an excavation apparatus
  • the method further includes: detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a process of carrying out the recovery operation, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the excavation apparatus is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the work machine is an excavation apparatus
  • the method further includes: detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a process of carrying out the recovery operation, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the excavation apparatus is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery system further includes: a second detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery system further includes: a second detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery apparatus further includes: detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected by the detection means that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • the posture recovery apparatus further includes: detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected by the detection means that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.
  • a computer program for causing a computer to function a posture recovery apparatus the computer program causing the computer to function as: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.
  • a posture recovery apparatus including at least one processor, the at least one processor carrying out: a process of setting a safe posture range based on a posture of a work machine before operation; a process of acquiring posture information on the work machine in operation; and a process of, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.
  • the posture recovery apparatus can further include a memory.
  • the memory can store a program for causing the processor to carry out the setting process, the acquisition process, and the process of causing the work machine to carry out the recovery operation.
  • the program can be stored in a computer-readable non-transitory tangible storage medium.

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  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
US18/276,780 2021-02-26 2022-01-17 Method for recovering posture of work machine, posture recovery system, and posture recovery apparatus Pending US20240117592A1 (en)

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PCT/JP2022/001283 WO2022181107A1 (ja) 2021-02-26 2022-01-17 作業機械の姿勢復旧方法、姿勢復旧システムおよび姿勢復旧装置

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