WO2012114871A1 - 油圧ショベルの位置誘導システム及びその制御方法 - Google Patents
油圧ショベルの位置誘導システム及びその制御方法 Download PDFInfo
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- WO2012114871A1 WO2012114871A1 PCT/JP2012/052831 JP2012052831W WO2012114871A1 WO 2012114871 A1 WO2012114871 A1 WO 2012114871A1 JP 2012052831 W JP2012052831 W JP 2012052831W WO 2012114871 A1 WO2012114871 A1 WO 2012114871A1
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- target surface
- work
- hydraulic excavator
- vehicle body
- current
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- 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
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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
-
- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Definitions
- the present invention relates to a position guidance system for a hydraulic excavator and a control method thereof.
- a position guidance system that guides a work vehicle such as a hydraulic excavator to a target work target is known.
- the position guidance system disclosed in Patent Document 1 has design data indicating a three-dimensional design landform.
- the design terrain is composed of a plurality of design surfaces, and a part of the design surface is selected as a target surface.
- the current position of the hydraulic excavator is detected by position measuring means such as GPS.
- the position guidance system guides the hydraulic excavator to the target plane by displaying a guidance screen indicating the current position of the hydraulic excavator on the display unit.
- the guide screen includes a hydraulic excavator in a side view, a target surface, and an operation range of the bucket tip.
- the operator can use the positional relationship between the operation range of the target surface on the guidance screen and the tip of the bucket as a reference when determining whether the excavator is in a position suitable for work. it can. However, it is not easy to accurately determine whether or not the excavator is in a position suitable for work. Moreover, it is not easy to move the excavator to a position suitable for work even if the positional relationship between the target surface on the guidance screen and the operation range of the bucket tip is referred to.
- An object of the present invention is to provide a hydraulic excavator position guidance system and a control method thereof that can easily move the hydraulic excavator to a position suitable for work.
- the hydraulic excavator position guidance system is a position guidance system that guides the hydraulic excavator to a target surface in a work area.
- the hydraulic excavator has a vehicle main body and a work machine attached to the vehicle main body.
- the position guidance system includes a terrain data storage unit, a work implement data storage unit, a position detection unit, an optimum work position calculation unit, and a display unit.
- the terrain data storage unit stores terrain data indicating the position of the target surface.
- the work machine data storage unit stores work machine data.
- the work machine data indicates a workable range around the vehicle body that the work machine can reach.
- the position detection unit detects the current position of the vehicle body.
- the optimum work position calculation unit calculates, as the optimum work position, the position of the vehicle body that maximizes the excavable range where the target surface and workable range overlap, based on the topographic data, work equipment data, and the current position of the vehicle body. To do.
- the display unit displays a guidance screen indicating the optimum work position.
- the hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, wherein the excavable range includes a line segment indicating a cross section of the target surface in a side view. It is the part that overlaps the workable range.
- a hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, wherein the guide screen includes a cross-section of the target surface, the hydraulic excavator, and the optimum work position in a side view. Including a side view.
- a hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, and the guide screen includes a target surface, a hydraulic excavator, and an optimum work position in a top view. Includes top view shown.
- a hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, and further includes a current surface detection unit and a current surface storage unit.
- the current status detection unit detects the latest current status.
- the current status storage unit stores and updates the latest current status detected by the current status detection unit.
- the optimum work position is calculated based on the height position of the workable range when the vehicle main body is located on the current state.
- a hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, and further includes a current surface detection unit and a current surface storage unit.
- the current status detection unit detects the latest current status.
- the current status storage unit stores and updates the latest current status detected by the current status detection unit.
- the optimum work position calculation unit classifies the target surface into an excavated region and an unexcavated region based on the magnitude of the difference between the current state surface and the target surface.
- the optimum work position calculation unit sets an unexcavated area closest to the vehicle body as a target of an excavable range.
- a hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, wherein the optimum work position calculation unit has a predetermined inclination angle of the current state or the target surface. When it is equal to or greater than the threshold, the optimum work position is not displayed on the guidance screen.
- the hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, wherein the optimum work is performed when the target surface is an upward slope or a horizontal plane when viewed from the hydraulic excavator.
- the position is a position where the farthest from the vehicle main body coincides with the top of the target surface at the intersection of the boundary line of the workable range and the target surface.
- the hydraulic excavator position guidance system is the hydraulic excavator position guidance system according to the first aspect, and when the target surface is a downward slope as viewed from the hydraulic excavator, the optimum working position is Of the intersections between the boundary line of the workable range and the target surface, the closer to the vehicle body is the position that coincides with the top of the target surface.
- a hydraulic excavator according to a tenth aspect of the present invention includes the hydraulic excavator position guidance system according to any one of claims 1 to 9.
- the control method for the position guidance system of the excavator according to the eleventh aspect of the present invention is a control method for the position guidance system that guides the excavator to the target surface in the work area.
- the hydraulic excavator has a vehicle main body and a work machine attached to the vehicle main body.
- the control method of the position guidance system of a hydraulic excavator includes the following steps. In the first step, the current position of the vehicle body is detected. In the second step, based on the terrain data, the work machine data, and the current position of the vehicle body, the position of the vehicle body that maximizes the excavable range where the target surface overlaps the workable range is calculated as the optimum work position.
- the terrain data indicates the position of the target surface.
- the work machine data indicates a workable range around the vehicle body that the work machine can reach. In the third step, a guidance screen showing the optimum work position is displayed.
- the position of the vehicle body that maximizes the excavable range where the target surface and the workable range overlap is calculated as the optimum work position. Then, a guidance screen indicating the optimum work position is displayed on the display unit. Therefore, the operator can easily move the hydraulic excavator to a position suitable for work by moving the hydraulic excavator aiming at the optimum work position on the guide screen.
- the position where the range on the target surface that can be reached by the work implement is maximized is calculated as the optimum work position in a side view. For this reason, the operator can work efficiently by operating the work machine at the optimum work position.
- the operator can confirm the optimum work position from the side view. Therefore, the operator can easily adjust the position of the hydraulic excavator before and after.
- the operator can confirm the optimum work position from the top view. For this reason, the operator can easily adjust the left and right positions of the excavator.
- the optimum work position is calculated based on the height position of the workable range when the vehicle body is located on the current state.
- the ground in the work area is not necessarily flat but often has undulations. Therefore, the height position of the vehicle main body at a position away from the target surface may be different from the height position of the vehicle main body when approaching the target surface thereafter. For this reason, if the optimum work position is calculated based on the height position of the workable range at the current position of the vehicle body, it is difficult to calculate the optimum work position with high accuracy.
- the optimum work position is calculated at a position away from the target surface, the workable range when the vehicle main body is located on the current surface is set. Based on the height position, the optimum work position is calculated. As a result, the optimum work position can be calculated with high accuracy even in an undulating work area.
- the excavated area that does not need to be excavated is optimal even when the unexcavated area and the excavated area are mixed due to intermittent excavation. Excluded from calculation of work position. For this reason, an effective optimum work position can be accurately calculated.
- the optimum work position is not displayed on the guidance screen when the inclination angle of the current surface or the target surface is equal to or greater than a predetermined threshold value.
- the predetermined threshold value is set to an angle of a slope indicating a limit at which the excavator can stably work.
- the optimum work position can be shown on the guide screen within a range where the excavator can work stably.
- the position guide system for a hydraulic excavator when the target surface is an ascending slope or a horizontal plane as viewed from the hydraulic excavator, the position reaches the top of the target surface with the work machine extended. Is calculated as the optimum work position. For this reason, for example, when the ascending slope is much larger than the excavator, the operator can operate the excavator so that excavation is sequentially performed while descending the ascending slope from the top.
- the position reaching the top of the target surface in a contracted state of the work implement is Calculated as the optimum work position. For this reason, for example, the operator can operate the hydraulic excavator so as to descend the down slope while excavating the near side of the vehicle body.
- the position of the vehicle main body that maximizes the excavable range where the target surface and the workable range overlap is calculated as the optimum work position. Then, a guidance screen indicating the optimum work position is displayed on the display unit. Therefore, the operator can easily move the hydraulic excavator to a position suitable for work by moving the hydraulic excavator aiming at the optimum work position on the guide screen.
- the position of the vehicle main body that maximizes the excavable range where the target surface and the workable range overlap is calculated as the optimum work position. Then, a guidance screen indicating the optimum work position is displayed on the display unit. Therefore, the operator can easily move the hydraulic excavator to a position suitable for work by moving the hydraulic excavator aiming at the optimum work position on the guide screen.
- the perspective view of a hydraulic excavator The figure which shows the structure of a hydraulic excavator typically.
- the block diagram which shows the structure of the control system with which a hydraulic excavator is provided.
- position typically.
- the flowchart which shows the calculation method of an optimal work position.
- region The figure which shows the calculation method of an optimal work position.
- the figure which shows the calculation method of the optimal work position concerning other embodiment.
- FIG. 1 is a perspective view of a hydraulic excavator 100 on which a position guidance system is mounted.
- the excavator 100 includes a vehicle main body 1 and a work implement 2.
- the vehicle main body 1 includes an upper swing body 3, a cab 4, and a traveling device 5.
- the upper swing body 3 accommodates devices such as an engine and a hydraulic pump (not shown).
- the cab 4 is placed at the front of the upper swing body 3.
- a display input device 38 and an operation device 25 described later are arranged in the cab 4 (see FIG. 3).
- the traveling device 5 has crawler belts 5a and 5b, and the excavator 100 travels as the crawler belts 5a and 5b rotate.
- the work machine 2 is attached to the front portion of the vehicle body 1 and includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.
- a base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 13.
- a base end portion of the arm 7 is swingably attached to a tip end portion of the boom 6 via an arm pin 14.
- a bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15.
- FIG. 2 is a diagram schematically showing the configuration of the excavator 100.
- FIG. 2A is a side view of the excavator 100
- FIG. 2B is a rear view of the excavator 100.
- the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14
- the length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15
- the length of the bucket 8, that is, the length from the bucket pin 15 to the tip of the tooth of the bucket 8 is L3.
- the boom cylinder 10 drives the boom 6.
- the arm cylinder 11 drives the arm 7.
- the bucket cylinder 12 drives the bucket 8.
- a proportional control valve 37 is disposed between a hydraulic cylinder such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown) (see FIG. 3).
- the proportional control valve 37 is controlled by the work machine controller 26 described later, whereby the flow rate of the hydraulic oil supplied to the hydraulic cylinder 10-12 is controlled. As a result, the operation of the hydraulic cylinder 10-12 is controlled.
- the boom 6, the arm 7 and the bucket 8 are provided with first to third stroke sensors 16-18, respectively.
- the first stroke sensor 16 detects the stroke length of the boom cylinder 10.
- a position guidance controller 39 (see FIG. 3), which will be described later, determines the inclination angle of the boom 6 with respect to a Za axis (see FIG. 6) of the vehicle body coordinate system, which will be described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 16. (Hereinafter referred to as “boom angle”) ⁇ 1 is calculated.
- the second stroke sensor 17 detects the stroke length of the arm cylinder 11.
- the position induction controller 39 calculates an inclination angle (hereinafter referred to as “arm angle”) ⁇ 2 of the arm 7 with respect to the boom 6 from the stroke length of the arm cylinder 11 detected by the second stroke sensor 17.
- the third stroke sensor 18 detects the stroke length of the bucket cylinder 12.
- the position induction controller 39 calculates an inclination angle (hereinafter referred to as “bucket angle”) ⁇ 3 of the bucket 8 with respect to the arm 7 from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18.
- the vehicle body 1 is provided with a position detector 19.
- the position detector 19 detects the current position of the excavator 100.
- the position detection unit 19 includes two antennas 21 and 22 (hereinafter referred to as “GNSS antennas 21 and 22”) for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system). ), A three-dimensional position sensor 23, and an inclination angle sensor 24.
- the GNSS antennas 21 and 22 are spaced apart from each other by a certain distance along the Ya axis (see FIG. 6) of a vehicle body coordinate system Xa-Ya-Za described later.
- a signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23.
- the three-dimensional position sensor 23 detects the positions of the installation positions P1, P2 of the GNSS antennas 21, 22. As shown in FIG. 2B, the tilt angle sensor 24 detects the tilt angle ⁇ 4 (hereinafter referred to as “roll angle ⁇ 4”) in the vehicle width direction of the vehicle body 1 with respect to the gravity direction, that is, the vertical direction in the global coordinate system. To do.
- FIG. 3 is a block diagram showing a configuration of a control system provided in the hydraulic excavator 100.
- the excavator 100 includes an operation device 25, a work machine controller 26, a work machine control device 27, and a position guidance system 28.
- the operating device 25 includes a work implement operation member 31, a work implement operation detection unit 32, a travel operation member 33, and a travel operation detection unit 34.
- the work machine operation member 31 is a member for the operator to operate the work machine 2 and is, for example, an operation lever.
- the work machine operation detection unit 32 detects the operation content of the work machine operation member 31 and sends it to the work machine controller 26 as a detection signal.
- the traveling operation member 33 is a member for the operator to operate traveling of the excavator 100, and is, for example, an operation lever.
- the traveling operation detection unit 34 detects the operation content of the traveling operation member 33 and sends it to the work machine controller 26 as a detection signal.
- the work machine controller 26 includes a storage unit 35 such as a RAM and a ROM, and a calculation unit 36 such as a CPU.
- the work machine controller 26 mainly controls the work machine 2.
- the work machine controller 26 generates a control signal for operating the work machine 2 in accordance with the operation of the work machine operation member 31, and outputs the control signal to the work machine control device 27.
- the work machine control device 27 has a proportional control valve 37, and the proportional control valve 37 is controlled based on a control signal from the work machine controller 26.
- the hydraulic oil having a flow rate corresponding to the control signal from the work machine controller 26 flows out of the proportional control valve 37 and is supplied to the hydraulic cylinder 10-12.
- the hydraulic cylinder 10-12 is driven according to the hydraulic oil supplied from the proportional control valve 37. Thereby, the work machine 2 operates.
- the position guidance system 28 is a system for guiding the excavator 100 to a target surface in a work area.
- the position guidance system 28 includes a display input device 38 and a position guidance controller 39 in addition to the first to third stroke sensors 16-18, the three-dimensional position sensor 23, and the tilt angle sensor 24 described above.
- the display input device 38 includes a touch panel type input unit 41 and a display unit 42 such as an LCD.
- the display input device 38 displays a guidance screen for guiding the excavator 100 to the target work target in the work area.
- Various keys are displayed on the guidance screen.
- the operator can execute various functions of the position guidance system 28 by touching various keys on the guidance screen.
- the guidance screen will be described in detail later.
- the position guidance controller 39 executes various functions of the position guidance system 28.
- the position induction controller 39 and the work machine controller 26 can communicate with each other by wireless or wired communication means.
- the position induction controller 39 includes a storage unit 43 such as a RAM and a ROM, and a calculation unit 44 such as a CPU.
- the storage unit 43 stores data necessary for various processes executed in the calculation unit 44.
- the storage unit 43 includes a terrain data storage unit 46, a work machine data storage unit 47, and a current state storage unit 48.
- design terrain data is created and stored in advance.
- the design terrain data indicates the shape and position of the three-dimensional design terrain within the work area.
- the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon.
- reference numeral 45 is given to only one of the plurality of design surfaces, and reference numerals of the other design surfaces are omitted. The operator selects one or more of these design surfaces 45 as the target surface 70.
- the work machine data storage unit 47 stores work machine data.
- the work machine data is data indicating a workable range 76 (see FIG. 5) around the vehicle body 1 that can be reached by the work machine 2.
- the work machine data includes the above-described length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8.
- the work implement data includes the minimum value and the maximum value of the boom angle ⁇ 1, the arm angle ⁇ 2, and the bucket angle ⁇ 3.
- the current status storage unit 48 stores current status data.
- the current status data is data indicating a current status (see reference numeral 78 in FIG. 5) detected by a current status detector 50 described later.
- the current situation shows the current actual topography.
- the current status detection unit 50 repeatedly executes detection of the current status at every predetermined time.
- the current status storage unit 48 updates the current status data to data indicating the latest current status detected by the current status detection unit 50.
- the calculation unit 44 includes a current position calculation unit 49, a current state detection unit 50, and an optimum work position calculation unit 51.
- the current position calculation unit 49 detects the current position of the vehicle main body 1 in the global coordinate system based on the detection signal from the position detection unit 19. Further, the current position calculation unit 49 calculates the current position in the global coordinate system at the tip of the bucket 8 based on the current position in the global coordinate system of the vehicle body 1 and the work implement data described above.
- the current status detection unit 50 detects the latest current status.
- the optimum work position calculation unit 51 calculates the optimum work position based on the design terrain data, the work machine data, and the current position of the vehicle body 1. The optimum work position indicates the optimum position of the vehicle main body 1 for excavating the target surface 70. A method for calculating the current position of the tip of the bucket 8, a method for detecting the current state, and a method for calculating the optimum work position will be described in detail later.
- the position guidance controller 39 causes the display input device 38 to display a guidance screen based on the calculation results of the current position calculation unit 49, the current state detection unit 50, and the optimum work position calculation unit 51.
- the guidance screen is a screen for guiding the excavator 100 to the target surface 70. Hereinafter, the guidance screen will be described in detail.
- FIG. 5 shows a guide screen 52.
- the guidance screen 52 includes a top view 52a and a side view 52b.
- the top view 52 a shows the design landform of the work area and the current position of the excavator 100.
- the top view 52a represents the design terrain as viewed from above with a plurality of triangular polygons. Further, the target surface 70 is displayed in a color different from other design surfaces.
- the current position of the excavator 100 is indicated by the icon 61 of the excavator as viewed from above, but may be indicated by other symbols.
- the top view 52a information for guiding the excavator 100 to the target surface 70 is displayed.
- the direction indicator 71 is displayed.
- the direction indicator 71 is an icon indicating the direction of the target surface 70 relative to the excavator 100.
- the top view 52 a further includes information indicating the optimum work position and information for causing the excavator 100 to face the target surface 70.
- the optimum work position is an optimum position for excavating the target surface 70 by the excavator 100, and is calculated from the position of the target surface 70 and a workable range 76 described later.
- the optimum working position is indicated by a straight line 72 in the top view 52a.
- the facing compass 73 is an icon indicating a facing direction with respect to the target surface 70 and a direction in which the excavator 100 should be turned. The operator can confirm the degree of confrontation with respect to the target surface 70 with the confrontation compass 73.
- the side view 52b is information indicating the design surface line 74, the current surface line 78, the target surface line 84, the icon 75 of the excavator 100 in a side view, the workable range 76 of the work implement 2, and the optimum work position.
- the design surface line 74 indicates a cross section of the design surface 45 other than the target surface 70.
- a current plane line 78 shows a cross section of the current plane described above.
- a target plane line 84 indicates a cross section of the target plane 70.
- the design surface line 74 and the target surface line 84 are obtained by calculating an intersection line 80 between the plane 77 passing through the current position of the tip P3 of the bucket 8 and the design landform.
- the target surface line 84 is displayed in a color different from the design surface line 74.
- the target surface line 84 and the design surface line 74 are expressed by changing the line type.
- the workable range 76 indicates a range around the vehicle main body 1 where work by the work implement 2 is possible.
- the workable range 76 is calculated from the work implement data described above. A method for calculating the workable range 76 will be described in detail later.
- the optimum work position shown in the side view 52b corresponds to the optimum work position shown in the top view 52a described above, and is indicated by a triangular icon 81.
- the reference position of the vehicle body 1 is also indicated by a triangular icon 82. The operator moves the excavator 100 so that the icon 82 of the reference position matches the icon 81 of the optimum work position.
- the guidance screen 52 includes information indicating the optimum work position and information for causing the excavator 100 to face the target surface 70. For this reason, the operator can place the excavator 100 in the optimum position and direction for performing the work with respect to the target surface 70 by the guide screen 52. Therefore, the guide screen 52 is mainly referred to when the excavator 100 is positioned.
- the target plane line 84 is calculated from the current position of the tip of the bucket 8.
- the position guidance controller 39 is configured to control the bucket 8 in the global coordinate system ⁇ X, Y, Z ⁇ .
- the current position of the tip P3 is calculated. Specifically, the current position of the tip P3 of the bucket 8 is obtained as follows.
- FIG. 6A is a side view of the excavator 100.
- FIG. 6B is a rear view of the excavator 100.
- the front-rear direction of the excavator 100 that is, the Ya-axis direction of the vehicle body coordinate system is inclined with respect to the Y-axis direction of the global coordinate system.
- the coordinates of the boom pin 13 in the vehicle main body coordinate system are (0, Lb1, -Lb2), and are stored in the work machine data storage unit 47 of the position guidance controller 39 in advance.
- the three-dimensional position sensor 23 detects the installation positions P1 and P2 of the GNSS antennas 21 and 22.
- a unit vector in the Ya-axis direction is calculated from the detected coordinate positions P1 and P2 by the following equation (1).
- Ya (P1-P2) /
- Z ′, Ya 0
- Z ′ (1-c) Z + cYa (3)
- c is a constant. From the expressions (2) and (3), Z ′ is expressed as the following expression (4).
- the current inclination angles ⁇ 1, ⁇ 2, and ⁇ 3 of the boom 6, the arm 7, and the bucket 8 are calculated from the detection results of the first to third stroke sensors 16-18.
- the coordinates (xat, yat, zat) of the tip P3 of the bucket 8 in the vehicle body coordinate system are based on the inclination angles ⁇ 1, ⁇ 2, ⁇ 3 and the lengths L1, L2, L3 of the boom 6, arm 7, and bucket 8. These are calculated by the following equations (7) to (9).
- the position guidance controller 39 calculates the three-dimensional design landform and the bucket based on the current position of the tip P3 of the bucket 8 calculated as described above and the design landform data stored in the storage unit 43.
- the intersection line 80 with the Ya-Za plane 77 passing through the 8 tip P3 is calculated.
- the position guidance controller 39 displays the portion passing through the target plane 70 in the intersection line on the guidance screen 52 as the target plane line 84 described above.
- the above-described current surface detection unit 50 detects the current surface line 78 based on the movement trajectory of the bottom of the vehicle body 1 and the movement trajectory of the tip P3 of the bucket 8. Specifically, as shown in FIG. 6, the current state detection unit 50 calculates the current position of the detection reference point P5 from the current position of the vehicle body 1 (installation position P1 of the GNSS antenna 21). The detection reference point P5 is located on the bottom surface of the crawler belts 5a and 5b. Then, the current surface detection unit 50 stores the locus of the detection reference point P5 in the current surface storage unit 48 as current surface data.
- the data indicating the positional relationship between the installation position P1 of the GNSS antenna 21 and the detection reference point P5 is stored in the current state storage unit 48 described above. Further, the locus of the tip P3 of the bucket 8 is obtained by recording the current position of the tip P3 of the bucket 8 detected by the current position calculator 49 described above.
- FIG. 7 schematically shows the posture of the work implement 2 when the length of the work implement 2 reaches the maximum reach length Lmax (hereinafter referred to as “maximum reach posture”).
- the coordinate plane Yb-Zb shown in FIG. 7 has the position of the boom pin 13 as the origin in the vehicle body coordinate system ⁇ Xa, Ya, Za ⁇ described above.
- the arm angle ⁇ 2 is the minimum value.
- the bucket angle ⁇ 3 is calculated by numerical analysis for parameter optimization so that the reach length of the work implement 2 is maximized. The value of the bucket angle ⁇ 3 at this time is hereinafter referred to as “maximum reach angle”.
- the minimum reach length Lmin is the reach length of the work machine 2 when the work machine 2 is contracted to the minimum.
- FIG. 8 schematically shows the posture of the work machine 2 when the length of the work machine 2 becomes the minimum reach length Lmin (hereinafter referred to as “minimum reach position”).
- the arm angle ⁇ 2 is the maximum value.
- the bucket angle ⁇ 3 is calculated by numerical analysis for parameter optimization so that the reach length of the work implement 2 is minimized. The value of the bucket angle ⁇ 3 at this time is hereinafter referred to as “minimum reach angle”.
- the workable range is a range obtained by removing the vehicle lower region 86 from the reachable range 83.
- the reachable range 83 indicates a range in which the work machine 2 can reach.
- the vehicle lower area 86 is an area located below the vehicle body 1.
- the reachable range 83 is calculated from the work implement data described above and the current position of the vehicle main body 1.
- the boundary line of the reachable range 83 includes a plurality of arcs A1-A4.
- the boundary line of the reachable range 83 includes the first arc A1 to the fourth arc A4.
- the first arc A1 is a locus drawn by the tip of the bucket 8 when the arm angle ⁇ 2 is the minimum value, the bucket angle ⁇ 3 is the maximum reach angle, and the boom angle ⁇ 1 changes between the minimum value and the maximum value.
- the second arc A2 is a locus drawn by the tip of the bucket 8 when the boom angle ⁇ 1 is the maximum, the bucket angle ⁇ 3 is 0 °, and the arm angle ⁇ 2 changes between the minimum value and the maximum value.
- the third arc A3 is a locus drawn by the tip of the bucket 8 when the arm angle ⁇ 2 is the maximum value, the bucket angle ⁇ 3 is the minimum reach angle, and the boom angle ⁇ 1 changes between the minimum value and the maximum value.
- the fourth arc A4 is a locus drawn by the tip of the bucket 8 when the boom angle ⁇ 1 is the minimum value, the bucket angle ⁇ 3 is 0 °, and the arm angle ⁇ 2 changes between the minimum value and the maximum value.
- the optimum work position calculation unit 51 calculates the position of the vehicle main body 1 where the excavable range 79 where the target surface 70 and the workable range 76 overlap is maximized as the optimum work position.
- a method for calculating the optimum work position will be described based on the flowchart shown in FIG.
- step S1 the current position of the vehicle body 1 is detected.
- the current position calculation unit 49 calculates the current position of the vehicle body 1 in the global coordinate system based on the detection signal from the position detection unit 19.
- step S2 it is determined whether the inclination angle of the target surface line 84 or the current surface line 78 is equal to or greater than a predetermined display determination threshold value.
- the predetermined display determination threshold is set to an angle of a slope indicating a limit at which the excavator 100 can stably perform work.
- the predetermined display determination threshold value is obtained in advance and stored in the work machine data storage unit 47.
- the inclination angle ⁇ 5 (see FIG. 10) of the target plane line 84 is acquired from the designed terrain data in the terrain data storage unit 46.
- the inclination angle ⁇ 6 (see FIG. 10) of the current surface line 78 is acquired from the current surface data in the current surface storage unit 48.
- step S7 When at least one of the inclination angle ⁇ 5 of the target surface line 84 and the inclination angle ⁇ 6 of the current surface line 78 is equal to or greater than a predetermined display determination threshold value, the optimum work position is not displayed on the guide screen 52 in step S7.
- the process proceeds to step S3. That is, when both the inclination angle ⁇ 5 of the target plane line 84 and the inclination angle ⁇ 6 of the current plane line 78 are smaller than the predetermined display determination threshold value, the process proceeds to step S3.
- an excavable range target is selected.
- the excavable range 79 is a portion where the target plane line 84 and the workable range 76 overlap in a side view.
- the optimum work position calculation unit 51 classifies the target surface line 84 into the excavated region and the unexcavated region based on the distance G1 between the current surface line 78 and the target surface line 84. To do. Specifically, the optimum work position calculation unit 51 classifies a portion of the target plane line 84 where the distance G1 between the current plane plane 78 and the predetermined classification determination threshold Gth is equal to or greater than the unexcavated area.
- the optimum work position calculation unit 51 classifies a portion of the target plane line 84 where the distance G1 between the target plane line 78 and the current plane line 78 is smaller than a predetermined classification determination threshold Gth as an excavated area. Then, the optimum work position calculation unit 51 determines the unexcavated area closest to the vehicle body 1 as the target of the excavable range 79.
- step S4 the slope type is determined.
- the target surface 70 is an upward slope, a horizontal plane, or a downward slope as viewed from the excavator.
- the optimum work position calculation unit 51 determines the slope type based on the designed terrain data in the terrain data storage unit 46 and the current position of the vehicle body 1.
- step S5 the optimum work position is calculated.
- the position of the vehicle main body 1 at which the length Le of the excavable range 79 where the target plane line 84 and the workable range 76 overlap is maximized is calculated as the optimum work position.
- the position where the length Le of the excavable range 79 is maximum is calculated within the target region of the excavable range 79 selected in step S3.
- the optimum work position is calculated based on the height position of the workable range 76 when the vehicle body 1 is located on the current plane 78. That is, as shown in FIG. 13, the current position P4 of the boom pin 13 when it is away from the target plane line 84 and the position P4 ′ of the boom pin 13 when the vehicle body 1 is positioned in the vicinity of the target plane line 84. Is different depending on the shape of the current plane line 78. For this reason, the height position of the workable range 76 also changes in accordance with the change in the height of the current status line 78. Therefore, the optimum work position is calculated based on the height position of the workable range 76 corresponding to the current status line 78.
- data indicating the height Hb from the detection reference point P5 on the bottom surface of the crawler belts 5a, 5b to the boom pin 13 is stored in the work implement data storage unit 47, and the height of the boom pin 13 from the current plane 78.
- the position above Hb is calculated as the locus Tb of the boom pin 13 when the vehicle body 1 is positioned on the current status line 78.
- the optimum work position is calculated based on the position of the workable range 76 when the boom pin 13 moves along the locus Tb.
- step S4 when it is determined that the target surface 70 is an uphill slope or a horizontal plane, as shown in FIG. 14, of the intersections between the boundary line of the workable range 76 and the target surface line 84 A position where the intersection P6 far from the vehicle body 1 coincides with the top of the target plane line 84 is calculated as the optimum work position.
- step S4 when it is determined in step S4 that the target surface 70 is a downward slope, as shown in FIG. 15, the intersection of the boundary line of the workable range 76 and the target surface line 84 is close to the vehicle body 1. The position at which the intersection P7 of the direction coincides with the top of the target plane line 84 is calculated as the optimum work position.
- step S6 a guidance screen 52 showing the optimum work position is displayed on the display unit 42.
- a straight line 72 indicating the optimum work position is displayed on the top view 52 a of the guidance screen 52.
- a triangular icon 81 indicating the optimum work position is displayed on the side view 52 b of the guidance screen 52.
- the position of the vehicle body 1 at which the excavable range 79 where the target plane line 84 and the workable range 76 overlap is maximized is calculated as the optimum work position.
- a guidance screen 52 showing the optimum work position is displayed on the display unit 42.
- the operator can easily move the excavator 100 to a position suitable for excavation work by manipulating the excavator 100 aiming at the optimum work position on the guide screen 52.
- the operator can confirm the optimum work position by the icon 81 displayed on the side view 52b of the guidance screen 52 shown in FIG.
- the operator can easily adjust the position of the excavator 100 in the front-rear direction.
- the operator can confirm the optimum work position by the straight line 72 displayed on the top view 52 a of the guidance screen 52. For this reason, the operator can easily adjust the left and right positions of the excavator 100.
- the height of the workable range 76 at the current position of the vehicle body 1 is not used as a reference, but the workable range 76 when the vehicle body 1 is positioned on the current plane line 78. Based on the height position, the optimum work position is calculated. For this reason, the optimum work position can be calculated with high accuracy even in an undulating work area.
- the target plane line 84 is classified into an unexcavated area and an already excavated area, and the unexcavated area is set as a target of the excavable range 79. For this reason, as shown in FIG. 12, even when an unexcavated area and an already excavated area are mixed by intermittent excavation, an already excavated area that does not need to be excavated is excluded from the calculation of the optimum work position. The For this reason, an effective optimum work position can be accurately calculated.
- the optimum work position is not displayed on the guidance screen 52.
- the optimum work position can be shown on the guide screen 52 within a range where the excavator 100 can work stably.
- the target surface 70 is an ascending slope or a horizontal surface when viewed from the excavator 100
- the position reaching the top of the target surface line 84 with the work machine 2 extended is the optimum work position. Is calculated as For this reason, for example, when the upslope is much larger than the excavator 100, the operator can operate the excavator 100 so that excavation is sequentially performed while descending the upslope from the top.
- the position reaching the top of the target surface line 84 with the work machine 2 contracted is calculated as the optimum work position. Is done. For this reason, for example, the operator can operate the excavator 100 so as to descend the down slope while excavating the near side of the vehicle body 1.
- the tilt angles of the boom 6, the arm 7 and the bucket 8 are detected by the first to third stroke sensors 16-18, but the means for detecting the tilt angle is not limited to these.
- an angle sensor that detects the inclination angles of the boom 6, the arm 7, and the bucket 8 may be provided.
- the locus of the position of the tip P3 of the bucket 8 and the locus of the detection reference point P5 on the bottom surface of the crawler belts 5a and 5b are detected as the current surface line 78.
- the method of detecting the current status line 78 is not limited to this.
- the current plane line 78 may be detected by a laser distance measuring device as disclosed in Japanese Patent Laid-Open No. 2002-328022.
- the current status line 78 may be detected by a stereo camera type measuring device.
- the optimum work position is calculated based on the height position of the workable range 76 corresponding to the current status line 78.
- the optimum work position may be calculated based on the height position of the workable range 76 from the virtual ground line 90.
- the virtual ground line 90 is a line that passes through the detection reference point P5 on the bottom surface at the current position of the excavator 100 and is parallel to the Y-axis direction in the global coordinate system.
- the present invention has an effect that the excavator can be easily moved to a position suitable for work, and is useful as a position induction system for the excavator and a control method thereof.
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Abstract
Description
1-1.油圧ショベルの全体構成
以下、図面を参照して、本発明の一実施形態に係る油圧ショベルの位置誘導システムについて説明する。図1は、位置誘導システムが搭載される油圧ショベル100の斜視図である。油圧ショベル100は、車両本体1と作業機2とを有する。車両本体1は、上部旋回体3と運転室4と走行装置5とを有する。上部旋回体3は、図示しないエンジンや油圧ポンプなどの装置を収容している。運転室4は上部旋回体3の前部に載置されている。運転室4内には、後述する表示入力装置38及び操作装置25が配置される(図3参照)。走行装置5は履帯5a,5bを有しており、履帯5a,5bが回転することにより油圧ショベル100が走行する。
位置誘導システム28は、油圧ショベル100を、作業エリア内の目標面まで誘導するためのシステムである。位置誘導システム28は、上述した第1~第3ストロークセンサ16-18、3次元位置センサ23、傾斜角センサ24のほかに、表示入力装置38と、位置誘導コントローラ39とを有している。
2-1.案内画面の構成
図5に案内画面52を示す。案内画面52は、上面図52aと側面図52bとを含む。
上述したように、目標面線84はバケット8の先端の現在位置から算出される。位置誘導コントローラ39は、3次元位置センサ23、第1~第3ストロークセンサ16-18、傾斜角センサ24などからの検出結果に基づき、グローバル座標系{X,Y,Z}でのバケット8の先端P3の現在位置を算出する。具体的には、バケット8の先端P3の現在位置は、次のようにして求められる。
Ya=(P1-P2)/|P1-P2|・・・(1)
図6(a)に示すように、YaとZの2つのベクトルで表される平面を通り、Yaと垂直なベクトルZ’を導入すると、以下の関係が成り立つ。
(Z’,Ya)=0・・・(2)
Z’=(1-c)Z+cYa・・・(3)
cは定数である。
(2)式および(3)式より、Z’は以下の(4)式のように表される。
Z’=Z+{(Z,Ya)/((Z,Ya)-1)}(Ya-Z)・・・(4)
さらに、YaおよびZ’と垂直なベクトルをX’とすると、X’は以下の(5)式のようのように表される。
X’=Ya⊥Z’・・・(5)
図6(b)に示すように、車両本体座標系は、これをYa軸周りに上述したロール角θ4だけ回転させたものであるから、以下の(6)式のように示される。
また、第1~第3ストロークセンサ16-18の検出結果から、上述したブーム6、アーム7、バケット8の現在の傾斜角θ1、θ2、θ3が算出される。車両本体座標系内でのバケット8の先端P3の座標(xat、yat、zat)は、傾斜角θ1、θ2、θ3およびブーム6、アーム7、バケット8の長さL1、L2、L3を用いて、以下の(7)~(9)式により算出される。
xat=0・・・(7)
yat=Lb1+L1sinθ1+L2sin(θ1+θ2)+L3sin(θ1+θ2+θ3)・・・(8)
zat=-Lb2+L1cosθ1+L2cos(θ1+θ2)+L3cos(θ1+θ2+θ3)・・・(9)
なお、バケット8の先端P3は、車両本体座標系のYa-Za平面上で移動するものとする。
そして、グローバル座標系でのバケット8の先端P3の座標が以下の(10)式から求められる。
P3=xat・Xa+yat・Ya+zat・Za+P1・・・(10)
図4に示すように、位置誘導コントローラ39は、上記のように算出したバケット8の先端P3の現在位置と、記憶部43に記憶された設計地形データとに基づいて、3次元設計地形とバケット8の先端P3を通るYa-Za平面77との交線80を算出する。そして、位置誘導コントローラ39は、この交線のうち目標面70を通る部分を上述した目標面線84として案内画面52に表示する。
まず、作業可能範囲76の算出方法について説明する前に、作業機2の最大リーチ長さLmaxと最小リーチ長さLminについて説明する。最大リーチ長さLmaxは、作業機2を最大に伸ばした状態での作業機2のリーチ長さである。なお、作業機2のリーチ長さは、ブームピン13とバケット8の先端P3との間の距離である。図7に、作業機2の長さが最大リーチ長さLmaxとなるときの作業機2の姿勢(以下、「最大リーチ姿勢」と呼ぶ)を模式的に示す。図7に示す座標平面Yb-Zbは、上述した車両本体座標系{Xa,Ya,Za}においてブームピン13の位置を原点としたものである。最大リーチ姿勢では、アーム角θ2は最小値となる。また、バケット角θ3は、作業機2のリーチ長さが最大となるように、パラメータ最適化のための数値解析によって算出される。このときのバケット角θ3の値を以下、「最大リーチ角」と呼ぶ。
次に、最適作業位置の算出方法について説明する。最適作業位置演算部51は、目標面70と作業可能範囲76との重なり合う掘削可能範囲79が最大となる車両本体1の位置を最適作業位置として算出する。以下、図11に示すフローチャートに基づいて最適作業位置の算出方法を説明する。
本実施形態に係る油圧ショベル100の位置誘導システム28では、目標面線84と作業可能範囲76との重なり合う掘削可能範囲79が最大となる車両本体1の位置が最適作業位置として算出される。そして、最適作業位置を示す案内画面52が表示部42に表示される。このため、オペレータは、案内画面52上の最適作業位置を目指して油圧ショベル100を操縦することにより、油圧ショベル100を掘削作業に適した位置まで容易に移動させることができる。具体的には、オペレータは、図5に示す案内画面52の側面図52bに表示されるアイコン81によって最適作業位置を確認することができる。このため、オペレータは、油圧ショベル100の前後の位置調整を容易に行うことができる。また、オペレータは、案内画面52の上面図52aに表示される直線72によって最適作業位置を確認することができる。このため、オペレータは、油圧ショベル100の左右の位置調整を容易に行うことができる。
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。例えば、位置誘導システム28の機能の一部、或いは、全てが、油圧ショベル100の外部に配置されたコンピュータによって実行されてもよい。上記の実施形態では作業機2は、ブーム6、アーム7、バケット8を有しているが、作業機2の構成はこれに限られない。
2 作業機
19 位置検出部
28 位置誘導システム
42 表示部
46 地形データ記憶部
47 作業機データ記憶部
48 現況面記憶部
50 現況面検出部
51 最適作業位置演算部
52 案内画面
70 目標面
76 作業可能範囲
100 油圧ショベル
Claims (11)
- 車両本体と前記車両本体に取り付けられる作業機とを有する油圧ショベルを、作業エリア内の目標面まで誘導する位置誘導システムであって、
前記目標面の位置を示す地形データを記憶する地形データ記憶部と、
前記作業機が届くことができる前記車両本体の周囲の作業可能範囲を示す作業機データを記憶する作業機データ記憶部と、
前記車両本体の現在位置を検出する位置検出部と、
前記地形データと前記作業機データと前記車両本体の現在位置とに基づいて、前記目標面と前記作業可能範囲との重なり合う掘削可能範囲が最大となる前記車両本体の位置を最適作業位置として算出する最適作業位置演算部と、
前記最適作業位置を示す案内画面を表示する表示部と、
を備える油圧ショベルの位置誘導システム。 - 前記掘削可能範囲は、側面視において前記目標面の断面を示す線分と前記作業可能範囲との重なりあう部分である、
請求項1に記載の油圧ショベルの位置誘導システム。 - 前記案内画面は、側面視における前記目標面の断面と前記油圧ショベルと前記最適作業位置とを示す側面図を含む、
請求項1に記載の油圧ショベルの位置誘導システム。 - 前記案内画面は、上面視における前記目標面と前記油圧ショベルと前記最適作業位置とを示す上面図を含む、
請求項1に記載の油圧ショベルの位置誘導システム。 - 最新の現況面を検出する現況面検出部と、
前記現況面検出部で検出された最新の現況面を記憶し更新する現況面記憶部と、
をさらに備え、
前記最適作業位置は、前記車両本体が前記現況面上に位置しているときの前記作業可能範囲の高さ位置に基づいて算出される、
請求項1に記載の油圧ショベルの位置誘導システム。 - 最新の現況面を検出する現況面検出部と、
前記現況面検出部で検出された最新の現況面を記憶し更新する現況面記憶部と、
をさらに備え、
前記最適作業位置演算部は、前記現況面と前記目標面との差の大きさに基づいて前記目標面を掘削済領域と未掘削領域とに分類し、前記車両本体に最も近い前記未掘削領域を前記掘削可能範囲の対象とする、
請求項1に記載の油圧ショベルの位置誘導システム。 - 前記最適作業位置演算部は、前記現況面又は前記目標面の傾斜角が所定の閾値以上であるときには、前記案内画面に前記最適作業位置を表示させない、
請求項1に記載の油圧ショベルの位置誘導システム。 - 前記目標面が前記油圧ショベルから見て上り斜面又は水平面である場合、前記最適作業位置は、前記作業可能範囲の境界線と前記目標面との交点のうち前記車両本体から遠い方が前記目標面の頂上部と一致する位置である、
請求項1に記載の油圧ショベルの位置誘導システム。 - 前記目標面が前記油圧ショベルから見て下り斜面である場合、前記最適作業位置は、前記作業可能範囲の境界線と前記目標面との交点のうち前記車両本体に近い方が前記目標面の頂上部と一致する位置である、
請求項1に記載の油圧ショベルの位置誘導システム。 - 請求項1から9のいずれかに記載の油圧ショベルの位置誘導システムを備える油圧ショベル。
- 車両本体と前記車両本体に取り付けられる作業機とを有する油圧ショベルを、作業エリア内の目標面まで誘導する位置誘導システムの制御方法であって、
前記車両本体の現在位置を検出するステップと、
前記目標面の位置を示す地形データと、前記作業機が届くことができる前記車両本体の周囲の作業可能範囲を示す作業機データと、前記車両本体の現在位置とに基づいて、前記目標面と前記作業可能範囲との重なり合う掘削可能範囲が最大となる前記車両本体の位置を最適作業位置として算出するステップと、
前記最適作業位置を示す案内画面を表示するステップと、
を備える油圧ショベルの位置誘導システムの制御方法。
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US13/819,248 US8498806B2 (en) | 2011-02-22 | 2012-02-08 | Hydraulic shovel positional guidance system and method of controlling same |
CN201280002731.9A CN103080434B (zh) | 2011-02-22 | 2012-02-08 | 液压挖掘机的位置引导系统及其控制方法 |
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WO2014061790A1 (ja) * | 2012-10-19 | 2014-04-24 | 株式会社小松製作所 | 油圧ショベルの掘削制御システム |
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KR101516693B1 (ko) | 2012-10-19 | 2015-05-04 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 유압 셔블의 굴삭 제어 시스템 |
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Also Published As
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KR101443769B1 (ko) | 2014-09-23 |
CN103080434A (zh) | 2013-05-01 |
US20130158785A1 (en) | 2013-06-20 |
JP2012172428A (ja) | 2012-09-10 |
DE112012000107T5 (de) | 2013-07-04 |
DE112012000107B4 (de) | 2015-10-29 |
JP5202667B2 (ja) | 2013-06-05 |
CN103080434B (zh) | 2015-04-15 |
KR20130069744A (ko) | 2013-06-26 |
US8498806B2 (en) | 2013-07-30 |
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