WO2016098741A1 - ショベル及びショベルの制御方法 - Google Patents
ショベル及びショベルの制御方法 Download PDFInfo
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- WO2016098741A1 WO2016098741A1 PCT/JP2015/084976 JP2015084976W WO2016098741A1 WO 2016098741 A1 WO2016098741 A1 WO 2016098741A1 JP 2015084976 W JP2015084976 W JP 2015084976W WO 2016098741 A1 WO2016098741 A1 WO 2016098741A1
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- coordinates
- coordinate acquisition
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- tip
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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
- E02F9/267—Diagnosing or detecting failure of vehicles
-
- 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
-
- 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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F9/28—Small metalwork for digging elements, e.g. teeth scraper bits
- E02F9/2808—Teeth
-
- 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
- E02F9/28—Small metalwork for digging elements, e.g. teeth scraper bits
- E02F9/2883—Wear elements for buckets or implements in general
Definitions
- the present invention relates to an excavator provided with a machine guidance device and an excavator control method.
- Patent Document 1 A drilling blade for an excavator that can easily determine the wear limit visually is known (see Patent Document 1).
- the excavating blade of Patent Document 1 can indicate the replacement time, it cannot accurately indicate how much wear has progressed. Therefore, in order to use machine guidance based on the exact length of the excavator blade, the operator of the excavator manually measures the length of the excavator blade and inputs information on the measured value to the machine guidance device. It is necessary and troublesome. When the excavating blade is worn, accurate machine guidance cannot be used unless such complicated work is performed.
- An excavator includes a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, an attachment that is mounted on the upper revolving body, and a consumable part is attached to a tip.
- a controller that obtains coordinates of the consumable part when the consumable part is brought into contact with a predetermined feature, and calculates a wear amount of the consumable part based on at least two coordinates obtained under different conditions; Excavator.
- the above-described means provides an excavator that can provide accurate machine guidance even when a consumable part such as an excavating blade is worn.
- FIG. 1 is a side view showing an excavator that is an example of a construction machine according to an embodiment of the present invention.
- An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2 so as to be capable of swinging.
- a boom 4 is attached to the upper swing body 3.
- An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.
- a breaker may be attached as an end attachment.
- the boom 4, the arm 5, and the bucket 6 constitute an excavation attachment that is an example of an attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.
- a boom angle sensor S1 is attached to the boom 4
- an arm angle sensor S2 is attached to the arm 5
- a bucket angle sensor S3 is attached to the bucket link.
- the boom angle sensor S1 is a sensor that detects the rotation angle of the boom 4.
- the acceleration sensor detects an inclination angle of the boom 4 with respect to a horizontal plane (hereinafter referred to as “boom angle”) by detecting gravitational acceleration.
- the boom angle sensor S1 detects the rotation angle of the boom 4 around the boom foot pin connecting the upper swing body 3 and the boom 4 as the boom angle.
- the arm angle sensor S2 is a sensor that detects the rotation angle of the arm 5.
- the acceleration sensor detects the inclination angle of the arm 5 with respect to the horizontal plane (hereinafter referred to as “arm angle”) by detecting the gravitational acceleration.
- the arm angle sensor S2 detects the rotation angle of the arm 5 around the arm pin that connects the boom 4 and the arm 5 as the arm angle.
- the bucket angle sensor S3 is a sensor that detects the rotation angle of the bucket 6.
- the acceleration sensor detects an inclination angle of the bucket 6 with respect to the horizontal plane (hereinafter referred to as “bucket angle”) by detecting gravitational acceleration.
- the bucket angle sensor S3 detects the rotation angle of the bucket 6 around the bucket pin connecting the arm 5 and the bucket 6 as the bucket angle.
- At least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 includes a potentiometer that uses a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotation angle around a connecting pin. It may be a rotary encoder or the like to detect.
- the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 function as posture sensors for calculating the posture of the attachment.
- the upper swing body 3 is provided with a cabin 10 and a power source such as an engine 11 is mounted.
- a body tilt sensor S4 and a positioning sensor S5 are attached to the upper swing body 3.
- an input device D1 an audio output device D2, a display device D3, a storage device D4, a controller 30, and a machine guidance device 50 are mounted.
- the controller 30 is a control device that performs drive control of the excavator.
- the controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.
- the machine guidance device 50 is a device that guides the operation of the excavator by the operator.
- the machine guidance device 50 visually and audibly informs the operator of the distance in the vertical direction between the surface of the target terrain set by the operator and the tip (toe) position of the bucket 6, for example. Guide the operation of the excavator by the operator.
- the machine guidance device 50 may only notify the operator of the distance visually or may only notify the operator audibly.
- the machine guidance device 50 is configured as an arithmetic processing device including a CPU and an internal memory as one of the controllers. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory. Further, the machine guidance device 50 may be integrated into the controller 30.
- the body tilt sensor S4 is a sensor that detects the tilt angle of the upper swing body 3 with respect to the horizontal plane.
- airframe pitch angle the inclination angle of the longitudinal axis of the upper swing body 3 with respect to the horizontal plane
- airframe roll angle an acceleration sensor that detects an angle
- the positioning sensor S5 is a device that measures the position and orientation of the excavator.
- the positioning sensor S5 includes a GPS receiver and an electronic compass, and information on the position coordinates (latitude, longitude, altitude) and direction (azimuth) of the positioning sensor S5 in the world geodetic system with respect to the machine guidance device 50. Is output.
- World Geodetic System is a three-dimensional orthogonal XYZ with the origin at the center of gravity of the earth, the X axis in the direction of the intersection of the Greenwich meridian and the equator, the Y axis in the direction of 90 degrees east longitude, and the Z axis in the direction of the North Pole Coordinate system.
- the electronic compass is composed of, for example, a three-axis magnetic sensor.
- the positioning sensor S5 may be a GPS compass composed of two GPS receivers.
- the input device D1 is a device for an excavator operator to input various information.
- the input device D1 is a hardware switch attached around the display screen of the display device D3.
- the operator of the excavator inputs various information to the machine guidance device 50 through the input device D1.
- the input device D1 may be a touch panel.
- the input device D1 may be a USB memory. In this case, the operator can input the information stored in the USB memory into the machine guidance device 50 by inserting the USB memory into the USB connector installed in the cabin 10.
- the audio output device D2 is a device that outputs various audio information in response to an audio output command from the machine guidance device 50.
- a vehicle-mounted speaker that is directly connected to the machine guidance device 50 is used.
- a buzzer may be used.
- the display device D3 is a device that outputs various pieces of image information in response to a command from the machine guidance device 50.
- an in-vehicle liquid crystal display directly connected to the machine guidance device 50 is used.
- Storage device D4 is a device for storing various information.
- the storage device D4 is a non-volatile storage medium such as a semiconductor memory, and stores various types of information output by the machine guidance device 50 and the like.
- FIG. 2 is a block diagram showing a configuration example of the drive system of the excavator in FIG.
- the mechanical power system is indicated by a double line
- the high-pressure hydraulic line is indicated by a thick solid line
- the pilot line is indicated by a broken line
- the electric drive / control system is indicated by a thin solid line.
- the engine 11 is a shovel drive source.
- the engine 11 is a diesel engine that employs isochronous control that keeps the engine speed constant regardless of increase or decrease in engine load.
- the engine 11 is connected with a main pump 14 and a pilot pump 15 as hydraulic pumps.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
- the control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator.
- the hydraulic actuators such as the right traveling hydraulic motor 1A, the left traveling hydraulic motor 1B, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the turning hydraulic motor 21 are connected to the control valve 17 through a high pressure hydraulic line. .
- the operating device 26 is connected to the pilot pump 15 through the pilot line 25.
- the operating device 26 is a device for operating the hydraulic actuator, and includes a lever 26A, a lever 26B, and a pedal 26C.
- the operating device 26 is connected to the control valve 17 via a hydraulic line 27.
- the operating device 26 is connected to a pressure sensor 29 via a hydraulic line 28.
- the pressure sensor 29 is a sensor that detects the operation content of the operation device 26 in the form of pressure, and outputs a detection value to the controller 30.
- FIG. 3 is a functional block diagram illustrating a configuration example of the controller 30 and the machine guidance device 50.
- the machine guidance device 50 receives outputs from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the positioning sensor S5, the input device D1, and the controller 30, and outputs sound.
- Various commands are output to each of the device D2, the display device D3, and the storage device D4.
- the machine guidance device 50 also includes a coordinate acquisition unit 51, a deviation calculation unit 52, an audio output processing unit 53, and a display processing unit 54.
- the controller 30 and the machine guidance device 50 are connected to each other through a CAN (Controller Area Network).
- CAN Controller Area Network
- the coordinate acquisition unit 51 is a functional element that acquires the coordinates of a predetermined part of the attachment.
- the coordinate acquisition unit 51 derives the origin coordinates (latitude, longitude, altitude) of the reference coordinate system based on the detection values of the body tilt sensor S4 and the positioning sensor S5.
- the reference coordinate system is a coordinate system based on the excavator, and is, for example, a three-dimensional orthogonal coordinate system in which the extending direction of the excavation attachment is the X axis and the swivel axis of the excavator is the Z axis.
- the positional relationship between the origin coordinates of the reference coordinate system and the coordinates of the mounting position of the positioning sensor S5 (hereinafter referred to as “positioning sensor coordinates”) is relatively unchanged. Therefore, the coordinate acquisition unit 51 can uniquely derive the origin coordinates of the reference coordinate system in the world geodetic system from the detection values of the body tilt sensor S4 and the positioning sensor S5.
- the coordinate acquisition unit 51 derives the origin coordinate of the reference coordinate system in the world geodetic system based on the position coordinate and orientation of the positioning sensor S5 in the world geodetic system that is the detection value of the positioning sensor S5.
- the coordinate acquisition unit 51 rotates the reference coordinate system based on the airframe roll angle and the airframe pitch angle detected by the airframe tilt sensor S4 so that the three axes of the reference coordinate system are aligned with the three axes of the world geodetic system. Derive the rotation matrix of
- the coordinate acquisition part 51 will obtain the coordinate in the world geodetic system regarding the arbitrary point based on the origin coordinate and rotation matrix of the reference coordinate system in a world geodetic system. Can be derived.
- the coordinate acquisition unit 51 derives the attitude of the excavation attachment based on the detection values of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. This is because the coordinates in the reference coordinate system corresponding to each point on the excavation attachment can be derived, and by extension, the coordinates in the world geodetic system corresponding to each point can be derived.
- Each point on the excavation attachment includes the position of the bucket pin and the tip position of the bucket 6.
- the deviation calculator 52 derives the deviation between the current position of the tip of the bucket 6 and the target position.
- the deviation calculation unit 52 derives a deviation between the current position of the tip of the bucket 6 and the target position based on the coordinates of the tip position of the bucket 6 and the target terrain information acquired by the coordinate acquisition unit 51.
- the target terrain information is information regarding the terrain at the completion of construction, and includes a coordinate group representing the target terrain.
- the target terrain information is input through the input device D1 and stored in the storage device D4.
- the deviation calculation unit 52 derives the distance in the vertical direction between the tip position of the bucket 6 and the surface of the target landform as the deviation.
- the deviation may be the distance in the horizontal direction between the tip position of the bucket 6 and the surface of the target terrain, the shortest distance, or the like.
- the audio output processing unit 53 controls the content of audio information to be output from the audio output device D2.
- the audio output processing unit 53 causes the audio output device D2 to output an intermittent sound as a guidance sound when the deviation derived by the deviation calculating unit 52 becomes a predetermined value or less. Further, the audio output processing unit 53 shortens the output interval of intermittent sound (the length of the silent portion) as the deviation becomes smaller.
- the sound output processing unit 53 outputs a continuous sound (intermittent sound with an output interval of zero) from the sound output device D2. You may let them.
- voice output process part 53 may change the height (frequency) of an intermittent sound, when the sign of the deviation reverses. The deviation becomes a positive value when, for example, the tip position of the bucket 6 is vertically above the surface of the target terrain.
- the display processing unit 54 controls the contents of various image information displayed on the display device D3.
- the display processing unit 54 causes the display device D3 to display the relationship between the coordinates of the tip position of the bucket 6 acquired by the coordinate acquisition unit 51 and the coordinate group representing the target landform.
- the display processing unit 54 views the cross-section of the bucket 6 and the target landform from the side (Y-axis direction), and the cross-section of the bucket 6 and the target landform from the back (X-axis direction).
- the displayed CG image is displayed on the display device D3.
- the display processing unit 54 may display the magnitude of the deviation derived by the deviation calculating unit 52 as a bar graph.
- FIGS. 4A and 4B are views of the shovel
- FIG. 4A is a side view of the shovel
- FIG. 4B is a top view of the shovel.
- the Z axis of the reference coordinate system corresponds to the swing axis PC of the shovel
- the origin O of the reference coordinate system corresponds to the intersection of the swing axis PC and the grounding surface of the shovel.
- the X axis perpendicular to the Z axis extends in the extending direction of the excavation attachment, and the Y axis orthogonal to the Z axis extends in a direction perpendicular to the extending direction of the excavation attachment. That is, the X axis and the Y axis rotate around the Z axis as the shovel rotates.
- the mounting position of the boom 4 with respect to the upper swing body 3 is represented by a boom foot pin position P1, which is a position of a boom foot pin as a boom rotating shaft.
- the mounting position of the arm 5 with respect to the boom 4 is represented by an arm pin position P2, which is the position of the arm pin as the arm rotation axis.
- the attachment position of the bucket 6 with respect to the arm 5 is represented by a bucket pin position P3 that is a position of a bucket pin as a bucket rotation axis.
- the tip position of the claw 6a of the bucket 6 is represented by a bucket tip position P4.
- the length of the line segment SG1 connecting the boom foot pin position P1 and the arm pin position P2 is represented by a predetermined value L 1 as the boom length
- the length of the line segment SG2 connecting the arm pin position P2 and the bucket pin position P3 arm represented by a predetermined value L 2 as the length
- the length of the line segment SG3 connecting the bucket pin position P3 and the bucket tip position P4 is represented by a predetermined value L 3 as a bucket length.
- the predetermined values L 1 , L 2 , and L 3 are stored in advance in the storage device D4 and the like.
- boom angle formed between the line segment SG1 and a horizontal plane is represented by beta 1
- arm angle formed between the line segment SG2 and a horizontal plane is represented by beta 2
- segment SG3 and the horizontal plane bucket angle formed between the represented by beta 3. 4A, the boom angle ⁇ 1 , the arm angle ⁇ 2 , and the bucket angle ⁇ 3 are positive in the counterclockwise direction with respect to a line parallel to the X axis.
- Y 4 is zero. This is because the bucket tip position P4 exists on the XZ plane. Further, since the boom foot pin position P1 is relatively invariant with respect to the origin O, the coordinates of the arm pin position P2 once the boom angle beta 1 is uniquely determined. Similarly, the coordinates of the bucket pin position P3 once the boom angle beta 1 and arm angle beta 2 is uniquely determined, boom angle beta 1, arm angle beta 2, and once the bucket angle beta 3, the bucket end position P4 Coordinates are uniquely determined.
- the coordinate acquisition unit 51 can uniquely derive the coordinates of the points P1 to P4 in the world geodetic system if the coordinates of the points P1 to P4 in the reference coordinate system are determined.
- the controller 30 performs a leading edge information deriving process described later to derive an accurate coordinate of the bucket leading edge position P4 and accurately guides the operation of the shovel even when the claw 6a is worn. It can be so.
- the controller 30 includes a coordinate calculation unit 31 and a wear amount calculation unit 32 as functional elements.
- the coordinate calculation unit 31 is a functional element that calculates the coordinates of the tip of the consumable part.
- the coordinate calculation unit 31 detects the coordinates of the bucket pin position P3 acquired by the coordinate acquisition unit 51 and the bucket angle sensor S3 when the claw 6a is brought into contact with one known coordinate on the world geodetic system. Based on the bucket angle, the coordinates of the bucket tip position P4 in the world geodetic system are derived.
- the wear amount calculation unit 32 is a functional element that calculates the wear amount of the consumable portion.
- the wear amount calculation unit 32 includes the coordinates of the bucket tip position P4 calculated by the coordinate calculation unit 31 before the claw 6a is worn and the bucket tip position P4 calculated by the coordinate calculation unit 31 after the claw 6a is worn.
- the amount of wear of the claw 6a is calculated based on the coordinates.
- the consumable part may be a breaker rod.
- FIG. 5 is a flowchart showing an exemplary flow of tip information deriving processing.
- 6A and 6B are side views of the bucket 6 showing coordinates related to the tip information deriving process of FIG.
- FIG. 6A is a diagram when the tip of the claw 6a is brought into contact with the reference point RP.
- the thick solid line indicates the bucket 6 when the tip of the claw 6a is worn, and the thick dotted line indicates the tip of the claw 6a is worn.
- the bucket 6 is shown when not.
- FIG. 6B shows the state which overlap
- the reference point is a feature having coordinates of a predetermined geodetic system and includes a surveying sign such as a reference pile.
- the reference point has the coordinates of the world geodetic system.
- the coordinates (X R , Y R , Z R ) of the reference point RP are known to the controller 30 and the machine guidance device 50.
- the coordinate calculation unit 31 coordinates (X 3A , Y 3A , Z) of the bucket pin position P3A acquired by the coordinate acquisition unit 51 when the tip of the claw 6a is brought into contact with the reference point RP during the first coordinate acquisition period. 3A ) is acquired (step ST1).
- the coordinate acquisition period means a period during which the coordinate acquisition unit 51 acquires coordinates under the same wear condition.
- the first coordinate acquisition period is a period during which the coordinate acquisition unit 51 can acquire coordinates when the claw 6a of the bucket 6 is not worn, and is a period immediately after the initial setting of the excavator. Including the period immediately after the replacement.
- the operator of the shovel operates the operation device 26 such as a boom operation lever, an arm operation lever, a bucket operation lever, a turning operation lever, and a traveling pedal to bring the claw 6a of the bucket 6 into contact with the reference point RP. .
- the operator gives an instruction to the machine guidance device 50 to store the coordinates of the bucket pin position P3A at that time via the input device D1.
- the coordinate acquisition unit 51 of the machine guidance device 50 stores the coordinates of the bucket pin position P3A in the storage device D4 according to the instruction.
- the operator instructs the machine guidance device 50 to store the coordinates of the bucket pin position P3 each time the contact is made by bringing the claw 6a of the bucket 6 into contact with the reference point RP a plurality of times while changing the posture of the excavation attachment. May be given.
- the coordinate acquisition unit 51 may use the average coordinates of the plurality of coordinates stored over a plurality of times as the coordinates of the bucket pin position P3A.
- the coordinate calculation unit 31 determines the coordinates (X 3B , Y 3B , Z) of the bucket pin position P3B acquired by the coordinate acquisition unit 51 when the tip of the claw 6a is brought into contact with the reference point RP during the second coordinate acquisition period. 3B ) is acquired (step ST2).
- the second coordinate acquisition period is a coordinate acquisition period after the new nail 6a is actually used, that is, a coordinate acquisition period after the nail 6a is worn. It is a coordinate acquisition period after starting the shovel for a predetermined shovel operating time after starting.
- the second coordinate acquisition period may be a period after a predetermined number of days have elapsed since the start of use of the new nail 6a.
- the operator of the shovel acquires the coordinates of the bucket pin position P3B during the second coordinate acquisition period in the same manner as the acquisition of the coordinates of the bucket pin position P3A performed during the first coordinate acquisition period.
- the coordinate calculation unit 31 calculates the coordinates of the tip of the claw 6a (step ST3).
- the coordinate calculation unit 31 uses the following equation (3) to determine the distance between the bucket pin position P3A and the reference point RP (bucket tip position P4A) when the claw 6a is not worn. “Lead distance”.) L3A is calculated.
- the coordinate calculation unit 31 has the coordinates (X 3A , Y 3A , Z 3A ) of the bucket pin position P3A acquired by the coordinate acquisition unit 51 and the coordinates (X R ) of the reference point RP acquired during the first coordinate acquisition period. , Y R , Z R ), the tip distance L 3A is calculated.
- the coordinate calculation unit 31 claws 6a using the following equation (4) calculates the tip distance L 3B of the bucket pin position P3B and the reference point RP after abrasion (bucket end position P4B). Specifically, the coordinate calculation unit 31 coordinates (X 3B , Y 3B , Z 3B ) of the bucket pin position P3B acquired by the coordinate acquisition unit 51 and the coordinates (X R ) of the reference point RP acquired during the second coordinate acquisition period. , Y R , Z R ), the tip distance L 3B is calculated.
- the coordinate values Y 3A , Y 3B and Y R are all the same value (for example, zero).
- the coordinate calculation unit 31 calculates the coordinates (X 4C1 , Y 4C1 , Z 4C1 ) of the bucket tip position P4C1 when the claw 6a is a new product that is not worn based on the relationship shown in FIG. 6B.
- the coordinate calculation unit 31 calculates the coordinates (X 4C1 , Y 4C1 , Z 4C1 ) of the bucket tip position P4C1 using the following formulas (5) and (6).
- the coordinate calculation unit 31 includes the coordinates (X 3C , Y 3C , Z 3C ) of the bucket pin position P3C acquired by the coordinate acquisition unit 51 and the bucket angle sensor S3 when the excavation attachment is in an arbitrary posture.
- coordinates (X 4C1 , Y 4C1 , Z 4C1 ) are calculated.
- the coordinate values Y 3C and Y 4C1 are both the same value (for example, zero).
- the coordinate calculation unit 31 calculates the coordinates (X 4C2 , Y 4C2 , Z 4C2 ) of the bucket tip position P4C2 after the claw 6a is worn using the following formulas (7) and (8).
- the coordinate calculation unit 31 includes the coordinates (X 3C , Y 3C , Z 3C ) of the bucket pin position P3C acquired by the coordinate acquisition unit 51 and the bucket angle sensor S3 when the excavation attachment is in an arbitrary posture. Coordinates (X 4C2 , Y 4C2 , Z 4C2 ) are calculated based on the detected bucket angle ⁇ 3C and the tip distance L 3B .
- the coordinate values Y 3C and Y 4C2 are both the same value (for example, zero).
- the angle ⁇ is an angle formed between the line segment P3C-P4C1 and the line segment P3C-P4C2, and is an angle that is uniquely determined if the tip distance L 3A and the tip distance L 3B are determined.
- the wear amount calculation unit 32 calculates the wear amount of the claw 6a (step ST4).
- the wear amount calculation unit 32 calculates the wear amount W of the claw 6a of the bucket 6 using the following equation (9). Specifically, the wear amount calculation unit 32 calculates the coordinates (X 4C1 , Y 4C1 , Z 4C1 ) of the bucket tip position P4C1 when the claw 6a is not worn and the claw 6a calculated by the coordinate calculation unit 31 and the claw 6a.
- the wear amount W is calculated based on the coordinates (X 4C2 , Y 4C2 , Z 4C2 ) of the bucket tip position P4C2 after wear.
- the controller 30 derives the tip distance based on the coordinates of the bucket pin position P3 acquired by the coordinate acquisition unit 51 when the claw 6a is brought into contact with the reference point RP that is one known coordinate. Further, the controller 30 derives the coordinates of the bucket tip position P4 based on the tip distance and the bucket angle detected by the bucket angle sensor S3. Therefore, the controller 30 can accurately derive the coordinates of the bucket tip position P4 by acquiring the coordinates of the bucket pin position P3 regardless of whether or not the claw 6a is worn, after execution of the tip information derivation process. it can.
- the controller 30 can calculate the wear amount W by using the tip distance derived in each of the two coordinate acquisition periods. In this case, instead of directly deriving the coordinates of the bucket tip position P4 corresponding to the tip of the worn claw 6a, the controller 30 indirectly derives the coordinates of the bucket tip position P4 corresponding to the tip of the worn claw 6a. May be. Specifically, after deriving the coordinates of the bucket tip position P4 corresponding to the tip of the claw 6a that is not worn, the coordinates of the bucket tip position P4 are corrected based on the wear amount W, and the tip of the worn claw 6a is obtained. The coordinates of the bucket tip position P4 corresponding to may be derived.
- the machine guidance device 50 can provide machine guidance using the coordinates of the bucket tip position P4 in consideration of wear, which is derived by the controller 30.
- FIG. 7 is a flowchart showing the flow of another example of tip information deriving processing.
- 8A and 8B are side views of the excavation attachment showing coordinates relating to the tip information deriving process of FIG. 8A is a diagram when the tip of the arm 5 is brought into contact with a grounding point P5 (P5A, P5C), which is one point on the ground, and
- FIG. 8B is a diagram where the claw 6a of the bucket 6 is grounded at a grounding point P5 (P5A, P5C). It is a figure when it is made to contact.
- a thick solid line indicates the bucket 6 when the tip of the claw 6a is worn, and a thick dotted line indicates the bucket 6 when the tip of the claw 6a is not worn.
- the coordinates of the ground point P5 are specified as the coordinates of one point when the point on the surface of the arm 5 as the non-consumable part is brought into contact with the ground, and are used instead of the coordinates of the reference point.
- One point on the surface of the non-consumable part has the same relative positional relationship with the bucket pin position P ⁇ b> 3, and the relative positional relationship is known to the controller 30 and the machine guidance device 50.
- the coordinate calculation unit 31 coordinates (X 3A , Y 3A , Z 3A) of the bucket pin position P3A acquired by the coordinate acquisition unit 51 when the tip of the arm 5 is brought into contact with the grounding point P5A during the first coordinate acquisition period. ) Is acquired (step ST11).
- the first coordinate acquisition period is a period during which the coordinate acquisition unit 51 can acquire the coordinates when the claws 6a of the bucket 6 are not worn.
- the excavator operator operates the operating device 26 to bring the tip of the arm 5 into contact with the grounding point P5A. Then, the operator gives an instruction to the machine guidance device 50 to store the coordinates of the bucket pin position P3A at that time via the input device D1.
- the coordinate acquisition unit 51 of the machine guidance device 50 stores the coordinates of the bucket pin position P3A in the storage device D4 according to the instruction.
- the coordinate calculation unit 31 coordinates (X 3B , Y) of the bucket pin position P3B acquired by the coordinate acquisition unit 51 when the tip of the claw 6a of the bucket 6 is brought into contact with the grounding point P5A during the first coordinate acquisition period. 3B , Z 3B ) are acquired (step ST12).
- the excavator operator operates the operating device 26 to bring the tip of the claw 6a into contact with the grounding point P5A.
- the operator brings the tip of the claw 6a into contact with the grounding point P5A so that the extending direction of the claw 6a is perpendicular to the ground (horizontal plane).
- the operator gives an instruction to the machine guidance device 50 to store the coordinates of the bucket pin position P3B at that time via the input device D1.
- the coordinate acquisition unit 51 of the machine guidance device 50 stores the coordinates of the bucket pin position P3B in the storage device D4 according to the instruction.
- the coordinate calculation unit 31 coordinates (X 3C , Y 3C , Z 3C) of the bucket pin position P3C acquired by the coordinate acquisition unit 51 when the tip of the arm 5 is brought into contact with the ground point P5C during the second coordinate acquisition period. ) Is acquired (step ST13).
- the second coordinate acquisition period is a coordinate acquisition period after the new claw 6a is actually used, that is, a coordinate acquisition period after the claw 6a is worn.
- the coordinate calculation unit 31 coordinates (X 3D , Y 3D , Z) of the bucket pin position P3D acquired by the coordinate acquisition unit 51 when the tip of the claw 6a is brought into contact with the grounding point P5C during the second coordinate acquisition period. 3D ) is acquired (step ST14).
- the coordinate calculation unit 31 calculates the coordinates of the tip of the claw 6a (step ST15).
- the coordinate calculation unit 31 calculates the coordinates (X 5A , Y 5A , Z 5A ) of the contact point P5A when the claw 6a is not worn by using the following formula (10).
- the coordinate value Y 5A is zero
- the coordinate value X 5A is equal to the coordinate value X 3A .
- the distance H1 is a value stored in advance in the storage device D4 or the like, and represents the distance between the bucket pin position P3A and one point on the arm surface that contacts the grounding point P5A.
- the distance H1 may be a fixed value or a variable value determined according to the attitude of the excavation attachment.
- a front end distance L 3A coordinate calculating unit 31 and the bucket pin position P3B when a new pawl 6a using the following equation (11) is not worn and the ground point P5A (bucket end position P4B) calculate.
- the coordinate calculation unit 31 acquires the coordinates when the coordinates (X 5A , Y 5A , Z 5A ) of the above-mentioned ground point P5A and the claw 6a are brought into contact with the ground point P5A during the first coordinate acquisition period.
- the tip distance L 3A is calculated based on the coordinates (X 3B , Y 3B , Z 3B ) of the bucket pin position P3B acquired by the unit 51.
- the coordinate calculation unit 31 calculates the coordinates (X 5C , Y 5C , Z 5C ) of the ground contact point P5C after the claw 6a is worn using the following formula (12).
- the coordinate value Y 5C is zero
- the coordinate value X 5C is equal to the coordinate value X 3C .
- the coordinates of the ground point P5C are equal to the coordinates of the ground point P5A.
- the coordinates of the ground point P5C may be different from the coordinates of the ground point P5A.
- the distance H2 is a value stored in advance in the storage device D4 or the like, and represents the distance between the bucket pin position P3C and one point on the arm surface that contacts the grounding point P5C.
- the distance H2 may be a fixed value or a variable value determined according to the attitude of the excavation attachment. In this embodiment, the distance H2 is equal to the distance H1.
- the pawl 6a is coordinate calculating unit 31 using the following equation (13) calculates the tip distance L 3B of the bucket pin position P3D after wearing a grounding point P5C (bucket end position P4D). Specifically, the coordinate calculation unit 31 obtains coordinates when the coordinates (X 5C , Y 5C , Z 5C ) of the above-described ground point P5C and the claw 6a are brought into contact with the ground point P5C during the second coordinate acquisition period. The tip distance L 3B is calculated based on the coordinates (X 3D , Y 3D , Z 3D ) of the bucket pin position P3D acquired by the unit 51.
- the coordinate calculation unit 31 performs the same method as described with reference to FIGS. 6A and 6B, the coordinates of the bucket tip position P4 when the claw 6a is not worn, and the bucket after the claw 6a is worn.
- the coordinates of the tip position P4 are calculated.
- the wear amount calculation unit 32 calculates the wear amount of the claw 6a (step ST16).
- the wear amount calculation unit 32 determines the coordinates of the bucket tip position P4 when the claw 6a is not worn and the bucket tip after the claw 6a is worn. The wear amount of the claw 6a is calculated based on the coordinates of the position P4.
- the operator causes the controller 30 to specify the coordinates of the grounding point P5 by bringing the tip of the arm 5 into contact with the ground. Then, the operator causes the controller 30 to derive the tip distance based on the coordinates of the bucket pin position P3 acquired by the coordinate acquisition unit 51 when the claw 6a is brought into contact with the ground point P5.
- the controller 30 derives the coordinates of the bucket tip position P4 based on the tip distance and the bucket angle detected by the bucket angle sensor S3. Therefore, the controller 30 can accurately derive the coordinates of the bucket tip position P4 by acquiring the coordinates of the bucket pin position P3 regardless of whether or not the claw 6a is worn, after execution of the tip information derivation process. it can. Further, the controller 30 can calculate the wear amount W by using the tip distance derived in each of the two coordinate acquisition periods.
- the excavator operator causes the controller 30 to specify the coordinates of the ground contact point P5 by bringing the tip of the arm 5 into contact with the ground, but the present invention is not limited to this configuration.
- the operator may cause the controller 30 to specify the coordinates of the ground contact point P5 (P5A, P5C) by bringing the back of the bucket as a non-consumable part into contact with the ground as shown in FIG.
- the operator may cause the controller 30 to specify the coordinates of the contact point P5 by bringing a bucket link as a non-consumable part into contact with the ground.
- the determination as to whether or not the user has touched the ground may be based on whether or not a predetermined switch has been operated.
- the controller 30 determines that the predetermined part is in contact with the ground and acquires the coordinates of the grounding point P5.
- the controller 30 may determine that the predetermined part has contacted the ground when the pressure of the hydraulic oil in the bucket cylinder 9 exceeds a preset threshold value, and may acquire the coordinates of the contact point P5.
- the operator may operate the attachment so that the claw 6a is substantially perpendicular to the ground.
- the controller 30 may automatically control the posture of the attachment so that the claw 6a is substantially perpendicular to the ground.
- FIG. 10 is a flowchart showing the flow of still another example of the tip information derivation process.
- the tip information derivation process of FIG. 10 is that the coordinates of the bucket tip position and the wear amount of the claw 6a are calculated based on the coordinates of the two bucket pin positions acquired during one coordinate acquisition period. This is different from the tip information derivation process. Therefore, the tip information derivation process of FIG. 10 will be described with reference to FIGS. 8A and 8B.
- the coordinate calculation unit 31 acquires the coordinates (X 3C , Y 3C , Z 3C ) of the bucket pin position P3C acquired by the coordinate acquisition unit 51 when the tip of the arm 5 is brought into contact with the grounding point P5C (Step 3 ). ST21).
- the coordinate calculation unit 31 acquires the coordinates (X 3D , Y 3D , Z 3D ) of the bucket pin position P3D acquired by the coordinate acquisition unit 51 when the tip of the claw 6a of the bucket 6 is brought into contact with the grounding point P5C. (Step ST22).
- the coordinate calculation part 31 calculates the coordinate of the front-end
- the coordinate calculation unit 31 calculates the value Z 5C Z coordinates of ground point P5C using the above equation (12).
- the Y coordinate value Y 5C is zero, and the X coordinate value X 5C is equal to the X coordinate value X 3C of the bucket pin position P3C.
- the coordinate calculation unit 31 calculates the tip distance L 3B of the bucket pin position P3D and the ground point P5C (bucket end position P4D) using the above equation (13).
- the coordinate calculation unit 31 calculates the coordinates of the bucket tip position P4 after the claw 6a is worn by the same method as described in FIGS. 6A and 6B.
- the wear amount calculation unit 32 calculates the wear amount of the claw 6a (step ST24).
- the wear amount calculating section 32 has stored in advance (when the new pawl 6a is not worn) of the tip distance L 3A and pawl 6a on the basis of the the tip distance L 3B calculated in step ST23 Calculate the amount of wear.
- the tip distance L3A may be automatically set according to the type of nail that the operator inputs in advance.
- the wear amount calculation unit 32 is based on the tip distance L 3A , the tip distance L 3B, and the coordinates (X 3C , Y 3C , Z 3C ) of the current bucket pin position P3.
- the wear amount W of the claw 6a of the bucket 6 is calculated using the above equation (9).
- the controller 30 can derive the coordinates and the amount of wear of the tip of the claw 6a worn with a calculation load lower than the tip information deriving process of FIG.
- FIG. 11 is a flowchart showing the flow of still another example of the tip information derivation process.
- FIG. 12 is a side view of the bucket 6 showing coordinates relating to the tip information deriving process of FIG. 11. Specifically, FIG. 12 is a diagram when the claw 6a of the bucket 6 is brought into contact with the same reference point SP in two different postures. The thick solid line indicates the bucket 6 taking the first posture, and the thick dotted line shows the bucket 6 taking the second posture.
- the coordinate calculation unit 31 makes the coordinates (X 3A , Y 3A , Z) of the bucket pin position P3A acquired by the coordinate acquisition unit 51 when the tip of the claw 6a of the bucket 6 taking the first posture contacts the reference point SP. 3A ) is acquired (step ST31).
- the coordinate calculation unit 31 makes the coordinates (X 3B , Y 3B , Z 3B) of the bucket pin position P3B acquired by the coordinate acquisition unit 51 when the tip of the claw 6a of the bucket 6 taking the second posture contacts the reference point SP. ) Is acquired (step ST32).
- the coordinate calculation unit 31 calculates the coordinates of the tip of the claw 6a (step ST33).
- the coordinate calculation unit 31 includes the coordinates (X 3A , Y 3A , Z 3A ) of the bucket pin position P3A, the coordinates (X 3B , Y 3B , Z 3B ) of the bucket pin position P3B, and the line segment P3A.
- the length of -SP is based on the fact that equal to the length of the segment P3B-SP, following a tip distance L 3B of the bucket pin position P3A or bucket pin position P3B and the reference point SP (bucket end position P4A) This is calculated using the equation (14).
- the coordinate calculation unit 31 calculates the coordinates of the tip of the claw 6a based on the coordinates of the bucket pin position P3A or the bucket pin position P3B, the bucket angle detected by the bucket angle sensor S3, and the tip distance L3B .
- the value of the X coordinate of the reference point that contacts the tip of the claw 6a of the bucket 6 that takes the first posture is different from the value of the X coordinate of the reference point that contacts the tip of the claw 6a of the bucket 6 that takes the second posture. Also good. That is, the two reference points may be at different positions on the horizontal plane at the same height.
- the wear amount calculation unit 32 calculates the wear amount of the claw 6a (step ST34).
- the wear amount calculating section 32 has stored in advance (when the new pawl 6a is not worn) of the tip distance L 3A and pawl 6a on the basis of the the tip distance L 3B calculated in step ST33 Calculate the amount of wear.
- the wear amount calculation unit 32 is based on the tip distance L 3A , the tip distance L 3B, and the coordinates (X 3C , Y 3C , Z 3C ) of the current bucket pin position P3C.
- the wear amount W of the claw 6a of the bucket 6 is calculated using the above equation (9).
- FIG. 13 is a side view of the bucket 6 showing coordinates relating to a wear amount calculation process in which the wear amount calculation unit 32 calculates the wear amount W.
- the controller 30 automatically controls the attitude of the excavation attachment so that the extending direction of the claw 6a is perpendicular to the ground (horizontal plane) and contacts the tip of the claw 6a with the ground. Let Therefore, the controller 30 can be calculated simply by the wear amount W to calculate the difference between the value Z 4C2 Z coordinate value Z 4C1 Z coordinates of the bucket tip position P4C1 and the bucket tip position P4C2.
- the controller 30 can derive the coordinates and the amount of wear of the tip of the claw 6a worn with a calculation load lower than the tip information deriving process of FIG.
- FIG. 14 is a functional block diagram illustrating another configuration example of the controller 30.
- the controller 30 in FIG. 14 can achieve the same effects as the controller 30 in FIG. 14
- the excavator operator can easily wear the claws 6a of the bucket 6 without any special tool by performing any of these tip information deriving processes.
- the amount can be measured.
- the operator can receive machine guidance based on the coordinates of the bucket tip position P4 corresponding to the tip of the worn claw 6a. Therefore, the finishing accuracy of the construction surface can be improved.
- the grounding point P5 is one point on the ground, but the present invention is not limited to this configuration.
- the contact point P5 may be any feature that can bring both the non-consumable part and the consumable part (claw 6a) of the excavation attachment into contact with each other, for example, one point on the surface of the vertical wall. Also good.
- the reference point SP is one point on the ground, but the present invention is not limited to this configuration.
- the reference point SP may be any feature that can contact the consumable part (claw 6a) of the excavation attachment, and may be, for example, one point on the surface of the vertical wall.
- reference point RP, the ground point P5, and the reference point SP are not necessarily actual points, and may be virtual points set optically, magnetically, or electrically.
- the coordinate acquisition unit 51 rotates any reference coordinate system based on the excavator so that the three axes of the reference coordinate system are aligned with the three axes of the world geodetic system.
- the coordinates in the world geodetic system corresponding to are derived.
- the coordinate acquisition unit 51 derives coordinates (latitude, longitude, altitude) in a global geodetic system such as the world geodetic system 1984, the Japanese geodetic system 2000, and the international earth reference coordinate system.
- the coordinate acquisition unit 51 may derive coordinates of a geodetic system in a narrower range such as a local coordinate system (regional coordinate system).
- the wear amount calculation unit 32 calculates the wear amount of the claw 6a of the bucket 6 regardless of whether or not the angle in the extending direction of the claw 6a with respect to the ground (horizontal plane) is known. However, when the angle of the extending direction of the claw 6a with respect to the ground (horizontal plane) is known, the wear amount calculation unit 32 can more easily calculate the wear amount of the claw 6a. For example, when information related to the shape of the bucket 6 is input in advance to the controller 30 through the input device D1 or the like, the controller 30 can control the angle in the extending direction of the claw 6a with respect to the ground (horizontal plane).
- the controller 30 determines that the extending direction of the claw 6a is perpendicular to the ground (horizontal plane) when the operator operates the excavation attachment to bring the claw 6a of the bucket 6 into contact with the ground (horizontal plane).
- the degree of opening and closing of the bucket 6 is automatically adjusted so that In this case, the controller 30 calculates the difference HD between the height of the bucket pin position P3A (Z coordinate value) and the height of the bucket pin position P3B (Z coordinate value) as the wear amount W, as shown in FIG. To do.
- Bucket pin position P3A is the bucket pin position when claw 6a is brought into perpendicular contact with the ground (horizontal plane) when the tip of claw 6a is not worn, and bucket pin position P3B is worn at the tip of claw 6a.
- the controller 30 can calculate the amount of wear of the claw 6a based only on the variation in the height of the bucket pin position when the claw 6a can be brought into contact with the ground (horizontal plane) vertically.
- Deviation calculation unit 53 ... Audio output processing unit 54 ... Display processing unit S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Airframe tilt sensor S5 ... Positioning sensor D1 ... Input device D2 ... Audio output device D3 ... Display device D4 ... Storage device
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Abstract
Description
Y4は0となる。バケット先端位置P4はXZ平面上に存在するためである。また、ブームフートピン位置P1が原点Oに対して相対的に不変であるため、ブーム角度β1が決まればアームピン位置P2の座標が一意に決まる。同様に、ブーム角度β1及びアーム角度β2が決まればバケットピン位置P3の座標が一意に決まり、ブーム角度β1、アーム角度β2、及びバケット角度β3が決まれば、バケット先端位置P4の座標が一意に決まる。
Claims (12)
- 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記上部旋回体に搭載され、先端に消耗部が取り付けられるアタッチメントと、
前記消耗部を所定地物に接触させたときに前記消耗部の座標を取得し、異なる条件の下で取得した少なくとも2つの座標に基づいて前記消耗部の摩耗量を算出するコントローラと、
を有するショベル。 - 前記コントローラは、
ショベルの位置とアタッチメントの姿勢とに基づいて前記アタッチメントの所定部位の座標を取得する座標取得部と、
異なる条件の下で取得した少なくとも2つの座標に基づいて前記消耗部の摩耗量を算出する摩耗量算出部と、を有する
請求項1に記載のショベル。 - 前記少なくとも2つの座標は、第1座標取得期間中に前記座標取得部が取得する座標と、第2座標取得期間中に前記座標取得部が取得する座標とを含む、
請求項2に記載のショベル。 - 前記少なくとも2つの座標は、第1座標取得期間中に前記消耗部の先端を所定位置に位置付けたときに前記座標取得部が取得する座標と、第2座標取得期間中に前記消耗部の先端を前記所定位置に位置付けたときに前記座標取得部が取得する座標とを含む、
請求項2に記載のショベル。 - 前記摩耗量算出部は、第1座標取得期間中に前記アタッチメントの非消耗部の所定部位を第1所定地物に接触させたときに前記座標取得部が取得する前記非消耗部の所定部位の座標と、第1座標取得期間中に前記消耗部を前記第1所定地物に接触させたときに前記座標取得部が取得する前記アタッチメントの所定部位の座標と、第2座標取得期間中に前記アタッチメントの前記非消耗部の所定部位を第2所定地物に接触させたときに前記座標取得部が取得する前記非消耗部の所定部位の座標と、第2座標取得期間中に前記消耗部を前記第2所定地物に接触させたときに前記座標取得部が取得する前記アタッチメントの所定部位の座標とに基づいて前記消耗部の摩耗量を算出する、
請求項2に記載のショベル。 - 前記少なくとも2つの座標は、前記アタッチメントが第1姿勢にあるときに前記座標取得部が取得する座標と、前記アタッチメントが前記第1姿勢とは異なる第2姿勢にあるときに前記座標取得部が取得する座標とを含む、
請求項2に記載のショベル。 - 前記摩耗量算出部は、前記第1姿勢で前記アタッチメントの非消耗部の所定部位を前記所定地物に接触させたときに前記座標取得部が取得する前記非消耗部の所定部位の座標と、前記第2姿勢で前記消耗部を前記所定地物に接触させたときに前記座標取得部が取得する前記アタッチメントの所定部位の座標とに基づいて前記消耗部の摩耗量を算出する、
請求項6に記載のショベル。 - 前記第1姿勢は少なくとも前記消耗部の姿勢の点で前記第2姿勢と異なる、
請求項6に記載のショベル。 - 下部走行体と、前記下部走行体に旋回可能に搭載された上部旋回体と、前記上部旋回体に搭載され、先端に消耗部が取り付けられるアタッチメントと、前記消耗部を所定地物に接触させたときに前記消耗部の座標を取得するコントローラとを有するショベルの制御方法であって、
前記コントローラは、異なる条件の下で取得した少なくとも2つの座標に基づいて前記消耗部の摩耗量を算出する、
ショベルの制御方法。 - 前記コントローラは、ショベルの位置とアタッチメントの姿勢とに基づいて前記アタッチメントの所定部位の座標を取得する、
請求項9に記載のショベルの制御方法。 - 前記少なくとも2つの座標は、第1座標取得期間中に取得された座標と、第2座標取得期間中に取得された座標とを含む、
請求項9に記載のショベルの制御方法。 - 前記少なくとも2つの座標は、第1座標取得期間中に前記消耗部の先端を所定位置に位置付けたときに取得された座標と、第2座標取得期間中に前記消耗部の先端を前記所定位置に位置付けたときに取得された座標とを含む、
請求項9に記載のショベルの制御方法。
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20190055099A (ko) | 2016-09-29 | 2019-05-22 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
US11001992B2 (en) | 2016-09-29 | 2021-05-11 | Sumitomo(S.H.I.) Construction Machinery Co., Ltd. | Shovel, display method, and mobile terminal |
WO2018164152A1 (ja) | 2017-03-07 | 2018-09-13 | 住友建機株式会社 | ショベル |
KR20190122662A (ko) | 2017-03-07 | 2019-10-30 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
US11519158B2 (en) | 2017-03-07 | 2022-12-06 | Sumitomo(S.H.I.) Construction Machinery Co., Ltd. | Shovel |
WO2019035427A1 (ja) | 2017-08-14 | 2019-02-21 | 住友建機株式会社 | ショベル、及び、ショベルと協働する支援装置 |
KR20200040695A (ko) | 2017-08-14 | 2020-04-20 | 스미토모 겐키 가부시키가이샤 | 쇼벨, 및 쇼벨과 협동하는 지원장치 |
US11566401B2 (en) | 2017-08-14 | 2023-01-31 | Sumitomo Construction Machinery Co., Ltd. | Shovel and assist device to work together with shovel |
Also Published As
Publication number | Publication date |
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JPWO2016098741A1 (ja) | 2017-09-28 |
JP6401296B2 (ja) | 2018-10-10 |
JP2018188958A (ja) | 2018-11-29 |
JP6728286B2 (ja) | 2020-07-22 |
CN107109825A (zh) | 2017-08-29 |
EP3235960A1 (en) | 2017-10-25 |
CN107109825B (zh) | 2020-05-05 |
KR20170095890A (ko) | 2017-08-23 |
KR102447168B1 (ko) | 2022-09-23 |
EP3235960A4 (en) | 2018-01-10 |
CN111441401B (zh) | 2022-06-07 |
US20170275854A1 (en) | 2017-09-28 |
US10584466B2 (en) | 2020-03-10 |
CN111441401A (zh) | 2020-07-24 |
EP3235960B1 (en) | 2019-11-13 |
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