WO2016148242A1 - ショベル - Google Patents
ショベル Download PDFInfo
- Publication number
- WO2016148242A1 WO2016148242A1 PCT/JP2016/058520 JP2016058520W WO2016148242A1 WO 2016148242 A1 WO2016148242 A1 WO 2016148242A1 JP 2016058520 W JP2016058520 W JP 2016058520W WO 2016148242 A1 WO2016148242 A1 WO 2016148242A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bucket
- guidance
- excavation target
- excavator
- excavation
- Prior art date
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- 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
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—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
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Definitions
- the present invention relates to an excavator having a machine guidance function.
- An operator of a shovel as a construction machine is required to have a skilled maneuvering technique in order to efficiently and accurately perform operations such as excavation by an attachment. Therefore, there is an excavator provided with a function (referred to as machine guidance) for guiding the excavator so that even a pilot who has little excavator experience can perform work efficiently and accurately.
- machine guidance a function for guiding the excavator so that even a pilot who has little excavator experience can perform work efficiently and accurately.
- a display system in which a section of a portion where excavation work is being performed and a excavation tool are displayed as images on a display device to visually guide the work (for example, Reference document 1).
- the excavation target line is displayed on a cross section of a portion to be excavated, and the position of the bucket with respect to the excavation target line is also displayed. For example, it can be confirmed on the display device whether the tip of the bucket is moving along the excavation target line.
- the extension line of the excavation target line is simply displayed by, for example, a dotted line.
- the guidance for notifying the portion where the inclination has changed by simply displaying and guiding one excavation target line and its extension line. Is not done.
- An object of one embodiment is to provide an excavator capable of performing guidance for proper operation even in a portion where a target excavation line is bent in a cross section.
- an excavator provided with a machine guidance device having a machine guidance function is provided.
- the machine guidance function is an area along the extension surface set in the extension direction of the excavation target surface, when the work part of the end attachment approaches within a predetermined distance to the excavation target surface, performs voice guidance and performs voice guidance In this case, when the work part of the end attachment approaches within a predetermined distance to the extended surface, a notification sound is emitted and voice guidance is performed.
- FIG. 1 is a side view of an excavator according to an embodiment.
- An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2.
- 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 slope bucket, a kite bucket, or the like may be used as an end attachment.
- the boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of the 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 6.
- the excavation attachment may be provided with a bucket tilt mechanism.
- the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as “attitude sensors”.
- the boom angle sensor S1 detects the rotation angle of the boom 4.
- the boom angle sensor S1 is an acceleration sensor that detects a tilt angle with respect to the horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3.
- the arm angle sensor S2 detects the rotation angle of the arm 5.
- the arm angle sensor S ⁇ b> 2 is an acceleration sensor that detects an inclination angle with respect to the horizontal plane and detects a rotation angle of the arm 5 with respect to the boom 4.
- the bucket angle sensor S3 detects the rotation angle of the bucket 6.
- the bucket angle sensor S3 is an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 by detecting an inclination with respect to the horizontal plane.
- the bucket angle sensor S3 When the excavation attachment includes a bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis.
- the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder that detects a rotation angle around a connecting pin. Etc.
- 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 is attached to the upper swing body 3.
- the body tilt sensor S4 is a sensor that detects the tilt of the upper swing body 3 with respect to the horizontal plane.
- the body tilt sensor S4 may be referred to as “attitude sensor”.
- an input device D1 In the cabin 10, an input device D1, an audio output device D2, a display device D3, a storage device D4, a gate lock lever D5, a controller 30, and a machine guidance device 50 are installed.
- the controller 30 functions as a main control unit that performs drive control of the excavator.
- the controller 30 includes an arithmetic processing device that includes a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.
- the machine guidance device 50 has a machine guidance function for guiding excavator operation.
- the machine guidance device 50 visually and audibly notifies the operator of the distance in the vertical direction between the surface of the target landform set by the operator and the tip (toe) position of the bucket 6, for example. .
- the machine guidance apparatus 50 guides the operation of the shovel 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 by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory.
- the machine guidance device 50 may be provided separately from the controller 30 or may be incorporated in the controller 30.
- the input device D1 is a device for an excavator operator to input various information to the machine guidance device 50.
- the input device D1 is a membrane switch attached to the surface of the display device D3.
- a touch panel or the like may be used as the input device D1.
- the audio output device D2 outputs various audio information in response to the audio output command from the machine guidance device 50.
- an in-vehicle speaker that is directly connected to the machine guidance device 50 is used as the audio output device D2.
- a reporting device such as a buzzer may be used as the audio output device D2.
- Display device D3 outputs various image information in response to a command from machine guidance device 50.
- an in-vehicle liquid crystal display directly connected to the machine guidance device 50 is used as the display device D3.
- Storage device D4 is a device for storing various information.
- a nonvolatile storage medium such as a semiconductor memory is used as the storage device D4.
- the storage device D4 stores various information output by the machine guidance device 50 and the like.
- the gate lock lever D5 is a mechanism that prevents the shovel from being operated accidentally.
- the gate lock lever D5 is disposed between the door of the cabin 10 and the driver's seat.
- the various operation devices can be operated.
- the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operation devices become inoperable.
- FIG. 2 is a block diagram showing the configuration of the drive system of the excavator shown 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 power source for the excavator.
- the engine 11 is a diesel engine that employs isochronous control that maintains the engine speed constant regardless of increase or decrease in engine load.
- the fuel injection amount, fuel injection timing, boost pressure and the like in the engine 11 are controlled by the engine controller D7.
- the engine controller D7 is a device that controls the engine 11.
- the engine controller D7 executes various functions such as an auto idle function and an auto idle stop function.
- the auto idle function is a function for reducing the engine speed from a normal speed (for example, 2000 rpm) to an idle speed (for example, 800 rpm) when a predetermined condition is satisfied.
- the engine controller D7 operates the auto idle function in response to the auto idle command from the controller 30 to reduce the engine speed to the idle speed.
- the auto idle stop function is a function that stops the engine 11 when a predetermined condition is satisfied.
- the engine controller D7 operates the auto idle stop function according to the auto idle stop command from the controller 30 to stop the engine 11.
- 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 includes a lever 26A, a lever 26B, and a pedal 26C.
- the operating device 26 is connected to the control valve 17 via the hydraulic line 27 and the gate lock valve D6.
- the operating device 26 is connected to a pressure sensor 29 via a hydraulic line 28.
- the gate lock valve D6 switches communication / interruption of the hydraulic line 27 connecting the control valve 17 and the operating device 26.
- the gate lock valve D ⁇ b> 6 is an electromagnetic valve that switches communication / blocking of the hydraulic line 27 in accordance with a command from the controller 30.
- the controller 30 determines the state of the gate lock lever D5 based on the state signal output from the gate lock lever D5. When the controller 30 determines that the gate lock lever D5 is in the raised state, the controller 30 outputs a communication command to the gate lock valve D6. When the communication command is received, the gate lock valve D6 is opened to connect the hydraulic line 27. As a result, the operator's operation on the operation device 26 becomes effective.
- the controller 30 determines that the gate lock lever D5 is in the lowered state, the controller 30 outputs a cutoff command to the gate lock valve D6.
- the shutoff command is received, the gate lock valve D6 is closed and the hydraulic line 27 is shut off. As a result, the operator's operation on the operation device 26 becomes invalid.
- the pressure sensor 29 detects the operation content of the operating device 26 in the form of pressure.
- the pressure sensor 29 outputs the detection value to the controller 30.
- FIG. 3 is a functional block diagram showing the configuration of the controller 30 and the machine guidance device 50.
- the controller 30 controls whether or not to perform guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, the controller 30 determines whether or not the excavator is at rest based on the state of the gate lock lever D5 and the detection signal from the pressure sensor 29 and the like. When the controller 30 determines that the excavator is at rest, it sends a guidance stop command to the machine guidance device 50 so as to stop the guidance by the machine guidance device 50.
- controller 30 may output a guidance stop command to the machine guidance device 50 when outputting an auto idle stop command to the engine controller D7.
- controller 30 may output a guidance stop command to the machine guidance device 50 when it is determined that the gate lock lever D5 is in a depressed state.
- the machine guidance device 50 receives various signals and data output from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the input device D1, and the controller 30. .
- the machine guidance device 50 calculates the actual operation position of the attachment (for example, the bucket 6) based on the received signal and data. Then, when the actual operation position of the attachment is different from the target operation position, the machine guidance device 50 transmits a notification command to the voice output device D2 and the display device D3 to issue a notification.
- the machine guidance device 50 and the controller 30 are communicably connected to each other through a CAN (Controller Area ⁇ Network).
- the machine guidance device 50 includes functional units that perform various functions.
- the machine guidance device 50 includes a height calculation unit 503, a comparison unit 504, a notification control unit 505, a guidance data output unit 506, and an extension line setting unit 507 as functional units for guiding an attachment operation. including.
- the height calculation unit 503 calculates the height of the tip (toe) of the bucket 6 from the angles of the boom 4, the arm 5 and the bucket 6 calculated from the detection signals of the sensors S1 to S4.
- the tip (toe) of the bucket 6 corresponds to the work site of the end attachment.
- the back surface of the bucket 6 corresponds to the work site of the end attachment.
- the tip of the breaker corresponds to the work site of the end attachment.
- the positioning device S5 is a device that measures the position and orientation of the excavator.
- the positioning device S5 is a GNSS receiver that incorporates an electronic compass, and measures the latitude, longitude, and altitude of the location of the shovel and measures the orientation of the shovel. Thereby, the latitude, longitude, and altitude of the height of the tip (toe) of the bucket 6 can also be measured.
- the comparison unit 504 calculates the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 and the target height of the tip (toe) of the bucket 6 indicated by the guidance data output from the guidance data output unit 506. Compare. When using GNSS, the comparison unit 504 calculates the coordinates of the calculated height, latitude, longitude, and altitude of the tip of the bucket 6, and the coordinates of the tip of the bucket 6 and the digging target lines TL1, TL2 Contrast with.
- the notification control unit 505 transmits a notification command to both or one of the voice output device D2 and the display device D3 when it is determined that notification is necessary based on the comparison result in the comparison unit 504.
- the voice output device D2 and the display device D3 receive the notification command, the voice output device D2 and the display device D3 issue a predetermined notification to notify the operator of the excavator.
- the guidance data output unit 506 extracts the target height data of the bucket 6 from the guidance data stored in advance in the storage device of the machine guidance device 50 and outputs the data to the comparison unit 504. .
- the excavation target lines TL ⁇ b> 1 and TL ⁇ b> 2 are set as the topographic data of the target topographic surface corresponding to the coordinates regarding the latitude, longitude, and altitude of the construction surface, and are output from the guidance data output unit 506. Further, the guidance data output unit 506 outputs data on the target height of the bucket corresponding to the inclination angle of the shovel detected by the machine body inclination sensor S4.
- the extension line setting unit 507 sets the extension line of the target excavation line in the data output from the guidance data output unit 506, and outputs the data including the extension line to the comparison unit 504.
- the coordinates of the extension line are also set based on the excavation target lines TL1 and TL2. The function of the extension line setting unit 507 will be described later.
- FIG. 4 is a diagram for explaining an example of guidance processing when guiding work by the bucket 6.
- An example of the guidance processing shown in FIG. 4 is guidance processing when the excavation target surface is bent.
- the bent excavation target surface is a target surface in excavation work in which the excavation surface moves from an inclined surface to a horizontal plane, for example.
- the excavation target line TL1 indicates an inclined excavation target surface
- the excavation target line TL2 indicates a horizontal excavation target surface.
- a portion where the excavation target line TL1 and the excavation target line TL2 intersect is referred to as a bending point B.
- the bending point B is not actually a point, but indicates a line of intersection of an inclined surface indicated by the excavation target line TL1 and a horizontal plane indicated by the excavation target line TL2.
- an extension line EL1 indicated by a thick dotted line is set in the extension direction of the excavation target line TL1.
- the extension line EL1 corresponds to a portion where the excavation target line TL1 extends beyond the bending point B.
- the extension line EL1 is set by the extension line setting unit 507 in the guidance data output from the guidance data output unit 506 shown in FIG. Note that the extension line EL1 may be included in advance in the guidance data included in the guidance data output unit 506.
- the extended line EL1 indicates the extended surface of the inclined surface indicated by the excavation target line TL1 as described above.
- the guidance process according to the present embodiment when the angle formed by the plurality of excavation target surfaces exceeds 180 ° C., guidance is executed based on the extended surface (bending point attention area) as shown in FIG. .
- the extended surface is also included in the inflection point attention area.
- only the inclined surface is the excavation target surface TL1, and the flat surface may not be excavated. Therefore, one surface forming the bent portion includes “not a surface to be excavated”.
- a display as shown in FIG. 4 is displayed on the screen of the display device (display guidance).
- display guidance when the tip of the bucket 6 is located within the predetermined distance d from the excavation target lines TL1 and TL2, a notification sound is generated and a notification is made to the operator (voice) guidance).
- the notification sound at this time is referred to as an “in-target notification sound”.
- the in-target notification sound is emitted continuously or intermittently when the tip of the bucket 6 is located within the predetermined distance d.
- the notification sound may be any sound that can be heard by the operator, and may be any sound such as a simple sound such as a buzzer sound or a horn sound, a synthesized sound generated by a computer, or a human voice.
- non-target notification sound a notification sound different from the notification sound within the target (hereinafter referred to as “non-target notification sound”) is generated. It may be done.
- the difference between the notification sound within the target and the notification sound outside the target may be any difference that can be distinguished. As such differences, there are various differences such as differences in timbre, pitch, and intermittent time.
- the same voice guidance as when moving along the excavation target line TL1 is performed even when the tip of the bucket 6 is moving along the extension line EL1.
- the notification sound within the target and the notification sound outside the target in this case are set to different notification sounds from the notification sound within the target and the notification sound outside the target that are generated when moving along the excavation target line TL1 (hereinafter referred to as the notification sound) , Referred to as "extension line target notification sound” and "extension line target notification sound”).
- the extension line in-target notification sound and the extension line out-of-target notification sound are set to be different from the in-target notification sound and the non-target notification sound.
- the difference in the notification sound there are various differences such as a difference in tone color, a difference in pitch, and a difference in intermittent time.
- the excavator operator can change the notification sound so that the tip of the bucket 6 is positioned along the extension line EL1. Can be easily recognized. Thereby, the operator of the shovel can easily recognize that the toe of the bucket 6 is located at the place where the bending point B has passed without looking at the guidance display screen. Can be recognized in the direction along the excavation target line TL2.
- the notification sound is either the in-target notification sound or the non-target notification sound. Changes to an extension line notification sound or an extension line non-target notification sound. Then, the operator moves the bucket 6 this time along the excavation target line TL2 (horizontal pulling operation).
- the toe of the bucket 6 when the toe of the bucket 6 is located in the vicinity of the bending point B (for example, the distance from the toe for one bucket 6 to the link portion (inside)), this is indicated.
- a notification sound may be emitted.
- the notification sound at this time is different from the in-target notification sound and the non-target notification sound (hereinafter referred to as “bending point notification sound”).
- the difference between the inflection point notification sound and other notification sounds in-target notification sound, non-target notification sound, extension line target notification sound, and extension line non-target notification sound
- there are various differences such as differences in timbre, pitch, and intermittent time.
- the excavator operator can easily recognize that the tip of the bucket 6 is located at the bending point B without looking at the machine guidance display screen. It is possible to recognize that the operation 6 is to be changed.
- the distance in the vicinity of the bending point B can be arbitrarily set on the screen.
- the notification sound is generated as an in-target notification sound or an out-of-target notification sound. It changes from the notification sound to the bending point notification sound. Then, the operator moves the bucket 6 this time along the excavation target line TL2 (horizontal pulling operation).
- the bending point notification sound is not emitted and normal voice guidance processing is performed. That is, when the toe of the bucket 6 passes the bending point B and then moves along the excavation target line TL2, when the toe of the bucket 6 is within the predetermined distance d from the excavation target line TL2, the in-target notification A sound is emitted and the operator is notified. In addition, when moving along the excavation target line TL2, if the distance from the excavation target line TL2 to the tip of the bucket 6 exceeds the predetermined distance d, a non-target notification sound is generated and the operator is notified.
- the guidance process described with reference to FIG. 5 is basically the same as the guidance process described with reference to FIG. 4 except that an extension line EL2 is set also for the excavation target line TL2. That is, in the guidance process described with reference to FIG. 5, the extension surface indicated by the extension line EL2 is also set for the horizontal plane indicated by the excavation target line TL2.
- the voice guidance as described above is performed even in the area along the extension line EL2. That is, even when the tip of the bucket 6 is moving along the extension line EL2, the same voice guidance as that when moving along the excavation target line TL2 is performed.
- the notification sound within the target and the notification sound outside the target in this case are set to a notification sound different from the notification sound within the target and the notification sound outside the target generated when moving along the excavation target line TL2 (hereinafter referred to as the notification sound).
- extension line target notification sound and "extension line target notification sound”
- the extension line in-target notification sound and the extension line out-of-target notification sound are set to be different from the in-target notification sound and the non-target notification sound.
- the difference in the notification sound there are various differences such as a difference in tone color, a difference in pitch, and a difference in intermittent time.
- the excavator operator performs the voice guidance as described above, so that the excavator operator changes the notification sound so that the toe of the bucket 6 moves the excavation target line. It is possible to easily recognize that the position is out of TL2 and is located along the extension line EL2. Thereby, the operator of the shovel can easily recognize that the toe of the bucket 6 is located at the place where the bending point B has passed without looking at the guidance display screen. Can be recognized to be returned to the portion corresponding to the excavation target line TL2.
- voice guidance for the extension line EL1 and voice guidance for the extension line EL2 may be performed at the same time. Therefore, it is desirable to determine in advance whether to give priority to the voice guidance for the extension line EL1 or the voice guidance for the extension line EL2 in consideration of the conditions of the excavation work.
- the guidance process described with reference to FIG. 6 is voice guidance in a portion that transitions from a horizontal plane to an inclined plane.
- the excavation operation is such that the bucket 6 is operated along the bent excavation target surface indicated by the excavation target line TL1 and the excavation target line TL2.
- the extension line EL1 of the excavation target line TL1 extends into the ground, and the part where the extension line EL1 extends is not the part to be excavated (that is, the toe of the bucket 6 is not the part to be advanced).
- the extension line EL2 of the excavation target line TL2 is also underground, and the part where the extension line EL2 extends is not the part to be excavated (that is, the toe of the bucket 6 is not the part to be advanced).
- the bending point B indicates a bent portion of the excavation target surface.
- the inflection point B intersects the excavation target plane indicated by the excavation target line TL1 and the excavation target plane indicated by the excavation target line TL2. It will show the crossing part.
- the voice guidance along the extension lines EL1, EL2 is not performed. Instead, when the toe of the bucket 6 enters an area near the bending point B where the excavation target line TL1 and the excavation target line TL2 intersect, as described with reference to FIG. I do.
- the region in the vicinity of the bending point B is a region indicated by a sector (arc) CR that is an equidistant range from the bending point B.
- the area in the vicinity of the bending point B is not limited to the fan-shaped (arc) CR, but may be a diamond DA formed by the excavation target line TL1 and the excavation target line TL2 extending from the bending point B.
- the region indicated by the symbol CR (DA) in FIG. 6 is also referred to as a “bending point attention region”.
- the guidance processing according to the present embodiment when the angle formed by the plurality of excavation target surfaces is less than 180 ° C., the guidance is based on the bending point attention area formed in the vicinity of the bending portion as shown in FIG. Is executed. Further, only the inclined surface is the excavation target surface TL1, and the flat surface may not be excavated. Therefore, one surface forming the bent portion includes “not a surface to be excavated”.
- the notification sound is generated. It changes from a whistleblower sound or a non-target whistle sound to an inflection point sound. Then, the operator moves the bucket 6 this time along the excavation target line TL2 (horizontal pulling operation).
- the inflection point notification sound is not emitted and normal voice guidance processing is performed. That is, when the tip of the bucket 6 passes along the area indicated by the fan-shaped (arc) CR and moves along the excavation target line TL2, the toe of the bucket 6 is within a predetermined distance from the excavation target line TL2. At some point, an in-target notification sound is emitted and the operator is notified. Further, when moving along the excavation target line TL2, if the distance from the excavation target line TL2 to the tip of the bucket 6 exceeds a predetermined distance, a non-target notification sound is generated and the operator is notified. .
- the extension lines EL1 and EL2 are set by the extension line setting unit 507.
- the extension line setting unit 507 determines whether or not the extension lines EL1 and EL2 extend into the ground. When it is determined that the extension lines EL1 and EL2 extend into the ground, the extension line setting unit 507 sends information indicating that to the notification control unit 505. And the report control part 505 does not perform audio
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
一実施形態は、断面における掘削目標線が屈曲した部分においても、適格な操作のガイダンスを行なうことのできるショベルを提供することを目的とする。
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
14 メインポンプ
15パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
26 操作装置
29 圧力センサ
30 コントローラ
50 マシンガイダンス装置
503 高さ算出部
504 比較部
505 通報制御部
506 ガイダンスデータ出力部
507 延長線設定部
S1 ブーム角度センサ
S2 アーム角度センサ
S3 バケット角度センサ
S4 機体傾斜センサ
D1 入力装置
D2 音声出力装置
D3 表示装置
D4 記憶装置
D5 ゲートロックレバー
D6 ゲートロック弁
D7 エンジンコントローラ
Claims (7)
- マシンガイダンス機能を有するマシンガイダンス装置を備えるショベルであって、
該マシンガイダンス機能は、
エンドアタッチメントの作業部位が掘削目標面まで所定の距離以内に近づくと、通報音を発して音声ガイダンスを行い、
前記掘削目標面の延長方向に設定した延長面に沿った領域においても、エンドアタッチメントの作業部位が該延長面まで所定の距離以内に近づくと、通報音を発して音声ガイダンスを行う、ショベル。 - 請求項1記載のショベルであって、
前記掘削目標面に関する通報音は、前記延長面に関する通報音とは異なる音であるショベル。 - 請求項1記載のショベルであって、
前記掘削目標面に対して傾斜したもう一つの掘削目標面が交差しており、該もう一つの掘削目標面にも延長面が設定され、前記マシンガイダンス機能は、どちらの延長面に基づいて音声ガイダンスを行なうかを判断するショベル。 - マシンガイダンス機能を有するマシンガイダンス装置を備えるショベルであって、
該マシンガイダンス機能は、バケットの爪先が掘削目標面の屈曲部の近傍になると、マシンガイダンスを行なう、ショベル。 - 請求項4記載のショベルであって、バケットの爪先が掘削目標面の屈曲部の近傍になると、屈曲部であることを通知する音声ガイダンスを行なうショベル。
- 請求項4記載のショベルであって、
一つの掘削目標面と他の掘削目標面とが交差する交差部にバケットの先端が近づくと、交差部であることを通知する音声ガイダンスを行なうショベル。 - 請求項6記載のショベルであって、
バケットの爪先が、前記屈曲部又は前記交差部に形成される所定の領域内に進入すると、屈曲部又は交差部であることを通知するショベル。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017506611A JP6513787B2 (ja) | 2015-03-19 | 2016-03-17 | ショベル |
KR1020177027083A KR20170129161A (ko) | 2015-03-19 | 2016-03-17 | 쇼벨 |
EP16765071.2A EP3272951A4 (en) | 2015-03-19 | 2016-03-17 | Excavator |
CN201680016681.8A CN107407077B (zh) | 2015-03-19 | 2016-03-17 | 挖土机 |
US15/705,410 US10202742B2 (en) | 2015-03-19 | 2017-09-15 | Excavator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015056871 | 2015-03-19 | ||
JP2015-056871 | 2015-03-19 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/705,410 Continuation US10202742B2 (en) | 2015-03-19 | 2017-09-15 | Excavator |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016148242A1 true WO2016148242A1 (ja) | 2016-09-22 |
Family
ID=56919140
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/058520 WO2016148242A1 (ja) | 2015-03-19 | 2016-03-17 | ショベル |
Country Status (6)
Country | Link |
---|---|
US (1) | US10202742B2 (ja) |
EP (1) | EP3272951A4 (ja) |
JP (1) | JP6513787B2 (ja) |
KR (1) | KR20170129161A (ja) |
CN (1) | CN107407077B (ja) |
WO (1) | WO2016148242A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106460363B (zh) * | 2016-05-31 | 2019-11-08 | 株式会社小松制作所 | 作业机械的控制系统、作业机械以及作业机械的控制方法 |
DE112016000202B4 (de) * | 2016-11-09 | 2022-01-20 | Komatsu Ltd. | Arbeitsfahrzeug und Verfahren zum Steuern von Arbeitsfahrzeug |
JP7315333B2 (ja) * | 2019-01-31 | 2023-07-26 | 株式会社小松製作所 | 建設機械の制御システム、及び建設機械の制御方法 |
JP7197392B2 (ja) * | 2019-02-01 | 2022-12-27 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
JP7025366B2 (ja) * | 2019-03-26 | 2022-02-24 | 日立建機株式会社 | 作業機械 |
JP7142151B2 (ja) * | 2019-03-26 | 2022-09-26 | 日立建機株式会社 | 作業機械 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012172425A (ja) * | 2011-02-22 | 2012-09-10 | Komatsu Ltd | 油圧ショベルの表示システム及びその制御方法 |
JP2012172431A (ja) * | 2011-02-22 | 2012-09-10 | Komatsu Ltd | 油圧ショベルの表示システム及びその制御方法 |
JP2014205955A (ja) * | 2013-04-10 | 2014-10-30 | 株式会社小松製作所 | 掘削機械の施工管理装置、油圧ショベルの施工管理装置、掘削機械及び施工管理システム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8548689B2 (en) * | 2010-11-23 | 2013-10-01 | Caterpillar Inc. | Implement induced machine pitch detection |
US9043098B2 (en) * | 2012-10-05 | 2015-05-26 | Komatsu Ltd. | Display system of excavating machine and excavating machine |
JP5781668B2 (ja) | 2014-05-30 | 2015-09-24 | 株式会社小松製作所 | 油圧ショベルの表示システム |
-
2016
- 2016-03-17 WO PCT/JP2016/058520 patent/WO2016148242A1/ja active Application Filing
- 2016-03-17 CN CN201680016681.8A patent/CN107407077B/zh active Active
- 2016-03-17 EP EP16765071.2A patent/EP3272951A4/en not_active Withdrawn
- 2016-03-17 KR KR1020177027083A patent/KR20170129161A/ko not_active Application Discontinuation
- 2016-03-17 JP JP2017506611A patent/JP6513787B2/ja active Active
-
2017
- 2017-09-15 US US15/705,410 patent/US10202742B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012172425A (ja) * | 2011-02-22 | 2012-09-10 | Komatsu Ltd | 油圧ショベルの表示システム及びその制御方法 |
JP2012172431A (ja) * | 2011-02-22 | 2012-09-10 | Komatsu Ltd | 油圧ショベルの表示システム及びその制御方法 |
JP2014205955A (ja) * | 2013-04-10 | 2014-10-30 | 株式会社小松製作所 | 掘削機械の施工管理装置、油圧ショベルの施工管理装置、掘削機械及び施工管理システム |
Non-Patent Citations (1)
Title |
---|
See also references of EP3272951A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP3272951A4 (en) | 2018-03-21 |
KR20170129161A (ko) | 2017-11-24 |
US10202742B2 (en) | 2019-02-12 |
JPWO2016148242A1 (ja) | 2018-01-11 |
CN107407077B (zh) | 2021-07-27 |
JP6513787B2 (ja) | 2019-05-15 |
CN107407077A (zh) | 2017-11-28 |
EP3272951A1 (en) | 2018-01-24 |
US20180002900A1 (en) | 2018-01-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7242462B2 (ja) | ショベル及びショベルの表示装置 | |
WO2016148242A1 (ja) | ショベル | |
JP6915000B2 (ja) | ショベル | |
EP3399109B1 (en) | Excavator | |
JP5706051B1 (ja) | 作業車両 | |
US10100497B2 (en) | Shovel | |
JP6672313B2 (ja) | ショベル | |
JP6615473B2 (ja) | ショベル | |
WO2019124520A1 (ja) | 作業機械 | |
US20220205225A1 (en) | Shovel, display device for shovel, and control device for shovel |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16765071 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2017506611 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20177027083 Country of ref document: KR Kind code of ref document: A |
|
REEP | Request for entry into the european phase |
Ref document number: 2016765071 Country of ref document: EP |