WO2022064813A1 - 作業エリア設定システム、および作業対象物検出システム - Google Patents
作業エリア設定システム、および作業対象物検出システム Download PDFInfo
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- WO2022064813A1 WO2022064813A1 PCT/JP2021/025905 JP2021025905W WO2022064813A1 WO 2022064813 A1 WO2022064813 A1 WO 2022064813A1 JP 2021025905 W JP2021025905 W JP 2021025905W WO 2022064813 A1 WO2022064813 A1 WO 2022064813A1
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- area
- height
- work area
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- 238000001514 detection method Methods 0.000 title claims description 34
- 238000005259 measurement Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 239000004576 sand Substances 0.000 description 82
- 238000009412 basement excavation Methods 0.000 description 55
- 210000000078 claw Anatomy 0.000 description 18
- 239000013049 sediment Substances 0.000 description 14
- 230000000694 effects Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- 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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Definitions
- the present invention relates to a work area setting system and a work object detection system.
- Patent Document 1 describes the distance from the wheel loader to the ground to be excavated, or the rest angle of the ground, as measured data of a three-dimensional measuring device. The technique to calculate based on is described.
- An object of the present invention is to provide a work area setting system for facilitating automatic operation control of a work machine.
- the work area setting system is provided with an area setting unit for setting a work area within a predetermined range in which work objects to be worked by the work machine are stacked.
- FIG. 1 is a diagram corresponding to FIG. 1 of the second embodiment.
- FIG. 3 is a diagram corresponding to FIG. 3 of the second embodiment.
- 9 is a view taken along the line F10-F10 in FIG.
- FIG. 4 is a diagram corresponding to FIG. 4 of the second embodiment. It is a flowchart of setting such as the work area shown in FIG. 9 and the work initial height shown in FIG. It is a flowchart which shows the process by the controller shown in FIG.
- the hydraulic excavator 1 is a machine that works with the attachment 4.
- the hydraulic excavator 1 includes a lower traveling body 2, an upper turning body 3, an attachment 4, a turning angle sensor 16, and an inclination angle sensor 20.
- the lower traveling body 2 is a portion for traveling the hydraulic excavator 1 and has a crawler 5.
- the upper swivel body 3 is mounted on the lower traveling body 2 so as to be swivelable via the swivel device 6.
- the upper swivel body 3 includes a cab 7.
- the cab 7 is a driver's cab provided in the front portion of the upper swivel body 3.
- the attachment 4 is attached to the upper swing body 3 so as to be rotatable in the vertical direction.
- the attachment 4 has a boom 10, an arm 11, and a bucket 12.
- the base end portion of the boom 10 is attached to the upper swing body 3.
- the base end portion of the arm 11 is attached to the tip end portion of the boom 10.
- the bucket 12 is attached to the tip of the arm 11.
- the bucket 12 is provided at the tip of the attachment 4 and performs work such as excavation, leveling, and scooping of a work object such as a sediment mountain 100.
- the boom 10, arm 11, and bucket 12 are driven by the boom cylinder 13, arm cylinder 14, and bucket cylinder 15, respectively.
- the boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 are all hydraulic actuators.
- the boom cylinder 13 drives the boom 10 in the up direction and the down direction by the expansion and contraction of the boom cylinder 13.
- the turning angle sensor 16 detects the turning angle of the upper turning body 3 with respect to the lower traveling body 2.
- the turning angle sensor 16 for example, an encoder, a resolver, or a gyro sensor is used.
- the tilt angle sensor 20 detects the posture of the attachment 4.
- the tilt angle sensor 20 includes a boom tilt angle sensor 17, an arm tilt angle sensor 18, and a bucket tilt angle sensor 19.
- the boom tilt angle sensor 17 detects the posture of the boom 10.
- the boom tilt angle sensor 17 is a sensor that acquires the tilt angle of the boom 10 with respect to the horizon.
- the boom tilt angle sensor 17 is attached to the boom 10.
- a tilt sensor or an acceleration sensor is used as the boom tilt angle sensor 17, for example, a tilt sensor or an acceleration sensor is used.
- the boom tilt angle sensor 17 may detect the posture of the boom 10 by detecting the rotation angle of the boom foot pin 10a (boom base end portion). Further, the boom tilt angle sensor 17 may detect the posture of the boom 10 by detecting the stroke amount of the boom cylinder 13.
- the arm tilt angle sensor 18 detects the posture of the arm 11.
- the arm tilt angle sensor 18 is a sensor that acquires the tilt angle of the arm 11 with respect to the horizon.
- the arm tilt angle sensor 18 is attached to the arm 11.
- a tilt sensor or an acceleration sensor is used as the arm tilt angle sensor 18, for example, a tilt sensor or an acceleration sensor is used.
- the arm tilt angle sensor 18 may detect the posture of the arm 11 by detecting the rotation angle of the arm connecting pin 11a (arm base end portion). Further, the arm tilt angle sensor 18 may detect the posture of the arm 11 by detecting the stroke amount of the arm cylinder 14.
- the bucket tilt angle sensor 19 detects the posture of the bucket 12.
- the bucket tilt angle sensor 19 is a sensor that acquires the tilt angle of the bucket 12 with respect to the horizon.
- the bucket tilt angle sensor 19 is attached to the link member 21 for driving the bucket 12.
- a tilt sensor or an acceleration sensor is used as the bucket tilt angle sensor 19, for example, a tilt sensor or an acceleration sensor is used.
- the bucket tilt angle sensor 19 may detect the posture of the bucket 12 by detecting the rotation angle of the bucket connecting pin 12a (bucket base end portion). Further, the bucket tilt angle sensor 19 may detect the posture of the bucket 12 by detecting the stroke amount of the bucket cylinder 15.
- the hydraulic excavator 1 includes a work object detection system.
- the work object detection system includes a three-dimensional measuring device 9 and a controller 8.
- the three-dimensional measuring device 9 is an image pickup device that acquires data of the earth and sand mountain 100 (working object) and data around the earth and sand mountain 100.
- the three-dimensional measuring device 9 is attached to the hydraulic excavator 1, but may not be attached to the hydraulic excavator 1.
- the three-dimensional measuring device 9 may be installed at a position where the work object can be imaged, such as around a place where the work object is piled up.
- a lidar LiDAR; Light Detection and Ringing
- a laser radar a millimeter wave radar
- a stereo camera a stereo camera
- a combination of a rider and a camera may be used.
- the mobile terminal 29 shown in FIG. 2 is a terminal operated by a worker at the work site.
- the mobile terminal 29 is, for example, a tablet terminal or the like.
- the mobile terminal 29 can communicate with each other with the hydraulic excavator 1.
- the controller 8 may be arranged outside the hydraulic excavator 1, or may be mounted on the hydraulic excavator 1 as shown in FIG.
- the controller 8 includes a control controller 22 and a detection controller 23.
- the control controller 22 has an area setting unit 24, a work target area determination unit 25, and a position determination unit 30 via the attach tip.
- the detection controller 23 has a data receiving unit 27 and a calculation unit 28.
- the area setting unit 24 is for setting (determining) the work area 50 (see FIGS. 2 and 3).
- the work area 50 is a predetermined range in which the earth and sand pile 100 to be worked by the hydraulic excavator 1 is piled up.
- the area setting unit 24 constitutes a work area setting system.
- the area setting unit 24, the three-dimensional measuring device 9, and the calculation unit 28 constitute a work object detection system.
- the work target area determination unit 25 is for determining an area containing a work target. For example, the work target area determination unit 25 determines the sediment mountain range (described later) calculated by the calculation unit 28.
- FIGS. 2 and 3 show a three-dimensional coordinate system based on the hydraulic excavator 1.
- the direction from the hydraulic excavator 1 to the work area 50 is the X-axis direction (X-axis).
- the Y-axis is an axis in the direction perpendicular to the X-axis in the horizontal plane.
- the Z-axis is an axis perpendicular to both the X-axis and the Y-axis.
- the Z-axis is an axis that faces in the vertical direction.
- the Z-axis direction is a vertically upward direction.
- the setting procedure of the work area 50 shown in FIG. 2 will be described with reference to FIGS. 2, 4 and the like.
- An operator for example, an operator of the hydraulic excavator 1 teaches (teaching) the work area 50 as follows, for example.
- the operator of the hydraulic excavator 1 designates points A and C for specifying the boundary between the work area 50 and the outside of the area. Specifically, the operator of the hydraulic excavator 1 places the tip of the attachment 4 (the tip of the claw of the bucket 12, for example, the central portion in the width direction of the tip of the claw of the bucket 12) at points A and C on the ground G. For example, the operator of the hydraulic excavator 1 makes this designation according to the instruction from the mobile terminal 29 (the same applies to the teaching described later other than the teaching at points A and C).
- the area setting unit 24 (see FIG. 4) is based on signals from the swivel angle sensor 16 and the tilt angle sensor 20 (boom tilt angle sensor 17, arm tilt angle sensor 18, bucket tilt angle sensor 19) shown in FIG. 1, FIG.
- the coordinates of each of the points A and C shown in the above are calculated.
- the point at which the coordinates are calculated based on the above signal is the same as for the teaching described later other than the teaching at points A and C.
- Specific examples of teaching are as follows.
- the operator operates the attachment 4 and moves the tip of the attachment 4 (the tip of the claw of the bucket 12) to a position to be set as the point A. Then, the operator presses, for example, the enter button of the mobile terminal 29.
- the area setting unit 24 (see FIG.
- the coordinates of the remaining two points B and D that specify the work area 50 are determined from the coordinates of the points A and C.
- the area setting unit 24 (see FIG. 4) determines points B and D from points A and C. When all the coordinates of points A to D are determined, the area setting unit 24 sets (determines) and stores the work area 50.
- Point A is the point (first point) on the side closer to the hydraulic excavator 1 of the two places where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed.
- Point C is the point (second point) on the side farther from the hydraulic excavator 1 of the two places where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed.
- Points A and C are points located diagonally to the rectangular work area 50 in a plan view. For example, when the upper swivel body 3 is arranged so as to face the midpoint between the point A and the point C, the front-rear direction of the upper swivel body 3 is the two sides (opposing each other) of the rectangular work area 50 in a plan view.
- the width direction of the upper swivel body 3 at this time is the direction in which the remaining two sides (specifically, the line segment AD and the line segment BC) of the rectangular work area 50 extend in the plan view.
- the two-dimensional coordinates of point A be A (XA, YA)
- the two-dimensional coordinates of point C be C (XC, YC).
- the two-dimensional coordinates of points B and D are B (XC, YA) and D (XA, YC), respectively, from the two-dimensional coordinates of points A and C.
- the area setting unit 24 uses the points (points A and C) where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed as a point for specifying the boundary of the work area 50 with the outside of the area.
- the area setting unit 24 stores the points (points B and D) determined by the points A and C as points for specifying the boundary of the work area 50 with the outside of the area.
- the point for specifying the work area 50 is determined by the actual operation of the worker. Therefore, the worker can grasp the work area 50.
- the area setting unit 24 shown in FIG. 4 transmits the coordinate data of the points A (see FIG. 2) and the point C (see FIG. 2) to the data receiving unit 27 of the detection controller 23.
- the data receiving unit 27 passes the coordinate data of the points A and C to the calculation unit 28.
- the tip of the attachment 4 (the tip of the claw of the bucket 12) shown in FIG. 2 is placed at two points on the ground G, point A and point C, and the coordinates of points A, B, C, and D are set. Desired.
- the work area 50 may be set (determined) by placing the tip of the attachment 4 (the tip of the claw of the bucket 12) at all points A, B, C, and D on the ground G. ..
- the area setting unit 24 shown in FIG. 4 does not have to be provided in the control controller 22.
- the coordinates of points A to D may be calculated at a place other than the control controller 22 (see FIG. 2), and the result may be transmitted to the control controller 22 (see FIG. 2).
- D the operation of the hydraulic excavator 1 can be reduced.
- the operator for example, the operator of the hydraulic excavator 1 teaches (teaches) the target trajectory of the tip of the attachment 4 as follows, for example.
- the operator of the hydraulic excavator 1 designates the lifting and turning start point P1.
- the lifting and turning start point P1 is the position (starting point) of the tip of the attachment 4 (the tip of the claw of the bucket 12) when the bucket 12 lifted by scooping up the earth and sand leaves the work area 50.
- the point P1 is a point through which the tip of the attachment 4 passes.
- the lifting and turning start point P1 is set on the line segment CD that specifies the work area 50, for example, in a plan view.
- the lifting turn start point P1 is above the ground G.
- the lifting turn start point P1 is above the line segment CD.
- the lifting turn start point P1 is above the boundary of the work area 50 with the outside of the area in a plan view.
- the tip of the attachment 4 moves from the inside of the work area 50 to the outside of the work area 50 at the lifting turn start point P1. Determine the waypoint to go through.
- the operator of the hydraulic excavator 1 teaches the locus from the lifting turning start point P1 to the lifting turning end point P2 (described later).
- the controller 8 continuously always continuously performs the turning angle sensor 16 and the tilt angle sensor 20 (boom tilt angle sensor 17, arm tilt) shown in FIG.
- the signal data (angle data) of the angle sensor 18 and the bucket tilt angle sensor 19) are recorded.
- the point at which signal data is continuously recorded is the same for teaching the locus from the return turn start point P3 to the return turn end point P4.
- the operator of the hydraulic excavator 1 designates the lifting turn end point P2 shown in FIG.
- the lifting turn end point P2 is the position (point) of the tip of the attachment 4 when the bucket 12 containing the earth and sand reaches above the earth removal place.
- the lifting turn end point P2 is a point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.
- the above-mentioned "earth and sand removal place” is, for example, a loading platform of a transportation vehicle for transporting earth and sand.
- the operator of the hydraulic excavator 1 designates the return turning start point P3 shown in FIG.
- the return turning start point P3 is the position (start point) of the tip of the attachment 4 (the tip of the claw of the bucket 12) when the bucket 12 from which the earth and sand have been discharged leaves the soil discharge place.
- the point P3 is a point through which the tip of the attachment 4 passes.
- the operator of the hydraulic excavator 1 teaches the trajectory from the return turning start point P3 to the return turning end point P4 (described later).
- the operator of the hydraulic excavator 1 designates the return turning end point P4.
- the return turning end point P4 is the position (point) of the tip of the attachment 4 (the tip of the claw of the bucket 12) when the bucket 12 from which the earth and sand have been discharged reaches the work area 50.
- the point P4 is a point through which the tip of the attachment 4 passes.
- the return turn end point P4 is, for example, on the line segment CD that specifies the work area 50 in a plan view.
- the return turn end point P4 is above the ground G.
- the return turning end point P4 is above the line segment CD.
- the return turning end point P4 is above the boundary of the work area 50 with the outside of the area in a plan view.
- the tip of the attachment 4 moves from outside the area of the work area 50 to the inside of the work area 50 at the return turning end point P4. Determine the waypoint to go through.
- the attach tip via position determination unit 30 may determine only one of the lifting turn start point P1 and the return turn end point P4 as the above way point.
- the data receiving unit 27 receives the coordinate data of the points A and C shown in FIG. 3 from the area setting unit 24 (see FIG. 4) (displayed as S1 in steps 1 and 5, and other steps. The same applies to).
- the calculation unit 28 determines the work area 50 specified by the points A to D based on the coordinate data of the points A and C shown in FIG. 3 (S2).
- the three-dimensional measuring device 9 acquires the point cloud data of the earth and sand mountain 100 (see FIG. 1) and its surroundings.
- the data receiving unit 27 receives the point cloud data acquired by the three-dimensional measuring device 9 (see FIG. 1) (S3).
- the data receiving unit 27 stores the received point cloud data (S4).
- the calculation unit 28 extracts the stored point cloud data and the coordinate data of the points A and C from the data reception unit 27 (S5).
- the calculation unit 28 determines the position of the earth and sand mountain 100 (see FIG. 1) existing in the work area 50 from the point cloud data (measurement data acquired by the three-dimensional measuring device 9 (see FIG. 1)). Three-dimensional information about the range and the shape is calculated (S6). Specifically, for example, the calculation unit 28 calculates the sediment mountain range, which is three-dimensional information, so as to include the point cloud data of the sediment mountain 100.
- the actual shape of the earth and sand mountain 100 illustrated in FIG. 1 is a conical shape.
- the calculation unit 28 calculates the sediment mountain range of the three-dimensional information so as to include the cone-shaped sediment mountain 100.
- the shape of the earth and sand mountain range of the three-dimensional information specified by the points a, b, c, d, and e shown in FIG. 3 is a quadrangular pyramid shape.
- the three-dimensional information includes the three-dimensional coordinates of the points a, b, c, d, and e. Areas including the bottom of the sediment mountain 100 (see FIG.
- the calculation unit 28 may calculate a sediment mountain range such as an octagonal pyramid shape so as to include the cone-shaped sediment mountain 100.
- the calculation unit 28 transfers the calculated three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 (see FIG. 1) to the work target area determination unit 25 (see FIG. 4) of the control controller 22 (see FIG. 4). 4) is transmitted (S7). This completes the detection of the earth and sand mountain 100 (see FIG. 1).
- the calculation of the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 is performed each time the attachment 4 (bucket 12) excavates the earth and sand mountain 100 (see FIG. 1) once.
- the above three-dimensional information is also calculated when the work of the earth and sand mountain 100 is completed and the work of another earth and sand mountain 100 is performed.
- the automatic operation control of the hydraulic excavator 1 and the like can be performed. In, it is easy to identify the earth and sand mountain 100 to be excavated. Since it is easy to identify the earth and sand mountain 100, it is easy to perform the calculation in the calculation unit 28 (see FIG. 4). Therefore, the automatic operation control of the hydraulic excavator 1 can be easily performed. Further, it is possible to prevent erroneous detection when there is another earth and sand mountain outside the work area 50 (described later).
- the excavation start point P5 shown in FIG. 3 indicates an excavation start point (work start position).
- the excavation start point P5 is a point at which excavation is started at the attachment 4 (bucket 12).
- the work target area determination unit 25 has a work position determination unit 26 (see FIG. 4).
- the work position determination unit 26 determines the excavation start point P5 in the work object based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 4). According to this, in the automatic operation of the hydraulic excavator 1, an appropriate excavation position can be automatically determined.
- the excavation start point P5 is aligned with the point c in the plan view.
- the attachment 4 (bucket 12) is moved from the return turning start point P3 shown in FIG. 2 to the return turning end point P4, and then moved from the return turning end point P4 to the excavation start point P5 (see FIG. 3).
- the excavation start point P5 changes each time according to the excavation status of the earth and sand mountain 100 (see FIG. 1).
- the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 does not change according to the excavation condition of the earth and sand mountain 100. Therefore, it is not necessary to correct the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 due to the change in the excavation condition of the earth and sand mountain 100.
- a work area 50 within a predetermined range in which the earth and sand pile 100 (see FIG. 1) is piled up is set. Therefore, the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 and the locus of the attachment 4 (bucket 12) from the return turn end point P4 to the excavation start point P5 (see FIG. 3). It can be divided into and (area division). As a result, even if the condition of the earth and sand mountain 100 (see FIG. 1) changes due to excavation or the like, it is not necessary to correct the trajectory of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4. Therefore, it is possible to facilitate automatic operation control of the hydraulic excavator 1.
- the above-mentioned action and effect can be more reliably obtained by the presence of the position-determining unit 30 via the attach tip (see FIG. 4).
- the attachment tip via position determining unit 30 may determine the transit point through which the tip of the attachment 4 of the hydraulic excavator 1 moves from outside the area of the work area 50 to the inside of the area.
- the attachment tip via position determining unit 30 may determine the transit point through which the tip of the attachment 4 of the hydraulic excavator 1 moves from the inside of the work area 50 to the outside of the area.
- the transit point (for example, at least one of the lifting turn start point P1 and the return turn end point P4) is determined on the boundary with the outside of the work area 50 in a plan view. Therefore, the area division of the locus of the attachment 4 (bucket 12) becomes clear, and the operator can perform the work with peace of mind.
- the locus region between the lifting and turning start point P1 and the lifting and turning end point P2 is a region where the teaching (teaching) instruction is prioritized. It is safe for the operator because the trajectory of the attachment 4 in the area where the teaching (teaching) instruction is prioritized is secured and the operator can easily grasp it.
- the locus region between the return turn start point P3 and the return turn end point P4 is a region in which the teaching (teaching) instruction is prioritized. It is safe for the operator because the trajectory of the attachment 4 in the area where the teaching (teaching) instruction is prioritized is secured and the operator can easily grasp it.
- 6 and 7 show calculation processing of three-dimensional information regarding the position, range, and shape of the sediment mountain 100 when the sediment mountain 100 exists outside the area of the work area 50 and the work area 50. It is a top view for demonstrating.
- the calculation unit 28 positions only the portion of the earth and sand mine 100 that exists in the work area 50. , Range, and shape 3D information is calculated.
- the earth and sand mountain 100 exists across the line segment CD connecting the point C and the point D that specify the work area 50.
- the calculation unit 28 calculates the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100, the point cloud data of the portion existing outside the area of the work area 50 of the earth and sand mountain 100. Is not used.
- the calculation unit 28 calculates three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 using only the point cloud data in the work area 50.
- the points c and d are located on the line segment CD that specifies the work area 50 in a plan view.
- the earth and sand mountain 100 exists across the line segment BC connecting the point B and the point C that specify the work area 50.
- the calculation unit 28 uses only the point cloud data in the work area 50 to calculate the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100, and the position of the earth and sand mountain 100. , Range, and shape 3D information is calculated.
- the points b and c are located on the line segment BC that specifies the work area 50 in a plan view.
- the work area setting system of the present embodiment includes an area setting unit 24 (see FIG. 4).
- the area setting unit 24 is for setting the work area 50 (see FIG. 3).
- the work area 50 is a predetermined range in which the earth and sand pile 100 (working object) to be worked by the hydraulic excavator 1 (working machine) shown in FIG. 1 is piled up.
- the area setting unit 24 sets the work area 50 shown in FIG. Therefore, in the automatic operation control of the hydraulic excavator 1, it is possible to easily identify the earth and sand mountain 100 to be excavated. Since the earth and sand mountain 100 can be easily identified, for example, the calculation in the calculation unit 28 (see FIG. 4) can be easily performed. Therefore, it is possible to facilitate automatic operation control of the hydraulic excavator 1. Further, it is possible to prevent erroneous detection when there is another earth and sand mountain outside the work area 50.
- the area setting unit 24 uses the area (for example, points A and C) where the tip of the attachment 4 of the hydraulic excavator 1 (the tip of the claw of the bucket 12) is placed as the area of the work area 50. It is a point to specify the boundary with the outside.
- the work area 50 is rectangular in a plan view.
- the load of calculation on the work area 50 is reduced as compared with the case where the work area 50 has a complicated shape other than a rectangle (for example, a polygon other than a rectangle, a circle, an ellipse, etc.) in a plan view. can do.
- a complicated shape other than a rectangle for example, a polygon other than a rectangle, a circle, an ellipse, etc.
- the remaining two points (point B and point D) are determined from the first point (for example, point A) and the second point (for example, point C) where the tip of the attachment 4 is placed. Of the two locations (for example, points A and C) where the tip of the attachment 4 is placed, the side closer to the hydraulic excavator 1 is the first location (for example, point A), and the side far from the hydraulic excavator 1 is the second location (point C). ).
- the "remaining two points" (for example, points B and D) are the first (point A) and the first of the four points that specify the boundary of the work area 50 of the above [configuration 2] with the outside of the area. There are two points other than the two points (point B).
- the work area setting system includes a position determination unit 30 via the attach tip (see FIG. 4).
- the attachment tip via position determining unit 30 determines a transit point (for example, the lifting turn start point P1 and / or the return turn end point P4 shown in FIG. 2).
- the transit point is a point through which the tip of the attachment 4 of the hydraulic excavator 1 moves from the outside of the work area 50 to the inside of the area and / or from the inside of the work area 50 to the outside of the area. ..
- the locus of the attachment 4 (bucket 12) outside the area of the work area 50 shown in FIG. 2 and the locus of the attachment 4 (bucket 12) inside the area of the work area 50 are divided (area). Can be divided).
- the attachment 4 (bucket 12) outside the area of the work area 50 for example, from the return turn start point P3 to the return turn end point P4. You don't have to modify the trajectory of. As a result, it is possible to facilitate automatic operation control of the hydraulic excavator 1.
- the attachment tip via position determining unit 30 borders the transit point (for example, the lifting turn start point P1 and / or the return turn end point P4) with the outside of the work area 50 in a plan view. Determine on.
- the work object detection system includes a three-dimensional measuring device 9 and a calculation unit 28 (see FIG. 4).
- the three-dimensional measuring device 9 acquires data on the earth and sand mountain 100 and its surroundings.
- the calculation unit 28 calculates three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 existing in the work area 50 (see FIG. 3) from the measurement data acquired by the three-dimensional measuring device 9.
- the work object detection system includes a work position determination unit 26 (see FIG. 4).
- the work position determination unit 26 determines the excavation start point P5 (work start position) in the earth and sand mountain 100 based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 4).
- an appropriate excavation position can be automatically determined in the automatic operation of the hydraulic excavator 1.
- the height at which the work by the attachment 4 (specifically, excavation, for example) is performed is substantially the same as the height of the lower traveling body 2.
- the height at which the work is performed may be lower than that of the lower traveling body 2.
- the earth and sand mountain 100 may be in the earth and sand pit Pi, or may be surrounded by the wall W of the earth and sand pit Pi.
- the work start point by the attachment 4 shown in FIG. 3, specifically, the excavation start point P5 is the work position determination unit 26 based on the three-dimensional information calculated by the calculation unit 28 shown in FIG. Was determined by.
- the position in the height direction of the start point of the work by the attachment 4 shown in FIG. 3 was also determined by the work position determination unit 26 based on the three-dimensional information calculated by the calculation unit 28 shown in FIG.
- the work initial height Z1 shown in FIG. 10 is determined by teaching.
- the work object detection system includes a work initial height determination unit 240 (see FIG. 11) for determining the work initial height Z1 (described later).
- teaching is performed as follows. Similar to the first embodiment, the operator of the hydraulic excavator 1 shown in FIG. 9 operates the hydraulic excavator 1 to teach points A and C (S201 and S202 shown in FIG. 12). As shown in FIG. 10, the heights of the points A and C may be above the upper end of the wall W, at the same height as the upper end of the wall W, or below the upper end of the wall W.
- the initial work height Z1 is taught (S203 shown in FIG. 12).
- the work initial height Z1 is the height of the (initial) excavation start point P5 when the work (for example, excavation) on the work object by the attachment 4 is first performed after the work area 50 shown in FIG. 9 is set. Is.
- the operator operates the attachment 4 and moves the tip of the attachment 4 to a height to be set as the work initial height Z1 (see FIG. 10).
- the position of the tip of the attachment 4 in a plan view may be any position.
- the initial work height Z1 is determined by teaching, the initial work height Z1 is determined by the actual operation by the operator when setting the initial work height Z1. Therefore, the worker can grasp the work initial height Z1. Further, since the initial work height Z1 is determined by teaching, for example, even when it is difficult to detect the earth and sand mountain 100 with the three-dimensional measuring device 9 (see FIG. 11), the initial work height Z1 is surely determined. be able to.
- One cycle depth Z2 may be set in the controller 8 (see FIG. 11) (for example, the arithmetic unit 28 (see FIG. 11)) (S204 shown in FIG. 12).
- the one-cycle depth Z2 is the work depth when the attachment 4 works for one cycle, specifically, the excavation depth in the bucket 12. Even if the controller 8 (see FIG. 11) receives, for example, the value (numerical value) of the one-cycle depth Z2 input to the mobile terminal 29 (see FIG. 9) and sets the received value as the one-cycle depth Z2. Good (same for final depth Z3).
- the controller 8 may calculate one cycle depth Z2 based on information about the bucket 12 (eg, capacity, shape, etc.).
- the 1-cycle depth Z2 may be a fixed value preset in the controller 8 (the same applies to the final depth Z3).
- the final depth Z3 may be set in the controller 8 (see FIG. 11) (S205 shown in FIG. 12).
- the final depth Z3 is the depth at which the attachment 4 completes a series of operations (for example, excavation operations that are repeated a plurality of times).
- the attachment 4 finishes the work at the final depth Z3 the work at the earth and sand mountain 100 is completed.
- the final depth Z3 is the depth from a predetermined position (for example, point A).
- the work position determination unit 26 (Determination of excavation start point P5 by work position determination unit 26) is the excavation start point P5 (“initial position of the excavation start point P5” when the work at the attachment 4 is first performed after the work area 50 shown in FIG. 9 is set. ”) Is decided.
- the work position determination unit 26 shown in FIG. 11 receives the work initial height Z1 (see FIG. 10) determined by the work initial height determination unit 240, and sets the work initial height Z1 shown in FIG. It is determined as the height of the initial position of the excavation start point P5 (S210 shown in FIG. 13).
- the controller 8 (see FIG. 11) causes the attachment 4 to perform work (for example, excavation) at the height of the work initial height Z1. At this time, the attachment 4 excavates only one cycle depth Z2 from the work initial height Z1.
- the controller 8 works at a position deeper than the work initial height Z1 by one cycle depth Z2 (the height of "Z1-Z2"). Let the attachment 4 do the work).
- the work at the height of "Z1-Z2" may be performed after the work at the height of the initial work height Z1 is completed for the entire earth and sand mountain 100 (see FIG. 9) in a plan view. .. After the work at the height of the initial work height Z1 is completed in a part of the earth and sand mountain 100 in the plan view, the work at the height of "Z1-Z2" may be performed.
- the controller 8 causes the attachment 4 to gradually work at a deeper position, specifically, work at a deeper position by one cycle depth Z2, and work up to the final depth Z3. To do. The controller 8 does not allow the attachment 4 to work at a position deeper than the final depth Z3.
- the work initial height Z1 is set by teaching. Then, when the earth and sand mountain 100 has no undulations or few undulations, the attachment 4 can appropriately perform the work at the work initial height Z1. On the other hand, it is assumed that the earth and sand mountain 100 exists at a position higher than the initial work height Z1 (see the protruding portion 100a in FIG. 10). In this case, when the attachment 4 tries to perform the work at the work initial height Z1 at the excavation start point P5, the attachment 4 comes into contact with the protruding portion 100a before reaching the excavation start point P5, and at the excavation start point P5. It is assumed that the work at the initial work height Z1 cannot be performed properly.
- the work position determination unit 26 sets the height of the excavation start point P5 as the work initial height Z1 or the height corrected for the work initial height Z1 (the corrected work initial height).
- Z1a) is determined based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11). The details of this process are as follows.
- the work position determination unit 26 compares the three-dimensional information calculated by the calculation unit 28 (see FIG. 11) with the work initial height Z1 (S211 shown in FIG. 13). For example, the work position determining unit 26 compares the height of the earth and sand mountain 100 at the excavation start point P5 shown in FIG. 10 and the peripheral portion thereof in the three-dimensional information with the work initial height Z1.
- the work position determining unit 26 may compare the height of the apex of the earth and sand mountain 100 (for example, the height of the apex of the protruding portion 100a) in the three-dimensional information with the work initial height Z1.
- the work position determination unit 26 determines whether or not the work can be performed at the work initial height Z1 at the excavation start point P5 (S212 shown in FIG. 13). For example, when the height of the earth and sand mountain 100 at the excavation start point P5 shown in FIG. 10 is a height equal to or less than the work initial height Z1, the work can be performed at the work initial height Z1 at the excavation start point P5. be. When the work can be performed at the work initial height Z1 at the excavation start point P5 (NO in S212 shown in FIG. 13), the work position determination unit 26 sets the work initial height Z1 at the excavation start point P5. Set as height. Then, the controller 8 (see FIG. 11) causes the attachment 4 to perform the work at the work initial height Z1 at the excavation start point P5 (S213 shown in FIG. 13).
- the work position determination unit 26 performs the following processing. In this case, the work position determination unit 26 corrects the height of the excavation start point P5 based on the three-dimensional information of the earth and sand mountain 100 (protruding portion 100a) shown in FIG. 10 (S214 shown in FIG. 13).
- the work position determination unit 26 corrects the work initial height Z1 shown in FIG. 10 (correction) based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11). The latter value is defined as "corrected work initial height Z1a"). Then, the work position determination unit 26 sets the corrected work initial height Z1a as the height of the excavation start point P5. At this time, the work position determination unit 26 sets, for example, a height equal to or higher than the height of the earth and sand mountain 100 (protruding portion 100a) at the excavation start point P5 in the three-dimensional information as the corrected initial work height Z1a.
- the work position determining unit 26 may set the height of the earth and sand mountain 100 (protruding portion 100a) at the excavation start point P5 in the three-dimensional information as the corrected initial work height Z1a.
- the work position determining unit 26 may set the height of the apex of the earth and sand mountain 100 (protruding portion 100a) in the three-dimensional information as the corrected initial work height Z1a.
- the controller 8 causes the attachment 4 to start the work from the corrected work initial height Z1a (S215 shown in FIG. 13). Therefore, the attachment 4 can properly perform the work.
- the work object detection system includes a work initial height determination unit 240.
- the work initial height determination unit 240 determines the work initial height Z1 shown in FIG.
- the initial work height Z1 is the excavation start point P5 (see FIG. 9) when the work on the earth and sand mountain 100 by the attachment 4 of the hydraulic excavator 1 (see FIG. 9) is first performed after the work area 50 (see FIG. 9) is set.
- the height of the work start position The work initial height determination unit 240 (see FIG. 11) sets the height of the place where the tip of the attachment 4 is placed as the work initial height Z1.
- the height of the place where the tip of the attachment 4 is placed is set as the work initial height Z1. Therefore, when setting the work initial height Z1, the work initial height Z1 can be determined by an actual operation (teaching) by the operator. Therefore, the worker can grasp the work initial height Z1. Further, since the initial work height Z1 can be determined by teaching, even if it is difficult to detect the earth and sand mountain 100 with the three-dimensional measuring device 9 (see FIG. 1), the initial work height Z1 can be reliably determined. Can be done.
- the work object detection system includes a work initial height determination unit 240 (see FIG. 11).
- the work initial height determination unit 240 determines the work initial height Z1 shown in FIG.
- the initial work height Z1 is the excavation start point P5 (see FIG. 9) when the work on the earth and sand mountain 100 by the attachment 4 of the hydraulic excavator 1 (see FIG. 9) is first performed after the work area 50 (see FIG. 9) is set.
- the height of the work start position The work initial height determination unit 240 (see FIG. 11) sets the height of the place where the tip of the attachment 4 is placed as the work initial height Z1.
- the work position determination unit 26 determines whether the height of the excavation start point P5 is the work initial height Z1 or the work corrected height Z1. It is determined based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11).
- the height of the place where the tip of the attachment 4 is placed is set as the work initial height Z1.
- the set initial work height Z1 is not appropriate, and for example, a sediment pile 100 (for example, a protruding portion 100a) exists at a position higher than the initial work height Z1.
- the attachment 4 comes into contact with the protruding portion 100a before reaching the excavation start point P5, and the work at the work initial height Z1 at the excavation start point P5 cannot be performed properly. Will be done. Therefore, as in the above [Structure 11-2], the work position determination unit 26 (see FIG.
- the work position determination unit 26 can appropriately set the height of the excavation start point P5 based on the three-dimensional information. As a result, the attachment 4 can properly perform the work.
- the above embodiment can be changed as follows.
- the components of different embodiments may be combined.
- the arrangement and shape of each component may be changed.
- the connection between the components shown in FIGS. 4 and 11 may be changed.
- the order of the steps in the flowcharts shown in FIGS. 5, 12, and 13 may be changed, and some of the steps may not be performed.
- the number of components may be changed and some of the components may not be provided.
- fixing or connecting components may be direct or indirect.
- what has been described as a plurality of members or parts different from each other may be regarded as one member or part.
- what has been described as one member or part may be provided separately in a plurality of different members or parts.
- a device for sandwiching an object may be used instead of the bucket 12 shown in FIG. 1, and a device for crushing or excavating (such as a breaker) is used.
- a grapple is a device that grabs scrap, wood, etc. by closing a plurality of opposing curved (for example, 2 to 3) claws.
- the work object may be a pile of crushed stone, a pile of scrap, a pile of rubber, etc., instead of the pile of earth and sand 100.
- the work area 50 does not have to be rectangular in a plan view, and may be, for example, a circle, an ellipse, or a polygon other than a rectangle.
- the place where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed is set as a point for specifying the boundary with the outside of the work area 50.
- the area setting unit 24 sets a boundary between the work area 50 (see FIG. 3) and the outside of the predetermined place in the drawing data. It may be used as a point to identify.
- the drawing data is stored in, for example, the area setting unit 24.
- each component of the work area setting system and the work object detection system may be provided outside the hydraulic excavator 1.
- at least a part of each component (for example, area setting unit 24, calculation unit 28, etc.) of the controller 8 shown in FIGS. 4 and 11 may not be mounted on the hydraulic excavator 1.
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
以下、本発明を実施するための形態について図面を参照しつつ説明する。以下の説明では、作業機械として油圧ショベル1を例にとって説明する。第1実施形態の作業エリア設定システムおよび作業対象物検出システムについて説明する。
図1に示すように、油圧ショベル1は、アタッチメント4で作業を行う機械である。油圧ショベル1は、下部走行体2と、上部旋回体3と、アタッチメント4と、旋回角度センサ16と、傾斜角センサ20と、を備える。
油圧ショベル1は、作業対象物検出システムを備える。作業対象物検出システムは、三次元計測装置9と、コントローラ8と、を有する。
[構成1]本実施形態の作業エリア設定システムは、エリア設定部24(図4参照)を備える。エリア設定部24は、作業エリア50(図3参照)を設定するためのものである。作業エリア50は、図1に示す油圧ショベル1(作業機械)により作業される土砂山100(作業対象物)が積まれる所定範囲である。
[構成2]エリア設定部24(図4参照)は、油圧ショベル1のアタッチメント4の先端(バケット12の爪先端)が置かれた箇所(例えばポイントAおよびポイントC)を、作業エリア50のエリア外との境界を特定するポイントとする。
[構成3]作業エリア50は、平面視において長方形である。
[構成4]アタッチメント4の先端が置かれた第1箇所(例えばポイントA)、および第2箇所(例えばポイントC)から、残りの2つのポイント(ポイントBおよびポイントD)が決定される。アタッチメント4の先端が置かれた2箇所(例えばポイントAおよびポイントC)のうち、油圧ショベル1に近い側が第1箇所(例えばポイントA)であり、油圧ショベル1から遠い側が第2箇所(ポイントC)である。「残りの2つのポイント」(例えばポイントBおよびポイントD)は、上記[構成2]の作業エリア50のエリア外との境界を特定する4つのポイントのうち、第1箇所(ポイントA)および第2箇所(ポイントB)以外の2つのポイントである。
[構成5]作業エリア設定システムは、アタッチ先端経由位置決定部30(図4参照)を備える。アタッチ先端経由位置決定部30は、経由ポイント(例えば図2に示す持ち上げ旋回開始点P1および/または復帰旋回終了点P4)を決定する。経由ポイントは、作業エリア50のエリア外からエリア内へ、および/または作業エリア50のエリア内からエリア外へ、油圧ショベル1のアタッチメント4の先端が移動するときの当該先端が経由するポイントである。
[構成6]アタッチ先端経由位置決定部30(図4参照)は、経由ポイント(例えば持ち上げ旋回開始点P1および/または復帰旋回終了点P4)を、平面視において作業エリア50のエリア外との境界の上に決定する。
[構成8]作業対象物検出システムは、図1に示すように、三次元計測装置9と、演算部28(図4参照)と、を備える。三次元計測装置9は、土砂山100およびその周囲のデータを取得する。演算部28は、三次元計測装置9で取得された計測データから、作業エリア50(図3参照)に存在する土砂山100の位置、範囲、および形状に関する三次元情報を算出する。
[構成9]演算部28(図4参照)は、図6に示すように、作業エリア50のエリア外と作業エリア50とに土砂山100がまたがって存在している場合、土砂山100のうち作業エリア50に存在する部分のみの三次元情報を算出する。
[構成10]作業対象物検出システムは、作業位置決定部26(図4参照)を備える。作業位置決定部26は、演算部28(図4参照)で算出された三次元情報に基づいて、土砂山100における掘削開始点P5(作業開始位置)を決定する。
図8~図13を参照して、第2実施形態の作業エリア設定システムおよび作業対象物検出システムについて、第1実施形態との相違点を説明する。なお、第2実施形態の作業エリア設定システムおよび作業対象物検出システムのうち、第1実施形態との共通点については、説明を省略する。
作業対象物検出システムでは、次のようにティーチングが行われる。第1実施形態と同様に、図9に示す油圧ショベル1の操作者が、油圧ショベル1を操作し、ポイントAおよびポイントCのティーチングを行う(図12に示すS201、S202)。ポイントAおよびポイントCの高さは、図10に示すように壁Wの上端よりも上でもよく、壁Wの上端と同じ高さでもよく、壁Wの上端よりも下でもよい。
作業位置決定部26(図11参照)は、図9に示す作業エリア50が設定された後、アタッチメント4での作業が最初に行われるときの掘削開始点P5(「掘削開始点P5の初期位置」という)を決定する。このとき、図11に示す作業位置決定部26は、作業初期高さ決定部240で決定された作業初期高さZ1(図10参照)を受信し、図10に示す作業初期高さZ1を、掘削開始点P5の初期位置の高さとして決定する(図13に示すS210)。
次に、コントローラ8(図11参照)が、作業初期高さZ1の高さでの作業(例えば掘削)をアタッチメント4に行わせる。このとき、アタッチメント4が、作業初期高さZ1から、1サイクル深さZ2だけ掘削する作業を行う。
作業初期高さZ1の高さでの作業が完了すると、コントローラ8(図11参照)が、作業初期高さZ1よりも1サイクル深さZ2だけ深い位置での作業(「Z1-Z2」の高さでの作業)をアタッチメント4に行わせる。例えば、平面視における土砂山100(図9参照)の全体で、作業初期高さZ1の高さでの作業が完了した後、「Z1-Z2」の高さでの作業が行われてもよい。平面視における土砂山100の一部で、作業初期高さZ1の高さでの作業が完了した後、「Z1-Z2」の高さでの作業が行われてもよい。同様に、コントローラ8(図11参照)が、アタッチメント4に、徐々に深い位置で作業を行わせ、具体的には1サイクル深さZ2ずつ深い位置で作業を行わせ、最終深さZ3まで作業を行わせる。コントローラ8は、最終深さZ3よりも深い位置では、アタッチメント4に作業を行わせない。
上記のように、作業初期高さZ1は、ティーチングにより設定される。そして、土砂山100に起伏がない、または起伏が少ない場合は、アタッチメント4が、作業初期高さZ1での作業を適切に行うことができる。一方、作業初期高さZ1よりも高い位置に土砂山100が存在する場合が想定される(図10における突出部分100aを参照)。この場合、アタッチメント4が作業初期高さZ1での作業を掘削開始点P5で行おうとすると、アタッチメント4が、掘削開始点P5に到達する前に突出部分100aに接触し、掘削開始点P5での作業初期高さZ1での作業を適切に行えない場合が想定される。
[構成7]作業対象物検出システムは、図11に示すように、作業初期高さ決定部240を備える。作業初期高さ決定部240は、図10に示す作業初期高さZ1を決定する。作業初期高さZ1は、作業エリア50(図9参照)が設定された後、油圧ショベル1(図9参照)のアタッチメント4による土砂山100に対する作業が最初に行われるときの掘削開始点P5(作業開始位置)の高さである。作業初期高さ決定部240(図11参照)は、アタッチメント4の先端が置かれた箇所の高さを、作業初期高さZ1とする。
[構成11-1]作業対象物検出システムは、作業初期高さ決定部240(図11参照)を備える。作業初期高さ決定部240は、図10に示す作業初期高さZ1を決定する。作業初期高さZ1は、作業エリア50(図9参照)が設定された後、油圧ショベル1(図9参照)のアタッチメント4による土砂山100に対する作業が最初に行われるときの掘削開始点P5(作業開始位置)の高さである。作業初期高さ決定部240(図11参照)は、アタッチメント4の先端が置かれた箇所の高さを、作業初期高さZ1とする。
上記の実施形態は次のように変更可能である。例えば、互いに異なる実施形態の構成要素どうしが組み合わされてもよい。例えば、各構成要素の配置や形状が変更されてもよい。例えば、図4、図11に示す各構成要素どうしの接続は変更されてもよい。例えば、図5、12、および13に示すフローチャートのステップの順序が変更されてもよく、ステップの一部が行われなくてもよい。例えば、構成要素の数が変更されてもよく、構成要素の一部が設けられなくてもよい。例えば、構成要素どうしの固定や連結などは、直接的でも間接的でもよい。例えば、互いに異なる複数の部材や部分として説明したものが、一つの部材や部分とされてもよい。例えば、一つの部材や部分として説明したものが、互いに異なる複数の部材や部分に分けて設けられてもよい。
4:アタッチメント
9:三次元計測装置
24:エリア設定部
26:作業位置決定部
30:アタッチ先端経由位置決定部
50:作業エリア
100:土砂山(作業対象物)
240:作業初期高さ決定部
P1:持ち上げ旋回開始点(経由ポイント)
P4:復帰旋回終了点(経由ポイント)
P5:掘削開始点(作業開始位置)
Z1:作業初期高さ
Z1a:補正後の作業開始高さ
Claims (11)
- 作業機械により作業される作業対象物が積まれる所定範囲の作業エリアを設定するためのエリア設定部を備える、
作業エリア設定システム。 - 請求項1に記載の作業エリア設定システムにおいて、
前記エリア設定部は、前記作業機械のアタッチメントの先端が置かれた箇所を、前記作業エリアのエリア外との境界を特定するポイントとする、
作業エリア設定システム。 - 請求項2に記載の作業エリア設定システムにおいて、
前記作業エリアが平面視において長方形である、
作業エリア設定システム。 - 請求項3に記載の作業エリア設定システムにおいて、
前記先端が置かれた2箇所のうちの前記作業機械に近い側の第1箇所、および前記作業機械から遠い側の第2箇所から残りの2つの前記ポイントを決定する、
作業エリア設定システム。 - 請求項1~4のいずれかに記載の作業エリア設定システムにおいて、
前記作業エリアのエリア外からエリア内へ、および/または前記作業エリアのエリア内からエリア外へ、前記作業機械のアタッチメントの先端が移動するときの当該先端が経由する経由ポイントを決定するアタッチ先端経由位置決定部をさらに備える、
作業エリア設定システム。 - 請求項5に記載の作業エリア設定システムにおいて、
前記アタッチ先端経由位置決定部は、前記経由ポイントを、平面視において前記作業エリアのエリア外との境界の上に決定する、
作業エリア設定システム。 - 請求項1~6のいずれかに記載の作業エリア設定システムにおいて、
前記作業エリアが設定された後、前記作業機械のアタッチメントによる前記作業対象物に対する作業が最初に行われるときの作業開始位置の高さである作業初期高さを決定する作業初期高さ決定部を備え、
前記作業初期高さ決定部は、前記アタッチメントの先端が置かれた箇所の高さを、前記作業初期高さとする、
作業エリア設定システム。 - 請求項1~7のいずれかに記載の作業エリア設定システムと、
前記作業対象物およびその周囲のデータを取得する三次元計測装置と、
前記三次元計測装置で取得された計測データから、前記作業エリアに存在する前記作業対象物の位置、範囲、および形状に関する三次元情報を算出する演算部と、
を備える、
作業対象物検出システム。 - 請求項8に記載の作業対象物検出システムにおいて、
前記演算部は、前記作業エリアのエリア外と前記作業エリアとに前記作業対象物がまたがって存在している場合、前記作業対象物のうち前記作業エリアに存在する部分のみの前記三次元情報を算出する、
作業対象物検出システム。 - 請求項8または9に記載の作業対象物検出システムにおいて、
前記演算部で算出された前記三次元情報に基づいて、前記作業対象物における作業開始位置を決定する作業位置決定部をさらに備える、
作業対象物検出システム。 - 請求項10に記載の作業対象物検出システムにおいて、
前記作業エリアが設定された後、前記作業機械のアタッチメントによる前記作業対象物に対する作業が最初に行われるときの前記作業開始位置の高さである作業初期高さを決定する作業初期高さ決定部を備え、
前記作業初期高さ決定部は、前記アタッチメントの先端が置かれた箇所の高さを、前記作業初期高さとし、
前記作業位置決定部は、前記作業開始位置の高さを、前記作業初期高さとするか、前記作業初期高さを補正した高さとするかを、前記演算部で算出された前記三次元情報に基づいて決定する、
作業対象物検出システム。
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JP2019190193A (ja) * | 2018-04-27 | 2019-10-31 | 日立建機株式会社 | 作業機械 |
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