WO2022209646A1 - 作業機械の管理システム - Google Patents
作業機械の管理システム Download PDFInfo
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- WO2022209646A1 WO2022209646A1 PCT/JP2022/010148 JP2022010148W WO2022209646A1 WO 2022209646 A1 WO2022209646 A1 WO 2022209646A1 JP 2022010148 W JP2022010148 W JP 2022010148W WO 2022209646 A1 WO2022209646 A1 WO 2022209646A1
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- trajectory
- information
- bucket
- management system
- work machine
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- 238000001514 detection method Methods 0.000 claims abstract description 55
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Definitions
- the present invention relates to a work machine management system.
- the machine control function is a function that controls the movements of the boom, arm, and bucket so that the bucket moves along a target plane created with three-dimensional CAD software or the like.
- the machine guidance function is a function of presenting information on the attitude of the work machine, information on the positional relationship between target planes around the work machine and components of the work machine, and the like to the operator.
- construction history data which is a record of three-dimensional positional information of working machines calculated along with time information in order to demonstrate the machine control function and machine guidance function.
- topographical data is generated based on construction history data, and the generated topographical data may be used to manage the output of work performed by working machines.
- a display table and a display content table are provided in an excavation support database, the state of the work area for each mesh is stored in the display table, and the state of each mesh is associated with the display content table for an identification display method.
- display color refers to the state (height) of each mesh in the display table in the display content table, reads the corresponding display color, and displays the state of the work area by color. It is
- a work area is represented by a mesh representing a plane of a predetermined size (a square mesh with a side of 50 cm) as a structural unit, and display processing and detailed data calculation processing are performed for each mesh.
- the mesh is set at equal intervals, when generating terrain data in the work area, depending on the position of the origin of the mesh, the terrain shape of the feature part such as the shoulder or toe of the slope may not be accurately reproduced. Therefore, the accuracy of the generated terrain data may deteriorate. It is conceivable to finely set mesh intervals in order to increase the accuracy of terrain data.
- the number of meshes increases in proportion to the square of the reciprocal of the mesh interval (grid width), so there is a problem that the amount of data to be managed increases.
- An object of the present invention is to provide a work machine management system capable of generating highly accurate topographic data while reducing the amount of data required to generate topographic data.
- a work machine management system includes a terrain data generation system that generates terrain data representing a finished shape of a work device of the work machine based on a detection result of an attitude detection device that detects the attitude of the work machine.
- the topography data generation system calculates a trajectory of the working device based on the posture of the working machine, calculates information of surfaces forming the trajectory based on the trajectory of the working device, and divides a predetermined area into a grid.
- construction history data is generated, and the trajectory of the working device included in the construction history data is generated.
- the terrain data is generated based on the position information of and the information of the planes forming the trajectory.
- FIG. 4 is a diagram showing normal vectors of surfaces forming a trajectory passed by a bucket;
- FIG. 4 is a diagram showing normal vectors on a curved surface forming a trajectory passed by a bucket;
- FIG. 4 is a diagram showing a work area A subjected to grid processing;
- FIG. 4 is a diagram showing grid width Gw and grid center point Gen; The figure which shows gridding of the locus
- FIG. 5 is a diagram showing an example of construction history data of variable length;
- 4 is a flowchart showing construction history data generation processing executed by a vehicle body controller;
- FIG. 4 is a cross-sectional view of a plane parallel to the EH plane passing through a trajectory composing point Gt1 on a grid central axis and a trajectory composing point Gt2 on a grid central axis adjacent to the grid central axis in the E-axis direction; The figure which shows the case where adjacent tangential planes are almost parallel.
- FIG. 4 is a flowchart showing terrain data generation/output processing executed by a management controller;
- FIG. 4 is a diagram showing terrain data generated by the management system according to the embodiment;
- FIG. 5 is a diagram showing terrain data generated by a management system according to a comparative example of the present embodiment;
- 4 is a flowchart for explaining an example of a method for setting extraction conditions for log data of construction history data;
- a work machine management system according to an embodiment of the present invention will be described with reference to the drawings.
- a working machine is a machine used for various works such as civil engineering work, construction work, and demolition work.
- the work machine is a crawler hydraulic excavator 100
- crawler hydraulic excavator 100 will be described.
- FIG. 1 is a diagram showing the configuration of the management system 1.
- the management system 1 includes a vehicle body controller 110 provided in a hydraulic excavator 100 that works at a work site, and a management controller 150 provided in a management server 51 .
- the management server 51 is provided in a management center 50 installed at a work site or at a location remote from the work site.
- the management center 50 owns, for example, facilities such as the headquarters, branch offices, and factories of the manufacturer of the hydraulic excavator 100, a rental company for the hydraulic excavator 100, a data center that specializes in operating servers, and the hydraulic excavator 100. It is installed in the owner's facility.
- the management server 51 is an external device that remotely manages (grasps and monitors) the state of the hydraulic excavator 100 .
- the hydraulic excavator 100 and the management server 51 perform two-way communication via the communication line 59 of the wide area network. That is, the hydraulic excavator 100 and the management server 51 transmit and receive information (data) via the communication line 59 .
- the communication line 59 is a mobile phone communication network (mobile communication network) developed by a mobile phone carrier or the like, the Internet, or the like.
- mobile phone communication network mobile communication network
- the wireless base station 58 receives predetermined information from the hydraulic excavator 100, The received information is transmitted to the management server 51 via the Internet.
- the management server 51 receives the data received from the hydraulic excavator 100 and stores it in the storage device 52 such as a hard disk drive.
- the management server 51 displays information (data) stored in the storage device 52 on a display device 53 such as a liquid crystal display device.
- the administrator can grasp the state of the hydraulic excavator 100 by operating the management server 51 using the input device 54 such as a keyboard and a mouse and displaying predetermined information of the hydraulic excavator 100 on the display device 53 .
- FIG. 2 is a configuration diagram of the hydraulic excavator 100.
- the hydraulic excavator 100 includes a vehicle body (machine body) 100b and a working device 100a attached to the vehicle body 100b.
- the vehicle body 100b includes a running body 11 and a revolving body 12 which is provided on the running body 11 so as to be able to turn.
- the hydraulic excavator 100 includes a left traveling hydraulic motor 3 b that drives the left crawler 19 of the traveling body 11 and a right traveling hydraulic motor 3 a that drives the right crawler 19 of the traveling body 11 .
- the traveling body 11 travels by driving a pair of left and right crawlers 19 with a traveling hydraulic motor 3 (3a, 3b).
- the hydraulic excavator 100 includes a turning hydraulic motor 4 that turns (rotates) the turning body 12 with respect to the traveling body 11 .
- the working device 100a is an articulated working device having a plurality of driven members (front members) driven by a plurality of actuators.
- the work device 100a has a structure in which three driven members (the boom 8, the arm 9 and the bucket 10) are connected in series.
- the base end of the boom 8 is rotatably connected to the front part of the revolving body 12 via a boom pin 91 (see FIG. 6).
- the base end of the arm 9 is rotatably connected to the tip of the boom 8 via an arm pin 92 (see FIG. 6).
- the bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin 93 (see FIG. 6).
- the boom pin 91, arm pin 92, and bucket pin 93 are arranged parallel to each other, and each driven member (boom 8, arm 9, and bucket 10) is relatively rotatable within the same plane.
- the boom 8 is driven by a boom cylinder (hydraulic cylinder) 5 as an actuator
- the arm 9 is driven by an arm cylinder (hydraulic cylinder) 6 as an actuator
- the bucket 10 is driven by a bucket cylinder (hydraulic cylinder) 7 as an actuator.
- the hydraulic cylinders (5 to 7) each include a bottomed cylindrical cylinder tube with one end closed, a head cover closing an opening at the other end of the cylinder tube, a cylinder rod passing through the head cover and inserted into the cylinder tube, a piston that is provided at the tip of the cylinder rod and divides the inside of the cylinder tube into a rod-side oil chamber and a bottom-side oil chamber.
- the boom cylinder 5 has one end connected to the revolving body 12 and the other end connected to the boom 8 .
- the arm cylinder 6 has one end connected to the boom 8 and the other end connected to the arm 9 .
- the bucket cylinder 7 has one end connected to the arm 9 and the other end connected to the bucket 10 via the bucket link 13 .
- the hydraulic excavator 100 includes the operation devices (22a, 22b, 23a, 23b) for operating the revolving body 12, the working device 100a, and the traveling body 11. As shown in FIG.
- the revolving body 12 is equipped with an engine 14 as a prime mover, a pump 2 driven by the engine 14, and a control valve unit 20.
- the control valve unit 20 has a plurality of flow control valves (also referred to as directional control valves), and operates from the pump 2 to the actuators (boom cylinder 5, arm cylinder 6, bucket cylinder 7, swing hydraulic motor 4, and , and controls the flow (flow rate and direction) of hydraulic oil as the hydraulic fluid supplied to the traveling hydraulic motor 3).
- FIG. 3 is a diagram showing the configuration of the hydraulic drive system of the hydraulic excavator 100. As shown in FIG. For the sake of simplification of explanation, FIG. Illustration of valves and the like is omitted.
- the pump 2 is driven by the engine 14, sucks hydraulic oil from the tank, and discharges it to the pump line L1 connecting the control valve unit 20 and the discharge port of the pump 2.
- FIG. 3 shows an example in which the pump 2 is a fixed displacement hydraulic pump, a variable displacement hydraulic pump may be employed. Further, the number of pumps 2 that supply hydraulic oil to the control valve unit 20 may be one, or may be plural.
- the control valve unit 20 controls the flow of hydraulic oil (pressure oil) supplied from the pump 2 to the actuators by being controlled by the electromagnetic valve unit 40 having a plurality of electromagnetic proportional valves 41a to 44b.
- the control valve unit 20 controls the flow of hydraulic oil (pressure oil) supplied from the pump 2 to the boom cylinder 5 according to the signal pressure generated by the electromagnetic proportional valves 41a and 41b.
- the control valve unit 20 controls the flow of hydraulic oil (pressure oil) supplied from the pump 2 to the arm cylinder 6 according to the signal pressure generated by the electromagnetic proportional valves 42a and 42b.
- the control valve unit 20 controls the flow of hydraulic oil (pressure oil) supplied from the pump 2 to the bucket cylinder 7 according to the signal pressure generated by the electromagnetic proportional valves 43a and 43b.
- the control valve unit 20 controls the flow of hydraulic oil (pressure oil) supplied from the pump 2 to the turning hydraulic motor 4 according to the signal pressure generated by the electromagnetic proportional valves 44a and 44b.
- the electromagnetic proportional valves 41a to 44b use the pilot pressure oil supplied from the pilot hydraulic pressure source 29 as the primary pressure (original pressure) according to the command current from the valve drive device 158 (see FIG. 4) controlled by the vehicle body controller 110. is output to the control valve unit 20 as a signal pressure.
- the pilot hydraulic pressure source 29 is, for example, a hydraulic pump (pilot pump) driven by the engine 14 .
- the right control lever device 22a has an operation sensor that outputs voltage signals (operation signals) corresponding to the amount and direction of operation of the control lever to the vehicle body controller 110 as boom operation information and bucket operation information.
- the left control lever device 22b has an operation sensor that outputs a voltage signal (operation signal) corresponding to the operation amount and the operation direction of the operation lever to the vehicle body controller 110 as arm operation information and turning operation information.
- the vehicle body controller 110 When an operation signal is input to the vehicle body controller 110 from the operation sensors of the operation devices 22a and 22b, the vehicle body controller 110 operates the electromagnetic proportional valve 41a of the electromagnetic valve unit 40 so that the actuator operates at an operating speed corresponding to the operation signal. 44b. As a result, the control valve unit 20 is controlled, the hydraulic oil discharged from the pump 2 is supplied to the actuator, and the actuator operates.
- a command pressure corresponding to the amount of operation is output from the electromagnetic proportional valve 41a to the first pressure receiving portion of the flow control valve for the boom, and the flow control valve for the boom is on one side. (Boom raising side).
- the hydraulic oil is supplied to the bottom side oil chamber of the boom cylinder 5, and the hydraulic oil is discharged from the rod side oil chamber of the boom cylinder 5 to the tank.
- the boom cylinder 5 extends, and the boom 8 rotates upward with the boom pin 91 as a fulcrum.
- a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 41b to the second pressure receiving portion of the flow control valve for the boom, and the flow control valve for the boom is on the other side. (boom down side).
- hydraulic fluid is supplied to the rod-side oil chamber of the boom cylinder 5, and hydraulic fluid is discharged from the bottom-side oil chamber of the boom cylinder 5 to the tank.
- the boom cylinder 5 contracts, and the boom 8 rotates downward with the boom pin 91 as a fulcrum.
- a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 43a to the first pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket is turned to one side. (bucket cloud side) works.
- hydraulic fluid is supplied to the bottom-side oil chamber of the bucket cylinder 7 and is discharged from the rod-side oil chamber of the bucket cylinder 7 to the tank.
- the bucket cylinder 7 extends, and the bucket 10 rotates downward with the bucket pin 93 as a fulcrum. That is, a bucket cloud operation is performed.
- a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 43b to the second pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket is on the other side.
- (Bucket dump side) works.
- hydraulic fluid is supplied to the rod-side oil chamber of the bucket cylinder 7 and is discharged from the bottom-side oil chamber of the bucket cylinder 7 to the tank.
- the bucket cylinder 7 contracts, and the bucket 10 rotates upward with the bucket pin 93 as a fulcrum. That is, a bucket dump operation is performed.
- a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 42a to the first pressure receiving portion of the flow control valve for the arm, and the flow control valve for the arm is on one side. (arm cloud side) operates.
- the hydraulic oil is supplied to the bottom side oil chamber of the arm cylinder 6, and the hydraulic oil is discharged from the rod side oil chamber of the arm cylinder 6 to the tank.
- the arm cylinder 6 extends and the arm 9 rotates downward with the arm pin 92 as a fulcrum. That is, an arm crowd operation is performed.
- a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 42b to the second pressure receiving portion of the flow control valve for the arm, and the flow control valve for the arm is on the other side. (arm dump side).
- hydraulic fluid is supplied to the rod-side oil chamber of the arm cylinder 6, and hydraulic fluid is discharged from the bottom-side oil chamber of the arm cylinder 6 to the tank.
- the arm cylinder 6 contracts, and the arm 9 rotates upward with the arm pin 92 as a fulcrum. That is, an arm dump operation is performed.
- the hydraulic excavator 100 includes pressure sensors 5a to 7b that detect the pressure (cylinder pressure) in the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 and output the detection result (electrical signal) to the vehicle body controller 110.
- the pressure sensor 5 a detects the pressure in the rod side oil chamber of the boom cylinder 5
- the pressure sensor 5 b detects the pressure in the bottom side oil chamber of the boom cylinder 5
- the pressure sensor 6 a detects the pressure in the rod-side oil chamber of the arm cylinder 6
- the pressure sensor 6 b detects the pressure in the bottom-side oil chamber of the arm cylinder 6 .
- the pressure sensor 7 a detects the pressure in the rod-side oil chamber of the bucket cylinder 7
- the pressure sensor 7 b detects the pressure in the bottom-side oil chamber of the bucket cylinder 7 .
- the boom pin 91 is attached with a boom angle sensor 30 for measuring the rotation angle (hereinafter referred to as boom angle) ⁇ (see FIG. 6) of the boom 8 with respect to the revolving body 12 .
- Attached to the arm pin 92 is an arm angle sensor 31 for measuring a rotation angle (hereinafter referred to as an arm angle) ⁇ (see FIG. 6) of the arm 9 with respect to the boom 8 .
- a bucket angle sensor 32 is attached to the bucket link 13 for measuring a rotation angle (hereinafter referred to as a bucket angle) ⁇ (see FIG. 6) of the bucket 10 with respect to the arm 9 .
- the revolving body 12 is equipped with a vehicle body longitudinal tilt angle sensor 33a for measuring a longitudinal inclination angle (hereinafter referred to as a pitch angle) ⁇ p (see FIG. 6) of the revolving body 12 (vehicle body 100b) with respect to a reference plane (for example, a horizontal plane). is attached. Further, on the revolving body 12, a lateral tilt angle sensor (not shown) of the revolving body 12 (vehicle body 100b) with respect to a reference plane (for example, a horizontal plane) is mounted to measure a lateral tilt angle (hereinafter referred to as a roll angle) ⁇ r (not shown). 33b is attached.
- a lateral tilt angle sensor (not shown) of the revolving body 12 (vehicle body 100b) with respect to a reference plane (for example, a horizontal plane) is mounted to measure a lateral tilt angle (hereinafter referred to as a roll angle) ⁇ r (not shown). 33b
- sensors such as IMUs (Inertial Measurement Units), potentiometers, rotary encoders, etc. can be adopted.
- Bucket angle sensor 32 may be attached to bucket 10 instead of bucket link 13 .
- Hydraulic excavator 100 has a pair of left and right RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems) antennas (first GNSS antenna 35a and second GNSS antenna 35b) on revolving body 12, and an operator's cab 17. and a GNSS receiver 36 (see FIGS. 3 and 5) that is mounted inside and calculates position information of the hydraulic excavator 100 using radio waves received by the GNSS antennas 35a and 35b.
- RTK-GNSS Real Time Kinematic-Global Navigation Satellite Systems
- the angle sensors 30 , 31 , 32 , 33 a and 33 b and the GNSS antennas 35 a and 35 b function as attitude sensors that detect the attitude of the hydraulic excavator 100 .
- the GNSS antennas 35 a and 35 b function as position sensors that detect the position of the hydraulic excavator 100 .
- the hydraulic excavator 100 includes detection results from a boom angle sensor 30, an arm angle sensor 31, a bucket angle sensor 32, a vehicle body longitudinal tilt angle sensor 33a, and a vehicle body lateral tilt angle sensor 33b, and a GNSS antenna 35a. , 35b to detect (calculate) the position and orientation of the hydraulic excavator 100 and the attitude of the hydraulic excavator 100 (the attitude of the working device 100a and the attitude of the vehicle body 100b).
- the posture detection device 130 detects the position of the excavator 100 in the field coordinate system, and the boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , pitch angle ⁇ p, roll angle ⁇ r, and orientation information representing the posture of the excavator 100 .
- the angle ⁇ y is calculated and output to the vehicle body controller 110 .
- FIG. 4 is a hardware configuration diagram of the vehicle body controller 110 of the hydraulic excavator 100 and the management controller 150 of the management server 51.
- FIG. 4 is a hardware configuration diagram of the vehicle body controller 110 of the hydraulic excavator 100 and the management controller 150 of the management server 51.
- the hydraulic excavator 100 includes a vehicle body controller 110, a communication device 155 for communicating with the management server 51, a posture detection device 130 for detecting (calculating) the posture of the hydraulic excavator 100, and a target plane St (see FIG. 6). It has a target surface setting device 161 for setting, a pressure detection device 162 for detecting the pressure of the hydraulic cylinders (5 to 7), and a storage device 169 for storing information.
- the communication device 155 is a wireless communication device capable of wirelessly communicating with the wireless base station 58 connected to the communication line 59, which is a wide area network, and has a communication interface including a communication antenna whose sensitive band is a predetermined frequency band.
- the communication device 155 uses a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), or Bluetooth (registered trademark) to exchange information directly or indirectly with the management server 51. may be performed.
- the target plane setting device 161 inputs information on the target plane St (see FIG. 6) (position information of one or more target planes, information on the inclination angle of the target plane with respect to the reference plane (horizontal plane), etc.) to the vehicle body controller 110. It is a possible device.
- the target plane setting device 161 is connected to an external terminal (not shown) storing three-dimensional data of target planes defined on the field coordinate system. In the present embodiment, a cross-sectional shape obtained by cutting a target plane of three-dimensional data acquired from an external terminal along a plane in which the work device 100a moves (operation plane of the work device) is used as a target plane St (two-dimensional target plane). .
- the input of the target plane St via the target plane setting device 161 may be manually performed by the operator.
- Data exchange between the target plane setting device 161 and the vehicle body controller 110 may be performed by wired communication, wireless communication, or via a recording medium such as a USB flash memory or an SD card. may
- the pressure detection device 162 has pressure sensors 5a to 7b, detects the pressure in the rod side oil chamber and the bottom side oil chamber of the hydraulic cylinders 5 to 7 that drive the driven member of the working device 100a, and outputs the detection results. Output to vehicle body controller 110 .
- the operation detection device 163 has operation sensors for the operation devices 22a and 22b, detects the amount and direction of operation of the operation devices 22a and 22b, and outputs the detection result to the vehicle body controller 110.
- the storage device 169 is non-volatile memory such as flash memory and hard disk drive. 6, the length Lbm from the center position of the boom pin 91 to the center position of the arm pin 92, the length Lam from the center position of the arm pin 92 to the center position of the bucket pin 93, and the center A length Lbkt from the position to the toe Pb of the bucket 10 is stored as dimension information of the excavator 100 .
- the storage device 169 also stores information on the mounting positions of the hydraulic cylinders (5 to 7) (for example, the distance from the boom pin 91 to the rod side connecting portion of the boom cylinder 5, the distance from the boom pin 91 to the bottom side connecting portion of the boom cylinder 5, distance, etc.) are stored as dimension information of the excavator 100 . Furthermore, the storage device 169 stores the position coordinates of the GNSS antennas 35a and 35b in the shovel reference coordinate system. Note that the position coordinates of the GNSS antennas 35a and 35b in the excavator reference coordinate system can be calculated based on the design dimensions or the measurement results of a measuring instrument such as a total station.
- the display device 164 shown in FIG. 4 is a liquid crystal display device that displays a display image on the display screen based on the display control signal output from the vehicle body controller 110.
- FIG. The valve driving device 158 controls the command current supplied to the solenoids of the electromagnetic proportional valves 41 a to 44 b of the electromagnetic valve unit 40 based on the valve driving signal output from the vehicle body controller 110 .
- the management server 51 includes a management controller 150, a communication device 55 for communicating with the hydraulic excavator 100, an input device 54 such as a keyboard and a mouse for inputting predetermined information to the management controller 150 by an administrator's operation, and a liquid crystal display. It has a display device 53 such as a display device and a storage device 52 for storing information.
- the communication device 55 is a communication device capable of communicating with the hydraulic excavator 100 via a communication line 59 that is a wide area network.
- the communication device 55 uses a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), or Bluetooth (registered trademark) to exchange information directly or indirectly with the hydraulic excavator 100. may be performed.
- the vehicle body controller 110 and the management controller 150 include CPUs (Central Processing Units) 110a and 150a that are operating circuits, ROMs (Read Only Memories) 110b and 150b and RAMs (Random Access Memories) 110c and 150c that are storage devices, and an input interface 110d. , 150d, output interfaces 110e and 150e, and a microcomputer having other peripheral circuits.
- the vehicle body controller 110 and the management controller 150 may each be composed of one computer, or may be composed of a plurality of computers.
- the input interfaces 110d and 150d convert signals from various devices so that the CPUs 110a and 150a can perform calculations.
- ROMs 110b and 150b are non-volatile memories such as EEPROMs.
- the ROMs 110b and 150b store programs that allow the CPUs 110a and 150a to execute various calculations as shown in flowcharts to be described later. That is, the ROMs 110b and 150b are storage media capable of reading a program that implements the functions of this embodiment.
- the RAMs 110c and 150c are volatile memories and work memories that directly input/output data to/from the CPUs 110a and 150a.
- the RAMs 110c and 150c temporarily store necessary data while the CPUs 110a and 150a are executing the programs.
- the CPUs 110a and 150a are arithmetic units that expand the programs stored in the ROMs 110b and 150b into the RAMs 110c and 150c and execute arithmetic operations. Predetermined arithmetic processing is performed on the data.
- the output interfaces 110e and 150e generate output signals according to the calculation results of the CPU 110a, and output the signals to various devices.
- FIG. 5 is a functional block diagram showing main functions of the terrain data generation system 180.
- the terrain data generation system 180 includes a vehicle body controller 110 as a first processing device that executes processing for generating construction history data based on the posture of the excavator 100 detected by the posture detection device 130. , and a management controller 150 as a second processing device that executes processing for generating terrain data based on construction history data.
- the posture detection device 130 functions as a work device posture detection section 131 , a vehicle body position detection section 132 and a vehicle body angle detection section 133 .
- the work device attitude detection unit 131 calculates the boom angle ⁇ , the arm angle ⁇ , and the bucket angle ⁇ . Output to controller 110 .
- the vehicle body position detection unit 132 calculates antenna position information in the field coordinate system based on the position information of the first GNSS antenna 35 a output from the GNSS receiver 36 and outputs it to the vehicle body controller 110 .
- the vehicle body position detection unit 132 executes coordinate conversion processing for converting the position information of the coordinate system into the position information of the site coordinate system. Calculate antenna position information.
- the GNSS receiver 36 may be any device capable of outputting coordinate values of at least one coordinate system selected from a geographic coordinate system, a planar rectangular coordinate system, a geocentric rectangular coordinate system, and a field coordinate system.
- Coordinate values in the geographic coordinate system consist of latitude, longitude, and ellipsoidal height
- coordinate values in the planar rectangular coordinate system, the geocentric rectangular coordinate system, and the field coordinate system are three-dimensional rectangular coordinate systems consisting of X, Y, Z coordinates, etc. .
- Geographic coordinate system coordinate values can be transformed into a three-dimensional Cartesian coordinate system, such as a planar Cartesian coordinate system, using the Gauss-Krugel conformal projection method or the like.
- planar rectangular coordinate system, the geocentric rectangular coordinate system, and the field coordinate system can be mutually transformed by using affine transformation, Helmert transformation, or the like.
- the field coordinate system in this embodiment is a coordinate system whose origin is an arbitrary position on the work site where the E axis extends in the east direction on the horizontal plane, the N axis extends in the north direction on the horizontal plane, and the H axis extends vertically upward. .
- the vehicle body angle detection unit 133 is based on the antenna position information output by the first GNSS antenna 35a and the second GNSS antenna 35b, and the detection results (sensor values) of the vehicle body longitudinal tilt angle sensor 33a and the vehicle body lateral tilt angle sensor 33b. Azimuth angle ⁇ y, pitch angle ⁇ p, and roll angle ⁇ r are calculated, and the calculation results are output to vehicle body controller 110 . The vehicle body angle detection unit 133 calculates the azimuth angle ⁇ y from the positional relationship between the first GNSS antenna 35a and the second GNSS antenna 35b.
- a vehicle body controller (first processing device) 110 of the excavator 100 generates construction history data based on the posture of the excavator 100 detected by the posture detection device 130 , and transmits the generated construction history data to an external device of the excavator 100 .
- a process of transmitting to the management server 51 is executed. The functions of the vehicle body controller 110 will be described in detail below.
- the vehicle body controller 110 functions as a trajectory calculation unit 111, a complementary information calculation unit 112, a construction history generation unit 113, and a transmission unit 114.
- the trajectory calculation unit 111 calculates the trajectory of the bucket 10 based on pressure information from the pressure detection device 162 , operation information from the operation detection device 163 , and attitude information (angle information) from the attitude detection device 130 .
- the trajectory of the bucket 10 is the movement trajectory of the toe of the bucket 10 in contact with the ground.
- the trajectory of the bucket 10 is the movement trajectory of a specific portion on the back surface of the bucket 10 that contacts the ground.
- the trajectory of the bucket 10 corresponds to the bottom surface of the bucket 10 at the moment the bucket 10 hits the ground.
- the "specific portion on the back surface of the bucket 10" in contact with the ground during the compaction operation differs depending on the shape of the bucket 10.
- the end of the bottom of the bucket opposite to the toe is set as a specific part on the back. is preferred.
- the part that contacts the ground differs depending on the shape of the bucket 10. - ⁇ For this reason, it is preferable to perform an experimental compaction operation before the work, confirm the portion of the bucket 10 that contacts the ground, and set a specific portion on the back surface of the bucket 10 .
- the trajectory calculation unit 111 determines whether the hydraulic excavator 100 is performing an excavation operation. In the excavation operation, an arm pulling operation is performed and the bucket 10 is in contact with the ground.
- the operation amount threshold value La1 is a threshold value for determining whether or not the left operation lever device 22b is being operated in the arm pulling direction, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 determines that the bucket 10 is in contact with the ground, and determines that the pressure of the bottom-side oil chamber of the arm cylinder 6 is If Pab is less than the pressure threshold Pab0, it is determined that the bucket 10 is not in contact with the ground.
- the pressure threshold value Pab0 is a threshold value for determining whether or not the bucket 10 is in contact with the ground during excavation work by arm pulling operation, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 calculates the hydraulic pressure It is determined that the excavator 100 is performing an excavation operation.
- the trajectory calculation unit 111 It is determined that the hydraulic excavator 100 is not performing an excavation operation.
- the trajectory calculation unit 111 determines whether the hydraulic excavator 100 is performing a compaction operation. In the compaction operation, an arm pushing operation is performed and the bucket 10 is in contact with the ground.
- the operation amount threshold value La2 is a threshold value for determining whether or not the left operation lever device 22b is being operated in the arm pushing direction, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 determines that the bucket 10 is in contact with the ground, and determines that the pressure of the rod-side oil chamber of the arm cylinder 6 If Par is less than the pressure threshold Par0, it is determined that the bucket 10 is not in contact with the ground.
- the pressure threshold value Par0 is a threshold value for determining whether or not the bucket 10 is in contact with the ground during compaction work by arm pushing operation, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 calculates the hydraulic pressure It is determined that the excavator 100 is performing a compaction operation.
- the trajectory calculation unit 111 It is determined that the hydraulic excavator 100 is not performing compaction operation.
- the trajectory calculation unit 111 determines whether the hydraulic excavator 100 is beating the ground. In the beating operation, a boom lowering operation is performed, and the bucket 10 contacts and presses the ground.
- the trajectory calculation unit 111 determines that the boom lowering operation is being performed, and the boom lowering operation amount is equal to or greater than the operation amount. If it is less than the threshold Lb1, it is determined that the boom lowering operation has not been performed.
- the operation amount threshold Lb1 is a threshold for determining whether or not the right operation lever device 22a is being operated in the boom lowering direction, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 determines that the bucket 10 is in contact with the ground and presses the ground. If the pressure Pbr of the oil chamber is less than the pressure threshold value Pbr0, it is determined that the bucket 10 is not pressing the ground.
- the pressure threshold value Pbr0 is a threshold value for determining whether or not the bucket 10 is pressing the ground during beating work by lowering the boom, and is stored in the ROM 110b in advance.
- the trajectory calculation unit 111 detects the hydraulic pressure It is determined that the excavator 100 is performing the beating operation.
- the trajectory calculation unit 111 It is determined that the hydraulic excavator 100 is not performing the beating operation.
- the method of determining the excavation motion, the compaction motion, and the beating motion is not limited to the methods described above.
- the motion may be determined based on only one of the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162 . For example, when the time rate of change of the pressure Pbr in the rod-side oil chamber of the boom cylinder 5 is equal to or greater than the threshold, it is determined that the beating operation is being performed, and the pressure Pbr in the rod-side oil chamber of the boom cylinder 5 is determined. is less than the threshold, it may be determined that the beating action is not performed.
- the trajectory calculation unit 111 executes trajectory calculation processing when it is determined that any one of the excavation action, the compaction action, and the beating action is being performed.
- the trajectory calculation process will be described in detail below.
- the trajectory calculation unit 111 repeatedly calculates the position coordinates of the monitor points set in the bucket 10 at a predetermined calculation cycle, thereby generating trajectory information (trajectory data) composed of the position coordinates of the monitor points at each time. do.
- the monitor point is a point for specifying the trajectory of the portion where the bucket 10 is in contact with the ground while the work device 100a is working, and is set according to the operation content (work content) of the hydraulic excavator 100. be done.
- the trajectory calculation unit 111 sets two points on the left and right ends of the toe Pb of the bucket 10 as monitor points.
- the trajectory calculation unit 111 sets two points on the left and right ends of a specific portion of the back surface of the bucket 10 as monitor points.
- the trajectory calculation unit 111 sets four corner points of the bottom surface of the bucket 10 as monitor points.
- the trajectory calculation unit 111 uses the attitude information output by the attitude detection device 130 (boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , antenna position coordinates in the field coordinate system of the first GNSS antenna 35a, and the position of the vehicle body 100b (rotating body 12). azimuth angle ⁇ y, roll angle ⁇ r, pitch angle ⁇ p) and the dimensional information of each part of the hydraulic excavator 100 stored in the storage device 169, the position coordinates of the monitor points in the field coordinate system are calculated for a predetermined time (calculation period). The position coordinates of the monitor points calculated every predetermined time are information representing the trajectory of the bucket 10 . That is, the trajectory calculator 111 calculates the trajectory of the bucket 10 based on the posture information and dimension information of the hydraulic excavator 100 .
- FIG. 6 is a diagram showing a shovel reference coordinate system.
- the excavator reference coordinate system in FIG. 6 is a coordinate system set with respect to the revolving body 12 .
- the origin O is set at the center of the lateral width of the boom pin 91 on the central axis of the boom pin 91 .
- an axis that is parallel to the center axis of the revolving body 12 and extends upward from the origin O of the revolving body 12 is set as the Z-axis. is set as the X-axis.
- the Y-axis is set as the axis that is orthogonal to the Z-axis and the X-axis and extends from the origin O in the left direction of the revolving body 12 . That is, the center axis of the boom pin 91 extending in the horizontal direction of the revolving body 12 is set as the Y-axis.
- the tilt angle of the boom 8 with respect to the XY plane is the boom angle ⁇
- the tilt angle of the arm 9 with respect to the boom 8 is arm angle ⁇
- the tilt angle of the bucket 10 with respect to the arm 9 is bucket angle ⁇ .
- the boom angle ⁇ has a minimum value when the boom 8 is raised to the upper limit (the boom cylinder 5 is fully extended) and a maximum value when the boom 8 is lowered to the lower limit (the boom cylinder 5 is fully retracted).
- the arm angle ⁇ is the smallest value when the arm cylinder 6 is in the most contracted state and the largest value when the arm cylinder 6 is in the most extended state.
- the bucket angle ⁇ is the smallest value when the bucket cylinder 7 is in the most contracted state (state shown in FIG.
- the inclination angle of the vehicle body 100b (rotating body 12) about the Y-axis is the pitch angle ⁇ p
- the inclination angle of the vehicle body 100b (rotating body 12) about the X-axis is the roll angle ⁇ r
- the vehicle body 100b about the Z-axis is the azimuth angle ⁇ y.
- the vehicle body coordinate system and the site coordinate system can be mutually converted.
- the position coordinates of the monitor points in the field coordinate system are the position coordinates in the excavator reference coordinate system calculated from the rotation angles ⁇ , ⁇ , and ⁇ of the boom 8, arm 9, and bucket 10, and the dimensional information of the working device 100a. obtained by conversion.
- the Z and X coordinates of the monitor point (in the example shown in FIG. 6, the tip of the bucket 10) Pb in the shovel reference coordinate system can be expressed by the following equations (1) and (2).
- the Y coordinate of the toe Pb of the bucket 10, which is a monitor point, can be obtained from the offset amount (constant value) Yo in the Y-axis direction from the origin O to the center of the width direction of the bucket 10 and the width of the toe of the bucket 10. can.
- the Y coordinates of the monitor points are Yo-(bw/2) and Yo+(bw/2).
- the offset amount Yo is stored in the storage device 169 in advance.
- the Y coordinate of the center in the width direction of the bucket 10 is 0 (zero)
- the Y coordinates of the monitor points are (-bw/2) and (+bw/2).
- (offset_X, offset_Y, offset_Z) be the vector from the first GNSS antenna 35a in the excavator reference coordinate system to the origin of the excavator reference coordinate system, and Rx( ⁇ r ), Ry ( ⁇ p), Rz ( ⁇ y), the position coordinates of the monitor point in the excavator reference coordinate system are (X, Y, Z), and the vector from the origin of the site coordinate system to the position coordinates of the first GNSS antenna 35a is (offset_E , offset_N, offset_H), the position coordinates (E, N, H) of the monitor point in the field coordinate system are calculated by the following equation (3).
- Complementary information calculation unit 112 shown in FIG. to calculate complementary information.
- Complementary information is information that complements terrain data, which will be described later, and is information about surfaces that form the trajectory of the bucket 10 .
- the complementary information calculation unit 112 calculates, as complementary information, the normal vector of the surface forming the trajectory of the bucket 10 .
- FIG. 7 is a diagram showing the normal vector n of the surface forming the trajectory of the bucket 10.
- the complementary information calculation unit 112 selects three points P1, P2, and P3 from the points on the surface forming the trajectory of the bucket 10 .
- Complementary information calculation unit 112 calculates a normal vector n (ne, nn, nh) perpendicular to the plane containing point P1, point P2, and point P3 from the outer product of vector P1P2 and vector P1P3.
- a vector P1P2 is a vector connecting points P1 and P2, and a vector P1P3 is a vector connecting points P1 and P3.
- the point P1, the point P2, and the point P3 may be any three different points existing on the plane forming the trajectory of the bucket 10 .
- ne is the component of the normal vector n in the E-axis direction
- nn is the component of the normal vector n in the N-axis direction
- nh is the component of the normal vector n in the H-axis direction.
- the complementary information calculation unit 112 sets the left and right ends of the toe of the bucket 10 (the bucket 10 before movement) at a certain moment as points P1 and P2, and after a predetermined time has passed, A point P3 is either the left or right end of the toe of the bucket 10 (the bucket 10 after movement).
- the complementary information calculation unit 112 sets the left and right ends of a specific portion on the back surface of the bucket 10 (the bucket 10 before movement) at a certain moment as a point P1 and a point P2.
- the complementary information calculation unit 112 selects any three points out of the four corners of the bottom surface of the bucket 10 at the moment the bucket 10 hits the ground. Points P1 to P3.
- the complementary information calculation unit 112 calculates the position coordinates of arbitrary points (two points at the left and right ends of the toe Pb of the bucket 10) on the work device 100a that is moved by the excavation operation. , a normal vector n, which is information of the surfaces forming the trajectory of the bucket 10, is calculated.
- the complementary information calculation unit 112 selects an arbitrary point on the working device 100a that is moved by the compaction operation (two left and right ends of a specific portion on the back surface of the bucket 10). point), the normal vector n, which is the information of the surfaces forming the trajectory of the bucket 10, is calculated.
- the complementary information calculation unit 112 calculates the positions of arbitrary points (four points at the four corners of the bottom surface of the bucket 10) on the surface of the working device 100a that presses the ground. Based on the coordinates, a normal vector n, which is information of the surfaces forming the trajectory of the bucket 10, is calculated.
- FIG. 8 is a diagram showing normal vectors n1 and n2 on the curved surface forming the trajectory of the bucket 10.
- the normal vector may differ depending on how the points are selected.
- the normal vector n1 when the points P1, P2 and P3 are selected differs from the normal vector n2 when the points P2, P3 and P4 are selected.
- points P1 and P2 are two points at the left and right ends of the toe Pb of the bucket 10 before movement
- points P3 and P4 are These are two points at the left and right ends of the toe Pb of the rear bucket 10 .
- points P1 and P2 are two points on the left and right ends of a specific portion of the back surface of the bucket 10 before movement
- points P3 and P4 are points on the bucket after movement. These are two points on the left and right ends of a specific part on the back of 10 .
- Points P1 to P4 are four points at the four corners of the bottom surface of the bucket 10 when the beating action is being performed.
- the complementary information calculation unit 112 calculates the distance in the vertical direction (H-axis direction) between the target plane St set by the target plane setting device 161 and the monitor points (points P1 to P4) (between the target planes Also referred to as distance). If the points P1 to P4, which are the left and right ends of the toe Pb of the bucket 10 before and after movement, are not all on the same plane, the complementary information calculation unit 112 selects three points having the closest target inter-surface distance, and selects three points. A normal vector n is calculated based on
- the construction history generation unit 113 stores the generated construction history data in the storage device 169 .
- FIG. 9 is a diagram showing an example of construction history data.
- the construction history data (construction history data) is an aggregate of log data recorded along with the time (time stamp) every predetermined time (1 [sec] in the example shown in FIG. 9).
- the log data of the construction history data includes the position coordinates of the trajectory composing points (position coordinates of the trajectory) obtained by gridding the trajectory of the bucket 10, the complementary information (normal vector) calculated by the complementary information calculation unit 112, and the trajectory.
- the operation determination result determined by the computing unit 111 and the distance from the monitor point (toe of the bucket 10) to the target surface St (target inter-surface distance) computed by the complementary information computing unit 112 are included.
- the construction history generation unit 113 generates construction history data by recording position information (positional coordinates of monitor points) and complementary information (normal vector n) of the trajectory of the bucket 10 for each grid. That is, in the construction history data, the position information of the trajectory of the bucket 10 and the information of the surfaces forming the trajectory of the bucket 10 are associated and stored. The construction history generation unit 113 calculates the position coordinates of the trajectory composing points as follows.
- FIG. 10 is a diagram showing a work area A subjected to grid processing.
- the construction history generation unit 113 partitions a predetermined area (work area) A in a grid pattern on an EN plane parallel to the E and N axes of the field coordinate system (an EN plane orthogonal to the H axis).
- Grid processing sets grids G at regular intervals that are uniquely determined with respect to the field coordinate system.
- FIG. 11 is a diagram showing the grid width Gw and the grid center point Gen.
- the width of the grid G in the E-axis direction (grid width Gw) and the width in the N-axis direction (grid width Gw) are the same.
- the grid width Gw is set to 1 m.
- the grid width Gw is set to an arbitrary value in consideration of the data capacity of the construction history data, the density of the point group forming the geographic data described later, and the like.
- n and m are integers set based on the position coordinates (0, 0) of the origin of the EN plane, and correspond to the position coordinates of the left corner of the grid G in FIG.
- the trajectory of the bucket 10 is projected onto the EN plane.
- the construction history generation unit 113 determines whether or not the grid center point Gen exists inside the trajectory of the bucket 10 projected in a predetermined time span (for example, 1 second).
- FIG. 12 is a diagram showing how the trajectory of the bucket 10 is gridded.
- the construction history generation unit 113 passes through the grid center point Gen on the EN plane and the H axis.
- the positional coordinates are calculated using the intersection of the parallel axis (hereinafter also referred to as the grid central axis) and the surface forming the trajectory of the bucket 10 obtained from the positional coordinates of the monitor points as the trajectory composing point Gt.
- the position coordinates of the trajectory composing point Gt are trajectory information of the bucket 10 that constitutes the construction history data, and are recorded according to the format of the log file of the construction history data, as shown in FIG.
- the transmission unit 114 shown in FIG. 5 transmits log data of construction history data generated by the construction history generation unit 113 and stored in the storage device 169 to the management controller 150 .
- the construction history data generation process executed by the vehicle body controller 110 will be described with reference to FIG.
- the processing of the flowchart shown in FIG. 14 is started, for example, when an ignition switch (not shown) is turned on, and after initial setting (not shown) is performed, it is repeatedly executed at a predetermined calculation cycle.
- step S100 the vehicle body controller 110 detects operation information (operation direction and operation amount) detected by the operation detection device 163, posture information (position of the excavator 100) detected by the posture detection device 130, and coordinates, boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , pitch angle ⁇ p, roll angle ⁇ r, and azimuth angle ⁇ y), pressure information detected by the pressure detection device 162, etc. are acquired, and the process proceeds to step S110.
- operation information operation direction and operation amount
- posture information position of the excavator 100
- coordinates boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , pitch angle ⁇ p, roll angle ⁇ r, and azimuth angle ⁇ y
- pressure information detected by the pressure detection device 162, etc. are acquired, and the process proceeds to step S110.
- step S110 the vehicle body controller 110 determines whether or not any one of the excavation operation, the compaction operation, and the beating operation is being performed based on the operation information and the pressure information acquired in step S100. Execute the judgment process. In step S110, if it is determined that any one of the excavation operation, the compaction operation, and the beating operation is being performed, the process proceeds to step S120, and the excavation operation, the compaction operation, and the beating operation are performed. If it is determined that neither has been performed, the processing shown in the flow chart of FIG. 14 in this calculation cycle ends, and the process proceeds to step S100 in the next calculation cycle.
- step S120 the vehicle body controller 110 calculates the trajectory of the bucket 10 (position coordinates of monitor points), and proceeds to step S130.
- step S130 the vehicle body controller 110 combines the position coordinates of the monitor points calculated in step S120 of the previous calculation cycle (for example, the position coordinates of points P1 and P2 shown in FIG. 7) with the Based on the positional coordinates of the monitor point calculated in (eg, the positional coordinates of point P3 shown in FIG. 7), the normal vector n is calculated as complementary information, and the process proceeds to step S140.
- step S140 the vehicle body controller 110 generates log data of the construction history data based on the trajectory information and complementary information calculated in steps S120 and S130, records it in the storage device 169, and stores it in the flowchart of FIG. Terminate the indicated process.
- steps S100 to S130 is executed at a predetermined calculation cycle t1 (eg, 10 [msec]), whereas the construction history data recording processing (S140) is performed at predetermined time intervals t2 (eg, 1 [sec]) (t2>t1).
- t1 eg, 10 [msec]
- t2 eg, 1 [sec]
- the log data of the construction history data is accumulated in the storage device 169 by repeatedly executing the process shown in the flowchart of FIG.
- the log data of the construction history data accumulated in the storage device 169 is transmitted to the management server 51 at a predetermined transmission cycle.
- the management controller (second processing device) 150 of the management server 51 receives the construction history data transmitted from the vehicle body controller 110 of the hydraulic excavator 100, and the bucket 10 included in the received construction history data.
- a process for generating terrain data is executed based on the positional information of the trajectory (positional coordinates of the trajectory composing points) and the information of the surfaces composing the trajectory of the bucket 10 (normal vector n as complementary information).
- the functions of the management controller 150 will be described in detail below.
- the management controller 150 functions as a receiving unit 151, an extracting unit 152, a complementing unit 153, and an output unit 154.
- the receiving unit 151 receives construction history data transmitted from the vehicle body controller 110 of the hydraulic excavator 100 and stores log data of the received construction history data in the storage device 52 .
- the receiving unit 151 accumulates log data of construction history data output by a specific hydraulic excavator 100 in the storage device 52 . Note that the receiving unit 151 may accumulate construction history data output by a plurality of hydraulic excavators 100 in the storage device 52 .
- the log data may include log data with overlapping construction areas.
- the extracting unit 152 estimates and extracts the log data of the construction history data stored in the storage device 52 that the trajectory of the bucket 10 is close to the current topographic shape.
- the extraction unit 152 extracts log data when it is estimated that the bucket 10 moved along the current topography. Become.
- log data extracted by the extraction unit 152 is also referred to as extracted log data.
- the extraction unit 152 determines whether or not the construction areas overlap with the log data of the construction history data stored in the storage device 52 (that is, whether or not there are two or more pieces of log data having the same combination of the E coordinate and the N coordinate). or not).
- the extracting unit 152 employs log data for which construction areas are determined not to overlap, that is, log data in which combinations of E coordinates and N coordinates do not overlap, as extraction log data as they are.
- the extraction unit 152 extracts the log data determined to overlap the construction areas, that is, the log data whose combination of the E coordinate and the N coordinate overlaps with other log data. is estimated to be the log data closest to the current topographical shape and extracted.
- the complementing unit 153 executes a complementing process of computing complementing position information (positional coordinates of the complementing points Gc) that complements the terrain information between the trajectory composing points Gt of the log data extracted by the extracting unit 152 .
- the complementing unit 153 generates terrain data (complemented terrain data) including the position coordinates of all the trajectory composing points Gt and the position coordinates of the complementing points Gc included in the extracted log data. That is, the complementing unit 153 generates terrain data based on the extracted log data.
- FIG. 15 shows a plane parallel to the EH plane ( 13 is a cross-sectional view of FIG. 12 , which is also referred to as a cross section hereinafter, and is a diagram showing an enlarged part of FIG. 12 .
- a method of calculating the complementary point Gc between the trajectory composing points Gt adjacent in the E-axis direction on a plane (cross section) parallel to the EH plane will be described.
- the calculation method of the complementary point Gc between the trajectory composing points Gt adjacent in the N-axis direction is also the same.
- the complementing unit 153 determines whether or not there is log data related to the adjacent trajectory composing point Gt in the E-axis direction in the extracted log data for a trajectory composing point Gt. If there is no log data for the adjacent trajectory composing point Gt, similar processing is executed for the next trajectory composing point Gt. If there is log data related to the adjacent trajectory composing point Gt, the following processing is performed.
- the complementing unit 153 calculates the trajectory in the grid based on the positional information (positional coordinates of the trajectory composing points) of the trajectory of the bucket 10 and the information (complementary information) of the surface forming the trajectory of the bucket 10 stored for each of a plurality of grids. Calculate the tangent plane of . For example, based on the position coordinates of the trajectory composing point Gt1 stored as information on a certain grid G1 and the normal vector n1, which is complementary information, the complementing unit 153 determines that the normal vector "n1" passes through the trajectory composing point Gt1. A tangent plane T1 is calculated.
- the complementing unit 153 calculates the trajectory composing point Gt2 based on the positional coordinates of the trajectory composing point Gt2 stored as information about the grid G2 adjacent to the grid G1 in the E-axis direction and the normal vector n2, which is complementary information.
- a tangent plane T2 whose normal vector is "n2" is calculated.
- the complementing unit 153 calculates, as complemented positional information (positional coordinates of the complemented point), positional information (positional coordinates of the intersection point) on the line of intersection between the tangent planes of the trajectories of the respective adjacent grids, and the bucket 10 Terrain data is generated based on the positional information (positional coordinates of the trajectory composing points) and the complementary positional information (positional coordinates of the complementary points) of the trajectory.
- the complementing unit 153 obtains the line of intersection between the tangential plane T1 and the tangential plane T2, sets the intersection of the line of intersection and the cross section as a complementary point Gc12, and adds the position coordinates of the complementary point Gc12 to the terrain data as complementary position information. Record.
- the adjacent tangential planes T1 and T2 are nearly parallel as shown in FIG. 16, or when the grid width Gw is wider than the complexity of the terrain shape as shown in FIG. It is possible that the intersection point Gc12 of the intersection line of T2 and the cross section does not exist between the two trajectory composing points Gt1 and Gt2.
- the complementing unit 153 determines whether or not an intersection point Gc12 between the intersection line of the tangential planes T1 and T2 and the cross section exists between the trajectory composing points Gt1 and Gt2. If it is determined that the intersection point Gc12 exists between the trajectory composing points Gt1 and Gt2, the complementing unit 153 replaces the position coordinates of the intersection point Gc12 with complementary position information (complementary position information) that complements the terrain information between the trajectory composing points Gt1 and Gt2 positional coordinates of points), and the complementary processing for the trajectory composing points Gt1 and Gt2 ends.
- complementary position information complementary position information
- the complementing unit 153 assumes that there is no complementary position information to complement the terrain information between the trajectory composing points Gt1 and Gt2, and determines that the trajectory composing point Complementary processing for Gt1 and Gt2 ends.
- the complementing unit 153 After completing the complementing process for the trajectory composing points Gt1 and Gt2, the complementing unit 153 performs the complementing process for the next trajectory composing points Gt2 and Gt3 (see FIG. 12). After completing the complementing process for all adjacent trajectory composing points, the complementing unit 153 ends the terrain data generation process.
- the terrain data generated in this manner includes position information of the trajectory of the bucket 10 (positional coordinates of trajectory composing points corresponding to grids) and complementary position information (positions of complementary points that complement the terrain information between adjacent grids). coordinates) and
- the output unit 154 shown in FIG. 5 converts the complemented topographical data generated by the complementing unit 153 into point cloud data or TIN (Triangulated Irregular Network) data, and uses the converted data as current topographical data. Output to the progress management system 190 .
- TIN Triangulated Irregular Network
- the progress management system 190 calculates progress management information such as production volume and finished form based on the current terrain data generated by the management controller 150 .
- the progress management system 190 outputs the progress management information to the display device 53 and displays the progress management information on the display screen of the display device 53 to present information to the administrator. Note that the information presentation method is not limited to this.
- the progress management system 190 may output the progress management information to a printer (not shown) and print the progress management information on a paper medium by the printer.
- the progress management system 190 displays the progress management information on the display screen of the display device 164 mounted on the hydraulic excavator 100, the smart phones, tablets, notebook PCs, etc. carried by workers working around the hydraulic excavator 100. may be displayed on the display screen of the portable terminal. Note that the functions of the progress management system 190 may be provided in the management controller 150 .
- the terrain data generation/output processing executed by the management controller 150 will be described with reference to FIG.
- the processing of the flowchart shown in FIG. 18 is started when the input device 54 of the management server 51 is operated to execute the landform data generation/output processing, and is executed after initial setting (not shown) is performed.
- step S150 the management controller 150 extracts the log data closest to the target plane from the log data of the construction history data stored in the storage device 52, and proceeds to step S160.
- step S160 the management controller 150 executes a complementing process of calculating complementary position information (positional coordinates of complementary points) that complements the terrain information between the trajectory composing points based on the log data extracted in step S150. Complemented landform data composed of constituent points and complementary points is generated, and the process proceeds to step S170.
- step S170 the management controller 150 converts the complemented terrain data generated in step S160 into point cloud data or TIN data, outputs the converted data as current terrain data to the progress management system 190, and outputs the converted data to the progress management system 190 as shown in FIG. The processing shown in the flowchart is terminated.
- the management system according to the comparative example of the present embodiment does not include complementary information in the log data of the construction history data, and generates topographical data only from the trajectory composing points without executing the complementary processing.
- the topographical shape 99 of a large portion cannot be reproduced accurately.
- complementary points Gc are calculated between the trajectory composing points Gt, and terrain information is complemented.
- the current terrain data is generated from the trajectory composing points Gt and the complementary points Gc, it is possible to accurately reproduce the terrain shape 99 of characteristic portions such as the shoulder and toe of the slope.
- the management system 1 of the hydraulic excavator (work machine) 100 generates terrain data indicating the finished shape of the hydraulic excavator 100 by the working device 100a based on the detection result of the posture detection device 130 that detects the posture of the hydraulic excavator 100.
- a terrain data generation system 180 is provided.
- the vehicle body controller 110 of the topography data generation system 180 calculates the trajectory of the bucket 10 of the working device 100a based on the attitude of the hydraulic excavator 100, and based on the trajectory of the bucket 10, information (complementary information) on surfaces that make up the trajectory. is calculated, and position information of the trajectory of the bucket 10 (positional coordinates of the trajectory composing point Gt) and information of the surface constituting the trajectory (complementary information ) to generate construction history data.
- the management controller 150 of the terrain data generation system 180 generates terrain information based on the positional information (positional coordinates of the trajectory composing point Gt) of the trajectory of the bucket 10 and the information (complementary information) of the surfaces that make up the trajectory, which are included in the construction history data. Generate data.
- the management controller 150 of the terrain data generation system 180 complements the terrain information between grids based on the position coordinates of the trajectory of the bucket 10 and the information (complementary information) of the surfaces that make up the trajectory of the bucket 10.
- Terrain data can be generated by calculating the position information (the positional coordinates of the complementary point Gc). For this reason, compared to the case of generating topographic data only with the position information (positional coordinates of trajectory composition points) included in construction history data, the current topographic shape including characteristic topography such as shoulders and bottoms of slopes can be accurately reproduced. Reproduced terrain data can be generated.
- the vehicle body controller 110 of the terrain data generation system 180 controls the position information of the trajectory of the bucket 10 recorded for each of a plurality of grids (the positional coordinates of the trajectory composing points Gt) and the planes that make up the trajectory. Based on the information (complementary information), the tangential plane of the trajectory in each grid is calculated, and positional information ( For example, the positional coordinates of the intersection point Gc12) is calculated as complementary positional information (for example, the positional coordinates of the complementary point Gc12), and the positional information of the trajectory of the bucket 10 (positional coordinates of the trajectory composing point Gt) and the complementary positional information (complementary point Gc location coordinates) to generate terrain data. This makes it possible to generate terrain data close to the current terrain shape.
- the terrain data generation system 180 accumulates the log data of the construction history data, estimates and extracts the trajectory of the bucket 10 that is close to the current terrain shape from the log data of the construction history data, and extracts the extracted Generate terrain data based on log data. As a result, it is possible to generate terrain data close to the current terrain shape with higher accuracy.
- the topography data generation system 180 is provided in the excavator 100 and generates construction history data based on the posture of the excavator 100 detected by the posture detection device 130 .
- a vehicle body controller (first processing device) 110 that executes processing for transmission to an external management server (server) 51, and a management server (server) 51 provided with receive construction history data, and based on the received construction history data and a management controller (second processing device) 150 that executes processing for generating terrain data.
- topography data is generated by the management server 51 operated by the administrator based on the construction history data transmitted from the hydraulic excavator 100 . Therefore, the manager can easily manage the progress of the work by the excavator 100 at a place away from the excavator 100 .
- the information on the planes forming the trajectory is information representing the normal vector n of the planes forming the trajectory of the bucket 10 . Therefore, the information of the surface in one grid can be made into three components.
- the terrain data generation system 180 determines whether or not the bucket 10 of the hydraulic excavator 100 is in contact with the ground. Based on the positional coordinates of any point on the surface, the information of the surface forming the trajectory of the bucket 10 is calculated. As a result, when the bucket 10 is not in contact with the ground, there is no need to perform arithmetic processing of the surface information that constitutes the trajectory of the bucket 10. Therefore, the arithmetic load can be reduced, and the generated data amount can be reduced.
- FIG. 20 is a diagram showing complementary information generated by the management system 1 according to Modification 1 of the present embodiment.
- a vector Vm in the direction in which the bucket 10 moves also referred to as a moving direction vector
- a vector connecting two grounded points on the bucket 10 hereinafter also referred to as a grounding line vector
- the ground line vector Vc is calculated from the position information of the monitor points.
- the movement direction vector Vm is obtained using dimensions Lbm, Lam, and Lbkt of the boom 8, arm 9, and bucket 10, and attitude information (azimuth angle ⁇ y, roll angle ⁇ r, pitch angle ⁇ p, boom angle ⁇ , arm angle ⁇ , and bucket angle ⁇ . is calculated based on the formula (4).
- X, Y, and Z used here are the same as those used in formula (3).
- dX/dt, dY/dt and dZ/dt are the time derivatives of X, Y and Z.
- the complementary information calculation unit 112 calculates the normal vector n as complementary information from the outer product of the movement direction vector Vm and the ground line vector Vc. According to such a modification, the same effects as those of the above-described embodiment can be obtained.
- the normal vector can be calculated in an operation in which the bucket 10 moves while being in contact with the ground, such as an excavation operation and a compaction operation.
- complementary information is information representing the normal vector n of the surface forming the trajectory of the bucket 10
- the present invention is not limited to this.
- Complementary information may be information about the surfaces forming the trajectory of the bucket 10, and may be information that can specify the normal vector n (information about the normal vector n). Modified examples of complementary information will be described below.
- ⁇ Modification 2-1> In the above-described embodiment, an example has been described in which the normal vector n (ne, nn, nh) represented by three components is used as complementary information.
- the complementary information is two components of the inclination Ae with respect to the E-axis and the inclination An with respect to the N-axis of the surface forming the trajectory of the bucket 10 .
- the complementary information is information about the inclination of the surface forming the trajectory of the bucket 10 with respect to the reference plane (horizontal plane, EN plane, etc.).
- the number of dimensions of the complementary information can be set to "2", so the data capacity of the construction history data can be reduced compared to the above embodiment.
- the memory capacity of the storage devices 52 and 169 and the amount of communication can be reduced.
- the normal vector of a specific surface on shape data such as target surface data, which is estimated to have a shape similar to the trajectory of the bucket 10, and the surface that constitutes the trajectory of the bucket 10
- Information that links the normal vector of may be used as complementary information.
- an ID as unique identification information may be set for all the planes forming the target plane data, and the ID of the target plane closest to the monitor point at a certain point in time may be used as complementary information.
- the complementing unit 153 calculates the normal vector n based on the ID of the target plane.
- terrain data can be generated in the same manner as in the above embodiment.
- the complementary information is information (ID) for specifying the target surface in the vicinity of the trajectory of the bucket 10 (the target surface closest to the trajectory composing point Gt).
- ID information for specifying the target surface in the vicinity of the trajectory of the bucket 10 (the target surface closest to the trajectory composing point Gt).
- the number of dimensions of the complementary information can be set to "1", so the data volume of the construction history data can be further reduced compared to the modified example 2-1.
- the extraction unit 152 extracts log data determined to overlap construction regions, that is, log data whose combination of E coordinates and N coordinates overlaps with other log data.
- log data determined to overlap construction regions
- An example has been described in which the log data with the smallest inter-distance is estimated to be the log data closest to the current terrain shape and extracted, but the present invention is not limited to this.
- the times or the heights in the H-axis direction of the log data may be compared, and the log data may be extracted based on the comparison result.
- FIG. 21 is a flowchart explaining an example of a method for setting extraction conditions for log data of construction history data.
- the log data of the construction history data includes the target inter-surface distance information
- the current topography is considered to approach the target surface asymptotically, so the "minimum target inter-surface distance" is extracted. It is preferable to set it as a condition. If the log data of the construction history data does not include the target face-to-face distance information and there is no embankment at the site (only cut earth exists), the height of the current topography will always decrease. Therefore, it is preferable to adopt the extraction condition of "minimum value in H-axis direction".
- the log data of the construction history data does not include the target face-to-face distance information and there is an embankment on the site, it is assumed that the height of the current terrain will rise and fall. It is preferable to use the extraction condition "time is the latest value" using time information instead of the direction condition.
- the height in the H-axis direction is compared between log data with overlapping construction areas, and the log data with the lowest height in the H-axis direction is extracted.
- the log data of the latest value it is possible to extract the log data even in the area where the target plane data does not exist.
- the vehicle body controller 110 provided in the excavator 100 generates construction history data based on the attitude of the excavator 100 detected by the attitude detection device 130 , and transmits the generated construction history data to the outside of the excavator 100 .
- the management controller 150 provided in the management server 51 executes processing for generating topographical data based on the construction history data received from the vehicle body controller 110.
- the present invention is not limited to this.
- the vehicle body controller 110 of the hydraulic excavator 100 may be provided with a function as the second processing device.
- the operating devices (22a, 22b, 23a, 23b) are electric operating devices in the above embodiment, the present invention is not limited thereto.
- a hydraulic pilot type operating device may be employed instead of the electric operating device.
- the complementary information calculation unit 112 selects three points near the target surface St from among the points P1 to P4 (see FIG. 8) and calculates the normal vector n.
- a plane different from St may be set as a reference plane, and three points close to the reference plane may be selected to calculate the normal vector n.
- the normal vector n may be calculated for all combinations of a plurality of acquired points, and their average or weighted average may be obtained.
- the present invention is not limited to this.
- stroke sensors that detect the cylinder lengths of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be employed as attitude sensors.
- the posture detection device calculates the boom angle ⁇ , arm angle ⁇ , and bucket angle ⁇ based on the cylinder length detected by the stroke sensor.
- ⁇ Modification 8> In the above embodiment, a case where the work machine is a crawler hydraulic excavator has been described as an example, but the present invention is not limited to this.
- the work machine may be a wheeled hydraulic excavator, bulldozer, wheel loader, or the like.
- Work device 100b... Vehicle body (body), 110... Vehicle body controller (first processing device), 111 112 Complementary information calculation unit 113 Construction history generation unit 114 Transmission unit 130 Posture detection device 131 Work device posture detection unit 132 Vehicle body position detection unit 133 Vehicle body angle detection Part 150 Management controller (second processing device) 151 Reception unit 152 Extraction unit 153 Complementation unit 154 Output unit 161 Target plane setting device 162 Pressure detection device 163 Operation detection Apparatus 169 Storage device 180 Terrain data generation system A Predetermined area (work area) G Grid Gc Complementary point Gen Grid center point Gt Locus composition point Gw Grid width n ... normal vector, St ... target plane, T1, T2 ... tangential plane, Vc ... ground line vector, Vm ... moving direction vector
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Abstract
Description
上記実施形態では、点P1~P4(図7、図8参照)を用いて法線ベクトルnを算出する例について説明したが、本発明はこれに限定されない。図20は、本実施形態の変形例1に係る管理システム1により生成される補完情報について示す図である。図20に示すように、本変形例では、バケット10が移動する方向のベクトル(移動方向ベクトルとも記す)Vmと、バケット10における接地する2点を結んだベクトル(以下、接地線ベクトルとも記す)Vcとの外積から得られる法線ベクトルnが、補完情報として算出される。
上記実施形態では、補完情報が、バケット10の軌跡を構成する面の法線ベクトルnを表す情報である例について説明したが、本発明はこれに限定されない。補完情報は、バケット10の軌跡を構成する面の情報であればよく、法線ベクトルnを特定することのできる情報(法線ベクトルnに関する情報)であればよい。以下、補完情報の変形例について説明する。
上記実施形態では、3成分で表される法線ベクトルn(ne,nn,nh)を補完情報とする例について説明した。これに対して、本変形例2-1では、補完情報が、バケット10の軌跡を構成する面のE軸に対する傾きAe、及び、N軸に対する傾きAnの2成分とされる。軌跡を構成する面のE軸に対する傾きAe=nh/neであり、軌跡を構成する面のN軸に対する傾きAn=nh/nnである。
さらに次元数を減らす場合、例えば、目標面データなど、バケット10の軌跡と類似した形状となることが推測される形状データ上の特定の面の法線ベクトルと、バケット10の軌跡を構成する面の法線ベクトルとを紐づける情報を補完情報としてもよい。例えば、目標面データを構成する全ての面に固有の識別情報としてのIDを設定しておき、ある時点におけるモニタポイントに最も近い目標面のIDを補完情報としてもよい。
上記実施形態では、抽出部152は、施工領域が重複すると判定されたログデータ、すなわちE座標及びN座標の組み合わせが他のログデータと重複するログデータは、それらのログデータの中で目標面間距離が最小となるログデータを現況地形形状に最も近いログデータと推定して抽出する例について説明したが、本発明はこれに限定されない。それらのログデータの時刻、あるいは、H軸方向の高さを比較し、その比較結果に基づいて、ログデータを抽出してもよい。
上記実施形態では、油圧ショベル100に設けられる車体コントローラ110が、姿勢検出装置130で検出された油圧ショベル100の姿勢に基づいて施工履歴データを生成し、生成した施工履歴データを油圧ショベル100の外部の管理サーバ51に送信する処理を実行する第1処理装置として機能し、管理サーバ51に設けられる管理コントローラ150が、車体コントローラ110から受信した施工履歴データに基づいて地形データを生成する処理を実行する第2処理装置として機能する例について説明したが、本発明はこれに限定されない。油圧ショベル100の車体コントローラ110に、第2処理装置としての機能を持たせてもよい。
上記実施形態では、操作装置(22a,22b,23a,23b)が電気式の操作装置である例について説明したが、本発明はこれに限定されない。電気式の操作装置に代えて、油圧パイロット式の操作装置を採用してもよい。
上記実施形態では、補完情報演算部112が点P1~点P4(図8参照)のうち、目標面Stに近い3点を選択して法線ベクトルnを演算する例について説明したが、目標面Stとは異なる面を基準面として設定し、基準面に近い3点を選択して法線ベクトルnを演算してもよい。また、取得した複数の点の全ての組み合わせで法線ベクトルnを演算し、それらの平均や重みづけ平均を取ってもよい。
姿勢センサとして、角度センサ30,31,32を用いる例について説明したが、本発明はこれに限定されない。角度センサ30,31,32に代えて、ブームシリンダ5、アームシリンダ6及びバケットシリンダ7のシリンダ長を検出するストロークセンサを姿勢センサとして採用してもよい。この場合、姿勢検出装置は、ストロークセンサで検出されたシリンダ長に基づいて、ブーム角α、アーム角β及びバケット角γを演算する。
上記実施形態では、作業機械がクローラ式の油圧ショベルである場合を例に説明したが、本発明はこれに限定されない。作業機械は、ホイール式の油圧ショベル、ブルドーザ、ホイールローダ等であってもよい。
上記実施形態では、アクチュエータとして、油圧モータ、油圧シリンダ等の油圧アクチュエータを備える例に説明したが、アクチュエータとして、電動モータ、電動シリンダ等の電動アクチュエータを備える作業機械に本発明を適用してもよい。
Claims (11)
- 作業機械の姿勢を検出する姿勢検出装置の検出結果に基づいて前記作業機械の作業装置による出来形を示す地形データを生成する地形データ生成システムを備える作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記作業機械の姿勢に基づいて前記作業装置の軌跡を演算し、
前記作業装置の軌跡に基づいて前記軌跡を構成する面の情報を演算し、
所定領域を格子状に区画した複数のグリッド毎に、前記作業装置の軌跡の位置情報及び前記軌跡を構成する面の情報を記録することにより、施工履歴データを生成し、
前記施工履歴データに含まれる前記作業装置の軌跡の位置情報及び前記軌跡を構成する面の情報に基づいて、前記地形データを生成する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記複数のグリッド毎に記録された前記作業装置の軌跡の位置情報及び前記軌跡を構成する面の情報に基づいて、各グリッドにおける前記軌跡の接平面を演算し、
隣り合うグリッド間において、前記隣り合うグリッドそれぞれの前記軌跡の接平面同士の交線に関する位置情報を補完位置情報として演算し、
前記作業装置の軌跡の位置情報及び前記補完位置情報に基づいて前記地形データを生成する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記施工履歴データのログデータを蓄積し、
前記施工履歴データのログデータのうち、前記作業装置の軌跡が現況地形形状に近いものを推定して抽出し、
抽出された前記ログデータに基づいて、前記地形データを生成する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記作業機械に設けられ、前記姿勢検出装置で検出された前記作業機械の姿勢に基づいて前記施工履歴データを生成し、生成した前記施工履歴データを前記作業機械の外部のサーバに送信する処理を実行する第1処理装置と、
前記サーバに設けられ、前記施工履歴データを受信し、受信した前記施工履歴データに基づいて前記地形データを生成する処理を実行する第2処理装置と、を有する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記軌跡を構成する面の情報は、前記作業装置の軌跡を構成する面の法線ベクトルに関する情報である
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記軌跡を構成する面の情報は、前記作業装置が移動する方向のベクトルと、前記作業装置における接地する2点を結んだベクトルとの外積から算出される法線ベクトルに関する情報である
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記軌跡を構成する面の情報は、前記作業装置の軌跡を構成する面の基準面に対する傾きに関する情報である
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記軌跡を構成する面の情報は、前記作業装置の軌跡の近傍の目標面の情報である
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記作業機械の作業装置が地面に接触しているか否かを判定し、
前記作業機械の作業装置が地面に接触している場合には、移動する前記作業装置上の任意の点の位置座標に基づいて前記作業装置の軌跡を構成する面の情報を演算する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記作業機械が掘削動作を行っているか否かを判定し、
前記作業機械が掘削動作を行っている場合には、掘削動作により移動する前記作業装置上の任意の点の位置座標に基づいて前記作業装置の軌跡を構成する面の情報を演算する
ことを特徴とする作業機械の管理システム。 - 請求項1に記載の作業機械の管理システムにおいて、
前記地形データ生成システムは、
前記作業機械が土羽打ち動作を行っているか否かを判定し、
前記作業機械が土羽打ち動作を行っている場合には、前記作業装置における地面を押圧する面上の任意の点の位置座標に基づいて、前記作業装置の軌跡を構成する面の情報を演算する
ことを特徴とする作業機械の管理システム。
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JP2020122371A (ja) * | 2019-01-31 | 2020-08-13 | 日立建機株式会社 | 作業機械 |
JP2021001436A (ja) * | 2019-06-19 | 2021-01-07 | 日立建機株式会社 | 作業機械 |
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JP2005011058A (ja) | 2003-06-19 | 2005-01-13 | Hitachi Constr Mach Co Ltd | 作業機械の作業支援・管理システム |
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 |
JP2016098535A (ja) * | 2014-11-20 | 2016-05-30 | 住友建機株式会社 | ショベル支援システム及びショベル支援装置 |
JP2019190193A (ja) * | 2018-04-27 | 2019-10-31 | 日立建機株式会社 | 作業機械 |
JP2020122371A (ja) * | 2019-01-31 | 2020-08-13 | 日立建機株式会社 | 作業機械 |
JP2021001436A (ja) * | 2019-06-19 | 2021-01-07 | 日立建機株式会社 | 作業機械 |
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EP4317601A1 (en) | 2024-02-07 |
CN116234961A (zh) | 2023-06-06 |
JPWO2022209646A1 (ja) | 2022-10-06 |
KR20230042080A (ko) | 2023-03-27 |
JP7375259B2 (ja) | 2023-11-07 |
US20230313503A1 (en) | 2023-10-05 |
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