WO2022215414A1 - 掘削システム - Google Patents
掘削システム Download PDFInfo
- Publication number
- WO2022215414A1 WO2022215414A1 PCT/JP2022/009853 JP2022009853W WO2022215414A1 WO 2022215414 A1 WO2022215414 A1 WO 2022215414A1 JP 2022009853 W JP2022009853 W JP 2022009853W WO 2022215414 A1 WO2022215414 A1 WO 2022215414A1
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- WIPO (PCT)
- Prior art keywords
- excavation
- bucket
- border
- area
- see
- Prior art date
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 339
- 238000005553 drilling Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 description 19
- 238000001514 detection method Methods 0.000 description 14
- 239000004576 sand Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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
- 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
- E02F3/36—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 an excavating system for excavating an object to be excavated with a bucket.
- Patent Document 1 describes a technique for automatically operating a work machine and excavating an object to be excavated with a bucket.
- excavation is performed by a bucket along an excavation line from a front position as viewed from the upper revolving structure to a rearward position. Then, when excavation is completed, the upper revolving body is rotated, and excavation is performed in a new excavation line.
- the excavation operation may be a wasteful operation, such as continuing excavation even though the bucket is full of objects to be excavated. be.
- excavation in a certain excavation train is performed by multiple excavation operations, for example, excavation is performed even though the number of excavation objects remaining in the excavation train is small. may be. Therefore, it is desirable to improve the efficiency of excavation work.
- an object of the present invention is to provide an excavation system capable of improving the efficiency of excavation work in automatic operation.
- the excavation system includes a lower body (lower travel body), an upper revolving body, an attachment, and a controller.
- the upper revolving body is rotatably mounted on the lower traveling body.
- the attachment is attached to the upper revolving body.
- the attachment has a bucket for excavating an object to be excavated.
- the controller sets the border at a forwardly spaced position with respect to the upper swing structure.
- the controller controls the bucket to automatically excavate the object to be excavated in a direction approaching the upper revolving body along an excavation line extending in the longitudinal direction of the upper revolving body.
- the controller causes the bucket to excavate the next time without changing the excavation line if the position of the bucket when one excavation by the bucket is completed is ahead of the border. If the position of the bucket when one excavation by the bucket is completed is at the same position as the border or behind the border, the controller changes the excavation row to perform the next excavation. Let the bucket do it.
- FIG. 1 is a diagram showing an excavation system 1, and is a diagram of a work machine 10 and the like viewed from the side.
- FIG. It is the figure which looked at the work machine 10 etc. which are shown in FIG. 1 from above.
- FIG. 3 is a view taken along line F3-F3 of FIG. 2;
- 2 is a block diagram of the drilling system 1 shown in FIG. 1;
- FIG. 3 is a flow chart showing the flow of setting the excavation area 51 and the like shown in FIG. 2.
- FIG. FIG. 4 is a flow chart showing processing related to excavation in excavation line C shown in FIG. 3 ;
- FIG. FIG. 3 is a view equivalent to FIG. 2 showing a modification of the border 53 shown in FIG. 2;
- FIG. 1 The excavation system 1 will be described with reference to FIGS. 1 to 7.
- FIG. 1 The excavation system 1 will be described with reference to FIGS. 1 to 7.
- the excavation system 1 is a system for excavating an excavation object O, as shown in FIG.
- the excavation system 1 includes a work machine 10, an imaging device 21, a posture detection unit 23 (see FIG. 4), an input device 25, and a controller 30 (see FIG. 4).
- the work machine 10 is a machine that performs an excavation work of excavating the excavation target O with the bucket 15c, and is a shovel.
- the work machine 10 is, for example, a construction machine that performs construction work.
- the excavation object O excavated by the work machine 10 may be earth and sand, crushed stone, or waste.
- the excavation object O may be, for example, mountain-shaped (for example, an earth and sand mountain), may be arranged on the ground, or may be arranged in an earth and sand pit P (surrounded by walls Pw).
- the work machine 10 includes a lower travel body 11 (lower main body), an upper revolving body 13, an attachment 15, and a drive section 17 (see FIG. 4).
- the lower traveling body 11 (lower main body) allows the work machine 10 to travel.
- the undercarriage 11 includes, for example, crawlers.
- the upper revolving body 13 is rotatably mounted on the lower traveling body 11 .
- An attachment 15 is attached to the upper revolving body 13 .
- the upper swing body 13 includes an operator's cab 13a and a counterweight 13b.
- the operator's cab 13 a is a portion where the operator can operate the work machine 10 .
- the work machine 10 may not be operated by an operator, and may be automatically operated by a controller 30 (see FIG. 4).
- the counterweight 13b is a weight for balancing the work machine 10 in the longitudinal direction X. As shown in FIG.
- the vertical direction Z is defined as the direction in which the rotation axis of the upper rotating body 13 (rotation center 13o shown in FIG. 2) extends with respect to the lower traveling body 11 .
- the direction from the lower traveling body 11 to the upper revolving body 13 is defined as an upward direction Z1, and the opposite direction is defined as a downward direction Z2.
- the direction in which the attachment 15 extends is defined as the front-rear direction X. As shown in FIG.
- the direction from the counterweight 13b to the attachment portion where the attachment 15 is attached to the upper revolving body 13 is defined as "forward X1", and the opposite direction is defined as “rearward X2". That is, in the front-rear direction X, the direction away from the upper revolving body 13 when viewed from the front side is defined as the front X1, and the opposite direction is defined as the rear X2.
- the turning direction of the upper turning body 13 with respect to the lower traveling body 11 is defined as turning direction ⁇ .
- the attachment 15, as shown in FIG. 1, is a part that is attached to the upper revolving body 13 and performs excavation work.
- the attachment 15 includes a boom 15a, an arm 15b and a bucket 15c.
- the boom 15a is attached to the upper revolving body 13 so as to be able to rise and fall (rotatable in the vertical direction Z).
- Arm 15b is rotatably attached to boom 15a.
- the bucket 15c is a portion that excavates the object O to be excavated.
- the bucket 15c is provided at the tip of the attachment 15 and rotatably attached to the arm 15b.
- Bucket 15c has a shape capable of scooping up object O to be excavated.
- the drive unit 17 drives the working machine 10 .
- the drive unit 17 includes a turning motor (not shown) that turns the upper turning body 13 with respect to the lower traveling body 11 .
- the drive unit 17 includes a boom cylinder 17a that raises and lowers the boom 15a with respect to the upper swing body 13, an arm cylinder 17b that rotates the arm 15b with respect to the boom 15a, and a bucket cylinder 17c that rotates the bucket 15c with respect to the arm 15b. And prepare.
- the imaging device 21 detects three-dimensional information on the position and shape of the object to be imaged.
- the above-mentioned "object to be imaged” includes at least one of the object O to be excavated and the peripheral objects of the object O to be excavated.
- the imaging device 21 acquires an image (distance image) having distance information (depth information).
- the imaging device 21 may detect the three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. Only one imaging device 21 may be provided, or a plurality of imaging devices may be provided.
- the imaging device 21 may be mounted on the work machine 10 or may be arranged outside the work machine 10 (for example, at the work site).
- the imaging device 21 may include a device that detects three-dimensional information using laser light.
- the imaging device 21 may include, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or may include a TOF (Time Of Flight) sensor.
- the imaging device 21 may include a device (such as a millimeter wave radar) that detects three-dimensional information using radio waves.
- the imaging device 21 may include a stereo camera. When the imaging device 21 detects the three-dimensional position and shape of the object to be imaged based on three-dimensional information and two-dimensional information, the imaging device 21 uses a camera capable of detecting two-dimensional images. You may prepare.
- the posture detection unit 23 detects the posture of the working machine 10 shown in FIG.
- the posture detection unit 23 (see FIG. 4) detects the turning angle of the upper turning body 13 with respect to the lower traveling body 11 .
- the posture detection unit 23 detects the rotation angle (hoisting angle) of the boom 15 a with respect to the upper swing body 13 .
- the posture detection unit 23 detects the rotation angle of the arm 15b with respect to the boom 15a.
- Posture detection unit 23 detects the rotation angle of bucket 15c with respect to arm 15b.
- the attitude detection unit 23 may include an angle sensor attached to the axis of rotation of the boom 15a with respect to the upper swing body 13, and the same applies to the arm 15b and the bucket 15c.
- the posture detection unit 23 may include a tilt sensor that detects the tilt angle of the boom 15a with respect to the ground or the like, and the same applies to the arm 15b and the bucket 15c.
- the posture detection unit 23 may include a stroke sensor that detects the stroke of the cylinder that drives the boom 15a (the position of the cylinder rod with respect to the cylinder tube), and the same applies to the arm 15b and the bucket 15c.
- the posture detection unit 23 may detect the posture of the boom 15a based on a two-dimensional image or a distance image, and the same applies to the arm 15b and the bucket 15c. In this case, the two-dimensional image or the distance image may be captured by the imaging device 21 .
- the input device 25 is a device that allows the operator to input various information.
- the input device 25 may be, for example, a mobile information terminal (for example, a tablet, a smart phone, etc.) carried by the worker.
- the input device 25 may be provided in the work machine 10 or may be provided in equipment for remotely controlling the work machine 10 .
- the controller 30 (see FIG. 4) performs signal input/output, computation (processing), information storage, and the like. For example, as shown in FIG. 4, the controller 30 receives signals from the imaging device 21, the orientation detection section 23, and the input device 25. FIG. For example, the controller 30 outputs a signal for driving the drive section 17 .
- the controller 30 includes an excavation area setting section 31 , a border setting section 33 and an excavation control section 35 .
- the excavation area setting unit 31 sets an excavation area 51 (see FIG. 2), which will be described later.
- the border setting unit 33 sets a border 53 (see FIG. 2), which will be described later.
- the excavation control unit 35 automatically operates the work machine 10 shown in FIG. As will be described later, the excavation control unit 35 (see FIG. 4) controls the operation of the attachment 15 to control the operation of the bucket 15c, thereby controlling excavation by the bucket 15c (automatic excavation).
- Drilling system 1 is configured to operate as follows.
- (setting) Information necessary for excavation is set in the controller 30 (see FIG. 4).
- the controller 30 will be described below with reference to FIG. Specifically, the excavation area 51 shown in FIG. 2, the border 53, the excavation start height Zs shown in FIG. 3, the one-cycle depth Zc, and the final depth Ze are set (see FIG. 5). ).
- the excavation area 51 is a range in which the excavation object O is arranged, as shown in FIG. An excavation object O is arranged in at least part of the excavation area 51 .
- the controller 30 controls the bucket 15 c to excavate inside the excavation area 51 .
- the controller 30 does not allow the bucket 15 c to excavate outside the excavation area 51 .
- the shape of the excavation area 51 may be set variously.
- the excavation area 51 may be polygonal, for example, quadrangular, for example, rectangular, quadrilateral other than rectangular, or a shape similar thereto (eg, substantially polygonal).
- the excavation area 51 When viewed from the vertical direction AZ, the excavation area 51 may be circular, elliptical, or a shape close thereto (for example, substantially circular).
- a certain direction that is a direction related to the excavation area 51 and is parallel to the horizontal plane is defined as an area front-back direction AX.
- a direction perpendicular to each of the area front-rear direction AX and the vertical direction AZ is defined as an area lateral direction AY.
- the excavation area 51 may be set in various ways.
- the excavation area 51 may be automatically set (calculated) by the excavation area setting unit 31 (see FIG. 4). Specifically, for example, the excavation area 51 may be automatically calculated based on the distance image of the excavation object O and its peripheral portion acquired by the imaging device 21 (see FIG. 1).
- the excavation area 51 may be automatically calculated based on three-dimensional information of the work site where the excavation object O is arranged (for example, three-dimensional information of the earth and sand pit P, etc.).
- the excavation area 51 may be set by teaching (described later) using the attachment 15 .
- the excavation area 51 may be set by values (for example, coordinates) input to the input device 25 (see FIG. 1).
- the excavation area 51 may be a fixed value set in advance in the excavation area setting unit 31 (see FIG. 4), for example, a value calculated and set in advance based on work site information (topography, structure of the earth and sand pit P, etc.). It's okay.
- a specific example of setting the excavation area 51 when the excavation area 51 is set by teaching is as follows.
- a position (teaching point, for example, a position on the boundary) for determining the boundary between the inside and the outside of the excavation area 51 is designated by the operator's operation of the attachment 15 .
- a position for example, a position on the boundary
- the positions of the four corners of the excavation area 51 viewed from the vertical direction AZ are points 51a, 51b, 51c, and 51d.
- the operator of the work machine 10 operates the work machine 10 to teach the diagonal positions of the excavation area 51 viewed from the vertical direction AZ, specifically the points 51a and 51c (steps shown in FIG. 5). see S11 and S12).
- teaching of point 51a is performed as follows. An operator operates the attachment 15 to move the tip of the bucket 15c to a position to be set as the point 51a. Then, when the operator presses the enter button of the input device 25 (see FIG. 1), for example, the position of the tip of the bucket 15c at this time is set as the point 51a.
- the excavation area setting unit 31 see FIG.
- the coordinate (Xa) of the position of the point 51a in the longitudinal direction X (Xa), the coordinate (Za) of the position in the vertical direction Z, and the value of the turning direction ⁇ (Angle) ( ⁇ a) is set.
- the position (Za) of the point 51a in the vertical direction Z may be used as the reference position for the excavation depth, which will be described later.
- the point 51c is set by teaching.
- the excavation area setting unit 31 stores the coordinate (Xc) in the longitudinal direction X of the point 51c, the coordinate (Zc) in the vertical direction Z, and the value (angle) of the turning direction ⁇ ( ⁇ c ) is set.
- the excavation area setting unit 31 calculates the positions of the points 51b and 51d based on the positions of the points 51a and 51c.
- the central axis of the attachment 15 extending in the longitudinal direction of the attachment 15 when viewed from the vertical direction AZ is defined as the attachment central axis 15e.
- the center between the points 51a and 51c (for example, the midpoint of the straight line connecting the points 51a and 51c) is defined as the area center 51o.
- the longitudinal direction X of the upper rotating body 13 when the attachment central axis 15e passes through the area center 51o is set as the area longitudinal direction AX.
- the area lateral direction AY is also determined.
- the area front-rear direction AX and the area lateral direction AY may not be set based on the teaching result, and may be set based on, for example, the directions of the coordinate axes of the coordinate system of the work site.
- the area front-rear direction AX is the direction in which two sides (two sides facing each other, short sides in FIG. 2) of the rectangular excavation area 51 extend when viewed from the vertical direction AZ.
- the area lateral direction AY is the direction in which the remaining two sides (the long sides in FIG. 2) of the rectangular excavation area 51 extend when viewed from the vertical direction AZ.
- the positions of points 51b and 51d are determined.
- the points 51b and 51d may be set by teaching.
- the excavation area setting unit 31 sets an area surrounded by points 51 a , 51 b , 51 c and 51 d as an excavation area 51 .
- a border 53 is a boundary on whether or not to excavate by changing the excavation row C. The details of excavation will be described later.
- the border 53 is set at a position spaced apart from the upper revolving body 13 .
- the border 53 is set, for example, at a position spaced forward X1 with respect to the upper revolving body 13 .
- at least part of the border 53 is set inside the excavation area 51 .
- the border 53 When viewed from the vertical direction AZ, the border 53 may be linear or curved (see border 153 shown in FIG. 7).
- the border 53 is set to extend, for example, in the area horizontal direction AY. As shown in FIG.
- the border 153 when viewed from the vertical direction AZ, may have an arc shape, for example, an arc shape, more specifically, an arc shape centered on the turning center 13o.
- the border 153 When viewed from the vertical direction AZ, may be arc-shaped (for example, arc-shaped) convex forward X1 as shown in FIG. 7, for example.
- the setting of the border 53 shown in FIG. 2 may be performed in various ways (the same applies to the border 153 shown in FIG. 7).
- the border 53 may be automatically calculated by the border setting section 33 (see FIG. 4). Specifically, for example, the border 53 may be automatically calculated based on the information (position) of the excavation area 51 and the information (capacity, shape, size, etc.) of the bucket 15c.
- the border 53 may be set by teaching using the attachment 15 .
- the border 53 may be set by a value (for example, a distance from a straight line passing through the points 51a and 51c) input to the input device 25 (see FIG. 1).
- the border 53 may be a fixed value set in advance in the border setting unit 33 (see FIG. 4), or may be a value calculated and set in advance based on work site information (topography, structure of the sand pit P, etc.).
- the digging start height Zs shown in FIG. 3 is the height of the bucket 15c (more specifically, the tip of the bucket 15c) when the bucket 15c starts digging the object O to be excavated.
- the excavation start height Zs is preferably set at the height of the highest position (vertex) of the excavation object O or a position higher than the vertex.
- the setting of the excavation start height Zs (the setting of the initial work height Zs in step S22 shown in FIG. 5) may be performed in various ways.
- the excavation start height Zs may be automatically calculated by the controller 30 (see FIG. 4). Specifically, for example, the excavation start height Zs may be automatically calculated from the distance image captured by the imaging device 21 (see FIG. 1).
- the excavation start height Zs may be set by teaching using the attachment 15 .
- the excavation start height Zs may be set by a value input to the input device 25 (see FIG. 1).
- the excavation start height Zs may be the height of an excavation reference position (for example, point 51a), or may be determined based on the excavation reference position (point 51a).
- the excavation start height Zs may be a preset fixed value.
- the 1-cycle depth Zc is the excavation depth (the length in the vertical direction Z) when the bucket 15c excavates for one cycle (once).
- the setting of the 1-cycle depth Zc may be performed in various ways.
- the one-cycle depth Zc may be automatically calculated by the controller 30 (see FIG. 4). Specifically, for example, the 1-cycle depth Zc may be automatically calculated based on the information (capacity, shape, size, etc.) of the bucket 15c.
- the one-cycle depth Zc may be set by a value input to the input device 25 (see FIG. 1), and the same applies to the final depth Ze, which will be described later.
- the one-cycle depth Zc may be a fixed value preset in the controller 30 (see FIG. 4), and the same applies to the final depth Ze.
- the final depth Ze is the depth from the excavation reference position (for example, the point 51a) to the position where the excavation work by the bucket 15c is completed.
- Setting the final depth Ze may be done in various ways.
- the controller 30 (see FIG. 4) is preferably configured to cause the bucket 15c to excavate the object O to the final depth Ze and not to excavate deeper than the final depth Ze.
- the drilling system 1 (see FIG. 4) is configured to drill as follows.
- the excavation control unit 35 controls the bucket 15c so that the bucket 15c automatically excavates the object O to be excavated.
- the excavation control unit 35 controls the bucket 15c to excavate the excavation object O inside the excavation area 51 shown in FIG.
- the excavation control unit 35 controls the bucket 15c to excavate the excavation object O along at least one excavation row C.
- the excavation row C extends in the front-rear direction X.
- FIG. 2 only the respective central axes of the plurality of excavation rows C are illustrated.
- the excavation row C is the trajectory (target trajectory) of the bucket 15c when the bucket 15c is caused to excavate without rotating the upper revolving body 13 with respect to the lower traveling body 11.
- the controller 30 sets a plurality of excavation lines C within the excavation area 51 .
- each excavation row C is set in each of a plurality of excavation stages D (three stages in FIG. 3).
- the multiple excavation stages D include a first excavation stage D1, a second excavation stage D2, and a third excavation stage D3 arranged in order from the top.
- the height of the upper end of the first excavation stage D1 is, for example, the excavation start height Zs or a position lower than the excavation start height Zs.
- a plurality of excavation rows C can be set in the first excavation stage D1.
- four excavation rows C (digging rows C1, C2, C3, and C4) are set in the first excavation stage D1.
- the interval between the central axes of adjacent excavation rows C in the same excavation stage D (digging row interval) may be a constant interval.
- the excavation row interval may be a constant interval in the turning direction ⁇ , or may be a constant interval in the area lateral direction AY, for example.
- the dig row spacing may not be constant.
- the second digging stage D2 is provided with four digging trains C (digging trains C5, C6, C7, and C8).
- the height of the upper end of the second digging stage D2 may be the height obtained by subtracting the one-cycle depth Zc from the digging start height Zs.
- Four excavation rows C (excavation rows C9, C10, C11, C12) are set in the third excavation stage D3.
- the height of the lower end of the third digging stage D3 is the height of the final depth Ze.
- the height of the upper end of the third excavation stage D3 may be the excavation start height Zs minus twice the one-cycle depth Zc.
- the number of excavation rows C in one excavation stage D (for example, four in the example shown in FIG. 4) may be the same or different among a plurality of excavation stages D. As shown in FIG.
- the excavation control unit 35 moves the bucket 15c shown in FIG. 2 backward X2.
- the excavation control unit 35 controls the bucket 15c so as to excavate the object O to be excavated backward X2.
- each excavation train C one or more excavations are performed as described below.
- the excavation control unit 35 causes the bucket 15c to excavate while changing the excavation train C.
- the excavation control unit 35 may change the excavation row C in which the buckets 15c excavate by changing the revolving angle (orientation of the revolving direction ⁇ ) of the upper revolving body 13 .
- the excavation control unit 35 may change the excavation line C in which the bucket 15c excavates by causing the lower traveling body 11 to travel.
- a specific example of when excavation in a certain excavation line C is completed and the excavation line C is changed is as follows. First, excavation is performed in the first excavation stage D1. For example, one or more excavations are performed in excavation train C1 (described later). When drilling in drill train C1 is completed, drilling in drill trains C2, C3, and C4 is performed in the same manner. Specifically, for example, as shown in FIG. 3, when the excavation object O is viewed forward X1, the left portion (the portion located on one side of the area lateral direction AY) to the right portion of the first excavation stage D1 Excavation is performed in order of the excavation rows C1, C2, C3, and C4 up to (a portion located on the opposite side to one side of the area lateral direction AY).
- excavation may be performed in the order of excavation rows C4, C3, C2, and C1 from the right portion to the left portion of the first excavation stage D1 when the object O is viewed forward X1.
- excavation may be performed in the central portion (digging rows C2 and C3) in the area lateral direction AY of the first excavation stage D1
- excavation in the area lateral direction AY outer portion may be performed.
- the excavation of the first excavation stage D1 is completed, the excavation of the second excavation stage D2 is performed.
- the excavation of the third excavation stage D3 is performed.
- excavation in only a part of the first excavation stage D1 in the excavation train C (for example, the excavation train C1) is completed, and then a second excavation stage D2 different from the first excavation stage D1 (for example, the excavation train C) Drilling in drill train C5) may be performed.
- a second excavation stage D2 different from the first excavation stage D1 (for example, the excavation train C) Drilling in drill train C5) may be performed.
- the bucket 15c starts excavating from the front portion of the excavation line C (for example, the portion located at the frontmost position X1 in the excavation line C) (see step S31 shown in FIG. 6).
- a predetermined condition may be that the amount of the object O excavated by the bucket 15c in one excavation (excavation amount) exceeds a predetermined amount, and it is assumed that the excavation amount exceeds the predetermined amount.
- the "predetermined condition” may be that the distance traveled by the bucket 15c (excavation stroke) is greater than or equal to a predetermined value.
- the "predetermined condition” may be that the amount of the excavation object O in the bucket 15c imaged by the imaging device 21 (see FIG. 1) is equal to or greater than a predetermined value.
- the excavation object O may spill from the bucket 15c when the bucket 15c is lifted. Therefore, further excavation operations performed in a state where the "predetermined condition" is satisfied are useless operations. Therefore, it is preferable to end one excavation by the bucket 15c when the "predetermined condition" is satisfied.
- the excavation control unit 35 determines whether the position of the bucket 15c when one excavation by the bucket 15c (hereinafter simply referred to as “one excavation”) is completed is X1 forward of the border 53. It is determined whether or not (see step S41 shown in FIG. 6).
- the excavation control unit 35 causes the bucket 15c to perform the next excavation in the same excavation train C without changing the excavation train C (see step S42 shown in FIG. 6). For example, when one excavation is completed in the excavation line C1, the bucket 15c is made to excavate in the excavation line C1 next time as well. In this case, the excavation control unit 35 causes the bucket 15c to excavate the next time from the position of the bucket 15c or its vicinity when one excavation is completed.
- the excavation control unit 35 changes the excavation train C and causes the bucket 15c to perform the next excavation (see step S43 shown in FIG. 6). That is, the excavation control unit 35 causes the bucket 15c to excavate another excavation train C without excavating the remaining excavation object O in the excavation train C1. Specifically, for example, the excavation control unit 35 changes the excavation line C from the excavation line C1 to the excavation line C2, and causes the bucket 15c to perform the next excavation.
- the border 153 may be set in an arcuate shape protruding forward X1 with respect to the upper rotating body 13 when viewed in the vertical direction AZ.
- the reason why the border 153 is set in this way is as follows.
- the boundary of the rear X2 of the excavation area 51 extends in the area lateral direction AY (for example, linear), and the border 53 is a straight line extending in the area lateral direction AY. shape.
- the length of the excavation line C at the rear X2 of the border 53 differs depending on the excavation line C (depending on the position in the turning direction ⁇ or the position in the area lateral direction AY).
- the length of the excavation row C at the rear X2 of the border 53 is the outer side of the area lateral direction AY (the side closer to the point 51a) than the central portion of the area lateral direction AY. , and the side closer to point 51b).
- the border 153 is set in an arcuate shape convex forward X1 when viewed from the vertical direction AZ. Therefore, when comparing the excavation line C at the center of the area lateral direction AY and the excavation line C outside the area lateral direction AY (outside the turning direction ⁇ ), the length of the excavation line C at the rear X2 of the border 153 is becomes constant or approximately constant. Therefore, in a plurality of excavation rows C having different positions in the area lateral direction AY (turning direction ⁇ ), the amount of the excavation object O remaining in each excavation row C can be made constant or substantially constant.
- the excavation object O can be evenly excavated at the rear portion of the excavation object O (the portion located at the rear X2 in the excavation object O).
- the excavation object O can be excavated evenly in the portion located in the rear X2 in the excavation area 51 . Therefore, the efficiency of excavation work can be improved.
- the excavation system 1 includes a lower running body 11 (lower main body), an upper revolving body 13, an attachment 15, a border setting section 33 shown in FIG. 4, and an excavation control section 35. .
- the upper rotating body 13 shown in FIG. 1 is mounted on the lower traveling body 11 so as to be able to turn.
- the attachment 15 is attached to the upper revolving body 13 .
- the attachment 15 has a bucket 15c for excavating the object O to be excavated.
- the border setting unit 33 sets the border 53 at a position spaced apart from the upper rotating body 13, as shown in FIG.
- the excavation control unit 35 (see FIG. 4) automatically excavates the excavation object O in the direction (backward X2) approaching the upper revolving body 13 along the excavation row C extending in the front-rear direction X of the upper revolving body 13.
- the bucket 15c is controlled so as to
- the excavation control unit 35 (see FIG. 4) changes the excavation line C when the position of the bucket 15c when one excavation by the bucket 15c is completed is X1 ahead of the border 53.
- the bucket 15c is caused to excavate the next time without doing so.
- the excavation control unit 35 Let the bucket 15c do the next excavation without changing row C.
- the excavation control unit 35 sets the position of the bucket 15c when one excavation by the bucket 15c is completed to the same position as the border 53 or to the rear X2 of the border 53. In this case, the excavation line C is changed and the next excavation is performed by the bucket 15c. In other words, the excavation control unit 35 determines that the position of the bucket 15c when one excavation by the bucket 15c is completed is the same position as the border 53, or is closer to the front side (that is, rearward) of the border 53 when viewed from the upper revolving body 13. In the case of X2), the excavation train C is changed to cause the bucket 15c to excavate the next time.
- the above [configuration 1-2] provides the following effects.
- the position of the bucket 15c when one excavation by the bucket 15c is completed in a certain excavation line C is the same position as the border 53 or behind the border 53 by X2.
- less excavation objects O remain in the rear part (the part located in the rear X2) of this excavation row C (for example, the excavation row C1) than in the above case ⁇ . Therefore, even if further excavation is performed in this excavation line C (for example, the excavation line C1), the amount of the excavated object O that can be excavated is small, and the efficiency of the excavation work is poor.
- the excavation control unit 35 changes the excavation line C (for example, changes from the excavation line C1 to the excavation line C2), and changes the excavation line C (in this example, the excavation line C). In column C2), the next excavation is caused by bucket 15c. Therefore, according to [Configuration 1-1] and [Configuration 1-2], the efficiency of the excavation work in automatic operation can be improved compared to the case where the border 53 is not set.
- the length (excavation stroke) of the excavation line C at the rear X2 of the border 153 is made constant or substantially constant even if the turning angle (position in the turning direction ⁇ ) of the upper revolving body 13 changes. be able to. Therefore, even if the turning angle of the upper turning body 13 changes, the amount of the object to be excavated O remaining in the portion located behind the border 153 X2 can be made constant or substantially constant. Therefore, the excavation object O can be evenly excavated in the rear portion of the excavation object O (the portion located in the rear X2). Therefore, the efficiency of excavation work can be further improved.
- the above embodiments may be modified in various ways.
- the arrangement and shape of each component of the above embodiment may be changed.
- the connection of each component shown in FIG. 4 may be changed.
- the order of steps in the flowcharts shown in FIGS. 5 and 6 may be changed, and some steps may not be performed.
- various setting values for example, 1 cycle depth Zc
- setting ranges for example, excavation area 51
- various setting values for example, 1 cycle depth Zc
- setting ranges for example, excavation area 51
- the number of components may vary and some components may not be provided.
- what has been described as a plurality of different members or parts may be treated as one member or part.
- the components of the controller 30 shown in FIG. 4 may be collectively provided in one controller 30, or may be provided in separate controllers. may be provided in
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Abstract
Description
下部走行体11に対する上部旋回体13の旋回の回転軸(図2に示す旋回中心13o)が延びる方向を、上下方向Zとする。上下方向Zにおいて、下部走行体11から上部旋回体13に向かう向きを上方Z1とし、その反対方向を下方Z2とする。図2に示すように、上下方向Zから見たときにアタッチメント15が延びる方向(上部旋回体13に対してアタッチメント15が突出する方向)を、前後方向Xとする。前後方向Xにおいて、カウンタウエイト13bから、上部旋回体13にアタッチメント15が取り付けられた取付部に向かう方向を、「前方X1」とし、その反対方向を「後方X2」とする。すなわち、前後方向Xにおいて、上部旋回体13から前側を見たときの、上部旋回体13から遠ざかる方向を前方X1とし、その反対方向を後方X2とする。下部走行体11に対する上部旋回体13の旋回の方向を、旋回方向θとする。
掘削システム1は、次のように作動するように構成される。
掘削に必要な情報がコントローラ30(図4参照)に設定される。以下、コントローラ30については図4を参照して説明する。具体的には、図2に示す掘削エリア51と、ボーダー53と、図3に示す掘削開始高さZsと、1サイクル深さZcと、最終深さZeと、が設定される(図5参照)。
掘削システム1(図4参照)は、次のように掘削を行うように構成される。掘削制御部35(図4参照)は、バケット15cが自動的に掘削対象物Oを掘削するように、バケット15cを制御する。掘削制御部35は、図2に示す掘削エリア51の内側で、掘削対象物Oを掘削するようにバケット15cを制御する。掘削制御部35(図4参照)は、少なくとも一つの掘削列Cに沿って掘削対象物Oを掘削するようにバケット15cを制御する。掘削列Cは、前後方向Xに延びる。なお、図2では、複数の掘削列Cのそれぞれの中心軸のみを図示した。
図2に示す、ある1つの掘削列Cでの掘削について説明する。バケット15cが、この掘削列Cにおける前側部分(例えば掘削列Cの中で最も前方X1に位置する部分)から掘削を開始する(図6に示すステップS31を参照)。バケット15cが上部旋回体13に向かって掘削を行い、所定の条件が満たされると、バケット15cによる1回の掘削が終了する(図6に示すステップS32を参照)。例えば、上記「所定の条件」は、1回の掘削においてバケット15cが掘削した掘削対象物Oの量(掘削量)が、所定量を超えたことでもよく、掘削量が所定量を超えたと想定される状態になったことでもよい。具体的には例えば、「所定の条件」は、バケット15cが移動した距離(掘削ストローク)が所定値以上となったことでもよい。例えば、「所定の条件」は、撮像装置21(図1参照)が撮像したバケット15c内の掘削対象物Oの量が所定値以上となったことでもよい。例えば、「所定の条件」が満たされている状態でさらに掘削が行われても、バケット15cに入る掘削対象物Oの量は増えないまたは略増えない。また、「所定の条件」が満たされている状態でさらに掘削が行われても、バケット15cが持ち上げられたときにバケット15cから掘削対象物Oがこぼれる場合がある。そのため、「所定の条件」が満たされている状態でさらに行われる掘削の動作は、無駄な動作となる。そのため、「所定の条件」が満たされたときに、バケット15cによる1回の掘削を終了させることが好ましい。
掘削制御部35(図4参照)は、バケット15cによる1回の掘削(以下、単に「1回の掘削」という)が終了したときのバケット15cの位置が、ボーダー53よりも前方X1であるか否かを判定する(図6に示すステップS41を参照)。
上記のように、図7に示すように、ボーダー153は、鉛直方向AZから見たとき、上部旋回体13に対して前方X1に凸の弧状に設定されてもよい。このようにボーダー153が設定される理由は、次の通りである。図2に示す例では、鉛直方向AZから見たときに掘削エリア51における後方X2の境界がエリア横方向AYに延び(例えば直線状であり)、かつ、ボーダー53がエリア横方向AYに延びる直線状である。この例では、ボーダー53よりも後方X2での掘削列Cの長さが、掘削列Cに応じて(旋回方向θの位置に応じて又はエリア横方向AYの位置に応じて)異なる。具体的には、図2に示す例では、ボーダー53よりも後方X2での掘削列Cの長さが、エリア横方向AYの中央部よりも、エリア横方向AYの外側(ポイント51aに近い側、及びポイント51bに近い側)で長い。そして、上記のように、ボーダー53よりも後方X2で1回の掘削が終了した場合は、この掘削列Cに掘削対象物Oが残ることになる。そのため、エリア横方向AYの中央部よりも、エリア横方向AYの外側で、掘削対象物Oが多く残ることが想定される。
図1に示すように、掘削システム1は、下部走行体11(下部本体)と、上部旋回体13と、アタッチメント15と、図4に示すボーダー設定部33と、掘削制御部35と、を備える。図1に示す上部旋回体13は、下部走行体11に旋回可能に搭載されたものである。アタッチメント15は、上部旋回体13に取り付けられる。アタッチメント15は、掘削対象物Oを掘削するバケット15cを有する。ボーダー設定部33(図4参照)は、図2に示すように、上部旋回体13との間に間隔をあけた位置にボーダー53を設定する。掘削制御部35(図4参照)は、上部旋回体13の前後方向Xに延びる掘削列Cに沿って、上部旋回体13に近づく向き(後方X2)に、掘削対象物Oを自動的に掘削するようにバケット15cを制御する。
[構成2]図7に示すように、鉛直方向AZから見たとき、ボーダー153は、上部旋回体13に対して前方X1に凸の弧状に設定される。言い換えると、鉛直方向AZから見たとき、ボーダー153は、上部旋回体13から見て奥側(すなわち前方X1)に凸の弧状に設定される。
上記実施形態は様々に変形されてもよい。例えば、上記実施形態の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に示す各構成要素の接続は変更されてもよい。例えば、図5及び図6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、各種設定値(例えば1サイクル深さZc)、設定範囲(例えば掘削エリア51)、及びボーダー53などは、作業中に一定でもよく、手動操作により変えられてもよく、何らかの条件に応じて自動的に変えられてもよい。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、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。具体的には、図4に示すコントローラ30の構成要素(掘削エリア設定部31、ボーダー設定部33、及び掘削制御部35)が、1つのコントローラ30にまとめて設けられてもよく、別々のコントローラに設けられてもよい。
Claims (2)
- 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記上部旋回体に取り付けられ、掘削対象物を掘削するバケットを有するアタッチメントと、
コントローラと、を備え、
前記コントローラは、前記上部旋回体に対して前方に間隔をあけた位置にボーダーを設定し、
前記コントローラは、前記上部旋回体の前後方向に延びる掘削列に沿って、前記上部旋回体に近づく向きに、前記掘削対象物を自動的に掘削するように前記バケットを制御し、
前記コントローラは、前記バケットによる1回の掘削が終了したときの前記バケットの位置が、前記ボーダーよりも前方にある場合、前記掘削列を変更することなく次回の掘削を前記バケットに行わせ、
前記コントローラは、前記バケットによる1回の掘削が終了したときの前記バケットの位置が、前記ボーダーと同じ位置、または前記ボーダーよりも後方にある場合、前記掘削列を変更して次回の掘削を前記バケットに行わせる、
掘削システム。 - 請求項1に記載の掘削システムであって、
鉛直方向から見たとき、前記ボーダーは、前記上部旋回体に対して前方に凸の弧状に設定される、
掘削システム。
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Citations (5)
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JPS5555732A (en) * | 1978-10-19 | 1980-04-23 | Komatsu Ltd | Apparatus and method for controlling operation machine |
JPH10212740A (ja) * | 1997-01-30 | 1998-08-11 | Komatsu Ltd | 油圧ショベルの自動掘削方法 |
JP2001123479A (ja) | 1999-10-28 | 2001-05-08 | Hitachi Constr Mach Co Ltd | 自動運転ショベル |
WO2019049701A1 (ja) * | 2017-09-08 | 2019-03-14 | 住友重機械工業株式会社 | ショベル |
WO2020196896A1 (ja) * | 2019-03-28 | 2020-10-01 | 住友建機株式会社 | ショベル及び施工システム |
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Patent Citations (5)
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JPS5555732A (en) * | 1978-10-19 | 1980-04-23 | Komatsu Ltd | Apparatus and method for controlling operation machine |
JPH10212740A (ja) * | 1997-01-30 | 1998-08-11 | Komatsu Ltd | 油圧ショベルの自動掘削方法 |
JP2001123479A (ja) | 1999-10-28 | 2001-05-08 | Hitachi Constr Mach Co Ltd | 自動運転ショベル |
WO2019049701A1 (ja) * | 2017-09-08 | 2019-03-14 | 住友重機械工業株式会社 | ショベル |
WO2020196896A1 (ja) * | 2019-03-28 | 2020-10-01 | 住友建機株式会社 | ショベル及び施工システム |
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