WO2022270392A1 - 建設機械および建設機械管理システム - Google Patents
建設機械および建設機械管理システム Download PDFInfo
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- WO2022270392A1 WO2022270392A1 PCT/JP2022/024030 JP2022024030W WO2022270392A1 WO 2022270392 A1 WO2022270392 A1 WO 2022270392A1 JP 2022024030 W JP2022024030 W JP 2022024030W WO 2022270392 A1 WO2022270392 A1 WO 2022270392A1
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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
- 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
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- 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
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Definitions
- the present invention relates to a construction machine equipped with a bucket and a construction machine management system.
- a hydraulic excavator (construction machine) equipped with a bucket for excavating the ground of a work site has been known for some time.
- the hydraulic excavator has an undercarriage capable of traveling on the ground, an upper body mounted on the undercarriage, and a work attachment supported by the upper body.
- a bucket is arranged at the tip of the work attachment. The excavator can excavate the ground while the bucket is in contact with the ground.
- Patent Document 1 discloses a shovel having a sensor attached to a work attachment and a hardness estimating section that estimates the hardness of the ground based on the detected value of the sensor.
- the hardness estimating unit determines the ground based on the detected value of the sensor when the tip (bucket) of the work attachment performs a predetermined action of contacting the ground at a predetermined speed and at a predetermined angle, and based on pre-stored data. Estimate the hardness of
- An object of the present invention is to provide a construction machine and a construction machine management system capable of acquiring ground soil information while performing excavation work at a work site.
- the present invention is based on the technical idea of estimating the soil properties related to the soil pressure load from the mechanical load actually applied to the bucket during excavation work and the soil pressure load applied to the bucket by the soil mass formed by the bucket. It is based on A construction machine is provided by the present invention based on such a technical idea.
- the construction machine includes a machine body including a traveling part capable of traveling on the ground, a hoisting body supported by the machine body so as to be rotatable in a hoisting direction with respect to the machine body, and a tip end of the hoisting body.
- a work attachment having a movably supported bucket; a drive capable of driving the work attachment such that the bucket excavates the ground; and information regarding the relative attitude of the work attachment to the ground.
- an attitude information acquisition unit that acquires certain attitude information
- a drive load information acquisition unit that acquires drive load information that is information about the load received by the drive unit as the bucket excavates the ground
- a drive load information acquisition unit that acquires drive load information
- a mechanical load which is a load that the bucket receives from earth and sand, is calculated from the posture information acquired by the posture information acquisition unit and the drive load information acquired by the drive load information acquisition unit along with the excavation of the bucket.
- an earth pressure load calculation unit that calculates an earth pressure load, which is the load that the earth mass imparts to the bucket, based on earth pressure theory from the shape of the soil, the density of the soil, and the wall friction angle between the soil and the bucket; a soil property estimating unit for estimating soil properties of soil at a work site based on the mechanical load calculated by the load calculating unit and the earth pressure load calculated by the earth pressure load calculating unit.
- the construction machine management system includes any one of the construction machines described above, and a management device arranged at a position remote from the construction machine and capable of transmitting and receiving the soil information to and from the construction machine. , provided.
- FIG. 1 is a side view of construction equipment according to one embodiment of the present invention.
- FIG. 2 is a block diagram of a construction machine according to one embodiment of the present invention.
- FIG. 3 is a schematic diagram for explaining the soil information acquisition process executed by the construction machine according to one embodiment of the present invention.
- FIG. 4 is a flowchart of soil information acquisition processing executed by the construction machine according to one embodiment of the present invention.
- FIG. 5 is a schematic diagram showing mechanical loads acting on the bucket of the construction machine according to one embodiment of the present invention.
- FIG. 6 is a schematic diagram for explaining earth pressure load calculation processing executed in the construction machine according to one embodiment of the present invention.
- FIG. 7 is a schematic diagram showing how a mass of soil undergoes plastic collapse due to movement of a retaining wall.
- FIG. 8 is a schematic diagram for explaining passive earth pressure based on soil mechanics.
- FIG. 9 is a schematic diagram for explaining excavation resistance acting on the bucket.
- FIG. 10 is a schematic graph showing the relationship between the slip surface angle and excavation resistance.
- FIG. 11 is a schematic diagram for explaining the branch limit method executed by the soil estimation unit according to one embodiment of the present invention.
- FIG. 12 is a flow chart of output control processing executed in the construction machine according to the first modified embodiment of the present invention.
- FIG. 13 is a flow chart of output control processing executed in the construction machine according to the second modified embodiment of the present invention.
- FIG. 14 is a schematic diagram of a construction machine and management device according to a second modified embodiment of the present invention.
- FIG. 15 is a flow chart of another output control process executed in the construction machine according to the second modified embodiment of the invention.
- FIG. 16 is a flow chart of soil information acquisition processing executed by the construction machine according to the third modified embodiment of the present invention.
- FIG. 17 is a diagram showing a state of the display section in soil information acquisition processing executed in the construction machine according to the third modified embodiment of the present invention.
- FIG. 18 is a schematic diagram of arithmetic processing executed by the soil estimation unit and the like in the construction machine according to the fourth modified embodiment of the present invention.
- FIG. 19 is a schematic diagram of calculation processing executed by the earth pressure load calculation unit in the construction machine according to the fifth modified embodiment of the present invention.
- FIG. 20 is a flowchart of part of the soil information acquisition process executed by the construction machine according to the fifth modified embodiment of the present invention.
- FIG. 21 is a side view when the construction machine according to the fifth modified embodiment of the present invention executes the soil information acquisition process.
- FIG. 22 is a schematic diagram for explaining the ground height in the soil information acquisition process executed by the construction machine according to the fifth modified embodiment of the present invention.
- FIG. 1 shows a side view of a hydraulic excavator 1 (construction machine) according to one embodiment of the present invention.
- the hydraulic excavator 1 is mounted on a lower traveling body 10 that can travel on the ground G (traveling surface), an upper revolving body 12 (upper main body) that is rotatably supported by the lower traveling body 10, and the upper revolving body 12. and a work attachment 20 .
- the lower running body 10 and the upper revolving body 12 constitute the airframe of the present invention.
- the lower traveling body 10 can travel on the ground G.
- the lower traveling body 10 includes a crawler-type traveling portion.
- the upper revolving body 12 has a revolving frame 121 supported by the lower traveling body 10 and a cab 13 mounted on the revolving frame 121 .
- the cab 13 allows an operator to board, and various devices for operating the hydraulic excavator 1 are arranged.
- the work attachment 20 is mounted on the upper revolving body 12 so as to be relatively movable with respect to the upper revolving body 12, and performs a predetermined work on the ground G.
- the work attachment 20 includes a boom 21 connected to the front end of a revolving frame 121 so as to be rotatable about a horizontal central axis of rotation in the up-and-down direction, and a tip of the boom 21 rotatable about a horizontal central axis of rotation. and a bucket 23 rotatably connected to the distal end of the arm 22 about a horizontal central axis of rotation.
- the rotation center axes of the boom 21, the arm 22 and the bucket 23 are set parallel to each other.
- Boom 21 and arm 22 constitute the undulating body of the present invention.
- the work attachment 20 includes a boom cylinder 21S (elevating body cylinder) that extends and retracts to raise and lower (rotate) the boom 21, an arm cylinder 22S (elevating body cylinder) that extends and retracts to rotate the arm 22, and a bucket 23. It further has a bucket cylinder 23S that expands and contracts so as to rotate.
- Each of these cylinders consists of a hydraulic cylinder.
- the cab 13 is mounted on the front portion of the revolving frame 121 and adjacent to the boom 21 in the width direction of the revolving frame 121 (the left side of the boom 21 in the example shown in FIG. 1). configure the operator's cab for That is, in the cab 13 , the operator performs operations for traveling the lower travel body 10 , turning the upper revolving body 12 , and operating the work attachment 20 .
- FIG. 2 is a block diagram of the hydraulic excavator 1 according to this embodiment.
- the hydraulic excavator 1 further includes an operation unit 51, an input unit 52, a load cell 61 (drive load information acquisition unit), a cylinder stroke sensor 62 (cylinder length detection unit), and a body position information acquisition unit 63 (position information acquisition unit), a soil surface information acquisition unit 64, an IMU (Inertial Measurement Unit) 65 (body tilt detection unit), a drive unit 71, a display unit 72, and a transmission unit 73.
- the operation unit 51 is arranged inside the cab 13 and operated by the operator. That is, the operation unit 51 receives an operation for operating the hydraulic excavator 1 .
- the operation includes traveling of the lower traveling body 10, turning of the upper rotating body 12, driving of the work attachments 20 (boom 21, arm 22, bucket 23), and the like.
- the input unit 52 is arranged inside the cab 13 and receives input of various information.
- the input unit 52 has various input buttons, switches, a touch panel included in the display unit 72 described later, and the like.
- the input unit 52 can receive input of information referred to in the soil information acquisition operation described later.
- the load cells 61 include two load cells provided on the bucket 23 and detect the load on the base end of the bucket 23 .
- the load detected by the load cell 61 is referred to by a mechanical load calculator 503, which will be described later, and used to calculate the mechanical load (see FIG. 3).
- the load cell 61 acquires drive load information, which is information about the load that the drive unit 71 receives as the bucket 23 excavates the ground.
- the drive load information is acquired by calculating the load applied to the drive unit 71 based on the detection result of the load cell 61 .
- the cylinder stroke sensor 62 includes three sensors attached to the boom cylinder 21S, the arm cylinder 22S, and the bucket cylinder 23S, and detects the stroke (extension amount, length) of each cylinder.
- the stroke of each cylinder detected by the cylinder stroke sensor 62 is used by a bucket position calculator 502, a mechanical load calculator 503, and an earth pressure load calculator 504 to calculate the position and attitude of the bucket 23. .
- the body position information acquisition unit 63 acquires position information of the hydraulic excavator 1 (body) at the work site.
- the main body position information acquiring section 63 can acquire main body coordinate information, which is information relating to the absolute coordinates at the work site of the main body reference point provided in advance on the upper rotating body 12 .
- a body position information acquisition unit 63 that constitutes a body reference point is arranged on the upper surface of the cab 13 and functions as a GNSS mobile station.
- a GNSS (Global Navigation Satellite System) reference station is provided in order to acquire the above body coordinate information (not shown).
- a GNSS reference station is a reference station located at or closest to the work site.
- a satellite positioning system such as GLONASS (Global Navigation Satellite System), Galileo, Quasi-Zenith Satellite System (QZSS) may be adopted.
- GLONASS Global Navigation Satellite System
- Galileo Galileo
- QZSS Quasi-Zenith Satellite System
- the soil surface information acquisition section 64 is arranged at the front end of the top surface of the cab 13 .
- the soil surface information acquisition unit 64 is composed of a LiDAR (Light Detection And Ranging) sensor.
- the soil surface information acquisition unit 64 acquires information (soil surface information) regarding the shape of the soil surface in front of the cab 13 and the like. In this embodiment, the shape of the soil surface is detected based on the three-dimensional distance data detected by LiDAR.
- the soil surface information acquisition unit 64 may be a TOF (Time Of Flight) sensor, a stereo camera, or the like. Also, in another embodiment, the ground surface around the hydraulic excavator 1 may be regarded as horizontal.
- the IMU 65 detects the angle (body angle) of the body (upper revolving body 12) of the hydraulic excavator 1 with respect to the horizontal plane.
- the angle of the airframe with respect to the horizontal plane may be detected not only by the IMU but also by an inclination sensor.
- the tilt sensor one using MEMS (Micro Electro Mechanical Systems) technology or one using various methods such as a liquid-filled type can be adopted.
- the driving section 71 drives various structures of the hydraulic excavator 1, and drives the lower traveling body 10, the upper revolving body 12, the work attachment 20, and the like, which are operated by the operating section 51.
- drive 71 is capable of driving work attachment 20 such that bucket 23 excavates the ground.
- the drive unit 71 can receive a predetermined command signal and drive the work attachment 20 based on the output characteristics according to the command signal.
- the drive unit 71 includes hydraulic circuits such as a hydraulic pump and a hydraulic motor.
- the display unit 72 is arranged in the cab 13, receives a predetermined display command signal, and displays various information to be notified to the operator according to the display command signal.
- the information includes soil information described later, position information of the hydraulic excavator 1, and the like.
- the display unit 72 is capable of displaying map information of the work site. location information and display in association with each other.
- the transmission unit 73 transmits the position information of the hydraulic excavator 1 acquired by the main body position information acquisition unit 63 and the soil information of the work site estimated by the soil property estimation unit 505 to a data center located away from the work site. or remote management center.
- the control unit 50 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores control programs, a RAM (Random Access Memory) that is used as a work area for the CPU, and the like. As shown in FIG. 2, the control unit 50 includes an operation unit 51, an input unit 52, a load cell 61, a cylinder stroke sensor 62, a body position information acquisition unit 63, a soil surface information acquisition unit 64, an IMU 65, a drive unit 71, a display A section 72 and a transmission section 73 are connected respectively.
- a CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the control unit 50 controls a drive control unit 501, a bucket position calculation unit 502 (attitude information acquisition unit), a mechanical load calculation unit 503, and an earth pressure load calculation unit 504 by executing the control program stored in the ROM by the CPU. , a soil estimation unit 505 , an output characteristic setting unit 506 and a storage unit 507 .
- These functional units do not have substance, but correspond to units of functions executed by the program. In other words, it can be said that the control performed by these functional units is substantially performed by the control unit 50 in an integrated manner. Note that each functional unit may be divided into a plurality of control units and arranged.
- control unit 50 is not limited to being provided in the hydraulic excavator 1, and may be arranged at a position different from that of the hydraulic excavator 1 when the hydraulic excavator 1 is remotely controlled.
- control program may be transmitted from a remote server (management device), cloud, or the like to the control unit 50 in the hydraulic excavator 1 and executed, or the control program is executed on the server or cloud, Various generated command signals may be transmitted to the hydraulic excavator 1 .
- the drive control unit 501 inputs a drive command signal to the drive unit 71 according to the content of the operation received by the operation unit 51 . As a result, the operations of the lower running body 10, the upper revolving body 12, the work attachment 20, etc. are controlled.
- the bucket position calculation unit 502 calculates the current position of the work attachment 20 based on the stroke amount (cylinder length) of each cylinder detected by the cylinder stroke sensor 62, the machine body angle detected by the IMU 65, the mechanical specifications of the hydraulic excavator 1, and the like.
- the posture, in particular, the position (coordinates) and posture of the bucket 23 are calculated and acquired as posture information.
- the bucket position calculator 502 acquires attitude information, which is information about the attitude of the work attachment 20 relative to the ground G.
- the mechanical load calculation unit 503 calculates the load (driving load information) detected by the load cell 61 as the bucket 23 excavates the ground, the position and orientation (attitude information) of the bucket 23 calculated by the bucket position calculation unit 502, and the like. , an excavation resistance value P A (mechanical load), which will be described later, is calculated, which is the load that the bucket 23 receives from earth and sand.
- the soil pressure load calculation unit 504 calculates the stroke amount of each cylinder detected by the cylinder stroke sensor 62, the machine body angle detected by the IMU 65, the soil surface information detected by the soil surface information acquisition unit 64, and the bucket stored in the storage unit 507. 23, mechanical specifications of the hydraulic excavator 1, etc., an excavation resistance value PB , which will be described later, is calculated.
- the earth pressure load calculation unit 504 calculates the shape of the earth lump constituted by the soil dammed up by the bucket 23 as the bucket 23 excavates the ground, and the above-mentioned From the attitude information, the shape of the bucket 23, the soil density ⁇ t , and the wall friction angle ⁇ between the soil and the bucket 23, the soil pressure load, which is the load applied to the bucket 23 by the soil mass, is calculated based on soil pressure theory.
- the soil estimation unit 505 calculates the excavation resistance value P A (mechanical load) calculated by the mechanical load calculation unit 503 and the excavation resistance value P B (earth pressure load) calculated by the earth pressure load calculation unit 504 . Estimate the soil information (soil texture at the work site) around the Then, the soil estimation unit 505 inputs a display command signal corresponding to the estimated soil texture to the display unit 72 to display information corresponding to the soil texture. Furthermore, the soil property estimation unit 505 inputs to the display unit 72 a display command signal in which the estimated soil property and the position information acquired by the main body position information acquisition unit 63 are associated with each other.
- the soil property estimating unit 505 assumes that the mechanical load and the soil pressure load applied to the bucket 23 match each other, and calculates the internal friction angle ⁇ of the soil and the adhesive force c of the soil at the work site. Each is estimated as the above soil quality.
- the cohesive force c is zero, as shown in FIG. It corresponds to the angle between the direction of the slip surface load acting on the surface and the normal to the slip surface.
- the output characteristic setting unit 506 sets (adjusts) the output characteristic of the driving unit 71 based on the soil information estimated by the soil estimation unit 505, and inputs a command signal corresponding to the characteristic to the driving unit 71.
- the storage unit 507 stores (memorizes) in advance various thresholds, parameters, and the like that are referred to in the operation of the hydraulic excavator 1 and the soil information acquisition process.
- the storage unit 507 stores the soil properties estimated by the soil property estimation unit 505 and the position information acquired by the main body position information acquisition unit 63 in association with each other.
- FIG. 3 is a schematic diagram for explaining the soil information acquisition process executed in the hydraulic excavator 1 according to this embodiment.
- the hydraulic excavator 1 can perform estimation while calculating soil information, which is information about the soil characteristics of the surrounding ground during any excavation work at the work site.
- the mechanical load calculation unit 503 calculates the mechanical load (mechanical load, excavation resistance value P A ) that the bucket 23 receives (calculation 1 in FIG. 3).
- the load (soil pressure load, excavation resistance value P B ) acting on the bucket 23 due to the excavated soil is calculated based on the earth pressure theory (calculation 2 in FIG. 3).
- the soil estimator 505 calculates the soil information included in the excavation resistance value PB by assuming that the two loads are equal to each other (calculation 3 in FIG. 3).
- calculation 1 uses the bucket load detected by the load cell 61, the cylinder stroke detected by the cylinder stroke sensor 62, and the aircraft angle detected by the IMU 65.
- Calculation 2 includes the cylinder stroke detected by the cylinder stroke sensor 62, the fuselage angle detected by the IMU 65, the soil surface information detected by the soil surface information acquisition unit 64, and the shape of the bucket 23 stored in advance in the storage unit 507. (bucket shape) and various machine specifications (link length, etc.) are mainly used.
- the adhesive force c and the internal friction angle ⁇ are calculated and estimated as the output information of the soil information acquisition process according to the present invention.
- the adhesive force c and the internal friction angle ⁇ obtained by the calculation 3 are fed back and used in the calculation 2 as the searching adhesive force c and the searching internal friction angle ⁇ .
- FIG. 4 is a flowchart of soil information acquisition processing executed in the hydraulic excavator 1 according to this embodiment.
- step S2 When the soil information acquisition process starts, the load cell 61, the cylinder stroke sensor 62, the soil information acquisition unit 64, and the IMU 65 acquire the load applied to the base end of the bucket 23, the cylinder stroke, the soil surface information, and the aircraft angle (step S1). Next, in calculation 1, an excavation resistance value PA is calculated (step S2).
- FIG. 5 is a schematic diagram showing the mechanical load on the bucket 23 of the hydraulic excavator 1 according to this embodiment.
- the bucket position calculator 502 calculates the position and attitude of the bucket 23 .
- Cylinder stroke sensor 62 acquires the cylinder strokes (cylinder extension amounts) of boom cylinder 21S, arm cylinder 22S, and bucket cylinder 23S, so that bucket position calculation unit 502 can determine what kind of posture the work attachment 20 is in FIG. It is possible to calculate whether it is As a result, the bucket position calculator 502 can acquire information about the position and attitude of the bucket 23 in FIG.
- the lengths and shapes of the boom 21, the arm 22 and the bucket 23 are stored in advance in the storage unit 507.
- FIG. Further, in calculating the position and attitude of the bucket 23, the angles of the hoisting body (boom 21 and arm 22) and the bucket 23 are calculated based on the machine body angle detected by the IMU 65.
- the load cell 61 has a first load cell 611 and a second load cell 612 (both load sensors) shown in FIG.
- the first load cell 611 is the rotation center shaft of the bucket 23 and is arranged at the connection portion CB1 between the arm 22 and the bucket 23 .
- the second load cell 612 is arranged at the connecting portion CB2 between the bucket 23 and the link arranged at the tip of the bucket cylinder 23S.
- the mechanical load calculation unit 503 calculates an excavation resistance value PA (resultant force F ) can be calculated.
- the directions (vectors) in which the loads F1 and F2 act are calculated based on the attitude of the bucket 23 calculated by the bucket position calculation unit 502 .
- the excavation resistance value PA that the bucket 23 receives during excavation can be calculated based on the loads detected by the load cells 61 (the first load cell 611 and the second load cell 612).
- the earth pressure load calculator 504 assumes the adhesion c and the internal friction angle ⁇ to be predetermined values (step S3). At this time, the earth pressure load calculation unit 504 may assume the above value from the result of the previous calculation 2, or assume the above value from the initial value for calculation stored in advance in the storage unit 507. You can
- FIG. 6 is a schematic diagram for explaining an outline of calculation 2 (earth pressure load calculation processing) executed in the hydraulic excavator 1 according to the present embodiment. As shown in FIG.
- the position and posture (wall surface angle ⁇ ) of the bucket 23 are calculated as needed using the above parameters (bucket posture calculation in FIG. 6), and further, based on this result, the ground height H is calculated (ground height calculation in FIG. 6). Then, using the wall surface angle ⁇ and the ground height H derived from these calculations, the excavation resistance value PB is calculated (step S4 in FIG. 4). Also in this case, when calculating the position and attitude of the bucket 23, the angles of the hoisting body (boom 21 and arm 22) and the bucket 23 are calculated based on the aircraft angle detected by the IMU 65 as a reference.
- soil estimation unit 505 inputs the excavation resistance value P A calculated in step S1 and the excavation resistance value P B calculated in step S4 to calculation 3, is estimated (step S5). Further, the soil estimation unit 505 calculates the residual ⁇ between the two excavation resistance values P A and P B (step S6). Then, when the residual ⁇ calculated in step S6 is smaller than the preset threshold value ⁇ (YES in step S7), the soil estimation unit 505 outputs the obtained adhesive force c and internal friction angle ⁇ . (Step S8), the soil information acquisition process is terminated. The soil information output in step S ⁇ b>8 is displayed on the display unit 72 together with the current position of the hydraulic excavator 1 acquired by the main body position information acquiring unit 63 . Also, the information may be transmitted to the center through the transmission unit 73 .
- the output characteristic setting unit 506 may input a predetermined characteristic command signal to the driving unit 71 according to the soil information calculated by the soil estimation unit 505 .
- the output of the drive unit 71 may be increased by increasing the rotation speed of the hydraulic pump included in the drive unit 71 .
- step S7 when the residual ⁇ is equal to or greater than the preset threshold value ⁇ (NO in step S7), step S3 and subsequent steps are repeated.
- FIG. 7 is a schematic diagram showing how a mass of soil undergoes plastic collapse due to movement of a retaining wall.
- FIG. 8 is a schematic diagram for explaining passive earth pressure based on soil mechanics.
- soil pressure the pressure that a structure in contact with the soil receives or the pressure that occurs in the soil.
- passive earth pressure the soil pressure generated when the structure (retaining wall in Fig. 7) moves toward the soil. This is called passive earth pressure.
- the force that the structure receives is calculated from the balance of forces generated when the soil mass moves along the slip surface (plastic collapse surface).
- the Mohr-Coulomb failure criterion shown in FIG. 8 and Equation 1 is used as the plastic collapse condition of the slip surface.
- Equation 1 ⁇ is the shear strength, ⁇ is the internal friction angle, c is the adhesive force, and ⁇ is the confining pressure.
- the following parameters in FIG. 8 are important for calculating the passive earth pressure Qp (the force that the earth receives from the structure) in FIG. W is the soil weight, R is the load on the slip surface, ⁇ is the wall angle, and ⁇ is the ground slope angle. Also, H is the ground height, and ⁇ is the wall friction angle, which corresponds to the coefficient of friction between the soil and the wall. ⁇ is the slip surface angle.
- the passive earth pressure Qp can be obtained from the vector sum of the weight W of the soil itself and the load R on the slip surface.
- the angle formed by Qp and W corresponds to ⁇ - ⁇ + ⁇
- the angle formed by W and R corresponds to ⁇ + ⁇ .
- FIG. 9 is a schematic diagram for explaining the excavation resistance value PB acting on the bucket 23.
- the reaction force of the force P received by the soil mass corresponds to the force received by the bucket 23 from the soil mass, that is, the excavation resistance value PB.
- W is the weight of the soil mass
- T is the shear force on the slip surface
- N is the normal force on the slip surface.
- the square of the sliding surface load R is equal to the sum of the square of the shear force T and the square of the normal force N.
- H is the ground height and ⁇ is the slip surface angle.
- ⁇ is the wall surface friction angle (coefficient of friction between the bucket 23 and soil), and ⁇ is the wall surface angle (the angle of the bottom plate surface of the bucket 23 with respect to the vertical surface).
- the wall surface angle ⁇ and the ground height H can be obtained from measurements and calculations.
- the unit volume weight (density) ⁇ t of the soil and the wall surface friction angle ⁇ coefficient of friction between the bucket 23 and the soil) are stored in advance in the storage unit 507 as known values.
- the excavation resistance value P A calculated in step S2 is obtained as a numerical value
- the excavation resistance value P B calculated in step S6 includes the adhesive force c and the internal friction angle ⁇ as shown in equations 5 and 6. included as a variable.
- Equation 6 may include a correction term for the adhesive force c. Therefore, the soil estimator 505 compares the input excavation resistance values P A and P B , and determines the internal friction angle ⁇ and the cohesive force c that minimize the difference between them using a known mathematical programming method. etc. As described above, it is desirable that the initial values of the internal friction angle ⁇ and the adhesive force c are stored in advance in the storage unit 507 when the estimation is started. Further, since the excavation resistance values P A and P B change during the excavation work of the hydraulic excavator 1, it is desirable to perform the calculation considering changes on the time axis as well.
- the internal friction angle ⁇ and the adhesive force c each have preset ranges such as 0 ⁇ ⁇ _UPPER (upper limit of ⁇ ) and 0 ⁇ c ⁇ c_UPPER (upper limit of c). doing.
- An enumeration method can be used as the first search method.
- the soil estimation unit 505 enumerates all combinations of solutions for the internal friction angle ⁇ and the cohesive force c, and selects the combination that optimizes the predetermined objective function.
- FIG. 11 is a schematic diagram for explaining the branch limit method executed by the soil estimation unit 505 according to this embodiment.
- the well-known Newton-Raphson method with the internal friction angle ⁇ and the adhesive force c as variables may be used.
- the soil pressure load is determined. It is based on the technical idea of estimating the soil quality.
- a mechanical load calculation unit 503 calculates a mechanical load during excavation by the bucket 23
- an earth pressure load calculation unit 504 calculates an earth pressure load during the excavation
- a soil property estimation unit 505 calculates the mechanical load and the earth pressure load. Estimate the soil quality at the work site based on Therefore, it is possible to acquire the soil information of the ground while performing the excavation work at the work site.
- the internal friction angle ⁇ and the cohesive force c of the soil can be estimated based on the technical idea that the mechanical load and the soil pressure load acting on the bucket 23 are the same.
- the soil quality can be stabilized regardless of the amount and distribution (shape) of the soil mass dammed up by the bucket 23. can be estimated.
- the present invention is not limited to assuming that the mechanical load acting on the bucket 23 and the earth pressure load necessarily match in order to acquire the soil information. Depending on the strength of the bucket 23 and the work site environment, it may be assumed that the mechanical load acting on the bucket 23 multiplied (or added) by a predetermined constant coincides with the earth pressure load.
- the posture of the work attachment 20 (bucket 23) can be calculated based on the length of each cylinder detected by the cylinder stroke sensor 62, and the mechanical load and earth pressure load can be calculated with high accuracy.
- the load cell 61 detects the load on the base end of the bucket 23, so that the drive load information can be easily obtained.
- driving load information can be easily obtained by detecting the load acting on the bucket 23 with the first load cell 611 and the second load cell 612 (load sensors) arranged at the tip of the arm 22. be able to.
- the operator can use the information to set the output characteristics of the hydraulic excavator 1 (engine speed, output mode setting, etc.). ) can be used as a guideline.
- the adjustment amount of the output characteristics can be adjusted quantitatively.
- the worker can easily visually grasp the strength of the ground based on the map information displayed on the display unit 72 .
- the output characteristic setting unit 506 can adjust the output of the hydraulic excavator 1 according to the strength of the surrounding ground, etc., so that the workability of the excavation work felt by the operator can be improved. .
- the output characteristics can be automatically adjusted even when an unskilled person operates or remotely operates the excavator. .
- the hydraulic excavator 1 according to one embodiment of the present invention has been described above. In addition, this invention is not limited to these forms.
- the present invention can take the following modified embodiments, for example.
- the position and attitude of the work attachment 20 are calculated according to the length of each cylinder detected by the cylinder stroke sensor 62, but the present invention is limited to this. not to be An angle detector (angle sensor) capable of detecting the relative angle of the boom 21 and the arm 22 (elevating body) with respect to the upper slewing body 12 and the relative angle of the bucket 23 with respect to the elevating body may be further provided.
- the bucket position calculation unit 502 (attitude information acquisition unit) calculates the attitude of the work attachment 20 based on the relative angle of the undulating body and the relative angle of the bucket 23 detected by the angle detection unit. , posture information of the work attachment 20 (bucket 23).
- the relative angle of the boom 21 and the arm 22 (the hoisting body) with respect to the upper rotating body 12 and the relative angle of the bucket 23 with respect to the hoisting body may be calculated.
- the posture of the work attachment 20 can be calculated based on the angles of the undulating body and the bucket 23, and the mechanical load and earth pressure load can be calculated with high accuracy.
- the attitude of the work attachment 20 can be accurately calculated and obtained.
- the load on the base end of the bucket 23 is detected using the load cell 61, and based on the result, the excavation resistance value PA is calculated. It is not limited to this.
- a cylinder pressure sensor (cylinder pressure detector) (not shown) may be provided.
- the cylinder pressure sensor can detect the head pressure and rod pressure of each of the boom cylinder 21S, arm cylinder 22S, and bucket cylinder 23S.
- the mechanical load calculation unit 503 obtains the thrust force (driving load information) of each actuator from the above pressure detection result, and based on the result and the dimensional specifications and attitude of the attachment, the excavation reaction force (excavation A resistance value P A ) can be calculated.
- the output characteristic setting unit 506 sets (adjusts) the output characteristic of the driving unit 71 based on the soil information estimated by the soil estimation unit 505, can be input to the drive unit 71 according to the command signal.
- FIG. 12 is a flow chart of output control processing executed in the hydraulic excavator 1 according to the first modified embodiment of the present invention.
- differences from the previous embodiment will be mainly described, and descriptions of common points will be omitted.
- the output characteristic setting unit 506 determines whether the soil information estimated by the soil estimation unit 505 is input to the storage unit 507. is determined (step S11).
- the output characteristic setting unit 506 acquires the latest soil information I from the storage unit 507 (step S12).
- the soil information I includes the aforementioned cohesion c and internal friction angle ⁇ .
- the output characteristic setting unit 506 determines whether or not the soil information I0 referred to when adjusting the output characteristics last time matches the soil information I acquired this time (step S13). Here, if I ⁇ I0 (NO in step S13), the output characteristic setting unit 506 acquires the output characteristic corresponding to the latest soil information I from the storage unit 507, thereby changing the output characteristic of the hydraulic excavator 1. (step S14). Then, an output characteristic signal (command signal) corresponding to the changed output characteristic is input to the driving section 71 (step S15).
- the storage unit 507 stores a preset threshold value ca for the adhesive force c and a preset threshold value ⁇ a for the internal friction angle ⁇ .
- the first range ( ⁇ a, c ⁇ ca), the second range ( ⁇ a, c ⁇ ca), the third range ( ⁇ a, c ⁇ ca), and the fourth range Four ranges ( ⁇ a, c ⁇ ca) are set, and in which of the above four ranges the soil information I( ⁇ , c) is included is determined in step S14 of FIG. Unit 506 determines.
- the output characteristic setting unit 506 acquires from the storage unit 507 the output characteristics set in advance corresponding to each range and stored in the storage unit 507 . For example, the output characteristic setting unit 506 sets a larger output as ⁇ is larger. Also, the output characteristic setting unit 506 sets the output to be larger as the value of c is larger.
- the shear strength ⁇ may be calculated from Equation 1 above based on the soil information I.
- three ranges are set: the first range ( ⁇ a), the second range ( ⁇ a ⁇ b), and the third range ( ⁇ b ⁇ ).
- an output characteristic may be determined corresponding to each range.
- output characteristic setting section 506 sets a larger output as ⁇ increases.
- step S14 of FIG. 12 the output characteristics are set according to the soil information I acquired in advance. and output characteristics may be set according to the soil quality rank.
- FIG. 13 is a flow chart of output control processing executed in the hydraulic excavator 1 according to the second modified embodiment of the present invention.
- FIG. 14 is a schematic diagram of a hydraulic excavator 1 and a server 90 according to this modified embodiment.
- the server 90 (management device) is arranged in a data center or a remote management center that is located away from the work site.
- server 90 includes server-side receiving unit 901 (management device-side receiving unit), server-side output characteristics setting unit 902 (management device-side output characteristics setting unit), and server-side storage unit 903 (management unit). device-side storage unit) and a server-side transmission unit 904 (management device-side transmission unit).
- step S21 to step S25 is the same as the processing from step S11 to step S15 (including step S16) in FIG. .
- the body position information acquisition unit 63 acquires the latest position information of the hydraulic excavator 1 (step S26).
- the acquisition timing of the position information is not limited to the timing of step S26.
- the transmission unit 73 (FIG. 2) associates the position information of the hydraulic excavator 1 with the soil information estimated by the soil estimation unit 505 and transmits them to the server 90 (step S27).
- the server-side receiving section 901 of the server 90 receives the information (step S28)
- the server-side storage section 903 stores the information in association with each other (step S29).
- the server 90 can acquire and accumulate the position information and soil information at the work site acquired by the hydraulic excavator 1 . Therefore, as shown in FIG. 14, the information obtained by the hydraulic excavator 1A (first construction machine) is received by the hydraulic excavator 1B (another construction machine) via the server 90 at the receiving unit 74, and the received soil quality is determined. Depending on the information I, its output characteristics can be changed.
- server-side storage unit 903 of the server 90 in this way, it is possible to accumulate information on a plurality of work sites and grounds with a storage unit having a larger capacity than the storage unit 507 of the hydraulic excavator 1 .
- FIG. 15 is a flowchart of another output control process executed in the hydraulic excavator 1 according to this modified embodiment.
- the output characteristic setting unit 506 of the hydraulic excavator 1 sets the output characteristics
- the server-side output characteristic setting unit 902 in the server 90 Set the output characteristics of the excavator 1.
- step S31 of FIG. 15 when the soil information acquired by the soil estimation unit 505 is input to the storage unit 507 (YES in step S31), the main body position information acquisition unit 63 acquires the position information of the hydraulic excavator 1. (step S32).
- the transmission unit 73 transmits the position information of the hydraulic excavator 1 and the soil information estimated by the soil estimation unit 505 to the server 90 (step S33).
- the server-side output characteristic setting unit 902 refers to information stored in advance in the server-side storage unit 903 based on the position information and the soil information received in step S34, and sets the output characteristic information of the hydraulic excavator 1. Select (step S35). Then, the server-side transmission unit 904 transmits the selected output characteristic information to the hydraulic excavator 1 (step S36).
- the hydraulic excavator 1 receives the output characteristic information, displays the change in the output characteristic on the display unit 72 (FIG. 2) in the cab 13, and asks for operator approval (step S37).
- the output characteristics setting unit 506 sends an output characteristics signal (command signal) corresponding to the output characteristics to be changed to the driving unit 71. (step S39).
- step S31 if the soil information is not input in step S31 (NO in step S31) and if the operator's approval is not obtained in step S37 (NO in step S37), the output characteristic setting unit 506 sets the previous output characteristic. (step S38A), and an output characteristic signal corresponding to the output characteristic is input to the driving section 71 in step S39.
- step S33 of FIG. 15 the soil information and position information are transmitted to the server 90, but only the position information of the hydraulic excavator 1 may be transmitted to the server 90. .
- the current soil information I around the hydraulic excavator 1 is acquired, and an output corresponding to the soil information is obtained.
- the characteristics may be set by the server-side output characteristics setting unit 902 .
- step S31 of FIG. 15 if the soil information estimated by the soil estimation unit 505 in advance is not input to the storage unit 507, the position information of the hydraulic excavator 1 is calculated without using the previous output characteristics in step S38A. to the server 90, the output characteristic information may be received from the server 90.
- FIG. 16 is a flow chart of soil information acquisition processing executed by the construction machine according to the third modified embodiment of the present invention.
- FIG. 17 is a diagram showing a state of the display unit in the soil information acquisition process executed by the construction machine according to this modified embodiment.
- This modified embodiment is characterized by the conditions for executing the soil information acquisition process during work at the work site.
- the operator lays down the work attachment 20 from the state shown in FIG. 1 and adjusts the attitude of the bucket 23 near the ground G (step S41).
- the soil estimating unit 505 instructs the operator so that the angle of the bucket 23 is included in a preset angle for estimation (angle range). to request angle adjustment of the bucket 23.
- FIG. 17 is an example of a screen displayed on the display section 72 (FIG. 2) inside the cab 13 (FIG. 1).
- Under (30 degrees in FIG. 17) means the lower limit of the estimation angle
- Over (120 degrees in FIG. 17) means the upper limit.
- the angle illustrated between them 80 degrees in FIG. 17) indicates the current bucket angle ⁇ .
- the bucket angle ⁇ is an angle formed by a straight line connecting the connection portion CB1 (fulcrum) between the arm 22 and the bucket 23 in FIG. 5 and the tip of the bucket 23 with respect to the horizontal plane.
- the current angle (orientation) of the bucket 23 is visually illustrated in the "bucket angle" column.
- a "scale” is arranged to visually confirm the relative position of the current bucket angle ⁇ to Over and Under.
- a white triangle in the scale means the value of the current bucket angle ⁇ .
- the maximum value (180 degrees in FIG. 17) in the scale is set to a value larger than the above Over (120 degrees in FIG. 17), and the minimum value (0 degrees in FIG. 17) is set to Under (170 degrees in FIG. 17). is set to a value smaller than 30 degrees).
- the display unit 72 (bucket angle display unit) can display the estimated angle and the current angle ⁇ of the bucket 23 in this way, so that the operator can see the display unit 72. while the angle of the bucket 23 can be easily adjusted.
- step S43 When the operator confirms that the angle ⁇ of the bucket 23 is between the lower limit value and the upper limit value (YES in step S42 of FIG. 16), the operator slightly lowers the work attachment 20 so that the tip of the bucket 23 touches the ground. G is grounded (step S43).
- an option button (not shown) arranged at the grip of an arm pull lever (not shown) inside the cab 13 .
- This option button functions as a start switch for bucket angle maintenance control.
- the drive control unit 501 FIG. 2
- the drive control unit 501 FIG. 2
- the soil estimation unit 505 starts soil estimation processing (step S45). At this time, each data stored in the storage unit 507 (FIG. 2) in the previous soil information acquisition process is reset.
- step S46 the soil estimation process (computation) by the soil estimation unit 505 ends (step S46). Note that while the soil property estimation unit 505 is estimating the soil property, the “estimating” lamp lights up in the soil property estimation region on the right side of the screen display in FIG. 17 .
- the soil estimation unit 505 determines whether or not the accuracy of the soil information acquisition process can be expected (step S47). Specifically, the soil property estimation unit 505 determines whether or not the soil volume V(m 3 ) calculated by the soil pressure load computation unit 504 is equal to or greater than a preset soil volume threshold value Vmin.
- the soil volume V is the volume of soil contained in the bucket 23 in the above excavation work.
- the soil pressure load calculation unit 504 calculates the soil volume V based on the shape of the bucket 23 and the shape of the soil mass.
- the shape of bucket 23 is known and stored in storage unit 507 .
- the shape of the lump of soil is acquired by the soil surface information acquiring section 64 (FIG. 1).
- the magnitude of the soil volume V is determined from such a point of view.
- the soil estimation unit 505 determines whether or not the number of data M acquired between steps S44 and S46 is equal to or greater than a predetermined threshold value Mmin.
- the soil quality estimator 505 sequentially estimates the soil quality at predetermined time intervals (for example, 10 times per second) using parameters that change every second while the bucket 23 is excavating.
- the number of data M corresponds to the number of soil data obtained in this process.
- the threshold Mmin is set to 50, for example. When the number of data M is smaller than the threshold value Mmin, as in the case where the operator presses the option button at short time intervals, the accuracy of the estimated soil quality may decrease.
- the number of data M is determined from such a viewpoint. Note that the number of data M may be the number of other parameters used in the soil information acquisition process.
- step S47 of FIG. 16 if the above conditions are satisfied (YES in step S47), the "success” lamp lights up in the soil estimation area on the right side of the screen display of FIG.
- the soil estimator 505 displays finally estimated information on the soil on the display unit 72 (FIG. 2). Specifically, in the area of soil quality estimation in FIG. 17, information about the estimated soil quality is displayed in the portion indicated by "current value". The information may be a numerical value, a characteristic, or a message. In this modified embodiment, the previously estimated soil information (past soil quality) is displayed as the "previous value" under the "current value” (latest soil quality). Therefore, the operator can easily grasp changes in the soil quality at the work site. Note that the display of the "current value” and the "previous value” may be history information such as a graph.
- step S47 of FIG. 16 if the above conditions are not satisfied (NO in step S47), the "failure" lamp lights up in the soil estimation area on the right side of the screen display of FIG. The operator recognizes the need for remeasurement from this display (step S49). In this case, the operator should repeat the steps after step S41 in FIG. 16 in the next excavation work.
- the soil quality estimation unit 505 determines whether or not the soil quality can be estimated based on the soil volume V in the bucket 23 . According to such a configuration, the estimation accuracy can be improved by displaying the final soil quality only when a certain amount of soil is in the bucket 23 . It should be noted that the above estimation of soil pressure means estimation of the final soil quality to be displayed on the display unit 72 . If it is determined that the soil quality cannot be estimated, any processing up to displaying the soil quality may be stopped.
- the soil quality estimation unit 505 calculates the soil volume based on the shape of the soil mass and the shape of the bucket 23, so the soil volume V in the bucket 23 can be easily estimated.
- the soil property estimation unit 505 may determine whether or not to estimate the soil property based on another characteristic value related to the magnitude of the soil pressure load.
- the characteristic value may be the ground height H in FIG. Even in such a case, the estimation accuracy can be improved by executing the earth pressure estimation process only when the obtained earth pressure load is relatively large.
- the soil property estimation unit 505 determines the soil property on the condition that the angle ⁇ of the bucket 23 is included in the preset estimation angle. According to such a configuration, by setting the angle of the bucket 23 to the predetermined estimation angle and then executing the soil estimation process, the estimation accuracy can be improved.
- the input unit 52 of FIG. 2 may receive a command for switching between the valid state and the invalid state.
- the valid state is a state in which the soil estimation unit 505 is allowed to estimate soil properties
- the invalid state is a state in which the soil estimation unit 505 is prohibited from estimating soil properties.
- the above command may be input by the operator, or may be automatically input by the control unit 50 including the soil estimation unit 505 based on predetermined conditions. According to such a configuration, it is possible to execute the soil quality estimation process only when necessary, and it is possible to prevent unnecessary arithmetic processing.
- the display unit 72 (FIG. 2) (state display unit) may be capable of displaying the valid state and the invalid state. According to such a configuration, it is possible to inform the operator of the current state of the soil that can be estimated.
- the storage unit 507 may store the previously estimated soil quality information. According to such a configuration, it is possible to reliably store the necessary soil quality information when the state is switched.
- the functions of the input unit 52, the display unit 72, and the storage unit 507 as described above can also be applied to other embodiments.
- the soil estimation unit 505 (state switching unit) inputs a command corresponding to the valid state to the input unit 52 on condition that the angle of the bucket 23 is included in the preset estimation angle. Anything is fine.
- the estimation accuracy can be improved. Also, when the soil quality is to be estimated with high accuracy, it is possible to prevent the operator from starting the soil quality estimation process outside the estimation angle, resulting in a failure to obtain the desired accuracy of the soil quality.
- the soil estimation unit 505 may have a function of actively requesting the operator to set an angle as shown on the left side of FIG. 17 as a condition for executing soil estimation. . According to such a configuration, since the soil estimation unit 505 requests the angle adjustment of the bucket 23, highly accurate soil estimation processing can be reliably performed.
- the soil estimator 505 acquires a plurality of soil properties by repeatedly estimating the soil properties at predetermined time intervals in response to a predetermined estimation start signal (pressing the option button). Estimate the final soil type based on multiple soil types. On the other hand, after the estimation start signal is input, if the number (M) of the plurality of soil types is less than a preset threshold value (Mmin), the soil type estimation unit 505 does not perform the final estimation of the soil type (Fig. 16 step S47). According to such a configuration, it is possible to prevent an erroneous estimation result from being output when the number of data required for estimation has not been obtained.
- the display unit 72 (completion display unit) displays information on whether or not the estimation of the soil properties by the soil estimation unit 505 has been completed (success lamp, failure lamp). According to such a configuration, the operator can easily confirm whether the soil quality estimation process is completed or not by checking the display section 72 .
- FIG. 18 is a schematic diagram of arithmetic processing executed by the soil estimation section in the construction machine according to the fourth modified embodiment of the present invention.
- the mechanical load calculation unit 503 calculates the load (mechanical load, excavation resistance value PA) mechanically applied to the bucket 23 (calculation 1 in FIG. 3).
- the pressure load calculation unit 504 calculates the load (soil pressure load, excavation resistance value PB) acting on the bucket 23 due to the soil excavated by the bucket 23 based on the soil pressure theory (calculation 2 in FIG. 3), and the soil property estimation unit It has been described that the soil information included in the excavation resistance value PB is calculated by assuming that the two loads are equal to each other (calculation 3 in FIG. 3).
- the mechanical load calculation unit 503 calculates the load (mechanical load, digging resistance value PA) mechanically applied to the bucket 23 (calculation 1 in FIGS. 3 and 18).
- the earth pressure load calculation unit 504 calculates the load (earth pressure load, excavation resistance value PB) acting on the bucket 23 due to the soil excavated by the bucket 23 based on the earth pressure theory
- three prepared in advance Calculation 2 is executed using the soil quality candidates (soil quality 1, soil quality 2, and soil quality 3).
- the calculations referring to the respective soil candidates are called calculations 2-1, 2-2 and 2-3, and the obtained excavation resistance values are called PB1, PB2 and PB3.
- the soil information includes, for example, the internal friction angle ⁇ and the cohesive force c. For this reason, different values of the internal friction angle .phi.
- the soil estimation unit 505 obtains the absolute value of the deviation between the PA calculated in the calculation 1 and each PB, and selects the soil with the smallest value, in other words, the soil that outputs the PB closest to the PA. , soil quality 1, soil quality 2, and soil quality 3, and determined as the final estimated soil quality X.
- the soil estimation unit 505 integrates a plurality of
- the soil quality may be selected from soil quality 1, soil quality 2, and soil quality 3, and determined as the final estimated soil quality X.
- the temporal integration range integration interval may be set corresponding to the time during which the bucket angle maintenance control of FIG. It may be set based on the magnitude relationship with the threshold value set as.
- the soil estimation unit 505 refers to a plurality of prepared soil candidates (soil 1, soil 2, and soil 3), and the machine load calculated by the mechanical load calculation unit 503. Based on the load and the earth pressure load calculated by the earth pressure load calculation unit 504, one soil quality candidate among the plurality of soil quality candidates is determined as the soil quality at the work site. According to such a configuration, it is possible to reduce the computational load by limiting the soil quality to be the solution to a plurality of soil quality candidates.
- the soil pressure load calculation unit 504 calculates a plurality of soil pressure loads using the plurality of soil property candidates
- the soil property estimation unit 505 calculates the soil pressure load from among the plurality of soil pressure loads.
- the soil quality candidate corresponding to the earth pressure load closest to the mechanical load calculated by the mechanical load calculation unit 503 is determined as the soil quality at the work site. According to such a configuration, it is possible to accurately determine the optimum soil quality from among the plurality of soil quality candidates.
- FIG. 19 is a schematic diagram of calculation processing executed by the earth pressure load calculation unit in the construction machine according to the fifth modified embodiment of the present invention.
- FIG. 20 is a flowchart of part of the soil information acquisition process executed by the construction machine according to this modified embodiment.
- FIG. 21 is a side view when the construction machine according to this modified embodiment executes the soil information acquisition process.
- FIG. 22 is a schematic diagram for explaining the ground height in the soil information acquisition process executed by the construction machine according to this modified embodiment.
- This modified embodiment is characterized by the method of calculating the ground height H (the vertical distance between the toe of the bucket 23 and the soil surface: see FIG. 9) referred to in calculation 2. Specifically, even when the body of the hydraulic excavator 1 is tilted with respect to the horizontal plane as shown in FIG. 21, the ground height H can be calculated with high accuracy.
- the earth pressure load calculation unit 504 acquires each cylinder stroke, machine body angle, soil surface information, etc., as in step S1 in FIG. 4 (step S51 in FIG. 20). At this time, the ground surface information to be acquired is based on the ground surface without depending on the aircraft angle.
- the information of the soil surface acquired by the soil surface information acquisition unit 64 (FIG. 1) consisting of LIDAR is illustrated by a plurality of measurement points Dg.
- the bucket position calculator 502 calculates the toe position of the bucket 23 (bucket toe position) and the tip position of the arm 22 (arm tip position: connecting portion CB1 in FIG. 22) (step S52). Further, the bucket position calculator 502 draws an arc RC passing through the toe of the bucket 23 with the tip position of the arm 22 as the center (calculates the arc formula) (step S53). Then, the bucket position calculator 502 calculates the position of the intersection point Pi between the arc RC and the soil surface (plurality of Dg) (step S54). Further, the bucket position calculator 502 calculates the distance between the horizontal line passing through the toe of the bucket 23 and the intersection point Pi as the ground height H (step S55).
- the relative positional relationship between the soil surface information and the bucket 23 can be associated by the arc RC.
- the ground height H can be obtained with high accuracy.
- the storage unit 507 stores a plurality of ground materials in advance, and information on the plurality of ground materials is displayed on the display unit 72.
- the output characteristic setting is performed.
- a section 506 may select and set the power characteristics of the excavator 1 associated with the selected ground material. According to such a configuration, it is possible to easily set the output characteristics at a site where excavation work is started without conducting a ground survey, such as a raw material mining site. Examples of the ground material include sand, sandy soil, gravel, cohesive soil, and the like.
- the output characteristic setting unit 506 recognizes the surrounding ground material based on the image taken by the camera, etc., and associates it with the ground material. You may select and set the output characteristic of the hydraulic excavator 1 obtained.
- the ground material and soil quality may be estimated according to the size of the soil particles and the amount of water estimated from the color of the soil contained in the image, or the comparison image stored in advance in the storage unit 507 may be used.
- the ground material and soil quality may be estimated from the similarity with According to such a configuration, it is possible to save the operator the trouble of selecting the ground material, and to prevent erroneous setting of the output characteristics due to erroneous selection.
- the output characteristics of the hydraulic excavator 1 can be appropriately set even at a work site where the operator is absent, such as when the hydraulic excavator 1 is automatically operated.
- the output characteristics of the hydraulic excavator 1 are calculated using the information.
- the soil estimation unit 505 may estimate the latest soil information.
- the latest soil information should be acquired (map information should be added). can set the appropriate output characteristics.
- the server-side storage unit 903 of the server 90 may store different output characteristic information according to the model and characteristics of the hydraulic excavator 1 even with the same soil information.
- the soil information acquired by the hydraulic excavator 1A of FIG. can be sent. Therefore, even when a plurality of hydraulic excavators 1 of different models work at the same work site, appropriate output characteristics can be set for each hydraulic excavator 1 while sharing soil information.
- the hydraulic excavator 1 and the server 90 as described above constitute the construction machine management system of the present invention.
- the construction machine management system can have the following aspects.
- the construction machine management system includes the hydraulic excavator 1 described above and a server 90 which is arranged at a position separate from the hydraulic excavator 1 and capable of transmitting/receiving the soil information to/from the hydraulic excavator 1. and According to such a configuration, the soil information acquired by the hydraulic excavator 1 is managed by the server 90, so that the soil information can be shared with other hydraulic excavators. At this time, even if another hydraulic excavator does not have the soil quality estimation unit 505 like the hydraulic excavator 1, the soil quality information can be used to perform efficient work.
- the hydraulic excavator 1 has a body position information acquisition unit 63 that acquires position information of the machine body at the work site, and transmits the position information and the soil information to the server 90. and a transmitting unit 73 (body-side transmitting unit) capable of transmitting.
- the server 90 also includes a server-side receiving unit 901 capable of receiving the location information and the soil information transmitted by the transmission unit 73, and a server-side receiving unit 901 that stores the location information and the soil information in association with each other. and a storage unit 903 .
- the soil information and position information acquired by the hydraulic excavator 1 are associated with each other and managed by the server 90, so that other hydraulic excavators can share the soil information and position information. .
- the drive unit 71 can receive a predetermined command signal and drive the work attachment 20 based on the output characteristics according to the command signal.
- the hydraulic excavator 1 also includes a body position information acquisition unit 63 for acquiring position information of the machine body at the work site, a transmission unit 73 capable of transmitting the position information to the server 90, and information transmitted from the server 90. and a receiving unit 74 (body-side receiving unit) capable of receiving .
- the server 90 also includes a server-side storage unit 903 that stores the location information, the soil information, and the output characteristics information in association with each other, and a server that can receive the location information transmitted by the transmission unit 73.
- a server-side receiving unit 901 a server-side output characteristic setting unit 902 that sets predetermined output characteristics from a server-side storage unit 903 according to the location information received by the server-side receiving unit 901; and a server-side transmission unit 904 that transmits the corresponding command signal to the hydraulic excavator 1 .
- the server 90 sets suitable output characteristics according to the information, and transmits a command signal to the hydraulic excavator 1. be able to. For this reason, the hydraulic excavator 1 is adjusted to appropriate output characteristics according to the surrounding soil information while performing work at the work site.
- the drive unit 71 can receive a predetermined command signal and drive the work attachment 20 based on the output characteristics according to the command signal.
- the hydraulic excavator 1 further includes a transmission unit 73 capable of transmitting the soil information to the server 90 and a reception unit 74 capable of receiving information transmitted from the server 90 .
- the server 90 also includes a server-side storage unit 903 that stores the information on the soil quality and the information on the output characteristics in association with each other, and a server-side reception unit that can receive the information on the soil quality transmitted by the transmission unit 73.
- a server-side output characteristic setting unit 902 for setting predetermined output characteristics from a server-side storage unit 903 according to the soil information received by the server-side receiving unit 901; and a server-side transmission unit 904 that transmits the command signal to the hydraulic excavator 1 .
- the server 90 when the hydraulic excavator 1 acquires soil quality information during operation, the server 90 can set suitable output characteristics according to the information and transmit a command signal to the hydraulic excavator 1 . . For this reason, the hydraulic excavator 1 is adjusted to appropriate output characteristics according to the surrounding soil information while performing work at the work site.
- the present invention is based on the technical idea of estimating the soil properties related to the soil pressure load from the mechanical load actually applied to the bucket during excavation work and the soil pressure load applied to the bucket by the soil mass formed by the bucket. It is based on A construction machine is provided by the present invention based on such a technical idea.
- the construction machine includes a machine body including a traveling part capable of traveling on the ground, a hoisting body supported by the machine body so as to be rotatable in a hoisting direction with respect to the machine body, and a tip end of the hoisting body.
- a work attachment having a movably supported bucket; a drive capable of driving the work attachment such that the bucket excavates the ground; and information regarding the relative attitude of the work attachment to the ground.
- an attitude information acquisition unit that acquires certain attitude information
- a drive load information acquisition unit that acquires drive load information that is information about the load received by the drive unit as the bucket excavates the ground
- a drive load information acquisition unit that acquires drive load information
- a mechanical load which is a load that the bucket receives from earth and sand, is calculated from the posture information acquired by the posture information acquisition unit and the drive load information acquired by the drive load information acquisition unit along with the excavation of the bucket.
- an earth pressure load calculation unit that calculates an earth pressure load, which is the load that the earth mass imparts to the bucket, based on earth pressure theory from the shape of the soil, the density of the soil, and the wall friction angle between the soil and the bucket; a soil property estimating unit for estimating soil properties of soil at a work site based on the mechanical load calculated by the load calculating unit and the earth pressure load calculated by the earth pressure load calculating unit.
- a soil property estimating unit is capable of estimating the soil property of the work site based on the mechanical load and the earth pressure load. Therefore, it is possible to acquire the soil information while performing excavation work at the work site.
- the soil property estimating unit assumes that the mechanical load and the soil pressure load acting on the bucket match each other, and uses the internal friction angle of the soil and the cohesive force of the soil at the work site as the soil property. It may be estimated respectively.
- the drive unit includes a hydraulic hoisting body cylinder that expands and contracts to rotate the hoisting body, and a hydraulic bucket cylinder that expands and contracts to rotate the bucket. It further comprises a cylinder length detection unit capable of detecting the length of the undulating body cylinder and the length of the bucket cylinder, and the posture information acquiring unit detects the undulating body detected by the cylinder length detection unit.
- the posture information may be acquired by calculating the posture of the work attachment based on the lengths of the cylinder and the bucket cylinder.
- the posture of the work attachment can be calculated based on the length of each cylinder, and the mechanical load and earth pressure load can be calculated.
- the above configuration further includes an angle detection unit capable of detecting a relative angle of the hoisting body to the fuselage and a relative angle of the bucket to the hoisting body, wherein the attitude information acquisition unit detects at least the angle.
- the attitude information may be acquired by calculating the attitude of the work attachment based on the relative angle of the undulating body and the relative angle of the bucket detected by a unit.
- the posture of the work attachment can be calculated based on the angles of the undulating body and the bucket, and the mechanical load and earth pressure load can be calculated with high accuracy.
- the above configuration may further include a body tilt detection unit capable of detecting a tilt of the body with respect to a horizontal plane, wherein the attitude information acquisition unit detects the relative angle of the undulating body detected by the angle detection unit, the bucket
- the attitude information may be acquired by calculating the attitude of the work attachment based on the relative angle of the body and the inclination of the machine body detected by the machine body inclination detection unit.
- the drive unit includes a hydraulic hoisting body cylinder that expands and contracts to rotate the hoisting body, and a hydraulic bucket cylinder that expands and contracts to rotate the bucket.
- a cylinder pressure detecting section capable of detecting a pressure of the bucket cylinder is further provided, and the driving load information acquiring section detects a load received by the driving section based on the pressure of the bucket cylinder detected by the cylinder pressure detecting section.
- the drive load information may be obtained by calculating
- drive load information can be easily obtained by detecting the pressure of each cylinder.
- the above configuration may further include a load sensor arranged at the tip of the undulating body and capable of detecting the load acting on the bucket, and the drive load information acquiring section may detect the load detected by the load sensor.
- the drive load information may be acquired by calculating the load applied to the drive unit based on the load acting on the bucket.
- drive load information can be easily obtained by detecting the load acting on the bucket with the load sensor arranged at the tip of the undulating body.
- the above configuration further includes a display unit that receives a predetermined display command signal and displays information to be notified to the operator in response to the display command signal, wherein the soil estimating unit includes the display corresponding to the estimated soil quality.
- a command signal may be input to the display unit.
- the worker can use the information as a guideline for setting the output characteristics of the construction machine.
- the display unit may be capable of displaying the latest soil properties estimated by the soil property estimation unit and past soil properties.
- the worker can easily grasp changes in soil quality at the work site.
- the above configuration further includes a position information acquisition unit that acquires position information of the aircraft at the work site, and the soil estimation unit mutually compares the estimated soil quality and the position information acquired by the position information acquisition unit.
- the associated display command signal may be input to the display section.
- the display unit can further display map information of the work site, and on the map information, the soil properties estimated by the soil property estimation unit and the information acquired by the position information acquisition unit The location information may be displayed in association with each other.
- the worker can easily visually grasp the strength of the ground based on the map information displayed on the display unit.
- the drive unit can receive a predetermined command signal and drive the work attachment based on output characteristics corresponding to the command signal. It may further include an output characteristic setting section for inputting a command signal to the driving section so as to adjust the output characteristic accordingly.
- the output of the construction machine can be adjusted according to the soil quality information such as the strength of the surrounding ground, it is possible to improve the workability of the excavation work felt by the worker and work efficiency. can be improved. Moreover, since the output characteristics of the construction machine are appropriately set according to the softness and hardness of the ground, wasteful fuel consumption can be suppressed.
- the soil property estimation unit may determine whether or not the soil property can be estimated based on a characteristic value related to the magnitude of the soil pressure load.
- the estimation accuracy can be improved by executing the earth pressure estimation process only when the obtained earth pressure load is relatively large.
- the characteristic value may be the amount of soil in the bucket.
- the estimation accuracy can be improved by executing the earth pressure estimation process only when a certain amount of soil is in the bucket.
- the soil quality estimation unit may calculate the soil volume based on the shape of the lump of soil and the shape of the bucket.
- the soil volume can be easily estimated based on the shape of the soil mass and the shape of the bucket.
- the soil property estimation unit may determine the soil property on the condition that the angle of the bucket is included in a preset estimation angle.
- the estimation accuracy can be improved by executing the soil estimation process after setting the angle of the bucket to the predetermined angle for estimation.
- the soil property estimation unit refers to a plurality of soil property candidates prepared in advance, and the mechanical load calculated by the mechanical load calculation unit and the earth pressure calculated by the earth pressure load calculation unit
- One soil candidate among the plurality of soil candidates may be determined as the soil at the work site based on the load.
- the earth pressure load calculation unit calculates the plurality of earth pressure loads using the plurality of soil property candidates, and the soil property estimation unit selects the mechanical load from among the plurality of earth pressure loads.
- the soil quality candidate corresponding to the earth pressure load closest to the mechanical load calculated by the load calculation unit may be determined as the soil quality at the work site.
- the above configuration further comprises an input unit for receiving a command for switching between a valid state and an invalid state, the valid state being a state in which the soil estimation unit is allowed to estimate the soil quality, and the invalid state being the above
- the estimation of the soil quality by the soil quality estimation unit may be prohibited.
- the above configuration may further include a soil storage unit that stores information related to the previously estimated soil when the valid state and the invalid state are switched by the command input to the input unit.
- the above configuration may further include a state display section capable of displaying the valid state and the invalid state.
- the above configuration may further include a state switching unit for inputting a command corresponding to the valid state to the input unit on condition that the angle of the bucket is included in a preset angle for estimation. .
- the estimation accuracy can be improved by executing the soil estimation process after setting the angle of the bucket to the predetermined angle for estimation.
- the above configuration may further include an angle requesting section that requests that the angle of the bucket be included in the estimation angle as a condition for the soil property estimation section to perform the soil property estimation.
- the angle requesting unit requests the angle adjustment of the bucket, so that highly accurate soil property estimation processing can be reliably performed.
- the above configuration may further include a bucket angle display section capable of displaying the estimated angle and the current angle of the bucket.
- the operator can easily adjust the angle of the bucket while looking at the bucket angle display.
- the soil estimating unit acquires a plurality of soil characteristics by repeatedly estimating the soil characteristics at predetermined time intervals in response to a predetermined estimation start signal, and based on the plurality of soil characteristics, the final After the estimation start signal is input, if the number of the plurality of soil types is less than a preset threshold value, the final estimation of the soil quality may not be performed.
- the above configuration may further include a completion display section for displaying information as to whether or not the estimation of the soil quality by the soil estimation section has been completed.
- the operator can easily confirm whether the soil quality estimation process has been completed or not by checking the completion display section.
- the construction machine management system includes any one of the construction machines described above, and a management device arranged at a position remote from the construction machine and capable of transmitting and receiving the soil information to and from the construction machine. , provided.
- the soil information acquired by the construction machine is managed by the management device, so that the soil information can be shared with other construction machines. At this time, even if the other construction machine does not have a soil property estimation unit, it is possible to perform efficient work using the soil property information.
- the construction machine includes a position information acquisition section that acquires position information of the machine body at a work site, and a machine body side transmission section that can transmit the position information and the soil information to the management device.
- the management device further comprises a management device-side receiving unit capable of receiving the position information and the soil information transmitted by the machine body-side transmitting unit; and a management device side storage unit that stores the data in association with each other.
- the soil information and position information acquired by the construction machine are associated with each other and managed by the management device, so that other construction machines can share the soil information and position information.
- the driving unit can receive a predetermined command signal and drive the work attachment based on the output characteristics corresponding to the command signal, and the construction machine is capable of driving the machine body at a work site.
- a location information acquisition unit that acquires location information
- a device side transmission unit that can transmit the location information to the management device
- a device side reception unit that can receive information transmitted from the management device.
- the management device includes a management device side storage unit that stores the position information, the soil information, and the output characteristics information in association with each other, and the position information transmitted by the machine body side transmission unit.
- a management device-side receiving section capable of receiving; and a management device-side output characteristic setting section for setting predetermined output characteristics from the management device-side storage section in accordance with the position information received by the management device-side receiving section. and a management device side transmission section for transmitting the command signal corresponding to the set output characteristic to the construction machine.
- the management device when the construction machine acquires position information and soil quality information during work, the management device can set suitable output characteristics according to the information and transmit a command signal to the construction machine. Therefore, the construction machine is adjusted to an appropriate output characteristic in accordance with the surrounding soil information while performing work at the work site.
- the driving unit can receive a predetermined command signal and drive the work attachment based on an output characteristic corresponding to the command signal
- the construction machine can receive the soil quality information as the It further comprises a body-side transmission unit capable of transmitting to a management device, and a body-side reception unit capable of receiving information transmitted from the management device, wherein the management device receives the soil information and A management device side storage unit that stores the information on the output characteristics in association with each other, a management device side reception unit that can receive the soil information transmitted by the machine body side transmission unit, and the management device side reception unit.
- a management device side output characteristic setting unit for setting a predetermined output characteristic from the management device side storage unit according to the soil quality information received by the management device side output characteristic setting unit, and sending the command signal corresponding to the set output characteristic to the construction machine and a management device side transmission unit for transmission.
- the management device when the construction machine acquires soil quality information during work, the management device can set suitable output characteristics according to the information and transmit a command signal to the construction machine. Therefore, the construction machine is adjusted to an appropriate output characteristic in accordance with the surrounding soil information while performing work at the work site.
- a construction machine and a construction machine management system are provided that are capable of acquiring ground soil information while performing excavation work at a work site.
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Abstract
Description
前述のように、上記の実施形態では、出力特性設定部506(図2)は、土質推定部505が推定した土質情報に基づいて、駆動部71の出力特性を設定(調整)し、当該特性に応じた指令信号を駆動部71に入力することができる。以下に、この出力特性設定部506が実行する出力制御処理について、複数の変形実施形態を示す。図12は、本発明の第1変形実施形態に係る油圧ショベル1において実行される出力制御処理のフローチャートである。なお、以後の各変形実施形態では、先の実施形態との相違点を中心に説明し、共通する点の説明を省略する。
図13は、本発明の第2変形実施形態に係る油圧ショベル1において実行される出力制御処理のフローチャートである。図14は、本変形実施形態に係る油圧ショベル1およびサーバー90の模式図である。サーバー90(管理装置)は、作業現場から離れた場所に設置されたデータセンターや遠隔管理センターなどに配置されている。
図16は、本発明の第3変形実施形態に係る建設機械において実行される土質情報取得処理のフローチャートである。図17は、本変形実施形態に係る建設機械において実行される土質情報取得処理における表示部の様子を示す図である。
図18は、本発明の第4変形実施形態に係る建設機械において土質推定部が実行する演算処理の模式図である。先の実施形態では、図3に示すように、機械負荷演算部503が、バケット23が機械的に受ける負荷(機械負荷、掘削抵抗値PA)を演算する(図3の演算1)一方、土圧負荷演算部504が、バケット23が掘削した土によってバケット23に作用する負荷(土圧負荷、掘削抵抗値PB)を土圧論に基づいて演算し(図3の演算2)、土質推定部505が上記の2つの負荷が互いに等しいと仮定することで、掘削抵抗値PBに含まれる土質情報を演算する(図3の演算3)という態様にて説明した。そして、前記演算3の手法として、3つの探索方法について詳述した。本変形実施形態では、上記と同様に、機械負荷演算部503が、バケット23が機械的に受ける負荷(機械負荷、掘削抵抗値PA)を演算する(図3、図18の演算1)。
図19は、本発明の第5変形実施形態に係る建設機械において土圧負荷演算部が実行する演算処理の模式図である。図20は、本変形実施形態に係る建設機械において実行される土質情報取得処理の一部のフローチャートである。図21は、本変形実施形態に係る建設機械が土質情報取得処理を実行する際の側面図である。図22は、本変形実施形態に係る建設機械において実行される土質情報取得処理における地盤高さを説明するための模式図である。
なお、上記の各実施形態において、土質推定部505が土質情報を何らかの事情により一時的に推定、取得できない場合には、作業現場において予め貫入試験機などで計測した地盤硬さに関する情報を用いて、油圧ショベル1の出力特性を設定してもよい。この場合、上記の地盤硬さに関する情報が記憶部507に記憶され、出力特性設定部506がこの情報を参照すればよい。このような構成によれば、作業現場において予め実施している地盤検査結果などを活用して、油圧ショベル1の出力特性を適切に設定することができる。
このような構成によれば、油圧ショベル1が取得した土質の情報をサーバー90が管理することで、他の油圧ショベルと前記土質の情報を共有することができる。この際、他の油圧ショベルが油圧ショベル1のように土質推定部505を有していない場合でも、前記土質の情報を利用して効率的な作業を行うことができる。
Claims (30)
- 地面上を走行可能な走行部を含む機体と、
前記機体に対して起伏方向に回動可能なように前記機体に支持された起伏体と、前記起伏体の先端部に回動可能に支持されたバケットとを有する作業アタッチメントと、
前記バケットが地面を掘削するように前記作業アタッチメントを駆動することが可能な駆動部と、
前記作業アタッチメントの地面に対する相対的な姿勢に関する情報である姿勢情報を取得する姿勢情報取得部と、
前記バケットが地面を掘削することに伴って前記駆動部が受ける負荷に関する情報である駆動負荷情報を取得する駆動負荷情報取得部と、
前記バケットが地面を掘削することに伴って、前記姿勢情報取得部によって取得された前記姿勢情報および前記駆動負荷情報取得部によって取得された前記駆動負荷情報から、前記バケットが土砂から受ける負荷である機械負荷を演算する機械負荷演算部と、
前記バケットが地面を掘削することに伴って、前記バケットによって堰き止められた土によって構成される土塊の形状、前記姿勢情報取得部によって取得された前記姿勢情報、前記バケットの形状、土の密度、土と前記バケットとの壁面摩擦角から、前記土塊が前記バケットに付与する負荷である土圧負荷を土圧論に基づいて演算する土圧負荷演算部と、
前記機械負荷演算部によって演算された前記機械負荷と前記土圧負荷演算部によって演算された前記土圧負荷とに基づいて、作業現場における土の土質を推定する土質推定部と、
を備える、建設機械。 - 請求項1に記載の建設機械であって、
前記土質推定部は、前記バケットに作用する前記機械負荷と前記土圧負荷とが互いに一致すると仮定して、作業現場における土の内部摩擦角および土の粘着力を前記土質としてそれぞれ推定する、建設機械。 - 請求項1または2に記載の建設機械であって、
前記駆動部は、
前記起伏体を回動させるように伸縮する油圧式の起伏体シリンダと、
前記バケットを回動させるように伸縮する油圧式のバケットシリンダと、
を含み、
前記起伏体シリンダの長さおよび前記バケットシリンダの長さをそれぞれ検出することが可能なシリンダ長さ検出部を更に備え、
前記姿勢情報取得部は、前記シリンダ長さ検出部によって検出された前記起伏体シリンダおよび前記バケットシリンダの長さに基づいて前記作業アタッチメントの姿勢を演算することで前記姿勢情報を取得する、建設機械。 - 請求項1または2に記載の建設機械であって、
前記機体に対する前記起伏体の相対角度および前記起伏体に対する前記バケットの相対角度をそれぞれ検出することが可能な角度検出部を更に備え、
前記姿勢情報取得部は、少なくとも前記角度検出部によって検出された前記起伏体の相対角度および前記バケットの相対角度に基づいて前記作業アタッチメントの姿勢を演算することで前記姿勢情報を取得する、建設機械。 - 請求項4に記載の建設機械であって、
前記機体の水平面に対する傾きを検出することが可能な機体傾き検出部を更に備え、
前記姿勢情報取得部は、前記角度検出部によって検出された前記起伏体の相対角度、前記バケットの相対角度および前記機体傾き検出部によって検出された前記機体の傾きに基づいて前記作業アタッチメントの姿勢を演算することで前記姿勢情報を取得する、建設機械。 - 請求項1乃至5の何れか1項に記載の建設機械であって、
前記駆動部は、
前記起伏体を回動させるように伸縮する油圧式の起伏体シリンダと、
前記バケットを回動させるように伸縮する油圧式のバケットシリンダと、
を含み、
前記バケットシリンダの圧力を検出することが可能なシリンダ圧検出部を更に備え、
前記駆動負荷情報取得部は、前記シリンダ圧検出部によって検出された前記バケットシリンダの圧力に基づいて前記駆動部が受ける負荷を演算することで前記駆動負荷情報を取得する、建設機械。 - 請求項1乃至5の何れか1項に記載の建設機械であって、
前記起伏体の先端部に配置され、前記バケットに作用する負荷を検出することが可能な負荷センサを更に備え、
前記駆動負荷情報取得部は、前記負荷センサによって検出された前記バケットに作用する前記負荷に基づいて前記駆動部が受ける負荷を演算することで前記駆動負荷情報を取得する、建設機械。 - 請求項1乃至7の何れか1項に記載の建設機械であって、
所定の表示指令信号を受け入れ、当該表示指令信号に応じて作業者に報知する情報を表示する表示部を更に備え、
前記土質推定部は、推定した前記土質に対応する前記表示指令信号を前記表示部に入力する、建設機械。 - 請求項8に記載の建設機械であって、
前記表示部は、前記土質推定部によって推定された最新の土質と過去の土質とを表示可能である、建設機械。 - 請求項8または9に記載の建設機械であって、
作業現場における前記機体の位置情報を取得する位置情報取得部を更に備え、
前記土質推定部は、推定した前記土質と前記位置情報取得部によって取得された前記位置情報とを互いに関連付けた前記表示指令信号を前記表示部に入力する、建設機械。 - 請求項10に記載の建設機械であって、
前記表示部は、作業現場におけるマップ情報を更に表示することが可能であり、当該マップ情報上に前記土質推定部によって推定された前記土質と前記位置情報取得部によって取得された前記位置情報とを互いに関連付けて表示する、建設機械。 - 請求項1乃至11の何れか1項に記載の建設機械であって、
前記駆動部は、所定の指令信号を受け入れ当該指令信号に応じた出力特性に基づいて前記作業アタッチメントを駆動することが可能であり、
前記土質推定部によって取得された前記土質に応じて前記出力特性を調整するように前記駆動部に指令信号を入力する出力特性設定部を更に備える、建設機械。 - 請求項1乃至12の何れか1項に記載の建設機械であって、
前記土質推定部は、前記土圧負荷の大きさに関連する特性値に基づいて、前記土質の推定の可否を判定する、建設機械。 - 請求項13に記載の建設機械であって、
前記特性値は、前記バケット内の土量である、建設機械。 - 請求項14に記載の建設機械であって、
前記土質推定部は、前記土塊の形状および前記バケットの形状に基づいて前記土量を演算する、建設機械。 - 請求項1乃至15の何れか1項に記載の建設機械であって、
前記土質推定部は、前記バケットの角度が予め設定された推定用角度に含まれていることを条件として、前記土質を判定する、建設機械。 - 請求項1乃至16の何れか1項に記載の建設機械であって、
前記土質推定部は、予め準備された複数の土質候補を参照し、前記機械負荷演算部によって演算された前記機械負荷と、前記土圧負荷演算部によって演算された前記土圧負荷とに基づいて、前記複数の土質候補のうちの一の土質候補を作業現場における前記土質として決定する、建設機械。 - 請求項17に記載の建設機械であって、
前記土圧負荷演算部は、前記複数の土質候補をそれぞれ用いて複数の前記土圧負荷を演算し、
前記土質推定部は、前記複数の前記土圧負荷の中から前記機械負荷演算部によって演算される前記機械負荷に最も近い土圧負荷に対応する前記土質候補を、作業現場における前記土質として決定する、建設機械。 - 請求項1乃至18の何れか1項に記載の建設機械であって、
有効状態と無効状態とを切換えるための指令を受け付ける入力部を更に備え、
前記有効状態は前記土質推定部による前記土質の推定が許容された状態であり、前記無効状態は前記土質推定部による前記土質の推定が禁止された状態である、建設機械。 - 請求項19に記載の建設機械であって、
前記入力部に入力される前記指令によって前記有効状態と前記無効状態とが切り換わると、前回推定された前記土質に関する情報を記憶する土質記憶部を更に備える、建設機械。 - 請求項19または20に記載の建設機械であって、
前記有効状態および前記無効状態を表示可能な状態表示部を更に備える、建設機械。 - 請求項19乃至21の何れか1項に記載の建設機械であって、
前記バケットの角度が予め設定された推定用角度に含まれていることを条件として、前記入力部に前記有効状態に対応する指令を入力する状態切換部を更に備える、建設機械。 - 請求項22に記載の建設機械であって、
前記土質推定部が前記土質の推定を実行するための条件として、前記バケットの角度が前記推定用角度に含まれることを要求する角度要求部を更に備える、建設機械。 - 請求項22または23に記載の建設機械であって、
前記推定用角度および現在の前記バケットの角度を表示することが可能なバケット角度表示部を更に備える、建設機械。 - 請求項1乃至24の何れか1項に記載の建設機械であって、
前記土質推定部は、所定の推定開始信号を受けて、所定の時間間隔で前記土質を繰り返し推定することで複数の土質を取得し、当該複数の土質に基づいて最終的な土質を推定するものであり、前記推定開始信号の入力後、前記複数の土質の数が予め設定された閾値未満の場合、前記最終的な土質の推定を実行しない、建設機械。 - 請求項1乃至25の何れか1項に記載の建設機械であって、
前記土質推定部による前記土質の推定が完了したか否かに関する情報を表示する完了表示部を更に備える、建設機械。 - 建設機械管理システムであって、
請求項1乃至26の何れか1項に記載の建設機械と、
前記建設機械から離れた位置に配置され、前記建設機械との間で前記土質の情報を送受信することが可能な管理装置と、
を備える、建設機械管理システム。 - 請求項27に記載の建設機械管理システムであって、
前記建設機械は、
作業現場における前記機体の位置情報を取得する位置情報取得部と、
前記位置情報および前記土質の情報を前記管理装置に送信することが可能な機体側送信部と、
を更に備え、
前記管理装置は、
前記機体側送信部が送信した前記位置情報および前記土質の情報を受信することが可能な管理装置側受信部と、
前記位置情報および前記土質の情報を互いに関連付けて記憶する管理装置側記憶部と、
を有する、建設機械管理システム。 - 請求項27に記載の建設機械管理システムであって、
前記駆動部は、所定の指令信号を受け入れ当該指令信号に応じた出力特性に基づいて前記作業アタッチメントを駆動することが可能であり、
前記建設機械は、
作業現場における前記機体の位置情報を取得する位置情報取得部と、
前記位置情報を前記管理装置に送信することが可能な機体側送信部と、
前記管理装置から送信された情報を受信することが可能な機体側受信部と、
を更に備え、
前記管理装置は、
前記位置情報、前記土質の情報および前記出力特性の情報を互いに関連付けて記憶する管理装置側記憶部と、
前記機体側送信部が送信した前記位置情報を受信することが可能な管理装置側受信部と、
前記管理装置側受信部が受信した前記位置情報に応じて前記管理装置側記憶部から所定の出力特性を設定する管理装置側出力特性設定部と、
前記設定された出力特性に対応する前記指令信号を前記建設機械に送信する管理装置側送信部と、
を有する、建設機械管理システム。 - 請求項27に記載の建設機械管理システムであって、
前記駆動部は、所定の指令信号を受け入れ当該指令信号に応じた出力特性に基づいて前記作業アタッチメントを駆動することが可能であり、
前記建設機械は、
前記土質の情報を前記管理装置に送信することが可能な機体側送信部と、
前記管理装置から送信された情報を受信することが可能な機体側受信部と、
を更に備え、
前記管理装置は、
前記土質の情報および前記出力特性の情報を互いに関連付けて記憶する管理装置側記憶部と、
前記機体側送信部が送信した前記土質の情報を受信することが可能な管理装置側受信部と、
前記管理装置側受信部が受信した前記土質の情報に応じて前記管理装置側記憶部から所定の出力特性を設定する管理装置側出力特性設定部と、
前記設定された出力特性に対応する前記指令信号を前記建設機械に送信する管理装置側送信部と、
を有する、建設機械管理システム。
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