WO2023171059A1

WO2023171059A1 - Construction machine

Info

Publication number: WO2023171059A1
Application number: PCT/JP2022/044963
Authority: WO
Inventors: 馬場司; 関口政一; 森本秀敏; 小幡博志; 蛯原明光
Original assignee: 日本国土開発株式会社
Priority date: 2022-03-08
Filing date: 2022-12-06
Publication date: 2023-09-14

Abstract

In order to provide an easy-to-use construction machine, this construction machine comprises: an upper body device connected to an upper working device; a lower body device positioned below the upper body device and connected to a lower working device; an upper revolving device for revolving the upper body device; a lower revolving device for revolving the lower body device; and a control device for controlling the upper revolving device and the lower revolving device to cause the upper working device and the lower working device to revolve independently from each other.　

Description

construction machinery

The present invention relates to construction machinery.

Conventionally, automatic operation has been developed for construction machines such as backhoes, and Patent Document 1 discloses automation of excavation work.

Japanese Patent Application Publication No. 2020-41354

However, since Patent Document 1 is a construction machine with a driver's seat, there are restrictions on the layout of the construction machine. Furthermore, since there are restrictions on the layout of construction machines, it is necessary to consider where the construction machines should be installed relative to the construction location during construction, which is not convenient.

Therefore, an object of the present invention is to provide a construction machine that is easy to use.

A construction machine according to a first aspect of the present invention includes an upper main body device connected to an upper working device, a lower main body device located below the upper main body device and connected to a lower working device, and a swingable upper main body device. an upper rotating device that rotates the lower main body device, a lower rotating device that rotates the lower main body device, and a control that controls the upper rotating device and the lower rotating device to independently rotate the upper working device and the lower working device. and a device.

A construction machine according to a second aspect of the present invention includes: an upper main body device connected to an upper working device; a lower main body device located below the upper main body device and connected to the lower working device; an upper swing device that swings the upper working device with respect to the lower main body device; a lower swing device that swings the lower working device with respect to the lower main body device; and a lower swing device that swings the upper working device with respect to the lower main body device; A control device is provided to swing the device and the lower working device independently.

According to the first invention and the second invention, it is possible to provide a construction machine that is easy to use.

1 is a diagram showing a state in which a hydraulic excavator according to an embodiment is viewed from the −Y direction. FIG. 1 is a diagram showing a state in which a hydraulic excavator according to an embodiment is viewed from the −X direction. FIG. FIG. 1 is a block diagram showing a control system of a hydraulic excavator according to an embodiment. FIGS. 4(a) to 4(c) are diagrams for explaining examples of arrangement of sensor groups. It is a flowchart showing the flow of water pipe installation work (individual work). FIG. 2 is a diagram (part 1) for explaining water pipe installation work (individual work). It is a figure (part 2) for explaining water pipe laying work (individual work). It is a flowchart showing the flow of water pipe laying work (simultaneous parallel work). FIGS. 9(a) to 9(c) are diagrams (part 1) for explaining water pipe installation work (simultaneous parallel work). FIGS. 10A and 10B are diagrams (Part 2) for explaining water pipe installation work (simultaneous parallel work). FIGS. 11(a) to 11(c) are diagrams (part 3) for explaining water pipe installation work (simultaneous parallel work). It is a figure which shows the modification of water pipe laying work (simultaneous parallel work). FIGS. 13(a) to 13(c) are diagrams for explaining changes in the posture of the transport device.

Hereinafter, a construction machine according to an embodiment of the present invention will be described in detail based on the attached drawings. Note that the present invention is not limited to this embodiment. In this embodiment, a case where the construction machine is a hydraulic excavator 1 will be described as an example.

FIG. 1 is a diagram showing a hydraulic excavator 1 according to the present embodiment. In FIG. 1, the left-right direction on the page is the X-axis direction, the direction perpendicular to the page is the Y-axis direction, and the vertical direction on the page is the Z-axis direction. FIG. 1 shows a partially sectional view of a hydraulic excavator 1 as viewed from the -Y direction. Further, FIG. 2 shows the hydraulic excavator 1 viewed from the −X direction. Further, FIG. 3 is a diagram showing a control system of the hydraulic excavator 1.

Hereinafter, the configuration of the hydraulic excavator 1 will be explained using FIGS. 1 to 3. As shown in FIG. 1, the hydraulic excavator 1 of this embodiment is of an automatic operation type without a driver's seat. Note that the hydraulic excavator 1 may be driven automatically at a construction site, and may be transported on a trailer on public roads. Furthermore, the hydraulic excavator 1 may be operated automatically or remotely at a remote location away from the excavation site.

As shown in FIG. 1, the hydraulic excavator 1 of this embodiment includes a traveling device 20, a lower swing device 30a, an upper swing device 30b, a lifting and swing device 30c, a lower main body device 40a, and an upper main body device 40b. , a lower working device 60a, an upper working device 60b, a lifting device 60c, and a conveying device 80.

As shown in FIG. 3, the hydraulic excavator 1 of this embodiment includes a fuel cell 11, a hydrogen tank 12, and a storage battery 13. The fuel cell 11 is a power generation device that generates electricity through an electrochemical reaction between hydrogen and oxygen. The hydrogen tank 12 stores hydrogen compressed to several tens of MPa, and supplies hydrogen to the fuel cell 11 via a hydrogen supply channel (not shown). The storage battery 13 is a secondary battery that stores the power generated by the fuel cell 11. The storage battery 13 can also be used as an auxiliary power source for driving the fuel cell 11 with the stored power, and also supplies power to each component of the hydraulic excavator 1. Note that the fuel cell 11, hydrogen tank 12, and storage battery 13 are provided, for example, within the lower main unit 40a or on the traveling device 20.

As shown in FIG. 1, the traveling device 20 includes an idler wheel 21, a drive wheel 22, and a pair of crawler belts 23 around which the idler wheel 21 and the drive wheel 22 are wrapped. The traveling device 20 also includes a traveling motor 24 (see FIG. 3) that rotationally drives the driving wheels 22, and drives the pair of tracks 23 in accordance with the rotation of the driving wheels 22, thereby causing the hydraulic excavator 1 to travel. be able to. Note that as the traveling motor 24, an in-wheel motor provided so as to be coaxially connected to the drive wheel 22 or a hub of the drive wheel 22 can be used.

The traveling device 20 is provided with an outrigger 90. The outrigger 90 can be switched between a state separated from the ground (the state shown in FIG. 1) and a state fixed to the ground. The outriggers 90 are separated from the ground when the traveling device 20 is traveling, and are fixed to the ground when, for example, the lower work device 60a excavates earth or when the lifting device 60c lifts a heavy object. The outriggers 90 that are fixed to the ground stabilize the posture of the entire hydraulic excavator 1 by protruding to the side of the traveling device 20 and touching the ground.

The lower swing device 30a is provided between the shaft member 25 provided on the traveling device 20 and extending in the Z-axis direction and the lower main body device 40a. The lower rotating device 30a includes a bearing (not shown) and a lower rotating motor 31a (see FIG. 3), and rotates the lower main body device 40a and the lower working device 60a around the shaft member 25. Note that the lower body device 40a and the lower working device 60a may be rotated by the lower rotating device 30a using a hydraulic device 43, which will be described later. Note that a slip ring mechanism is provided near the lower swing device 30a, and wiring and the like are routed through the slip ring mechanism. Therefore, even if the lower main body device 40a turns, the wiring will not become tangled or disconnected. Note that piping for liquid (hydraulic pressure, water), gas, etc. may be routed using a slip ring mechanism.

The upper swing device 30b is provided between the shaft member 25 provided in the traveling device 20 and the upper main body device 40b. The upper rotating device 30b includes a bearing (not shown) and a lower rotating motor 31b (see FIG. 3), and rotates the upper main body device 40b and the upper working device 60b about the shaft member 25. Note that the upper body device 40b and the upper working device 60b may be rotated by the upper rotating device 30b using a hydraulic device 43, which will be described later. Note that a slip ring mechanism is provided near the upper rotating device 30b, similar to the lower rotating device 30a, and wiring and the like are routed through the slip ring mechanism.

The lifting and turning device 30c is a device that turns (rotates) the lifting device 60c around the shaft member 25, and is provided between the shaft member 25 and the lifting device 60c. The lifting and turning device 30c includes a bearing (not shown) and a lifting device turning motor 31c (see FIG. 3). Note that the lifting device 60c may be rotated using a hydraulic device 43, which will be described later. Note that a slip ring mechanism is provided near the lifting and rotating device 30c, similar to the lower rotating device 30a and the upper rotating device 30b, and wiring and the like are routed through the slip ring mechanism.

The lower body device 40a has a rectangular parallelepiped shape, and a lower working device 60a is connected to the side surface thereof via a swing portion 41a and a swing cylinder 42a serving as a lower swing device. The fuel cell 11, hydrogen tank 12, and storage battery 13 described above can be provided inside the lower main body device 40a. Further, a counterweight (first mass body) 46a is provided inside the lower main body device 40a. The counterweight 46a is movable in the X-axis direction and the Y-axis direction, and is controlled by the control device 50 (see FIG. 3) according to the output of the attitude detector 44 (see FIG. 3) provided in the hydraulic excavator 1. movement is controlled by Note that as the attitude detector 44, an inclinometer, a spirit level, or the like can be used. Note that at least a portion of the fuel cell 11, hydrogen tank 12, and storage battery 13 described above may be used as the counterweight 46a. Note that in order to locate the center of gravity of the hydraulic excavator 1 as low as possible, the fuel cell 11, hydrogen tank 12, and storage battery 13 may be provided in the traveling device 20. Also in this case, at least a portion of the fuel cell 11, hydrogen tank 12, and storage battery 13 may be used as a counterweight.

The swing portion 41a is pivoted such that a portion connected to the lower main body device 40a and a portion connected to the boom 53a of the lower working device 60a are rotatable around the Z-axis. The swing cylinder 42a is a hydraulic cylinder whose one end is connected to the lower main body device 40a and the other end is connected to the swing part 41a, and is expanded and contracted by a hydraulic device 43. The lower working device 60a is driven around the Z-axis by the expansion and contraction of the swing cylinder 42a. Here, the hydraulic device 43 has a hydraulic control valve and the like, and as shown in FIG. 3, is supplied with electric power from the storage battery 13 to drive each part.

The upper body device 40b has a cylindrical shape, and the upper working device 60b is connected to its upper surface via a swing portion 41b and a swing cylinder 42b serving as an upper swing device. Further, a lifting device 60c is provided at the center of the upper surface of the upper main body device 40b.

A counterweight (second mass body) 46b is provided inside the upper main body device 40b. The counterweight 46b is movable in the X-axis direction and the Y-axis direction, and is controlled by the control device 50 (see FIG. 3) according to the output of the attitude detector 44 (see FIG. 3) provided in the hydraulic excavator 1. movement is controlled by Note that at least a portion of the fuel cell 11, hydrogen tank 12, and storage battery 13 described above may be provided in the upper main body device 40b and used as the counterweight 46b.

Here, the horizontal cross-sectional area (XY cross-sectional area) of the lower main body device 40a is larger than the horizontal cross-sectional area (XY cross-sectional area) of the upper main body device 40b. That is, there is a portion of the lower main body device 40a that is not hidden behind the upper main body device 40b and is visible when viewed from above (+Z side). By doing so, the volume (accumulation) of the lower main body device 40a can be made larger than that of the upper main body device 40b, so that the center of gravity of the hydraulic excavator 1 can be set low. Thereby, the posture of the hydraulic excavator 1 can be stabilized.

The lower working device 60a is a working device that performs works such as excavating and loading earth and sand, and backfilling earth and sand, which will be described later. As shown in FIG. 1, the lower working device 60a includes a boom 53a, a boom cylinder 54a, an arm 55a, an arm cylinder 56a, a bucket 58a, and a bucket cylinder 59a.

The boom 53a is a V-shaped component connected to the lower main body device 40a via the swing portion 41a, and is rotated by a boom cylinder 54a.

The arm 55a is connected to the tip of the boom 53a, and is rotated by an arm cylinder 56a.

The bucket 58a is connected to the tip of the arm 55a, and is rotated by a bucket cylinder 59a. Note that it is also possible to attach a breaker or the like to the tip of the arm 55a instead of the bucket 58a. It is also assumed that the bucket 58a and other attachments such as the breaker can be replaced at the site.

In this embodiment, the boom cylinder 54a, the arm cylinder 56a, and the bucket cylinder 59a are hydraulic cylinders that expand and contract using hydraulic pressure. Further, the boom cylinder 54a, the arm cylinder 56a, and the bucket cylinder 59a are extended and contracted by the hydraulic device 43.

The upper working device 60b is a working device that performs work such as crushing the road surface, which will be described later. As shown in FIG. 1, the upper working device 60b includes a boom 53b, a boom cylinder 54b, a slide arm 55b, an arm cylinder 56b, a breaker 58b, and a breaker cylinder 59b.

The boom 53b is a V-shaped component connected to the upper main body device 40b via the swing portion 41b, and is rotated by a boom cylinder 54b.

The slide arm 55b is connected to the tip of the boom 53b, and is rotated by an arm cylinder 56b. The slide arm 55b has a fixed arm 155a and a movable arm 155b, and the movable arm 155b is slidable in the longitudinal direction with respect to the fixed arm 155a (see FIG. 6). Note that the moving arm 155b is moved by hydraulic pressure from the hydraulic device 43.

The breaker 58b is connected to the tip of the slide arm 55b, and is rotated by a breaker cylinder 59b. Note that instead of the breaker 58b, it is also possible to attach a bucket or the like to the tip of the slide arm 55b. Further, it is assumed that the breaker 58b and other attachments such as a bucket can be replaced at the site.

In this embodiment, the boom cylinder 54b, the arm cylinder 56b, and the breaker cylinder 59b are hydraulic cylinders that expand and contract using hydraulic pressure. Further, the boom cylinder 54b, the arm cylinder 56b, and the breaker cylinder 59b are extended and contracted by the hydraulic device 43.

The lifting device 60c includes a pole part 160a extending in the Z-axis direction, a first arm part 160b extending in the horizontal direction from near the upper end of the pole part 160a, and a first arm part 160b that is extendable and retractable with respect to the first arm part 160b. It has two arm parts 160c and a crane part 160d provided at the tip of the second arm part 16c. The expansion and contraction of the second arm portion 160c of the lifting device 60c and the vertical movement of the crane portion 160d are realized by using the power of a motor (not shown) rotating using electric power supplied from the storage battery 13. . In the case of water pipe installation work, the lifting device 60c can be used to transport a newly installed water pipe to the installation position or to transport an old water pipe. Further, when replacing the bucket 58a of the lower working device 60a or the breaker 58b of the upper working device 60b with another attachment, the lifting device 60c may be used to perform the replacement. Further, when transporting the hydraulic excavator 1 to a construction site, the transport device 80 may be removed, but the lifting device 60c may be used during this removal and installation.

At least a portion of the transport device 80 is provided between the traveling device 20 and the lower main body device 40a. It has

belt conveyors

82a, 82b and a hopper 84 as an excavated material receiving section. The hopper 84 is supported by a frame (not shown) above the belt conveyor 82a. The belt conveyor 82a and the belt conveyor 82b can change their postures within a range where conveyed objects can be transferred. For example, as shown in FIG. 13(a), the

belt conveyors

82a and 82b may be arranged in a straight line when viewed from above, or as shown in FIG. 13(b) and FIG. 13(c). , it is also possible to arrange them in a broken line. The conveyance device 80 conveys the earth and sand put into the hopper 84 through a belt conveyor 82a and a belt conveyor 82b in this order, and puts it into the loading platform of a dump truck parked near the end of the belt conveyor 82b. Note that although FIG. 2 shows an example in which the transport device 80 is provided at a position closer to the -Y side of the hydraulic excavator 1, the transport device 80 may be provided at a position closer to the +Y side of the hydraulic excavator 1. .

As shown in FIG. 3, the hydraulic excavator 1 of this embodiment includes, in addition to the above-mentioned configuration, a global positioning system (GNSS) 47 (Global Navigation Satellite System), a memory 49, a control device 50 that controls the entire hydraulic excavator 1, It has a sensor group 104 and the like as a surrounding recognition device.

The GNSS 47 measures the position of the hydraulic excavator 1 using artificial satellites.

The memory 49 is a nonvolatile memory (for example, a flash memory), and stores various data and programs for driving the hydraulic excavator 1 and various data and programs for automatically operating the hydraulic excavator 1.

The control device 50 is a control device that includes a CPU and controls the entire hydraulic excavator 1. The control device 50 controls the turning operations and various operations of the lower working device 60a, the upper working device 60b, and the lifting device 60c based on the positioning results by the GNSS 47 and the detection results from the sensor group 104.

The sensor group 104 includes a distance measuring device (Lidar) and an imaging device. FIGS. 4(a) to 4(c) are diagrams for explaining examples of arrangement of the sensor group 104. FIG. FIG. 4(a) is a diagram showing the hydraulic excavator 1 seen from the -Y direction, and FIG. 4(b) is a diagram showing the hydraulic excavator 1 seen from the -X direction. (c) is a diagram (a diagram in which the lower working device 60a, the upper working device 60b, the lifting device 60c, the conveying device 80, etc. are omitted) showing the hydraulic excavator 1 viewed from the +Z direction.

As shown in FIGS. 4(a) to 4(c), the sensor group 104 includes distance measuring devices 106a to 106c and imaging devices 108a to 108d.

The distance measuring devices 106a are provided at two locations (near the corners) at the end of the upper surface of the lower main body device 40a on the lower working device 60a side. Further, the distance measuring device 106b is provided below the upper working device 60b of the upper main body device 40b. Further, the distance measuring device 106c is provided at the upper end of the pole portion 160a of the lifting device 60c. These distance measuring devices 106a to 106c determine whether or not the lower working device 60a and the upper working device 60b are likely to contact (interfere with) other parts of the hydraulic excavator 1, or whether they are likely to come into contact with anything other than the hydraulic excavator 1. Detect whether it is present or not. Further, the distance measuring devices 106a to 106c have a function of checking (surveying) the finished shape of the place where the lower working device 60a and the upper working device 60b have constructed.

The imaging devices 108a are provided at two locations (near the corner) at the end of the upper surface of the lower main body device 40a on the lower working device 60a side. This imaging device 108a can image the vicinity of the working position of the lower working device 60a. Further, the imaging device 108b is provided below the upper working device 60b of the upper main body device 40b. This imaging device 108b can image the vicinity of the working position of the upper working device 60b. Further, the imaging device 108c is provided below the second arm portion 160c of the lifting device 60c. This imaging device 108c can image the situation around the suspended load when the lifting device 60c performs lifting work. Further, the imaging device 108d is provided at the end of the upper surface of the lower main body device 40a on the opposite side from the lower working device 60a. This imaging device 108d can image the situation on the rear side (the side opposite to the lower working device 60a), for example, the situation in which earth and sand are loaded into a dump truck. By using the images of these imaging devices 108a to 108d, it is possible to determine whether the lower working device 60a and the upper working device 60b are likely to come into contact with other parts of the hydraulic excavator 1, or whether they are likely to come into contact with something other than the hydraulic excavator 1. You can check whether the situation is correct and whether the work is progressing smoothly. Further, for example, when a worker remotely controls the hydraulic excavator 1, the imaging devices 108a to 108d can capture images to be displayed on the display section of the terminal used by the worker.

Note that in this embodiment, the distance measuring device 106a and the imaging device 108a are provided at two locations to suppress the occurrence of blind spots. A distance measuring device 106a and an imaging device 108a may be provided at the tip of the bucket 58a. In this case, in order to prevent vibrations of the bucket 58a from being transmitted to the distance measuring device 106a and the imaging device 108a, a shock absorbing member such as vibration isolating rubber may be provided on the bucket 58a. In addition, when the distance measuring device 106c is provided at the end of the pole portion 160a of the lifting device 60c, in order to suppress the occurrence of blind spots, a mechanism for changing the position of the distance measuring device 106c vertically and horizontally (for example, A mechanism such as a robot arm) may be interposed between the pole section 160a and the distance measuring device 106c.

In the hydraulic excavator 1 of this embodiment configured as described above, the lower swing device 30a, the upper swing device 30b, and the lifting and swing device 30c independently swing under the control of the control device 50. The lower main body device 40a, the upper main body device 40b, and the lifting device 60c can be rotated independently. Thereby, the lower main body device 40a, the upper main body device 40b, and the lifting device 60c can be accessed in various directions. Additionally, different devices can perform different tasks at the same time without interfering with each other.

Moreover, since the hydraulic excavator 1 of this embodiment is provided with the transport device 80, the earth and sand excavated by the lower working device 60a can be loaded onto the rear dump truck without turning. Furthermore, since the lower working device 60a only needs to load the earth and sand into the hopper 84, the operating distance of the lower working device 60a is shorter than when loading earth and sand directly onto a dump truck. This makes it possible to reduce energy consumption when excavating and loading earth and sand. Furthermore, since the lower working device 60a does not have to rotate during loading, there is less possibility that dirt will spill from the bucket 58a and stain the road, etc., and the effort of cleaning work can be saved. In addition, since no turning is required, the time required for loading can be reduced, making it possible to improve work efficiency. Furthermore, when turning, there is a possibility of collision with other objects, but since turning is not necessary, the possibility of collision with other objects can be reduced.

(About the work of hydraulic excavator 1)
(About individual work)
The water pipe installation work (individual work) will be explained below with reference to the drawings. Water pipe installation work (individual work) uses hydraulic excavator 1 for one work area (for example, an area where one water pipe is to be laid), and performs road surface crushing, earth excavation/loading, pipe laying, and earth filling. This refers to the work of performing the return process in sequence. The individual work is executed according to the flowchart in FIG. It is assumed that the memory 49 of the hydraulic excavator 1 has been previously inputted with information necessary for automatic operation, such as construction position information and construction procedure information. The control device 50 controls each part of the hydraulic excavator 1 based on the information stored in the memory 49, the measured values of the GNSS 47, the distance measurement results and images by the sensor group 104, and executes the processing shown in FIG. 5.

When the process in FIG. 5 is started, first, in step S10, the control device 50 moves the hydraulic excavator 1 to the construction position by controlling the travel motor 24 based on the measured value of the GNSS 47. Here, it is assumed that the construction position is a position as shown in FIG. 6, and in step S10, the hydraulic excavator 1 is positioned on the +X side of the construction position. Further, the worker stops the dump truck DT on the +X side of the hydraulic excavator 1. Note that the dump truck DT may also be automatically positioned at the position shown in FIG. 6 . It is assumed that the position of the dump truck DT is such that the +X end of the transport device 80 (belt conveyor 82b) is located above the loading platform.

Next, in step S12, the control device 50 uses the posture detector 44 and the sensor group 104 to check the posture of the hydraulic excavator 1 and the surroundings of the hydraulic excavator 1. At this time, the control device 50 checks whether the posture of the hydraulic excavator 1 is unstable and whether there are any obstacles around the hydraulic excavator 1.

Next, in step S14, the control device 50 determines whether work is possible. If this determination is negative, the process moves to step S16 and a confirmation/response process is executed. For example, the control device 50 displays information such as "Please check the posture and surroundings of the hydraulic excavator" on a monitor that can be checked by the worker, and waits until the worker completes the confirmation and response. Then, when the operator confirms and takes action and inputs that the problem is resolved, the control device 50 returns to step S12.

On the other hand, if the determination in step S14 is affirmative, the process moves to step S18, and the control device 50 starts crushing the road surface. In this case, as shown in FIG. 6, the control device 50 extends the slide arm 55b of the upper working device 60b and uses the breaker 58b to crush the road surface. At this time, the control device 50 controls the lower swing device 30a and the swing cylinder 42b to appropriately swing or swing the upper working device 60b.

Next, when moving to step S20, the control device 50 waits until the road surface crushing is completed. The control device 50 determines whether or not the road surface crushing is completed, for example, by checking the image captured by the imaging device 108a included in the sensor group 104. Note that when determining from the image whether or not road surface disintegration is completed, machine learning or the like can be used, for example.

When the road surface crushing is completed and the process moves to step S22, the control device 50 executes earth and sand excavation and loading. Specifically, the control device 50 controls the lower working device 60a to excavate the construction position with the bucket 58a. Further, the control device 50 controls the lower working device 60a to charge excavated earth and sand into the hopper 84 using the bucket 58a. As a result, the excavated earth and sand is conveyed rearward (+X side) by the

belt conveyors

82a and 82b, and loaded onto the platform of the dump truck DT. In addition, the control device 50 controls the lower swing device 30a and the swing cylinder 42a to appropriately rotate or swing the lower working device 60a during excavation or loading.

Next, in step S24, the control device 50 waits until the earth and sand excavation and loading are completed. Whether or not earth and sand excavation and loading have been completed can be determined, for example, by surveying the construction position based on the measurement results of the construction position by the distance measuring device 106a included in the sensor group 104. Determine whether it has been done. Note that the control device 50 may determine whether the construction position has been excavated to a predetermined depth from the image captured by the imaging device 108a.

When the earth and sand excavation and loading are completed and the process moves to step S26, the control device 50 installs water pipes. Specifically, as shown in FIG. 7, the control device 50 rotates the lower working device 60a together with the lower main body device 40a, and also rotates the upper working device 60b together with the upper main device 40b, thereby controlling the water pipe installation. The lower working device 60a and the upper working device 60b are arranged at positions where they do not get in the way. In addition, in FIG. 7, the lower working device 60a and the upper working device 60b are in a state facing the +Y side. In this state, the control device 50 rotates the lifting device 60c, extends the second arm portion 160c, and causes the crane portion 160d to suspend and hold the water pipe to be laid. Then, the control device 50 installs the water pipe by lowering the crane section 160d from the state where it is positioned above the construction position. During this operation of the lifting device 60c, the control device 50 controls the lifting device 60c so that the water pipe is appropriately laid, based on the image captured by the imaging device 108c in FIG. 4(a). do.

Next, in step S28, the control device 50 waits until the installation of the water pipes is completed. The control device 50 uses machine learning or the like to determine whether or not the water pipe installation is complete based on the image captured by the imaging device 108c.

When the water pipe installation is completed, the process moves to step S30, and the control device 50 uses the lower work device 60a to perform earth and sand backfilling. Specifically, the control device 50 uses the lower working device 60a to backfill the construction position with earth and sand transported by a dump truck or the like. In addition, the control device 50 controls the lower rotating device 30a and the swing cylinder 42a to appropriately rotate or swing the lower working device 60a even when backfilling with earth and sand.

Next, when moving to step S32, the control device 50 waits until backfilling with earth and sand is completed. Whether the backfilling of earth and sand has been completed can be determined by, for example, surveying the construction position based on the measurement results of the construction position by the distance measuring device 106a included in the sensor group 104. judge whether Note that the control device 50 may determine whether the construction position is filled with earth and sand or excavated from the image captured by the imaging device 108a.

Then, when the control device 50 determines that the backfilling of earth and sand is completed, it ends all the processes in FIG. 5 .

(About concurrent work)
Next, water pipe laying work (simultaneous parallel work) using the lower work device 60a, the upper work device 60b, and the lifting device 60c will be described in detail along the flowchart of FIG. 8 and with reference to other drawings. Here, as shown in FIG. 9(a), the above-mentioned road surface is We will explain the process of crushing, excavating and loading soil, laying pipes, and backfilling soil.

When the process of FIG. 8 is started, first, in step S110, the control device 50 moves the hydraulic excavator 1 near the construction position (No. 2) by controlling the travel motor 24 based on the measured value of the GNSS 47. Move to. Here, the hydraulic excavator 1 is assumed to be in a position as shown in FIG. 9(b), for example. Note that in FIG. 9(b) and subsequent drawings, the hydraulic excavator 1 is illustrated in a simplified manner.

After step S110, steps S112, S114, and S116 are executed in the same manner as steps S12, S14, and S16 in FIG. 5 described above. If the determination in step S114 is affirmative, the control device 50 shifts to simultaneous work using the lower working device 60a, the upper working device 60b, and the lifting device 60c.

When the concurrent work is started, first, in step S200, the control device 50 uses the upper work device 60b to crush the road surface at the construction position (No. 1). FIG. 9(b) shows a state in which the road surface is being crushed at the construction position (No. 1). When this road surface disintegration (S200) is completed, the lower working device 60a and the upper working device 60b turn, resulting in the state shown in FIG. 9(c).

Next, in step S202, the control device 50 uses the upper working device 60b to crush the road surface at the construction position (No. 2). Further, in parallel with step S202, in step S300, the control device 50 uses the lower working device 60a to excavate and load earth and sand at the construction position (No. 1). Here, for the sake of simplicity, the explanation will be given assuming that the road surface crushing and the earth and sand excavation and loading are completed at the same time.

When steps S202 and S300 are completed, the control device 50 turns the lower working device 60a and the upper working device 60b, and turns and extends the lifting device 60c, thereby bringing the state shown in FIG. 10(a).

Next, in step S204, the control device 50 uses the upper working device 60b to crush the road surface at the construction position (No. 3). Further, in parallel with step S204, in step S302, the control device 50 uses the lower working device 60a to excavate and load earth and sand at the construction position (No. 2). Further, in parallel with steps S204 and S302, in step S400, the control device 50 uses the lifting device 60c to lay a water pipe at the construction position (No. 1).

When the work of each part is completed, the control device 50 turns the lower working device 60a and the upper working device 60b, and turns the lifting device 60c, thereby achieving the state shown in FIG. 10(b).

Next, in step S206, the control device 50 replaces the breaker 58b of the upper working device 60b with a bucket (attachment replacement). At this time, the control device 50 performs attachment exchange using the lifting device 60c (step S402). Further, in parallel with steps S206 and S402, in step S304, the control device 50 uses the lower working device 60a to excavate and load earth and sand at the construction position (No. 3). Note that if the dump truck DT gets in the way of the lower working device 60a, the dump truck DT is moved to a position where it does not get in the way, and the attitude of the belt conveyor 82b is changed accordingly (for example, as shown in FIG. 13(b) )reference). Further, the attitude of the belt conveyor 82a and the position of the hopper are adjusted depending on the position of the lower working device 60a.

Thereafter, in steps S404 and S406, the control device 50 uses the lifting device 60c to sequentially lay the water pipes at the construction position (No. 2) and the construction position (No. 3) (FIG. 11(a) , see FIG. 11(b)). Further, the control device 50 uses the upper working device 60b and the lower working device 60a to backfill the construction position where the water pipe has been laid with earth and sand (S208, S306, S210, FIG. 10(a) ) to Figure 10(c)).

As described above, the construction time can be shortened by simultaneously performing parallel work using the lower working device 60a, the upper working device 60b, and the lifting device 60c. Note that in the process of FIG. 8, waiting time may occur due to differences in the time of each task, so the control device 50 efficiently controls each device so that the waiting time is minimized.

In addition, in the above description, the case where the hydraulic excavator 1 is placed on the +Y side of the construction position and simultaneous parallel work is performed is explained, but the hydraulic excavator 1 is not limited to this, and as in the following modification example, It is also possible to carry out simultaneous work while moving in a straight line.

(Modified example)
FIG. 12 shows a situation of simultaneous parallel work according to a modified example. As shown in FIG. 12, the hydraulic excavator 1 according to the modified example disintegrates the road surface using the upper working device 60b located forward in the traveling direction while moving in the direction of arrow A while straddling the construction position. Earth and sand are excavated and loaded using the lower working device 60a at the rear in the direction of travel. Although not shown in FIG. 12, the dump truck DT is located near the belt conveyor 82b and moves in the direction of arrow A together with the hydraulic excavator 1. Further, the hydraulic excavator 1 uses the lifting device 60c to lay a water pipe at the excavated position. Even in this case, the lower work device 60a, the upper work device 60b, and the lifting device 60c can perform simultaneous work, so that the construction time can be shortened.

Note that in the case of FIG. 12, the upper working device 60b and the lower working device 60a can perform each work without turning, so the upper turning device 30b and the lower turning device 30a do not need to be provided. That is, the upper working device 60b and the lower working device 60a may only be swingable by the

swing cylinders

42a, 42b. Further, the hydraulic excavator 1 may be provided with only one of the upper swing device 30b and the lower swing device 30a.

As described above in detail, according to the present embodiment, the hydraulic excavator 1 includes an upper main body device 40b connected to the upper working device 60b, and an upper main body device 40b located below the upper main body device 40b and connected to the lower working device 60a. The lower main body device 40a that has been rotated, the upper rotating device 30b that rotates the upper main body device 40b, the lower rotating device 30a that rotates the lower main body device 40a, the upper rotating device 30b, and the lower rotating device 30a are controlled. The control device 50 is provided to independently rotate the working device 60b and the lower working device 60a. Accordingly, in this embodiment, since the upper working device 60b and the lower working device 60a rotate independently, the upper working device 60b and the lower working device 60a can be accessed in various directions. Therefore, the degree of freedom in arranging the hydraulic excavator 1 during construction can be improved. Thereby, it is possible to realize a hydraulic excavator 1 that is easy to use. Moreover, as mentioned above, by performing simultaneous parallel operations, construction time can be shortened.

Furthermore, in the present embodiment, the hydraulic excavator 1 includes a swing cylinder 42b that swings the upper working device 60b with respect to the upper main body device 40b, and a swing cylinder 42a that swings the lower working device 60a with respect to the lower main body device 40a. It is equipped with The control device then controls the

swing cylinders

42a and 42b to swing the upper working device 60b and the lower working device 60a independently. Thereby, the directions of the upper working device 60b and the lower working device 60a can be finely adjusted, so it is possible to realize the hydraulic excavator 1 that is easy to use.

Furthermore, in this embodiment, the horizontal cross-sectional area of the lower main body device 40a is larger than the horizontal cross-sectional area of the upper main body device 40b, so the center of gravity of the hydraulic excavator 1 can be set low.

In addition, this embodiment includes a sensor group 104 that recognizes the surrounding situation of the hydraulic excavator 1, and the control device 50 controls the lower working device 60a and the upper working device based on the measurement results of the sensor group 104 and the captured images. The device 60b operates simultaneously and in parallel. This can prevent the lower working device 60a and the upper working device 60b from coming into contact with each other or with other objects.

Furthermore, in this embodiment, since the hydraulic excavator 1 includes the lifting device 60c, it can be used for transporting water pipes, replacing attachments of the upper working device 60b and the lower working device 60a, installing the transporting device 80, etc. .

Further, the hydraulic excavator 1 of this embodiment includes a counterweight 46a that moves according to the drive of the lower work device 60a, and a counterweight 46b that moves according to the drive of the upper work device 60b. Thereby, movement of the center of gravity of the entire hydraulic excavator 1 can be suppressed when the lower working device 60a and the upper working device 60b turn or swing.

Additionally, in this embodiment, a conveying device 80 is provided below the lower main body device 40a and conveys earth and sand. Thereby, energy consumption can be reduced compared to the case where excavated earth and sand are directly thrown into a dump truck.

Furthermore, in this embodiment, since a removable hopper 84 is provided on the top surface of the belt conveyor 82a, earth and sand can be reliably thrown onto the top surface of the belt conveyor 82a.

In the above embodiment, a case has been described in which the lower working device 60a has the bucket 58a and the upper working device 60b has the breaker 58b, but the present invention is not limited to this. Device 60b may have a bucket.

In the above embodiment, the case where the upper working device 60b has the slide arm 55b has been described, but the upper working device 60b may have the same configuration as the lower working device 60a (only the attachment at the tip is different). You can.

Note that in the above embodiment, a case has been described in which the hydraulic excavator 1 includes the lifting device 60c, but the lifting device 60c does not necessarily need to be provided. In this case, the lower working device 60a and the upper working device 60b may perform the same work as the lifting device 60c.

In the above embodiment, a case has been described in which the surrounding situation is grasped using the sensor group 104, but instead of or in addition to this, a drone having a distance measuring device or an imaging device is used to monitor the hydraulic excavator 1. It is also possible to grasp the surrounding situation.

Note that in the above embodiment, a case has been described in which the conveyance device 80 has two transferable belt conveyors, but the present invention is not limited to this, and the conveyance device 80 may have only one belt conveyor. , it may have three or more transferable belt conveyors.

Note that in the above embodiment, a case has been described in which power is obtained from the fuel cell 11, but the invention is not limited to this, and power may be obtained from, for example, a solar panel. Alternatively, an internal combustion engine may be used as the driving source for the traveling device, and electric power may be obtained from an alternator.

1 Hydraulic excavator (construction machinery)
20 Travel device 30a Lower swing device 30b Upper swing device 30c Lifting swing device 40a Lower main body device 40b Upper main device 42a Swing cylinder (lower swing device)
42b Swing cylinder (upper swing device)
46a Counterweight (first mass body)
46b Counterweight (second mass body)
50 Control device 60a Lower working device 60b Upper working device 60c Lifting device 80 Conveying device 84 Hopper (excavated material receiving section)
104 Sensor group (surrounding recognition device)

Claims

an upper main body device connected to the upper working device;
a lower main body device located below the upper main body device and connected to a lower working device;
an upper rotating device that rotates the upper main body device;
a lower rotating device that rotates the lower main body device;
A construction machine comprising: a control device that controls the upper swing device and the lower swing device to independently swing the upper working device and the lower working device.
an upper swing device that swings the upper working device with respect to the upper main body device;
a lower swing device that swings the lower working device with respect to the lower main body device;
Equipped with
The construction machine according to claim 1, wherein the control device controls the upper swing device and the lower swing device to swing the upper work device and the lower work device independently.
an upper main body device connected to the upper working device;
a lower main body device located below the upper main body device and connected to a lower working device;
an upper swing device that swings the upper working device with respect to the upper main body device;
a lower swing device that swings the lower working device with respect to the lower main body device;
A construction machine comprising: a control device that controls the upper swing device and the lower swing device to swing the upper working device and the lower working device independently.
The construction machine according to any one of claims 1 to 3, wherein a horizontal cross-sectional area of the lower main body device is larger than a horizontal cross-sectional area of the upper main body device.
Equipped with a surrounding recognition device that recognizes the surrounding situation,
The control device causes one of the upper working device and the lower working device to perform a first work in a first range based on the recognition result of the surrounding recognition device, and after the first work is finished, performs the first work. The construction machine according to any one of claims 1 to 4, wherein the other of the upper working device and the lower working device is caused to perform a second work different from the first work in one range.
5. The control device operates based on the recognition result of the surrounding recognition device so that the upper working device and the lower working device do not interfere with other parts of the construction machine and devices other than the construction machine. Construction machinery listed in .
The construction machine according to any one of claims 1 to 6, further comprising a lifting device provided on the upper main body device to lift an object.
The construction machine according to claim 7, wherein the lifting device is installed at the upper center of the upper main body device.
comprising a lifting device turning device that turns the lifting device,
The construction machine according to claim 7 or 8, wherein the control device independently rotates the lifting device using the lifting device turning device.
The construction machine according to any one of claims 7 to 9, wherein the control device causes the lifting device to attach and detach a part of the construction machine.
a first mass body that moves in accordance with the drive of the lower working device;
The construction machine according to any one of claims 1 to 10, further comprising a second mass body that moves in response to driving of the upper working device.
Any one of claims 1 to 11, wherein at least a portion of the lower main body device is provided below the lower main body device, and includes a conveyance device for conveying an excavated material excavated by either the upper work device or the lower work device. Construction machinery listed in .
The construction machine according to claim 12, further comprising a removable excavated material receiving section on the upper surface of the transport device.