WO2023243580A1 - Système de support de travail - Google Patents

Système de support de travail Download PDF

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Publication number
WO2023243580A1
WO2023243580A1 PCT/JP2023/021663 JP2023021663W WO2023243580A1 WO 2023243580 A1 WO2023243580 A1 WO 2023243580A1 JP 2023021663 W JP2023021663 W JP 2023021663W WO 2023243580 A1 WO2023243580 A1 WO 2023243580A1
Authority
WO
WIPO (PCT)
Prior art keywords
removal plate
information
earth removal
main body
operator
Prior art date
Application number
PCT/JP2023/021663
Other languages
English (en)
Japanese (ja)
Inventor
康則 笹崎
Original Assignee
日本精機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本精機株式会社 filed Critical 日本精機株式会社
Publication of WO2023243580A1 publication Critical patent/WO2023243580A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the present invention relates to a work support system, and can be applied to work machines such as hydraulic excavators, for example.
  • machine guidance is a technology that supports the operation of a work machine using measurement technology such as a total station (TS) or a global navigation satellite system (GNSS). According to this machine guidance, it is possible to appropriately support operator operations and improve work efficiency, safety, and work accuracy.
  • TS total station
  • GNSS global navigation satellite system
  • Such ICT construction machinery places sensors on the movable parts of the working machine, and creates information (hereinafter referred to as support information as appropriate) that supports operator operations based on the detection results of these sensors.
  • support information information that supports operator operations based on the detection results of these sensors.
  • Patent Document 1 Patent Document 1
  • Patent Document 2 discloses a device related to such an earth removal plate.
  • the hydraulic excavator when leveling highly undulating land with a hydraulic excavator equipped with an earth removal plate, the hydraulic excavator will change its posture back and forth according to the undulations of the land as it runs, and as a result, the hydraulic excavator will On the other hand, if the earth removal plate is held at a fixed position, the earth removal plate will move up and down. This makes it necessary to travel back and forth over the same location many times, and as a result, it becomes difficult to level the ground quickly if the earth removal plate is held in a fixed position relative to the hydraulic excavator. There's a problem.
  • the present invention has been made in consideration of the above points, and it is an object of the present invention to enable rapid leveling of highly undulating land using earth removal plates.
  • the invention of claim 1 In the work support system that supports the operations of the operator who operates the work machine, a detection device that is held on the earth removal plate of the working machine and that acquires and outputs posture information of the earth removal plate using a sensor; A controller that is held in the main body of the working machine, acquires posture information of the main body using a sensor, acquires posture information of the earth removal plate, and sends out posture information of the earth removal plate and posture information of the main body.
  • the longitudinal inclination of the hydraulic excavator due to the ups and downs of the land used for leveling is detected.
  • Posture can be detected.
  • the invention of claim 2 has the structure of claim 1,
  • the mobile information terminal device includes: When the height of the soil removal plate reaches a preset target construction surface height, the operator is notified via the notification device.
  • the operator when the height of the earth removal plate reaches the height of the target construction surface set in advance, the operator is notified via the notification device, so that the height of the soil removal plate can be adjusted according to the undulations of the land to be leveled.
  • the change in the height of the earth removal plate due to the inclination of the hydraulic excavator is corrected by an operation by an operator, it can be appropriately corrected.
  • FIG. 1 is a diagram showing a work support system according to a first embodiment of the present invention.
  • 2 is a block diagram of the work support system of FIG. 1.
  • FIG. It is a figure used for explanation of the ground leveling work.
  • FIG. 3 is a diagram showing a state in which the vehicle runs over an undulation. It is a figure used for explanation of adjustment of the height of an earth removal plate. It is a flowchart which shows the processing procedure regarding adjustment of the height of an earth removal plate.
  • FIG. 1 is a diagram showing a work support system 1 according to a first embodiment of the present invention
  • FIG. 2 is a block diagram.
  • This work support system 1 includes a hydraulic excavator 2, which is a working machine, and a mobile information terminal device 3, and supports the operations of an operator who operates the hydraulic excavator 2 through a machine guidance function.
  • the hydraulic excavator 2 includes a detection device 11, a controller 12, and a notification device 14.
  • a detection device 11 is provided on the earth removal plate 9. Note that the detection device 11 may be provided directly on the earth removal plate 9, or may be provided on a movable part that moves in conjunction with the vertical movement of the earth removal plate 9.
  • the calculation unit 22 processes the measurement results by the sensor output from the detection unit 21 using a built-in calculation processing circuit, and acquires posture information indicating the posture of the earth removal plate 9.
  • the detection unit 31 has the same configuration as the detection unit 21 of the detection device 11, and outputs acceleration information and angular velocity information of the main body 5.
  • the communication unit 33 sends and receives various data to and from the detection device 11 and the mobile information terminal device 3 by wireless data communication.
  • the notification device 14 is provided in the driver's seat of the hydraulic excavator 2, displays support information provided by the controller 12, and thereby notifies the operator of the support information.
  • the calculation unit 42 acquires posture information from the controller 12 by executing the control program of the work support system 1 using a built-in calculation processing circuit, and processes this posture information to generate support information. The information is sent to the controller 12 and the notification section 43.
  • the earth removal plate 9 cannot push through the earth and sand, and as a result, the hydraulic excavator 2 runs aground on the earth and sand, as shown in FIG. , the height of the earth removal plate 9 changes, making it difficult to level the ground at the target construction surface LT. In this case, the operator has to move the hydraulic excavator 2 backward and level the ground again using the earth removal plate 9, making it difficult to level the ground quickly.
  • the change in the height of the earth removal plate 9 from the target construction surface LT is due to the hydraulic excavator 2 tilting in the front-rear direction due to the undulations of the land to be leveled.
  • the arithmetic unit 42 starts leveling work, it detects the inclination of the hydraulic excavator 2 in the longitudinal direction based on the attitude information acquired via the controller 12, and detects the height of the earth removal plate 9 due to this inclination. generate support information.
  • the calculation unit 42 generates support information based on the height of the earth removal plate 9 detected in this manner, and notifies the operator using the notification unit 43 and the notification device 14. As a result, as shown in Fig. 5, the height of the earth removal plate 9 can be corrected by the operator's operation, and the ground can be leveled more accurately than when no correction is made (example in Fig. 4). The ground can be leveled quickly.
  • the notification unit 43 and the notification device 14 notify the operator. .
  • the change in the height of the earth removal plate due to the inclination of the hydraulic excavator due to the undulation of the land to be leveled is corrected by the operator's operation, it can be appropriately corrected.
  • FIG. 6 is a flowchart showing the processing procedure in the work support system 1 related to adjusting the height of the earth removal plate 9 in this earth leveling work.
  • the mobile information terminal device 3 receives the setting of the target construction surface LT (SP2). After setting the target construction surface LT in this way, the detection device 11 and the detection unit 31 start acquiring posture information under the control of the mobile information terminal device 3 (SP3). The acquired posture information is also sent from the controller 12 to the mobile information terminal device 3 (SP4), and the mobile information terminal device 3 detects the postures of the main body 5 and the earth removal plate 9 based on this posture information (SP5).
  • SP3 the mobile information terminal device 3

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

La présente invention permet d'utiliser une plaque de retrait de sol pour mettre rapidement à niveau le sol même lors de la mise à niveau d'un terrain très accidenté. Un système de support de travail (1) qui supporte une opération par un opérateur actionnant une machine de travail (2), comprend : un dispositif de détection (11) qui est maintenu sur une plaque de retrait de sol (9) de la machine de travail (2), et qui acquiert des informations d'orientation de la plaque de retrait de sol (9) par l'intermédiaire d'un capteur et délivre lesdites informations ; un dispositif de commande (12) qui est maintenu par un corps (5) de la machine de travail (2), acquiert des informations d'orientation du corps (5) par l'intermédiaire d'un capteur, acquiert les informations d'orientation de la plaque de retrait de sol (9), et transmet les informations d'orientation de la plaque de retrait de sol (9) et les informations d'orientation du corps (5) ; un dispositif terminal d'informations portable (3) qui acquiert les informations d'orientation transmises par le dispositif de commande (12) et délivre des informations de support ; et un dispositif de rapport (14) qui rapporte les informations de support à l'opérateur. Le dispositif terminal d'informations portable (3) détecte l'inclinaison du corps (5) dans la direction avant-arrière sur la base des informations d'orientation de la plaque de retrait de sol (9 et/ou des informations d'orientation du corps (5), détecte la hauteur de la plaque de retrait de sol (9) à partir de l'inclinaison, et génère des informations de support.
PCT/JP2023/021663 2022-06-13 2023-06-12 Système de support de travail WO2023243580A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022094994 2022-06-13
JP2022-094994 2022-06-13

Publications (1)

Publication Number Publication Date
WO2023243580A1 true WO2023243580A1 (fr) 2023-12-21

Family

ID=89191304

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/021663 WO2023243580A1 (fr) 2022-06-13 2023-06-12 Système de support de travail

Country Status (1)

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WO (1) WO2023243580A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021095775A (ja) * 2019-12-18 2021-06-24 株式会社神戸製鋼所 作業機械の作業補助装置および作業現場における施工面認識方法
JP2022085454A (ja) * 2020-11-27 2022-06-08 日本精機株式会社 作業支援システムの制御方法、作業支援システムの制御プログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021095775A (ja) * 2019-12-18 2021-06-24 株式会社神戸製鋼所 作業機械の作業補助装置および作業現場における施工面認識方法
JP2022085454A (ja) * 2020-11-27 2022-06-08 日本精機株式会社 作業支援システムの制御方法、作業支援システムの制御プログラム

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