WO2024019030A1 - Soil removal device - Google Patents

Soil removal device Download PDF

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Publication number
WO2024019030A1
WO2024019030A1 PCT/JP2023/026188 JP2023026188W WO2024019030A1 WO 2024019030 A1 WO2024019030 A1 WO 2024019030A1 JP 2023026188 W JP2023026188 W JP 2023026188W WO 2024019030 A1 WO2024019030 A1 WO 2024019030A1
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Prior art keywords
earth removal
height
removal plate
control unit
ground surface
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PCT/JP2023/026188
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French (fr)
Japanese (ja)
Inventor
拓野 長峰
康 黄
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日本精機株式会社
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Publication of WO2024019030A1 publication Critical patent/WO2024019030A1/en

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    • 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
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems

Definitions

  • the present invention relates to an earth removal device mounted on a working machine such as a hydraulic excavator.
  • a working machine generally includes a self-propelled lower traveling body and an upper rotating body that is rotatably provided on the lower traveling body, and the lower traveling body and the upper rotating body constitute a vehicle body.
  • the upper revolving body is provided with an attachment (movable part) such as a bucket for carrying out work such as excavating earth and sand
  • the lower traveling body is provided with an earth removal device for carrying out work such as removing earth and sand.
  • the earth removal device includes a stay provided on the front side of the lower traveling body so as to be rotatable in the vertical direction, and an earth removal plate provided at the tip of the stay. , and a hydraulic cylinder that rotates the stay in the vertical direction to raise and lower the earth removal plate.
  • the present invention aims to provide an earth removal device that does not cause a decrease in marketability.
  • the present invention includes a detection means that is attached to an earth removal member mounted on a working machine and acquires attitude information of the earth removal member, and a control unit into which the attitude information is input, and the control unit is configured to When it is determined based on the posture information that the height from the virtual reference plane of the working machine to the lower end of the earth removal member is in an abnormal state where it is not within a predetermined reference height range, a notification means is used to notify the user of this fact. It is characterized in that the notification means is operated to notify the operator.
  • the present invention is characterized in that the detection means includes an inertial sensor.
  • an earth removal device that can achieve the intended purpose and that does not cause a decrease in marketability.
  • FIG. 1 is a side view showing a working machine according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the electrical configuration of the work machine according to the embodiment.
  • FIG. 3 is a plan view of the earth removal device according to the same embodiment. The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal plate by the same embodiment. The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal board when it is in an abnormal state by the same embodiment.
  • the working machine 10 can be any of various track-type working machines such as a hydraulic excavator, and includes a lower traveling body 20 having a crawler 21, an earth removal plate (earth removal member) 22, and a detection means 23;
  • the lower traveling body 20 includes a swingable upper rotating body 30 installed on the lower traveling body 20.
  • the stay S1 is provided on the front side of the lower traveling body 20 so as to be rotatable in the vertical direction, the earth removal plate 22 provided at the tip of this stay S1, and the stay S1 is rotated in the vertical direction.
  • a hydraulic cylinder S2 that raises and lowers the soil removal plate 22, a detection means 23 attached to a predetermined location of the stay S1, a control unit provided in the upper revolving body 30 to be described later, a notification unit provided in the upper revolving body 30 to be described later, etc.
  • a soil device is constructed.
  • symbol S3 is the cylinder part of the hydraulic cylinder S2, and the code
  • the detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10. More specifically, the detection means 23 here is attached to the back side of the earth removal plate 22, which will be on the driver's cab side, which will be described later, using an appropriate fixing means.
  • the detection means 23 includes a detection section 23a, a calculation section 23b, and a communication section 23c, and is operated by the power of a built-in battery to acquire posture information of the earth removal plate 22, and transmits the posture information to the control unit. Output.
  • an inertial sensor (INERTIAL MEASUREMENT UNIT) can be applied to the detection unit 23a.
  • the detection unit 23a is a detection medium that acquires and outputs three-dimensional acceleration information and angular velocity information.
  • the calculation unit 23b processes the measurement results by the IMU sensor output from the detection unit 23a using a built-in calculation processing circuit, and acquires posture information indicating the posture of the earth removal plate 22.
  • the communication unit 23c sends the attitude information that can be acquired by the calculation unit 23b to the control unit through data communication via wireless communication.
  • the upper revolving body 30 includes an attachment 31 having a boom 31a, an arm 31b, and a bucket 31c, a control unit 32 into which attitude information is input, a driver's cab (not shown) in which an operator rides, and a notification section (notification means) 33. It is equipped with
  • the boom 31a is rotatably provided in front of the upper revolving structure 30 by a boom pin C1.
  • An arm 31b is rotatably provided on the front side (tip side) of the boom 31a by an arm pin C2.
  • a bucket 31c is rotatably provided on the front side (tip side) of the arm 31b by a bucket pin C3.
  • the operator boards the operator's cab and operates the attachment 31 using a control lever or the like to perform earth and sand excavation work. Further, the operator is seated in the driver's cab and operates the soil removal plate 22 using a control lever or the like to perform earth and sand removal work. In addition, when changing the work place for the earth removal work, the operator needs to raise the earth removal plate 22 to a certain height using a control lever or the like.
  • the control unit 32 is provided in the upper revolving body 30 and includes a calculation section 32a and a communication section 32b.
  • the control unit 32 outputs notification information, which will be described later, to the notification section 33 through wireless data communication.
  • the arithmetic unit 32a controls the operations of each unit by executing a control program related to the control unit 32 using a built-in arithmetic processing circuit.
  • the calculation unit 32a acquires posture information from the detection means 23.
  • the communication unit 32b sends and receives various data to and from the detection means 23 by wireless data communication.
  • a monitor having a display screen provided at the driver's seat of the working machine 10 can be applied.
  • the notification unit 33 displays a message (notification information) indicating that the earth removal device is out of order based on a signal indicating an abnormal state, which will be described later.
  • the notification unit 33 may apply auditory information such as audio and alarm sounds instead of a monitor.
  • the notification information and the auditory information may be used together.
  • the reference point T is set at the rear end of the endless track of the working machine 10 on the ground surface P1. Then, using this reference point T (ground surface P1) as a reference, the height H from the reference point T (ground surface P1) to the tip of the earth removal plate 22 (the lower end of the earth removal plate 22) is detected. First, setting information regarding the length of the virtual reference link, the length of the virtual link, and posture information in the basic posture of the soil removal plate 22 is input in advance to the calculation unit 32a.
  • the symbol L1 is a virtual reference link that virtually connects the reference point T and the center axis of the boom pin C1 with a straight line, and in FIG. This is a virtual link connecting the lower ends of the plates 22 with a straight line.
  • the calculation unit 32a also registers data for correcting the posture information detected by the detection means 23 based on information on the angle of the virtual link L2 with respect to the reference direction (for example, the horizontal direction). Further, information about the angle ⁇ 1 with respect to the ground surface P1 is input to the calculation unit 32a regarding the virtual reference link L1.
  • the calculation unit 32a uses the attitude information to set the reference point T (ground surface P1) as a reference.
  • the tip (lower end) position of the earth removal plate 22 is detected.
  • the calculation unit 32a detects the height H1 of the boom pin C1 with respect to the reference point T (ground surface P1) based on the angle ⁇ 1 of the virtual reference link L1 with respect to the ground surface P1 and the length of the virtual reference link L1. Also, from the angle ⁇ 2 of the virtual link L2 detected by the attitude information and the length of the virtual link L2, the height H2 of the lower end of the earth removal plate 22 with respect to the boom pin C1 (reference plane P2 passing through the boom pin C1 and substantially parallel to the ground surface P1) can be calculated. To detect.
  • the calculation unit 32a determines the reference point from the height H1 of the boom pin C1 relative to the reference point T (ground surface P1) detected in this manner and the height H2 of the lower end of the earth removal plate 22 relative to the boom pin C1 (reference surface P2).
  • the height H from T (ground surface P1) to the lower end of the earth removal plate 22 is detected.
  • the height H is obtained by subtracting the height H2 from the height H1.
  • the calculation unit 32a calculates the height H from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 based on the attitude information obtained from the detection means 23.
  • the earth removal plate 22 is moved to a height H from the ground surface P1. It is possible that it will not be possible to maintain the position. That is, in this case, as shown in FIG. 5, the earth removal plate 22 is considered to gradually descend toward the ground surface P1 side due to its own weight.
  • the calculation unit 32a calculates the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 by subtracting the height H2 from the height H1 based on the posture information. calculate.
  • the height H is 50 cm and the height h is 20 cm, and from the value obtained by subtracting 15 cm from the height H to the value obtained by subtracting and adding 15 cm to the height H. (that is, the range of height H from 35 to 65 cm) is within a predetermined reference height range that indicates the normal state of the earth removal plate 22, then the height h is within the predetermined reference height range. Since the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 is not within the predetermined reference height range, the calculation unit 32a at this time determines that the earth removal plate is in an abnormal state (earth removal plate abnormal state). ), and operates the notification unit 33 in order to notify (notify) the operator using the notification unit 33 to that effect (that the height h is not within the predetermined reference height range).
  • the detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10 and acquires the attitude information of the earth removal plate 22, and the control unit 32 into which the attitude information is input. Based on the posture information, the control unit 32 determines that there is an abnormal state in which the height h of the working machine 10 from the ground surface P1 to the lower end of the earth removal plate 22 is not within the predetermined reference height range. When the determination is made, the notification unit 33 is operated to notify the operator of the determination.
  • the operator can confirm that the soil removal device is in an abnormal state (that is, the soil removal plate 22 is not being operated).
  • the height from the ground surface P1 to the lower end of the earth removal plate 22 is fluctuating without permission, even though there is no difference in the height of the soil removal plate 22. It has the advantage of increasing sex.
  • the calculation unit 32a was provided in the control unit 32 of the upper revolving body 30, but instead of the control unit 32, for example, a mobile phone such as a smartphone that is connected to the control unit 32 in a wireless manner can be used.
  • the calculation unit 32a may be provided in the terminal (external device).

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

Abstract

The present invention provides a soil removal device with no risk of lowering of the product value. The soil removal device includes: a detection means 23 that is attached to a soil removal plate 22 mounted on a work machine 10 and acquires posture information of the soil removal plate 22; and a control unit 32 to which the posture information is input. When the control unit 32 (calculation unit 32a) determines, on the basis of the posture information, that there is an abnormal state in which the height h from the ground surface P1 to the lower end of the soil removal plate 22 in the work machine 10 is not within a predetermined reference height range, the control unit 32 operates a notification unit 33 to notify an operator to that effect using the notification unit 33.

Description

排土装置earth removal equipment
　本発明は、油圧ショベル等の作業機械に搭載される排土装置に関する。  The present invention relates to an earth removal device mounted on a working machine such as a hydraulic excavator.​
　従来より、土砂の排土作業等を行うことを目的として、油圧ショベル等の作業機械には排土装置が搭載されている。作業機械は、一般的に自走可能な下部走行体と、この下部走行体上に旋回可能に設けられる上部旋回体とを備え、これら下部走行体及び上部旋回体が車体を構成している。上部旋回体には土砂の掘削作業等を行うためのバケット等のアタッチメント（可動部）が設けられ、下部走行体には土砂の排土作業等を行うための排土装置が設けられている。 Conventionally, working machines such as hydraulic excavators have been equipped with earth removal devices for the purpose of performing soil removal work. A working machine generally includes a self-propelled lower traveling body and an upper rotating body that is rotatably provided on the lower traveling body, and the lower traveling body and the upper rotating body constitute a vehicle body. The upper revolving body is provided with an attachment (movable part) such as a bucket for carrying out work such as excavating earth and sand, and the lower traveling body is provided with an earth removal device for carrying out work such as removing earth and sand.
　排土装置は、例えば下記特許文献１に記載されているように、下部走行体の前側に上下方向に回動可能に設けられたステーと、このステーの先端部に設けられた排土板と、ステーを上下方向に回動させて排土板を昇降させる油圧シリンダとから主に構成されている。 For example, as described in Patent Document 1 below, the earth removal device includes a stay provided on the front side of the lower traveling body so as to be rotatable in the vertical direction, and an earth removal plate provided at the tip of the stay. , and a hydraulic cylinder that rotates the stay in the vertical direction to raise and lower the earth removal plate.
特開２０１６－５６５６１号公報Japanese Patent Application Publication No. 2016-56561
　ところで、上述した特許文献１に記載の排土装置において、排土作業を実施する前段階で、オペレータが排土板を地表面から上昇させて、排土板下端が地表面から所定の高さ位置にある状況下にて、何らかの原因で昇降シリンダが故障した場合、排土板を前記所定の高さ位置に維持できなくなることが考えられる。すなわち、このとき排土板は、その自重によって地表面側向けて下降するため、排土作業に支障をきたし、商品性の低下を招くという問題ある。
　そこで本発明は、前述の課題に対して対処するため、商品性の低下を招く虞のない排土装置の提供を目的とするものである。  By the way, in the earth removal device described in Patent Document 1 mentioned above, before carrying out earth removal work, the operator raises the earth removal plate from the ground surface so that the lower end of the earth removal plate is at a predetermined height from the ground surface. If the elevating cylinder fails for some reason under certain circumstances, it is conceivable that the earth removal plate will not be able to be maintained at the predetermined height position. That is, at this time, the earth removal plate descends toward the ground surface due to its own weight, which poses a problem in that it interferes with earth removal work and causes a decline in marketability.
SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention aims to provide an earth removal device that does not cause a decrease in marketability.
　本発明は、作業機械に搭載された排土部材に取り付けられ、前記排土部材の姿勢情報を取得する検出手段と、前記姿勢情報が入力される制御ユニットとを備え、前記制御ユニットは、前記姿勢情報に基づいて、前記作業機械の仮想基準面から前記排土部材の下端までの高さが所定の基準高さ範囲内にない異常状態であると判断したとき、その旨を報知手段を用いてオペレータに報知すべく、前記報知手段を動作させることを特徴とする。 The present invention includes a detection means that is attached to an earth removal member mounted on a working machine and acquires attitude information of the earth removal member, and a control unit into which the attitude information is input, and the control unit is configured to When it is determined based on the posture information that the height from the virtual reference plane of the working machine to the lower end of the earth removal member is in an abnormal state where it is not within a predetermined reference height range, a notification means is used to notify the user of this fact. It is characterized in that the notification means is operated to notify the operator.
　また本発明は、前記検出手段は、慣性センサを備えていることを特徴とする。  Furthermore, the present invention is characterized in that the detection means includes an inertial sensor.​
　本発明によれば、所期の目的を達成でき、商品性の低下を招く虞のない排土装置を提供することができる。  According to the present invention, it is possible to provide an earth removal device that can achieve the intended purpose and that does not cause a decrease in marketability.​
本発明の実施形態による作業機械を示す側面図。1 is a side view showing a working machine according to an embodiment of the present invention. 同実施形態による作業機械の電気的構成を示すブロック図。FIG. 2 is a block diagram showing the electrical configuration of the work machine according to the embodiment. 同実施形態による排土装置の平面図。FIG. 3 is a plan view of the earth removal device according to the same embodiment. 同実施形態による地表面から排土板下端までの高さの算出例について示す図。The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal plate by the same embodiment. 同実施形態による異常状態であるときの地表面から排土板下端までの高さの算出例について示す図。The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal board when it is in an abnormal state by the same embodiment.
　以下、添付図面を用いて本発明の一実施形態を説明する。  Hereinafter, one embodiment of the present invention will be described using the accompanying drawings.​
　図１～図３を参照する。作業機械１０は、例えば油圧ショベルをはじめとする無限軌道型の各種作業機械を適用することができ、クローラ２１、排土板（排土部材）２２及び検出手段２３を有する下部走行体２０と、この下部走行体２０に設置された旋回自在な上部旋回体３０とを備えている。 Refer to Figures 1 to 3. The working machine 10 can be any of various track-type working machines such as a hydraulic excavator, and includes a lower traveling body 20 having a crawler 21, an earth removal plate (earth removal member) 22, and a detection means 23; The lower traveling body 20 includes a swingable upper rotating body 30 installed on the lower traveling body 20.
　特に、この場合、下部走行体２０の前側に上下方向に回動可能に設けられたステーＳ１、このステーＳ１の先端部に設けられた排土板２２、ステーＳ１を上下方向に回動させて排土板２２を昇降させる油圧シリンダＳ２、ステーＳ１の所定箇所に取り付けられた検出手段２３、上部旋回体３０に備えられる後述する制御ユニット、上部旋回体３０に備えられる後述する通知部等から排土装置が構成される。なお、図３中、符号Ｓ３は油圧シリンダＳ２のシリンダ部であり、符号Ｓ４はシリンダブラケットを示している。 In particular, in this case, the stay S1 is provided on the front side of the lower traveling body 20 so as to be rotatable in the vertical direction, the earth removal plate 22 provided at the tip of this stay S1, and the stay S1 is rotated in the vertical direction. A hydraulic cylinder S2 that raises and lowers the soil removal plate 22, a detection means 23 attached to a predetermined location of the stay S1, a control unit provided in the upper revolving body 30 to be described later, a notification unit provided in the upper revolving body 30 to be described later, etc. A soil device is constructed. In addition, in FIG. 3, the code|symbol S3 is the cylinder part of the hydraulic cylinder S2, and the code|symbol S4 has shown the cylinder bracket.
　検出手段２３は、作業機械１０に搭載された排土板２２に取り付けられる。より具体的には、ここでの検出手段２３は、後述する運転室側となる排土板２２の背後側に適宜固定手段を用いて取り付けられる。検出手段２３は、検出部２３ａと、演算部２３ｂと、通信部２３ｃとを備え、内蔵のバッテリの電力により動作して排土板２２の姿勢情報を取得し、当該姿勢情報を前記制御ユニットに出力する。 The detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10. More specifically, the detection means 23 here is attached to the back side of the earth removal plate 22, which will be on the driver's cab side, which will be described later, using an appropriate fixing means. The detection means 23 includes a detection section 23a, a calculation section 23b, and a communication section 23c, and is operated by the power of a built-in battery to acquire posture information of the earth removal plate 22, and transmits the posture information to the control unit. Output.
　検出部２３ａは、例えば慣性センサ（ＩＮＥＲＴＩＡＬ　ＭＥＡＳＵＲＥＭＥＮＴ　ＵＮＩＴ）を適用することができる。つまり、検出部２３ａは、３次元の加速度情報、角速度情報を取得して出力する検出媒体である。 For example, an inertial sensor (INERTIAL MEASUREMENT UNIT) can be applied to the detection unit 23a. In other words, the detection unit 23a is a detection medium that acquires and outputs three-dimensional acceleration information and angular velocity information.
　演算部２３ｂは、内臓の演算処理回路により検出部２３ａから出力されるＩＭＵセンサによる計測結果を処理し、排土板２２の姿勢を示す姿勢情報を取得する。 The calculation unit 23b processes the measurement results by the IMU sensor output from the detection unit 23a using a built-in calculation processing circuit, and acquires posture information indicating the posture of the earth removal plate 22.
　通信部２３ｃは、演算部２３ｂで取得可能となった姿勢情報を、無線通信によるデータ通信により前記制御ユニットに送出する。  The communication unit 23c sends the attitude information that can be acquired by the calculation unit 23b to the control unit through data communication via wireless communication.​
　上部旋回体３０は、ブーム３１ａ、アーム３１ｂ、バケット３１ｃを有するアタッチメント３１と、姿勢情報が入力される制御ユニット３２、操縦者が搭乗する図示省略した運転室と、通知部（報知手段）３３とを備えている。 The upper revolving body 30 includes an attachment 31 having a boom 31a, an arm 31b, and a bucket 31c, a control unit 32 into which attitude information is input, a driver's cab (not shown) in which an operator rides, and a notification section (notification means) 33. It is equipped with
　ブーム３１ａは、ブームピンＣ１により回動自在に上部旋回体３０の前方に設けられる。ブーム３１ａの前方側（先端側）にはアームピンＣ２により回動自在にアーム３１ｂが設けられる。アーム３１ｂの前方側（先端側）にはバケットピンＣ３により回動自在にバケット３１ｃが設けられる。 The boom 31a is rotatably provided in front of the upper revolving structure 30 by a boom pin C1. An arm 31b is rotatably provided on the front side (tip side) of the boom 31a by an arm pin C2. A bucket 31c is rotatably provided on the front side (tip side) of the arm 31b by a bucket pin C3.
　そして、操縦者は運転室に搭乗し、操作レバー等によりアタッチメント３１を操作して、土砂の掘削作業を行う。また、操縦者は運転室に搭乗し、操作レバー等により排土板２２を操作して、土砂の排土作業を行う。なお、当該排土作業の作業場所を変更するような場合は、操縦者は操作レバー等により排土板２２をある高さまで上昇させる必要がある。 Then, the operator boards the operator's cab and operates the attachment 31 using a control lever or the like to perform earth and sand excavation work. Further, the operator is seated in the driver's cab and operates the soil removal plate 22 using a control lever or the like to perform earth and sand removal work. In addition, when changing the work place for the earth removal work, the operator needs to raise the earth removal plate 22 to a certain height using a control lever or the like.
　制御ユニット３２は、上部旋回体３０に設けられ、演算部３２ａ、通信部３２ｂを備える。制御ユニット３２は、無線通信によるデータ通信により後述の通知情報を通知部３３へ出力する。 The control unit 32 is provided in the upper revolving body 30 and includes a calculation section 32a and a communication section 32b. The control unit 32 outputs notification information, which will be described later, to the notification section 33 through wireless data communication.
　演算部３２ａは、内臓の演算処理回路により制御ユニット３２に係る制御プログラムを実行することにより、各部の動作を制御する。この場合、例えば演算部３２ａは、検出手段２３から姿勢情報を取得する。 The arithmetic unit 32a controls the operations of each unit by executing a control program related to the control unit 32 using a built-in arithmetic processing circuit. In this case, for example, the calculation unit 32a acquires posture information from the detection means 23.
　通信部３２ｂは、無線通信によるデータ通信により検出手段２３との間で種々のデータを送受する。  The communication unit 32b sends and receives various data to and from the detection means 23 by wireless data communication.​
　通知部３３は、作業機械１０の運転席に設けられた表示画面を有するモニタを適用することができる。通知部３３には、後述する異常状態を示す信号に基づき、前記排土装置が故障している旨を示すメッセージ（報知情報）が表示される。なお、通知部３３は、モニタではなく音声、警報音等の聴覚情報を適用してもよい。あるいは前記報知情報と前記聴覚情報とを併用してもよい。 As the notification unit 33, a monitor having a display screen provided at the driver's seat of the working machine 10 can be applied. The notification unit 33 displays a message (notification information) indicating that the earth removal device is out of order based on a signal indicating an abnormal state, which will be described later. Note that the notification unit 33 may apply auditory information such as audio and alarm sounds instead of a monitor. Alternatively, the notification information and the auditory information may be used together.
　次に、図４を参照して、作業機械１０の仮想基準面である地表面Ｐ１から排土板２２の下端までの高さＨの算出例について説明する。本例の場合、地表面Ｐ１から排土板２２の下端までの高さＨを算出するにあたっては、地表面Ｐ１上であって、作業機械１０の無限軌道の後端部を基準点Ｔに設定し、この基準点Ｔ（地表面Ｐ１）を基準にして基準点Ｔ（地表面Ｐ１）から排土板２２先端（排土板２２下端）までの高さＨを検出する。まず、演算部３２ａには、事前に、仮想基準リンクの長さ、仮想リンクの長さ、排土板２２の基本姿勢における姿勢情報に関する設定情報が入力される。 Next, with reference to FIG. 4, an example of calculating the height H from the ground surface P1, which is the virtual reference plane of the working machine 10, to the lower end of the earth removal plate 22 will be described. In this example, when calculating the height H from the ground surface P1 to the lower end of the earth removal plate 22, the reference point T is set at the rear end of the endless track of the working machine 10 on the ground surface P1. Then, using this reference point T (ground surface P1) as a reference, the height H from the reference point T (ground surface P1) to the tip of the earth removal plate 22 (the lower end of the earth removal plate 22) is detected. First, setting information regarding the length of the virtual reference link, the length of the virtual link, and posture information in the basic posture of the soil removal plate 22 is input in advance to the calculation unit 32a.
　ここで図４中、符号Ｌ１は、基準点ＴとブームピンＣ１の中心軸とを直線により仮想的に接続した仮想基準リンクであり、図４中、符号Ｌ２は、ブームピンＣ１の中心軸と排土板２２の下端を直線により接続した仮想リンクである。 Here, in FIG. 4, the symbol L1 is a virtual reference link that virtually connects the reference point T and the center axis of the boom pin C1 with a straight line, and in FIG. This is a virtual link connecting the lower ends of the plates 22 with a straight line.
　演算部３２ａには、仮想基準リンクＬ１の長さ、及び仮想リンクＬ２の長さの設定に関する情報が入力される。また演算部３２ａは、基準方向（例えば水平方向）に対する仮想リンクＬ２の角度の情報に基づき、検出手段２３で検出される姿勢情報を補正するためのデータを登録する。また演算部３２ａには、仮想基準リンクＬ１について、地表面Ｐ１に対する角度θ１の情報が入力される。  Information regarding the setting of the length of the virtual reference link L1 and the length of the virtual link L2 is input to the calculation unit 32a. The calculation unit 32a also registers data for correcting the posture information detected by the detection means 23 based on information on the angle of the virtual link L2 with respect to the reference direction (for example, the horizontal direction). Further, information about the angle θ1 with respect to the ground surface P1 is input to the calculation unit 32a regarding the virtual reference link L1.​
　演算部３２ａは、このようにして事前に設定された仮想基準リンクＬ１の長さ、角度、仮想リンクＬ２の長さ、角度に基づいて、姿勢情報により基準点Ｔ（地表面Ｐ１）を基準にして排土板２２の先端（下端）位置を検出する。 Based on the length and angle of the virtual reference link L1 and the length and angle of the virtual link L2 set in advance in this way, the calculation unit 32a uses the attitude information to set the reference point T (ground surface P1) as a reference. The tip (lower end) position of the earth removal plate 22 is detected.
　すなわち、演算部３２ａは、地表面Ｐ１に対する仮想基準リンクＬ１の角度θ１と仮想基準リンクＬ１の長さとに基づいて、基準点Ｔ（地表面Ｐ１）に対するブームピンＣ１の高さＨ１を検出する。また姿勢情報により検出される仮想リンクＬ２の角度θ２と仮想リンクＬ２の長さとからブームピンＣ１（ブームピンＣ１を通り地表面Ｐ１と略平行な基準面Ｐ２）に対する排土板２２下端の高さＨ２を検出する。 That is, the calculation unit 32a detects the height H1 of the boom pin C1 with respect to the reference point T (ground surface P1) based on the angle θ1 of the virtual reference link L1 with respect to the ground surface P1 and the length of the virtual reference link L1. Also, from the angle θ2 of the virtual link L2 detected by the attitude information and the length of the virtual link L2, the height H2 of the lower end of the earth removal plate 22 with respect to the boom pin C1 (reference plane P2 passing through the boom pin C1 and substantially parallel to the ground surface P1) can be calculated. To detect.
　演算部３２ａは、このようにして検出した基準点Ｔ（地表面Ｐ１）に対するブームピンＣ１の高さＨ１と、ブームピンＣ１（基準面Ｐ２）に対する排土板２２下端の高さＨ２とから、基準点Ｔ（地表面Ｐ１）から排土板２２の下端までの高さＨを検出する。当該高さＨは高さＨ１から高さＨ２を減算することで得られる。これにより演算部３２ａは、検出手段２３から得られる姿勢情報により、基準点Ｔ（地表面Ｐ１）から排土板２２下端までの高さＨを算出する。 The calculation unit 32a determines the reference point from the height H1 of the boom pin C1 relative to the reference point T (ground surface P1) detected in this manner and the height H2 of the lower end of the earth removal plate 22 relative to the boom pin C1 (reference surface P2). The height H from T (ground surface P1) to the lower end of the earth removal plate 22 is detected. The height H is obtained by subtracting the height H2 from the height H1. Thereby, the calculation unit 32a calculates the height H from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 based on the attitude information obtained from the detection means 23.
　ところで、このように排土板２２下端が地表面Ｐ１から高さＨの位置にある状況下にて、何らかの原因（老朽化等）で昇降シリンダが故障すると、排土板２２を高さＨの位置に維持できなくなることが考えられる。つまり、この場合、図５に示すように排土板２２は、その自重によって地表面Ｐ１側向けて次第に下降することが考えられる。そして、この図５において、演算部３２ａは、姿勢情報に基づいて、高さＨ１から高さＨ２を減算することで基準点Ｔ（地表面Ｐ１）から排土板２２下端までの高さｈを算出する。  By the way, in this situation where the lower end of the earth removal plate 22 is at a height H from the ground surface P1, if the lifting cylinder breaks down due to some reason (decrease, etc.), the earth removal plate 22 is moved to a height H from the ground surface P1. It is possible that it will not be possible to maintain the position. That is, in this case, as shown in FIG. 5, the earth removal plate 22 is considered to gradually descend toward the ground surface P1 side due to its own weight. In FIG. 5, the calculation unit 32a calculates the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 by subtracting the height H2 from the height H1 based on the posture information. calculate.​
　ここで、一例として高さＨが５０センチメートルで、高さｈが２０センチメートルであるとし、高さＨに１５センチメートルだけ減算した値から高さＨに１５センチメートルだけ減加算した値まで（つまり高さＨが３５～６５センチメートルまでの範囲）を排土板２２の正常状態を意味する所定の基準高さ範囲内とした場合、高さｈは前記所定の基準高さ範囲内から外れているので、このとき演算部３２ａは、基準点Ｔ（地表面Ｐ１）から排土板２２下端までの高さｈが前記所定の基準高さ範囲内にない異常状態（排土板異常状態）であると判断し、その旨（高さｈが前記所定の基準高さ範囲内にない状態であること）を通知部３３を用いてオペレータに通知（報知）すべく、通知部３３を動作させる。  Here, as an example, assume that the height H is 50 cm and the height h is 20 cm, and from the value obtained by subtracting 15 cm from the height H to the value obtained by subtracting and adding 15 cm to the height H. (that is, the range of height H from 35 to 65 cm) is within a predetermined reference height range that indicates the normal state of the earth removal plate 22, then the height h is within the predetermined reference height range. Since the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 is not within the predetermined reference height range, the calculation unit 32a at this time determines that the earth removal plate is in an abnormal state (earth removal plate abnormal state). ), and operates the notification unit 33 in order to notify (notify) the operator using the notification unit 33 to that effect (that the height h is not within the predetermined reference height range). let​
　以上のように本実施形態によれば、作業機械１０に搭載された排土板２２に取り付けられ、排土板２２の姿勢情報を取得する検出手段２３と、姿勢情報が入力される制御ユニット３２とを備え、制御ユニット３２は、姿勢情報に基づいて、作業機械１０の地表面Ｐ１から排土板２２の下端までの高さｈが前記所定の基準高さ範囲内にない異常状態であると判断したとき、その旨を通知部３３を用いてオペレータに報知すべく、通知部３３を動作させる。  As described above, according to the present embodiment, the detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10 and acquires the attitude information of the earth removal plate 22, and the control unit 32 into which the attitude information is input. Based on the posture information, the control unit 32 determines that there is an abnormal state in which the height h of the working machine 10 from the ground surface P1 to the lower end of the earth removal plate 22 is not within the predetermined reference height range. When the determination is made, the notification unit 33 is operated to notify the operator of the determination.​
　従って、例えば通知部３３には前記排土装置が故障している旨を示すメッセージが表示されることから、オペレータは前記排土装置が異常状態であること（つまり排土板２２を操作していないにも関わらず地表面Ｐ１から排土板２２下端までの高さが勝手に変動していること）を把握することが可能となるため、適切な排土作業を実施することができ、商品性を高めることができるという利点がある。 Therefore, for example, since a message indicating that the soil removal device is out of order is displayed on the notification unit 33, the operator can confirm that the soil removal device is in an abnormal state (that is, the soil removal plate 22 is not being operated). The height from the ground surface P1 to the lower end of the earth removal plate 22 is fluctuating without permission, even though there is no difference in the height of the soil removal plate 22. It has the advantage of increasing sex.
　なお、本発明は、上述の実施形態及び図面によって限定されるものではない。本発明の要旨を変更しない範囲で、適宜、実施形態及び図面に変更（構成要素の削除も含む）を加えることが可能である。 Note that the present invention is not limited to the above-described embodiments and drawings. It is possible to make changes (including deletion of components) to the embodiments and drawings as appropriate without changing the gist of the present invention.
　例えば上述した実施形態では、演算部３２ａが上部旋回体３０の制御ユニット３２に設けられるものであったが、例えば制御ユニット３２に代えて制御ユニット３２と無線通信可能に接続されるスマートフォン等の携帯端末（外部機器）に演算部３２ａを設けてもよい。 For example, in the embodiment described above, the calculation unit 32a was provided in the control unit 32 of the upper revolving body 30, but instead of the control unit 32, for example, a mobile phone such as a smartphone that is connected to the control unit 32 in a wireless manner can be used. The calculation unit 32a may be provided in the terminal (external device).
　１０　　作業機械 
　２０　　下部走行体 
　２２　　排土板（排土部材） 
　２３　　検出手段 
　２３ａ　検出部 
　２３ｂ　演算部 
　２３ｃ　通信部 
　３０　　上部旋回体 
　３１　　アタッチメント 
　３２　　制御ユニット 
　３２ａ　演算部 
　３３　　通知部（報知手段） 
　Ｈ、ｈ　高さ 
　Ｌ１　　仮想基準リンク 
　Ｌ２　　仮想リンク 
　Ｐ１　　地表面（仮想基準面） 
　Ｐ２　　基準面 
　　Ｔ　　基準点 
　θ１、θ２　角度  10 Working machines
20 Lower running body
22 Earth removal plate (earth removal member)
23 Detection means
23a Detection part
23b Arithmetic unit
23c Communication Department
30 Upper revolving body
31 Attachment
32 Control unit
32a Arithmetic unit
33 Notification department (notification means)
H, h height
L1 virtual reference link
L2 virtual link
P1 Ground surface (virtual reference plane)
P2 Reference plane
T reference point
θ1, θ2 angle

Claims (2)

  1. 作業機械に搭載された排土部材に取り付けられ、前記排土部材の姿勢情報を取得する検出手段と、 
    前記姿勢情報が入力される制御ユニットとを備え、 
    前記制御ユニットは、前記姿勢情報に基づいて、前記作業機械の仮想基準面から前記排土部材の下端までの高さが所定の基準高さ範囲内にない異常状態であると判断したとき、その旨を報知手段を用いてオペレータに報知すべく、前記報知手段を動作させることを特徴とする排土装置。     a detection means that is attached to an earth removal member mounted on a working machine and acquires posture information of the earth removal member;
    and a control unit into which the attitude information is input,
    When the control unit determines that the height from the virtual reference plane of the working machine to the lower end of the earth removal member is not within a predetermined reference height range based on the posture information, the control unit An earth removal device characterized in that the notification means is operated in order to notify an operator of this using the notification means.
  2. 前記検出手段は、慣性センサを備えていることを特徴とする請求項１記載の排土装置。  The earth removal device according to claim 1, wherein the detection means includes an inertial sensor.​
PCT/JP2023/026188 2022-07-19 2023-07-18 Soil removal device WO2024019030A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076223A1 (en) * 2014-09-12 2016-03-17 Caterpillar Inc. System and Method for Controlling the Operation of a Machine
WO2019124549A1 (en) * 2017-12-21 2019-06-27 住友建機株式会社 Shovel and shovel management system
JP2020041279A (en) * 2018-09-07 2020-03-19 コベルコ建機株式会社 Work machine
JP2020165255A (en) * 2019-03-29 2020-10-08 住友重機械工業株式会社 Shovel

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076223A1 (en) * 2014-09-12 2016-03-17 Caterpillar Inc. System and Method for Controlling the Operation of a Machine
WO2019124549A1 (en) * 2017-12-21 2019-06-27 住友建機株式会社 Shovel and shovel management system
JP2020041279A (en) * 2018-09-07 2020-03-19 コベルコ建機株式会社 Work machine
JP2020165255A (en) * 2019-03-29 2020-10-08 住友重機械工業株式会社 Shovel

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