WO2024070333A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2024070333A1
WO2024070333A1 PCT/JP2023/030058 JP2023030058W WO2024070333A1 WO 2024070333 A1 WO2024070333 A1 WO 2024070333A1 JP 2023030058 W JP2023030058 W JP 2023030058W WO 2024070333 A1 WO2024070333 A1 WO 2024070333A1
Authority
WO
WIPO (PCT)
Prior art keywords
construction machine
antenna
satellite positioning
imaging device
support member
Prior art date
Application number
PCT/JP2023/030058
Other languages
English (en)
Japanese (ja)
Inventor
聡美 國松
博史 坂本
学 枝村
Original Assignee
日立建機株式会社
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 日立建機株式会社 filed Critical 日立建機株式会社
Publication of WO2024070333A1 publication Critical patent/WO2024070333A1/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
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • the present invention relates to construction machinery.
  • Satellite positioning systems such as RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System).
  • RTK-GNSS Real Time Kinematic - Global Navigation Satellite System
  • errors in position measurement can occur due to the positioning signal to be received by the satellite positioning antenna being blocked by structures at the construction site or the front working equipment of construction machinery such as an excavator, or due to the occurrence of multipath.
  • the satellite positioning antenna can be affected by the surrounding magnetic field caused by parts of the front working equipment made of iron or the like. Therefore, in order to eliminate these effects, a method is known in which the satellite positioning antenna is installed at a high position, such as by erecting a pole on the upper rotating body. It is also known to place a pair of satellite positioning antennas at a distance from each other at the outer ends of the left and right sides of the vehicle body in order to accurately measure the direction of the construction machinery.
  • Patent Document 1 discloses an antenna attachment/detachment device for a work machine, which includes a first bracket provided on the machine body, a shaft rotatably supported by the first bracket and extending horizontally, a pole whose lower end is fixed to the shaft, extends upward, and has a tip formed so that a GPS antenna can be attached to it, a second bracket provided inside the machine body close to one end of the shaft and at a position inside and below the shaft in a horizontal direction perpendicular to the extension direction of the shaft, a bar whose lower end is engaged with the second bracket by a pin and extends upward, and a link member whose one end is rotatably supported on the upper end of the bar and whose other end is fixed to one end of the shaft, connecting the upper end of the bar to one end of the shaft.
  • Patent Document 2 also discloses a hydraulic excavator that includes a lower running body, an upper rotating body that is rotatably attached to the lower running body, a counterweight that is disposed on the upper rotating body, a machine room that is disposed on the upper rotating body in front of the counterweight, a first handrail and a second handrail that are disposed on the machine room, and a pair of antenna supports that are connected to the first handrail and the second handrail, respectively, and that support a pair of antennas.
  • the present invention has been made in consideration of the above, and aims to provide a construction machine that can prevent an increase in the proportion of the space on the construction machine that is taken up by sensors, and can improve the ease of maintenance of the installed sensors.
  • the present application includes multiple means for solving the above problem, but one example is a construction machine equipped with a machine body, a position measuring device that measures a position in a predetermined coordinate system according to a positioning signal received by a satellite positioning antenna from a positioning satellite, and an antenna support member arranged on the machine body to support the satellite positioning antenna, in which at least one of a shape measuring device that measures the shape of objects around the machine body, an imaging device that captures images of the surroundings of the machine body, and an information notification device that issues notifications to the surroundings of the machine body is attached to the antenna support member.
  • the present invention makes it possible to prevent an increase in the proportion of the space on a construction machine that is taken up by sensors, thereby improving the ease of maintenance of the installed sensors.
  • FIG. 1 is a side view showing an overall configuration of a hydraulic excavator, which is an example of a construction machine.
  • 1 is a top view showing an overall configuration of a hydraulic excavator, which is an example of a construction machine.
  • FIG. 2 is an enlarged view showing the satellite positioning antenna together with the surrounding configuration.
  • FIG. 2 is a functional block diagram showing a control device together with related configurations.
  • satellite positioning antennas 38a and 38b may be referred to as satellite positioning antenna 38.
  • FIGS. 1 and 2 show the overall configuration of a hydraulic excavator, which is an example of a construction machine according to this embodiment, with FIG. 1 being a side view and FIG. 2 being a top view.
  • a hydraulic excavator 1 which is a construction machine, comprises a lower running body 20, a running sprocket 23 rotatably mounted on the lower running body 20, a track 42 linked to the running sprocket, an upper rotating body 21 rotatably mounted on the lower running body 20, a boom 25 rotatably mounted on the upper rotating body 21, an arm 26 rotatably mounted at the end of the boom, a bucket 27 rotatably mounted at the end of the arm, a boom cylinder 28 that drives the boom 25, and an arm cylinder 29 that drives the arm 26.
  • a bucket cylinder 30 that drives the bucket 27, a front work machine 22 that is composed of the boom 25, the arm 26, the bucket 27, the boom cylinder 28, the arm cylinder 29, and the bucket cylinder 30, a travel motor 24 that drives the travel sprocket 23, a swing motor 31 that rotates the upper rotating body 21, and a control device 32 that controls the overall operation of the hydraulic excavator 1, including the drive devices, the boom cylinder 28, the arm cylinder 29, the bucket cylinder 30, the travel motor 24, and the swing motor 31.
  • the lower traveling body 20 and the upper rotating body 21 constitute the machine body of the hydraulic excavator 1, which is a construction machine.
  • the boom angle sensor 33, arm angle sensor 34, and bucket angle sensor 35 which are attitude measurement devices, are attached to the rotation axes of the boom 25, arm 26, and bucket 27 that make up the front work machine 22, and the rotation angle of the boom 25 relative to the upper rotating body 21, the rotation angle of the arm 26 relative to the boom 25, and the rotation angle of the bucket 27 relative to the arm 26 can be obtained.
  • a gyroscope 36 and an acceleration sensor 37 are attached to the upper rotating body 21 as attitude measurement devices.
  • the gyroscope 36 can obtain the angular velocity of the upper rotating body 21 in the roll, pitch, and yaw directions, and the acceleration sensor can obtain the forward/backward tilt angle and the left/right tilt angle of the upper rotating body 21.
  • a pair of satellite positioning antennas 38a, 38b that constitute the position measurement device are supported by antenna support members 10a, 10b, respectively, at the top of the upper rotating body 21 that constitutes the machine body.
  • the antenna support members 10a, 10b have a rod shape with its length oriented vertically, and are erected at a distance from each other on the left and right ends of the upper part of the upper rotating body 21, with satellite positioning antennas 38a, 38b attached to their upper ends.
  • the antenna support members 10a, 10b are detachably attached to the upper rotating body 21 together with the satellite positioning antennas 38a, 38b.
  • the control device 32 has a functional unit (position calculation unit 61b described below) that calculates the positions of the satellite positioning antennas 38a, 38b in the Earth coordinate system (coordinate system fixed to the Earth) used in GNSS surveying based on the positioning signals transmitted from the positioning satellites and received by the satellite positioning antennas 38a, 38b, and the satellite positioning antennas 38a, 38b and the control device 32 function as a position measurement device.
  • position calculation unit 61b described below
  • the installation positions of the satellite positioning antennas 38a, 38b relative to the hydraulic excavator 1 are predetermined and clear from the design information, so the position of the hydraulic excavator 1 (more precisely, the upper rotating body 21) can be identified by determining the positions of the satellite positioning antennas 38a, 38b in the Earth coordinate system.
  • the orientation and inclination of the hydraulic excavator 1 can be identified by determining the relative positions of the pair of satellite positioning antennas 38a, 38b.
  • FIG. 3 is an enlarged view of the satellite positioning antenna along with the surrounding configuration. Note that in FIG. 3, only one of the pair of satellite positioning antennas 38a, 38b is shown as a representative.
  • the satellite positioning antenna 38 is supported by a bracket attached to the upper end of the antenna support member 10.
  • at least one of a shape measuring device 39, an imaging device 40, and a surrounding warning device 45 is attached to the antenna support member 10 as an information handling device that acquires information about the surroundings of the hydraulic excavator 1 and/or transmits information to the surroundings of the hydraulic excavator 1.
  • a shape measuring device 39 for example, a three-dimensional LiDAR (Light Detection And Ranging) is attached to the antenna support member 10. Measurement by the shape measuring device 39 (three-dimensional LiDAR) can measure the shape of objects such as the terrain, buildings, vehicles, and workers around the hydraulic excavator 1 in a machine coordinate system (a coordinate system fixed to the hydraulic excavator 1, which is a construction machine).
  • the shape measuring device 39 such as the three-dimensional LiDAR attached to the hydraulic excavator 1 is preferably installed at the outer end of the hydraulic excavator 1 and at a high position that is less susceptible to the influence of dust and the like in order to prevent the body of the vehicle from being reflected in the measurement range.
  • the shape measuring device 39 is detachable integrally with the satellite positioning antennas 38a, 38b because the antenna support members 10a, 10b are provided detachably integrally with the upper revolving body 21.
  • Imaging device 40 for example, a camera is attached to the antenna support member 10. Images of the surroundings of the hydraulic excavator 1 can be acquired by capturing images with the imaging device 40 (camera).
  • the imaging device 40 such as a camera, attached to the hydraulic excavator 1 is desirably installed at the outer end of the hydraulic excavator 1 to prevent the vehicle body from being captured in the camera's viewing angle, and is desirably installed at a high position to ensure a field of view while minimizing nearby blind spots as much as possible.
  • the imaging device 40 is detachable integrally with the satellite positioning antennas 38a, 38b because the antenna support members 10a, 10b are provided detachably integrally with the upper rotating body 21.
  • a stacked signal light is attached to the antenna support member 10.
  • the warning from the surrounding warning device 45 can notify the workers around the hydraulic excavator 1 of the operating state of the hydraulic excavator 1 and that approach is dangerous.
  • the surrounding warning device 45 such as the stacked signal light, attached to the hydraulic excavator 1 is preferably installed at the outer end and in a high position of the hydraulic excavator 1 so that the workers can easily notice the issuance of information when notifying the workers around the hydraulic excavator 1 of the location of an object or danger and calling their attention in accordance with the result of object detection around the hydraulic excavator 1.
  • the surrounding warning device 45 can be attached and detached integrally with the satellite positioning antennas 38a, 38b because the antenna support members 10a, 10b are provided detachably integrally with the upper rotating body 21.
  • a satellite positioning antenna 38 is installed at the top of the antenna support member 10, and below it, from top to bottom, three devices are provided: a surrounding warning device 45, a shape measuring device 39, and an imaging device 40.
  • the surrounding warning device 45 can be used to block sunlight and other light incident on the imaging device 40 (an eaves effect), or the surrounding warning device 45 and the imaging device 40 can be used to block sunlight and other light incident on the shape measuring device 39 (an eaves effect).
  • the surrounding warning device 45 and the imaging device 40 are installed on the antenna support member 10 in that order from the top, the light emitted by the surrounding warning device 45 can be used to illuminate the imaging range of the imaging device 40 (illumination effect).
  • the satellite positioning antenna 38, shape measuring device 39, imaging device 40, surrounding warning device 45, etc. are very expensive, they are often removed from the hydraulic excavator 1 and stored separately when work is completed and the work site is unmanned.
  • the shape measuring device 39, imaging device 40, and surrounding warning device 45 can be handled as a single unit, and removal and installation work from the hydraulic excavator 1 can be performed more efficiently (improved maintainability).
  • FIG. 4 is a functional block diagram showing the control device and related configuration.
  • control device 32 has an input/output unit 60, a processing unit 61, and a memory unit 62.
  • the input/output unit 60 is an interface for connecting the control device 32 to the outside.
  • the control device 32 is connected to the boom angle sensor 33, arm angle sensor 34, bucket angle sensor 35, gyroscope 36, acceleration sensor 37, shape measurement device 39 (3D LiDAR), imaging device 40 (camera), satellite positioning antenna 38, surrounding warning device 45 (stacked signal light), and information provision device 4 via the input/output unit 60.
  • the information provision device 4 is, for example, a display input device such as a tablet that is installed around the driver's seat and provides information to the operator and inputs information from the operator.
  • the processing unit 61 realizes its functions through a combination of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the programs executed on these.
  • the processing unit 61 is composed of an attitude calculation unit 61a, a position calculation unit 61b, an obstacle detection unit 61c, a notification determination unit 61g, and an information generation unit 61h.
  • the source code of the software used in the processing of the processing unit 61 is stored in the memory unit 62.
  • the attitude calculation unit 61a calculates the attitudes of the front work implement 22, the lower running body 20, and the upper rotating body 21 based on the outputs from the boom angle sensor 33, the arm angle sensor 34, the bucket angle sensor 35, the gyroscope 36, the acceleration sensor 37, and the satellite positioning antenna 38 acquired via the input/output unit 60.
  • the attitude of the front work implement 22 can be calculated from the outputs of the boom angle sensor 33, the arm angle sensor 34, and the bucket angle sensor 35.
  • the pitch angle which is the attitude of the upper rotating body 21 in the front-rear direction
  • the roll angle which is the attitude of the upper rotating body 21 in the left-right direction
  • the azimuth angle of the upper rotating body can be calculated from the output of the satellite positioning antenna 38.
  • the rotation angle which is the relative angle between the upper rotating body 21 and the lower running body 20, can be calculated by integrating the angular velocity around the rotation axis measured by the gyroscope 36.
  • the attitude of each member is based on a plane rectangular coordinate system on the earth (earth coordinate system). If necessary, localization processing, i.e., coordinate conversion from the planar rectangular coordinate system to the on-site coordinate system at the construction site, may be performed and the coordinate values in the on-site coordinate system may be calculated.
  • the position calculation unit 61b calculates the coordinate value (position) of the upper rotating body 21 in a plane rectangular coordinate system (earth coordinate system) on the earth based on the attitude of the upper rotating body 21 calculated by the attitude calculation unit 61a, the signal from the satellite positioning antenna 38 acquired via the input/output unit 60, and design information including the installation information of the satellite positioning antenna 38.
  • the position of the front working machine 22 can be calculated by using the position and attitude of the hydraulic excavator 1 and the design information.
  • the position of the satellite positioning antenna 38 can be used as the position of the imaging device 40 (camera) and the shape measuring device 39 (3D LiDAR) installed on the antenna support member 10 on the upper rotating body 21.
  • the shape measuring device 39, the imaging device 40, and the surrounding warning device 45 are attached to the antenna support member 10 is illustrated as an example, but this is not limited thereto.
  • the position of the satellite positioning antenna 38 can be used.
  • the position of each device must be calculated based on design information including installation information for the satellite positioning antenna 38.
  • the shape measuring device 39, imaging device 40, and surrounding warning device 45 are configured to be installed on the antenna support member 10 that supports the satellite positioning antenna 38, so that the positioning results of the satellite positioning antenna 38 can be used as their positions (at least the horizontal position), thereby reducing the amount of calculations.
  • the obstacle detection unit 61c detects obstacles based on the output results of the shape measurement device 39 (3D LiDAR) or the imaging device 40 (camera), or both, acquired via the input/output unit 60. Furthermore, the obstacle detection unit 61c determines the position of the obstacle based on the position of the shape measurement device 39 (3D LiDAR) acquired by the position calculation unit 61b and the distance from the shape measurement device 39 (3D LiDAR) (e.g., coordinate values (X, Y, Z)).
  • the notification determination unit 61g determines whether or not to issue a warning notification to the operator of the hydraulic excavator 1 and surrounding workers. For example, the notification determination unit 61g determines to issue a warning notification when the calculation result of the shortest distance between the obstacle and the hydraulic excavator 1 is 5 m or less, and determines not to issue a warning notification when the calculation result is greater than 5 m.
  • the information generation unit 61h When the notification determination unit 61g determines that a warning notification should be issued, the information generation unit 61h generates warning information to be notified to the operator of the hydraulic excavator 1 or surrounding workers, and outputs the warning information to the information providing device 4 and surrounding warning device 45, which notify the warning information.
  • the warning information generated and output to the information providing device 4 is, for example, a display or sound that notifies the operator that an obstacle, worker, etc. is approaching around the hydraulic excavator 1.
  • the warning information generated and output by the information generating unit 61h conforms to a predetermined and well-known lighting format so that workers around the hydraulic excavator 1 can recognize that the operating state of the hydraulic excavator 1 is an operating state in which work in the vicinity is not recommended.
  • the surrounding warning device 45 closest to the object may be selected based on the position of the surrounding warning device 45 acquired by the position calculation unit 61b and the position of the object (obstacle or worker) acquired by the obstacle detection unit 61c, and warning information may be output only to the selected surrounding warning device 45.
  • the worker who is the target of the warning notification can recognize that he or she is the target of the notification, thereby improving work safety.
  • a construction machine e.g., hydraulic excavator 1
  • a machine body e.g., lower running body 20 and upper rotating body 21
  • a position measurement device e.g., control device 32
  • an antenna support member 10 arranged on the machine body to support the satellite positioning antennas 38a and 38b.
  • the construction machine is provided with an information handling device (e.g., shape measurement device 39, imaging device 40, surrounding warning device 45) that is attached to the antenna support member 10 and performs at least one of obtaining information about the surroundings of the construction machine and transmitting information to the surroundings of the construction machine.
  • the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the gist of the present invention.
  • the present invention is not limited to those having all the configurations described in the above-described embodiments, and includes those in which some of the configurations are deleted.
  • the above-described configurations, functions, etc. may be realized by designing some or all of them as an integrated circuit, for example.
  • the above-described configurations, functions, etc. may be realized by software, in which a processor interprets and executes a program that realizes each function.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

L'invention concerne un engin de chantier qui comprend un corps d'engin, un dispositif de mesure de position qui mesure une position dans un système de coordonnées prédéfini en fonction d'un signal de positionnement provenant d'un satellite de positionnement reçu par une antenne de positionnement par satellite, et un élément de support d'antenne qui est disposé sur le corps d'engin afin de supporter l'antenne de positionnement par satellite. Dans cette machine de construction, au moins un dispositif, parmi un dispositif de mesure de forme qui mesure la forme d'objets autour du corps d'engin, un dispositif d'imagerie qui acquiert des images de l'environnement du corps d'engin, et un dispositif de notification d'informations qui émet une notification concernant l'environnement du corps d'engin, est fixé à l'élément de support d'antenne. Ceci permet de réduire au minimum toute augmentation de la proportion d'un espace pour une installation de capteur occupant l'espace sur l'engin de chantier, et d'améliorer la maintenabilité du capteur installé.
PCT/JP2023/030058 2022-09-30 2023-08-21 Engin de chantier WO2024070333A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-158879 2022-09-30
JP2022158879 2022-09-30

Publications (1)

Publication Number Publication Date
WO2024070333A1 true WO2024070333A1 (fr) 2024-04-04

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PCT/JP2023/030058 WO2024070333A1 (fr) 2022-09-30 2023-08-21 Engin de chantier

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017062702A (ja) * 2015-09-25 2017-03-30 シャープ株式会社 移動車両
JP2021152307A (ja) * 2020-03-24 2021-09-30 日立建機株式会社 作業機械

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017062702A (ja) * 2015-09-25 2017-03-30 シャープ株式会社 移動車両
JP2021152307A (ja) * 2020-03-24 2021-09-30 日立建機株式会社 作業機械

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