WO2024090343A1

WO2024090343A1 - Work assisting system

Info

Publication number: WO2024090343A1
Application number: PCT/JP2023/037988
Authority: WO
Inventors: 正倫鈴木
Original assignee: 日本精機株式会社
Priority date: 2022-10-24
Filing date: 2023-10-20
Publication date: 2024-05-02

Abstract

Provided is a work assisting system that can be easily and flexibly introduced. The work assisting system is provided with a plurality of detection devices 11A–11C, a collection device 12, and a mobile terminal 13. Each of the plurality of detection devices 11A–11C is provided with an orientation sensor 111 and a magnetic member 116, and is installed on a boom 41, arm 42, and bucket 43 of a hydraulic excavator 2 by means of the magnetic force of the magnetic member 16. The collection device 12 is provided with an orientation sensor 121 and is installed on an operation unit 3 or a support body 5 of the hydraulic excavator 2, and the collection device 12 transmits, to the mobile terminal 13, multiple pieces of orientation information collected from the plurality of detection devices 11A–11C by wireless communication and orientation information detected by the orientation sensor 121. The mobile terminal 13 is provided with a display unit 133 and a control unit 134, and the mobile terminal 13 calculates the distance between the bucket 43 and a target construction surface D on the basis of the multiple pieces of orientation information received from the collection device 12, and causes the display unit 133 to display the calculated distance.

Description

Work Support System

This disclosure relates to a work support system.

Conventionally, construction machines incorporating a machine guidance function (so-called ICT construction machines) have been provided.
Here, machine guidance is a technology that uses measurement technologies such as a total station (TS), a global navigation satellite system (GNSS), etc. to provide the operator with information on the construction target value and support the operation of the construction machine. This machine guidance can appropriately support the operator's work, improving work efficiency, safety, and work accuracy.
Regarding such ICT construction machinery, Patent Document 1 proposes a scheme to enable accurate grasping of the inclination, etc., of the construction machinery.

JP 2019-105160 A

Incidentally, in the case of construction machinery, it is desirable to be able to easily and flexibly introduce machine guidance functions and, further, to be able to upgrade the machine guidance functions as necessary.
However, with conventional construction machinery, there was a problem in that it was difficult to easily and flexibly introduce machine guidance functions and, further, to upgrade the machine guidance functions as required.

The present disclosure therefore aims to provide a work assistance system that can easily and flexibly introduce machine guidance functions and further upgrade the machine guidance functions as necessary.

In one aspect, the following solution is provided.
(1) A work support system for a construction machine comprising: an operating unit on which an operator rides; a working machine operated by the operator, which is configured by connecting a boom, an arm, and an attachment; a support body that supports the operating unit and the working machine; and a traveling device that supports the support body so that the support body can be traveled; the system comprises a plurality of detection devices, a collection device, and a mobile terminal; each of the plurality of detection devices comprises an attitude sensor, a wireless communication unit, a battery, and a magnetic member, and is installed on each of the boom, the arm, and the attachment by fixing them using the magnetic force of the magnetic member; the collection device comprises an attitude sensor, a wireless communication unit, and a control unit, is installed on the operating unit or the support body, and transmits a plurality of attitude information collected from the plurality of detection devices via wireless communication and attitude information detected by its own attitude sensor to the mobile terminal; the mobile terminal comprises an imaging unit, a wireless communication unit, a display unit, and a control unit, and calculates a distance between the attachment and a target construction surface based on the plurality of attitude information received from the collection device, and displays the calculated distance on the display unit.

(2) In the configuration of (1) above, the display unit of the mobile terminal is a touch screen, and the control unit of the mobile terminal is characterized by having a side image display means for displaying a side image of the construction machine captured by the imaging unit on the display unit, and a position registration means for registering the positions of the characteristic points of the construction machine and the installation position of the attitude sensor in response to a touch operation on the side image displayed on the display unit.

(3) In the configuration of (2) above, the control unit of the mobile terminal is characterized by comprising: a tip coordinate calculation means for calculating tip coordinates of the attachment based on registered position information of the position registration means or pre-input information and attitude information detected by the plurality of attitude sensors; and a distance calculation means for calculating a distance between the attachment and the target construction surface based on the calculated tip coordinates and the coordinates of the target construction surface that have been set in advance.

(4) In the configuration of (3) above, the boom has an offset boom mechanism including a first boom supported on the support so as to be able to swing up and down, and a second boom supported on the tip of the first boom so as to be able to swing left and right, the detection device installed on the boom is installed on each of the first boom and the second boom, and the control unit of the mobile terminal is characterized in that it includes an offset correction means for correcting the length information and attitude information of the boom based on the detected attitude information of the first boom and the second boom.

(5) In the configuration of (4) above, the offset boom mechanism is capable of offsetting between a left maximum offset position in which the second boom has swung from a non-offset position to a left maximum swing angle and a right maximum offset position in which the second boom has swung from the non-offset position to a right maximum swing angle, a left maximum offset amount which is the horizontal movement distance from the non-offset position to the left maximum offset position, and a right maximum offset amount which is the horizontal movement distance from the non-offset position to the right maximum offset position, which is different, and the offset correction means performs correction processing using the left maximum offset amount and the right maximum offset amount which are registered in advance.

(6) In the configuration of (4) above, the detection device installed on the second boom is installed at one end of the second boom in the length direction, and the one end in the length direction is the end on the arm side.

This disclosure makes it possible to provide a work assistance system that can easily and flexibly introduce machine guidance functions and further upgrade the machine guidance functions as needed.

1 is a diagram showing a schematic configuration of a work support system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of the work support system shown in FIG. 1 . FIG. FIG. 13 is a diagram showing a guidance screen of the mobile terminal. FIG. FIG. 13 is a diagram showing a side image request screen of the mobile terminal. FIG. 13 is a diagram showing a location registration screen of the portable terminal. FIG. 13 is a diagram showing characteristic points of a hydraulic excavator for which location registration is performed. 1A is a target construction surface setting screen of a mobile terminal and its explanatory diagram, and FIG. 1B is an equation for determining the coordinates of the target construction surface. FIG. 11 is an explanatory diagram of parameters used in calculating the bucket tip coordinates. FIG. 4 is an explanatory diagram of parameters used in calculating a vehicle tilt angle. FIG. 11 is a side view of the offset boom showing parameters used for offset correction. FIG. 11 is a plan view of the offset boom showing parameters used for offset correction.

The following describes in detail an embodiment of the present invention with reference to the attached drawings.

[Construction Machinery] The work assistance system 1 of this embodiment shown in Figures 1 and 2 assists the operator in the work of operating a hydraulic excavator 2, which is a construction machine, by using the machine guidance function. Construction machines to which the work assistance system 1 can be applied are not limited to excavators such as the hydraulic excavator 2, but may also be loading and unloading machines such as rotary forks and crawler cranes.

As shown in FIG. 1, the hydraulic excavator 2 includes an operating unit 3, a work machine 4, a support body 5, and a traveling device 6.

The operation unit 3 is a riding space for an operator who operates the hydraulic excavator 2. The hydraulic excavator 2 is available in a cab specification in which the entire operation unit 3 is covered with a cab 31, and a canopy specification in which only the upper part of the operation unit 3 is covered with a canopy (not shown), and the work support system 1 of this embodiment can be applied to either specification.

The work machine 4 is configured by sequentially connecting a boom 41, an arm 42, and a bucket 43, and is operated by an operator. The boom 41 is connected to the front end of the support body 5 via a boom pin 41a so as to be able to swing up and down, and swings in response to the hydraulic extension and retraction of a boom cylinder (not shown) provided between the support body 5 and the boom 41. The arm 42 is connected to the tip of the boom 41 via an arm pin 42a so as to be able to swing back and forth and up and down, and swings in response to the hydraulic extension and retraction of an arm cylinder (not shown) provided between the boom 41 and the arm 42. The bucket 43 is connected to the tip of the arm 42 via a bucket pin (attachment pin) 43a so as to be able to swing back and forth and up and down, and swings in response to the hydraulic extension and retraction of a bucket cylinder (not shown) provided between the arm 42 and the bucket 43.

The bucket 43 is a type of attachment that is removably attached to the tip of the arm 42, and can be replaced with other attachments depending on the type of work. Examples of attachments include a grapple for gripping wood, a breaker for crushing concrete blocks, and a skeleton bucket for sieving work. The work support system 1 of this embodiment is not limited to excavation work using a bucket 43, but can also be applied to work using other attachments.

The support body 5 supports the operation unit 3 and the work machine 4. The traveling device 6 supports the support body 5 so that it can turn and travel. As shown in FIG. 1, in addition to the crawler type having crawlers 61, a wheel type having wheels (not shown) is also known as the traveling device 6, but the work support system 1 of this embodiment can be applied to either the crawler type or the wheel type.

The hydraulic excavator 2 is available in a non-offset boom specification in which the boom 41 cannot be offset in the left-right direction, and an offset specification in which the boom 41 can be offset in the left-right direction. Below, we will first explain the work support system 1 that is compatible with the non-offset boom specification, and then explain the offset correction function for application to the offset boom specification.

[Configuration of the work support system] As shown in Figures 1 and 2, the work support system 1 includes

multiple detection devices

11A, 11B, and 11C, a collection device 12, a mobile terminal 13, and a display 14.

As shown in FIG. 1, the

detection devices

11A, 11B, and 11C are respectively installed on the boom 41, the arm 42, and the bucket 43. As shown in FIG. 2 and FIG. 3, the

detection devices

11A, 11B, and 11C each include a posture sensor 111, a wireless communication unit 112, a control unit 113, a battery 114, a case 115, and a magnetic member 116.

The attitude sensor 111 detects the attitude of the installation location. For example, the attitude sensor 111 is an IMU (Inertial Measurement Unit) sensor that detects three-dimensional acceleration and angular velocity.

The wireless communication unit 112 performs wireless communication with the collection device 12. For example, BLUETOOTH (registered trademark) is applied as the wireless communication method of the wireless communication unit 112.

The control unit 113 acquires posture information from the posture sensor 111 and transmits the acquired posture information to the collection device 12 via the wireless communication unit 112.

The battery 114 supplies power to the attitude sensor 111, the wireless communication unit 112, and the control unit 113.

Such detection devices

11A, 11B, and 11C can be easily installed at the desired mounting location without having to take the trouble of wiring a power supply cable or a data communication cable to the work machine 4. As a result, the work assistance system 1 of this embodiment can easily add machine guidance functions to existing construction machines or update the machine guidance functions.

The case 115 houses the attitude sensor 111, the wireless communication unit 112, the control unit 113, and the battery 114. The battery 114 may be housed in a case separate from the case 115, and may supply power to the

detection devices

11A, 11B, and 11C via a cable.

The magnetic member 116 is, for example, a permanent magnet, and its magnetic force fixes the

detection devices

11A, 11B, and 11C to the boom 41, arm 42, and bucket 43, which are made of metal. For example, as shown in FIG. 3, the magnetic member 116 is provided on the bottom surface of the case 115, and its magnetic force fixes the bottom surface of the case 115 to the boom 41, arm 42, and bucket 43, respectively.

Such detection devices

11A, 11B, and 11C can be more easily installed at the desired mounting locations.

As shown in FIG. 1, the collection device 12 is installed on the support 5. For example, the collection device 12 can be easily installed on the floor of the operation unit 3. As shown in FIG. 2, the collection device 12 includes a posture sensor 121, a wireless communication unit 122, and a control unit 123.

The attitude sensor 121 detects the attitude of the support body 5. For example, an IMU sensor that detects three-dimensional acceleration and angular velocity is used as the attitude sensor 121.

The wireless communication unit 122 performs wireless communication with the

detection devices

11A, 11B, and 11C and the mobile terminal 13. For example, BLUETOOTH (registered trademark) is used as the wireless communication method of the wireless communication unit 122.

The control unit 123 transmits the posture information of the work machine 4 collected from the

detection devices

11A, 11B, and 11C and the posture information of the support body 5 detected by the posture sensor 121 to the mobile terminal 13 via the wireless communication unit 122. For example, in this embodiment, when the control unit 123 receives a posture information request signal from the mobile terminal 13, it collects the posture information of the work machine 4 detected by the

detection devices

11A, 11B, and 11C. The control unit 123 then transmits the posture information of the work machine 4 collected from the

detection devices

11A, 11B, and 11C and the posture information of the support body 5 detected by its own posture sensor 121 to the mobile terminal 13. Furthermore, when the control unit 123 acquires notification information from the mobile terminal 13, it outputs the acquired notification information to the display 14.

The mobile terminal 13 is a so-called smartphone or tablet terminal, and functions as a machine guidance terminal by executing application software related to this work assistance system 1. The application software related to the work assistance system 1 is upgraded as appropriate. The mobile terminal 13 can update its machine guidance function to the latest version by installing an upgraded version of the application software. As shown in FIG. 2, the mobile terminal 13 includes an imaging unit 131, a wireless communication unit 132, a display unit 133, and a control unit 134.

The imaging unit 131 captures still images and videos. In this embodiment, it is used to capture a side image of the hydraulic excavator 2. The side image is an image of the characteristic points of the hydraulic excavator 2, which will be described later. The side image is, for example, an image of the exterior of the hydraulic excavator 2 captured from the side, and includes in the captured range the boom 41, the arm 42, and the bucket 43, which is a type of attachment that is detachably attached to the tip of the arm 42. The side image may be an image in which the entire hydraulic excavator 2 fits in a single image, or it may be a plurality of images in which individual characteristic points of the hydraulic excavator 2 are captured.

The wireless communication unit 132 performs wireless communication at least with the collection device 12. For example, BLUETOOTH (registered trademark) is applied as the wireless communication method of the wireless communication unit 132.

The display unit 133 is configured as a touch screen with a display function and a touch input function, and is used to display the guidance screen G1 shown in FIG. 4 and to input a position on the position registration screen G3 (see FIG. 7) described later.

The control unit 134 calculates the distance between the bucket 43 and the target construction surface D based on the multiple posture information received from the collection device 12, and displays the calculated distance on the display unit 133 as shown in FIG. 4. For example, the guidance screen G1 shown in FIG. 4 includes a first display area G101 that displays the heightwise distance between the tip of the bucket 43 and the target construction surface D as a numerical value, as well as second to sixth display areas G102 to G106 that display various calculation results. The second display area G102 displays the heightwise position of the bucket 43 relative to the machine body as a numerical value. The third display area G103 displays specific operation guidance for the work machine 4. In FIG. 4, displays related to the raising and lowering of the boom and arm are arranged above and below. The fourth display area G104 displays the current side posture of the hydraulic excavator 2 as an image, and the fifth display area G105 displays the position of the target construction surface D relative to the machine body as an image. The sixth display area G106 displays the heightwise distance between the tip of the bucket 43 and the target construction surface D as a bar graph. In addition, a guidance stop button (no symbol) may be located at the very bottom of the guidance screen G1 shown in FIG. 4.

The control unit 134 also transmits the calculated distance between the bucket 43 and the target construction surface D to the display 14 via the collection device 12, and causes the display 14 to display the calculated distance. The method for calculating the distance between the bucket 43 and the target construction surface D will be described later.

The display 14 is installed in the operation section 3 of the hydraulic excavator 2 and displays the distance between the bucket 43 and the target construction surface D calculated by the mobile terminal 13. As shown in FIG. 5, the display 14 in this embodiment is configured with a segment-type LED display section. Specifically, the display 14 is formed by arranging rectangular segment LEDs in two rows L1 and L2 in the vertical direction at regular intervals. With such a display 14, for example, the height of the target construction surface D can be displayed by the segment LEDs in the left row L1, and the height distance from the target construction surface D to the tip of the bucket 43 can be displayed by the segment LEDs in the right row L2. The display 14 may display the distance between the bucket 43 and the target construction surface D as a numerical value. Also, the mobile terminal 13 may be installed in a position visible to the operator, and the guidance screen G1 of the mobile terminal 13 may be used as the display 14, so that the display 14 may be omitted.

[Functional configuration of mobile terminal] Next, the functional configuration of mobile terminal 13 will be explained with reference to Figures 6 to 11.

The mobile terminal 13 has multiple functional configurations realized by the cooperation of hardware and software. The multiple functional configurations include a side image display means, a position registration means, a parameter calculation means, a target construction surface setting means, a tip coordinate calculation means, a distance calculation means, and a guidance screen display means. Here, the side image display means, the position registration means, the parameter calculation means, and the target construction surface setting means are functional configurations for performing advance settings prior to work. Also, the tip coordinate calculation means, the distance calculation means, and the guidance screen display means are functional configurations for displaying guidance during work.

The side image display means displays the side image of the hydraulic excavator 2 captured by the imaging unit 131 on the display unit 133. For example, on the side image request screen G2 shown in FIG. 6, a message requesting a side image of the hydraulic excavator 2, "Please take a photo so that the entire vehicle is visible," is displayed (for example, in the white area in FIG. 6), and the captured side image of the hydraulic excavator 2 is displayed on the screen.

The position registration means registers the positions of the characteristic points of the hydraulic excavator 2 and the installation positions of the attitude sensors 111, 121 (

detection devices

11A, 11B, 11C and collection device 12) in response to touch operations on the side image displayed on the display unit 133. For example, on the position registration screen G3 shown in FIG. 7, a message "Please select the arm pin" indicating the next position to be touched is displayed (for example, in the white area in FIG. 7), and the touched position coordinates are obtained.

As shown in FIG. 8, the characteristic points of the hydraulic excavator 2 that require position registration include the first to sixth points P1 to P6, and the installation positions of the

attitude sensors

111 and 121 include the seventh to tenth points P7 to P10. For example, the first point P1 is defined as the position of the boom pin 41a (see FIG. 1), the second point P2 is defined as the position of the arm pin 42a (see FIG. 1), the third point P3 is defined as the position of the bucket pin 43a (see FIG. 1), and the fourth point P4 is defined as the tip position of the bucket 43. The fifth point P5 is defined as the ground front end position of the traveling device 6, and the sixth point P6 is defined as the ground rear end position of the traveling device 6. The seventh point P7 is defined as the position of the detector 11A installed on the boom 41, the eighth point P8 is defined as the position of the detector 11B installed on the arm 42, and the ninth point P9 is defined as the position of the detector 11C installed on the bucket 43. The tenth point P10 is defined as the position where the collecting device 12 is installed.

The position registration means assumes, for example, an XY coordinate system (hereinafter referred to as the vehicle body coordinate system) with the rear end position of the traveling device 6 that comes into contact with the ground (sixth point P6) as the origin, the length direction of the hydraulic excavator 2 as the X axis, and the height direction of the hydraulic excavator 2 as the Y axis. The position registration means then registers the input position information of the first to tenth points P1 to P10 as coordinate data in the vehicle body coordinate system. Note that the position registration means may register not only the installation positions of the

detection devices

11A, 11B, 11C and the collection device 12, but also the installation directions.

The parameter calculation means calculates various parameters for acquiring bucket tip coordinates based on the position information registered by the position registration means. As shown in FIG. 10, the various parameters to be calculated include the ground-to-boom pin length H, the boom length E, the arm length F, the bucket length G, and the like. The ground-to-boom pin length H is the straight-line distance connecting the ground rear end position (sixth point P6) of the traveling device 6 and the position of the boom pin 41a (first point P1) in the vehicle coordinate system. The boom length E is the straight-line distance connecting the position of the boom pin 41a (first point P1) and the position of the arm pin 42a (second point P2) in the vehicle coordinate system. The arm length F is the straight-line distance connecting the position of the arm pin 42a (second point P2) and the position of the bucket pin 43a (third point P3) in the vehicle coordinate system. The bucket length G is the straight-line distance connecting the position of the bucket pin 43a (third point P3) and the tip position of the bucket 43 (fourth point P4).

The target construction surface setting means enables the advance setting of the target construction surface D. The target construction surface setting means of this embodiment requests the input of the start position coordinates (a1, b1), end position coordinates (a2, b2) and the target angle of the bucket 43 of the target construction surface D on the target construction surface setting screen G4 shown in FIG. 9(a). That is, the target construction surface setting screen G4 displays the start position X coordinate input field G401, the start position Y coordinate input field G402, the end position X coordinate input field G403, the end position Y coordinate input field G404 and the bucket target angle input field G405 of the target construction surface D. The target construction surface setting screen G4 also displays a numeric keypad G406 for inputting numerical values into each input field and a guidance start button G407 for starting the guidance display.

The target construction surface setting means generates an equation (see FIG. 9(b)) that determines the Y coordinate from the X coordinate of the target construction surface D based on the input coordinate data. According to such an equation, after calculating the X coordinate (front-to-rear position) of the bucket tip in the vehicle body coordinate system, the Y coordinate (height position) of the target construction surface D corresponding to the X coordinate of the bucket tip can be obtained by substituting this X coordinate into the above equation.

The tip coordinate calculation means calculates the tip coordinates of the bucket 43 based on the registered position information of the position registration means, the input information input in advance, and the attitude information detected by the plurality of

attitude sensors

111 and 121. As shown in Figs. 10 and 11, the tip coordinate calculation means of this embodiment calculates the tip coordinates of the bucket 43 using the length information H, E, F, and G described above and the angle information θ1 to θ4 calculated based on the detection values of the

attitude sensors

111 and 121. The angle θ1 is the swing angle of the boom 41 based on the horizontal and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11A. The angle θ2 is the swing angle of the arm 42 based on the horizontal and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11B. The angle θ3 is the swing angle of the bucket 43 based on the horizontal and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11C. 11, is calculated from an angle Δθ4 calculated based on the detection value of an attitude sensor 121 provided in the collection device 12 and an angle θ4 ₀ input in advance. Note that the angle θ4 ₀ is a fixed value formed by a straight line connecting the ground rear end position of the traveling device 6 and the position of the boom pin 41a, and the ground contact surface of the traveling device 6, and is obtained from a catalog of the hydraulic excavator 2 or the like and input in advance.

The tip coordinate calculation means calculates the X and Y coordinates of the bucket tip position in the vehicle body coordinate system using the various parameters described above and the following equations.
X = H cos(θ4) + Ecos(θ1) + F cos(θ2) + G cos(θ3)
Y = H sin(θ4) + E sin(θ1) + F sin(θ2) + G sin(θ3)

The distance calculation means calculates the heightwise distance between the tip of the bucket 43 and the target construction surface D based on the calculated tip coordinate of the bucket 43 and the preset coordinate of the target construction surface D. For example, the distance calculation means substitutes the calculated tip X coordinate of the bucket 43 into the equation shown in FIG. 9(b) to obtain the Y coordinate of the target construction surface D corresponding to the tip X coordinate of the bucket 43, and then calculates the difference between this Y coordinate and the tip Y coordinate of the bucket 43. This determines the heightwise distance between the tip of the bucket 43 and the target construction surface D.

The guidance screen display means displays the guidance screen G1 shown in FIG. 4 on the display unit 133. The guidance screen display means then displays the heightwise distance between the tip of the bucket 43 and the target construction surface D as a numerical value in the first display area G101 of the guidance screen G1, and displays the heightwise distance between the tip of the bucket 43 and the target construction surface D as a bar graph in the sixth display area G106.

[Offset correction] Next, offset correction will be explained with reference to Figures 12 and 13.

The mobile terminal 13 has an offset correction means as a functional configuration. The offset correction means executes offset correction when the work support system 1 is applied to a hydraulic excavator 2B with an offset boom. First, the hydraulic excavator 2B with an offset boom will be described. However, for configurations common to the hydraulic excavator 2 with a non-offset boom, the same reference numerals as those in the hydraulic excavator 2 with a non-offset boom may be used to refer to the description of the hydraulic excavator 2 with a non-offset boom.

As shown in Figs. 12 and 13, the boom 41B of the work machine 4B provided on the hydraulic excavator 2B with offset boom has an offset boom mechanism. The offset boom mechanism includes a first boom 411 supported on the support body 5 so as to be able to swing up and down, and a second boom 412 supported on the tip of the first boom 411 so as to be able to swing left and right. The second boom 412 has a parallel link mechanism that translates the arm 42 left and right in response to the left and right swinging, and is swung left and right in response to the hydraulic extension and retraction of the offset cylinder 413 provided between the first boom 411 and the second boom 412. In such an offset boom hydraulic excavator 2B, the boom length E and boom angle θ1 in the vehicle body coordinate system change in response to the left and right swinging of the second boom 412, so that an error occurs in the tip coordinate of the bucket 43 calculated by the tip coordinate calculation means. The offset correction is a process for suppressing such errors. First, an overview of the offset correction will be explained, and then the specific process content of the offset correction will be explained.

When performing offset correction, two detectors 11A1, 11A2 are prepared for boom installation and installed on the first boom 411 and second boom 412, respectively. When the detector 11A2 is installed on the second boom 412 at one end of the length of the second boom 412, it is desirable that it be the end on the arm 42 side. In this way, the amount of displacement of the detector 11A2 accompanying left and right swinging of the second boom 412 becomes larger compared to when it is installed at the end on the first boom 411 side, and therefore the accuracy of detecting the attitude of the second boom 412 by the detector 11A2 can be improved.

The offset correction means corrects the length information and attitude information of the boom 41B based on the attitude information of the first boom 411 and the second boom 412 detected by the detection devices 11A1 and 11A2. As a result, even if the boom length E and boom angle θ1 in the vehicle body coordinate system change in response to the left-right swing of the second boom 412, the tip coordinate calculation means can accurately calculate the tip coordinate of the bucket 43 by using the corrected boom length E and boom angle θ1.

As shown in FIG. 13, the offset boom mechanism has a left maximum offset posture in which the second boom 412 has swung from the non-offset posture to the left maximum swing angle, and a right maximum offset posture in which the second boom 412 has swung from the non-offset posture to the right maximum swing angle. The left maximum offset amount X, which is the horizontal movement distance from the non-offset posture to the left maximum offset posture, is different from the right maximum offset amount Y, which is the horizontal movement distance from the non-offset posture to the right maximum offset posture. The offset correction means performs correction processing using the left maximum offset amount X and right maximum offset amount Y, which are registered in advance. The left maximum offset amount X and right maximum offset amount Y are usually listed in a catalog for the hydraulic excavator 2B, and can be easily obtained and registered in advance.

Next, the specific processing contents of the offset correction will be described with reference to Figures 12 and 13. However, in the vehicle body coordinate system, the left and right swing fulcrum position of the second boom 412 on the first boom 411 side is A, the left and right swing fulcrum position of the second boom 412 on the arm 42 side is B, the position of the arm pin 42a is C, and the position of the boom pin 41a is Z. Also, the length of the line segment AB is ab, the length of the line segment AC is ac, the length of the line segment BC is bc, the length of the line segment AZ is az, and the length of the line segment CZ is cz (corresponding to the length E to be corrected). Also, the initial length of the line segment AB when not offset is ab0, and the initial length of the line segment CZ when not offset is cz0. Also, the angle between the line segment AB and the line segment AZ is α, the angle between the line segment AB and the line segment BC is β, the angle between the line segment AB and the line segment AC is γ, and the angle between the line segment AZ and the line segment CZ is φ. In addition, the maximum offset movable angle of the second boom 412 is yaw0, the maximum right swing angle of the second boom 412 is θ, and the maximum left swing angle of the second boom 412 is yaw0-θ. Note that yaw0 can be obtained as the output yaw when the second boom 412 is offset to the maximum left offset position after the output yaw of the detection device 11a2 is reset to zero when the second boom 412 is in the maximum right offset position.

From the cosine theorem
Y = ab0 × sin(θ)
X = ab0 × sin(yaw0 - θ)

If we eliminate ab0 from the above two equations,
X=Y/sin(θ)×sin(yaw0−θ)
= Y / sin (θ) × (sin (yaw0) cos (θ) - cos (yaw0) sin (θ))
= Y sin(yaw0) cos(θ) / sin(θ) - Y cos(yaw0)
= Y sin(yaw0) (1/(tan(θ))) - Y cos(yaw0)

In the form of tan(θ),

X+Ycos(yaw0)=Ysin(yaw0)(1/(tan(θ)))
tan(θ)=(Y sin(yaw0))/(X+Y cos(yaw0))
θ=arctan(Y sin(yaw0)/(X+Y cos(yaw0)))

Now that θ has been found, ab0 is found.

ab0=Y/sin(θ)

The length ab when the second boom 412 is shifted by yaw from the right end is

ab = ab0 × cos(θ-yaw)

The length ac is given by the cosine law of △ABC.
^ac2 = ^ab2 + bc2 - ² x ab x bc x cos(β)
ac = √( ^ab2 + bc2 ^{- 2} x ab x bc x cos(β))
Here, b c and β are known values that are set in advance and are fixed values.

γ is the sine law of △ABC.
bc/sin(γ)=ac/sin(β)
sin(γ)=bc/acsin(β)
γ = arcsin(bc/acsin(β))

Here, the length that changes due to the boom offset is cz, so
△From ACZ cosine theorem
(1) If point B is below line segment AC,
^cz2 = ^ac2 + ^az2 - 2 x ac x az x cos(α + γ)
cz = √( ^ac2 + ^az2 - 2 x ac x az x cos(α + γ))

(2) If point B is on the line segment AC,
^cz2 = ^ac2 + ^az2 - 2 x ac x az x cos(α-γ)
cz = √( ^ac2 + ^az2 - 2 x ac x az x cos(α-γ))
Here, az and α are known values that are set in advance and are fixed values.

Since point C moves due to the boom offset, φ changes.
Any state φ is △AZC sine theorem
(1) If point B is below line segment AC,
ac/sin(φ)=cz/sin(α+γ)
sin(φ)=(ac/cz)sin(α+γ)
φ=arcsin((ac/cz)sin(α+γ))

(2) If point B is on the line segment AC,
ac/sin(φ)=cz/sin(α-γ)
sin(φ)=(ac/cz)sin(α-γ)
φ=arcsin((ac/cz)sin(α-γ))

Therefore, the corrected boom angle θ1 when the boom is offset can be calculated using the following formula, where θ1 when not offset is θ10 and φ is φ0.

θ1=θ10-(φ0-φ)

Although each embodiment has been described in detail above, it is not limited to a specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or some of the components of the above-mentioned embodiments.

1 Work support system 11A Detector 11B Detector 11C Detector 111 Attitude sensor 112 Wireless communication unit 113 Control unit 114 Battery 115 Case 116 Magnetic member 12 Collector 121 Attitude sensor 122 Wireless communication unit 123 Control unit 13 Mobile terminal 131 Imaging unit 132 Wireless communication unit 133 Display unit 134 Control unit 14

Display

2, 2B Hydraulic excavator 3

Operation unit

4,

4B Work machine

41, 41B Boom 411 First boom 412 Second boom 413 Offset cylinder 41a Boom pin 42 Arm 42a Arm pin 43 Bucket (attachment) 43a Bucket pin (attachment pin) 5 Support 6 Travel device

Claims

An operation unit in which an operator rides;
A work machine configured by connecting a boom, an arm, and an attachment and operated by the operator;
A support body that supports the operating unit and the working machine;
A work support system for a construction machine comprising:
A plurality of detection devices, a collection device and a mobile terminal are provided,
each of the plurality of detection devices includes a posture sensor, a wireless communication unit, a battery, and a magnetic member, and is installed on the boom, the arm, and the attachment by being fixed by the magnetic force of the magnetic member;
the collection device includes a posture sensor, a wireless communication unit, and a control unit, is installed on the operation unit or the support, and transmits a plurality of posture information collected from a plurality of the detection devices via wireless communication and posture information detected by the posture sensor of the collection device to the mobile terminal;
The mobile terminal is equipped with an imaging unit, a wireless communication unit, a display unit and a control unit, and calculates the distance between the attachment and a target construction surface based on the multiple pieces of posture information received from the collection device, and displays the calculated distance on the display unit.
the display unit of the mobile terminal is a touch screen,
The control unit of the mobile terminal
a side image display means for displaying on the display unit a side image of the construction machine captured by the imaging unit;
2. The work support system according to claim 1, further comprising: a position registration means for registering the positions of the characteristic points of the construction machine and the installation position of the attitude sensor in response to a touch operation of the side image displayed on the display unit.
The control unit of the mobile terminal
a tip coordinate calculation means for calculating a tip coordinate of the attachment based on registered position information of the position registration means or input information input in advance and attitude information detected by the plurality of attitude sensors;
3. The work support system according to claim 2, further comprising: a distance calculation means for calculating a distance between the attachment and the target construction surface based on the calculated tip coordinates and preset coordinates of the target construction surface.
the boom has an offset boom mechanism including a first boom supported on the support body so as to be swingable up and down, and a second boom supported on a tip portion of the first boom so as to be swingable left and right,
the detection device installed on the boom is installed on each of the first boom and the second boom,
4. The work support system according to claim 3, wherein the control unit of the mobile terminal includes an offset correction means for correcting length information and attitude information of the boom based on detected attitude information of the first boom and the second boom.
the offset boom mechanism is capable of offset operation between a left maximum offset position in which the second boom has swung from a non-offset position to a left maximum swing angle, and a right maximum offset position in which the second boom has swung from the non-offset position to a right maximum swing angle, and a left maximum offset amount which is a horizontal movement distance from the non-offset position to the left maximum offset position is different from a right maximum offset amount which is a horizontal movement distance from the non-offset position to the right maximum offset position,
The work support system according to claim 4 , wherein the offset correction means performs the correction process using the left maximum offset amount and the right maximum offset amount that are registered in advance.
The work support system according to claim 4, wherein the detection device installed on the second boom is installed at one end of the second boom in the length direction, and the one end of the length direction is the end on the arm side.