WO2024128172A1

WO2024128172A1 - Work assistance system for construction machine

Info

Publication number: WO2024128172A1
Application number: PCT/JP2023/044156
Authority: WO
Inventors: 康黄
Original assignee: 日本精機株式会社
Priority date: 2022-12-12
Filing date: 2023-12-11
Publication date: 2024-06-20

Abstract

The present invention provides, in a work assistance system for a construction machine, a function for suppressing an operation in which an attachment interferes with a blade. The present invention comprises a plurality of detection devices 11A, 11B, 11C, a collection device 12, and a mobile terminal 13. The plurality of detection devices 11A, 11B, 11C are each provided with an orientation sensor 111 and a wireless communication unit 112. The collection device 12 is provided with an orientation sensor 121 and a wireless communication unit 122 and transmits, to the mobile terminal 13, orientation information which is collected via wireless communication with the plurality of detection devices 11A, 11B, 11C and orientation information which is detected by the orientation sensor 121 of the collection device 12. The mobile terminal 13 calculates the distance between a blade 7 and an attachment 43 of a hydraulic shovel 2 on the basis of the orientation information received from the collection device 12, and provides notification of proximity of the attachment 43 and the blade 7 on the basis of the calculated distance.

Description

Construction machinery work support system

This disclosure relates to a work support system for construction machinery.

Patent Document 1 discloses a work support system for construction machinery that has a work implement connected to a boom, arm, and attachment.

International Publication No. 2021/251463

Construction machinery may be equipped with a plate (called a "blade") for pushing and clearing soil and sand, or for leveling the soil. In such construction machinery, the operator's operation may cause the work machine attachment to interfere with the blade.

The present disclosure therefore aims to provide a function in a work assistance system for construction machinery that suppresses operations that cause an attachment to interfere with the blade.

In one aspect, the present invention provides a work support system for a construction machine, the work support system for a construction machine comprising: an operating unit on which an operator rides; a working 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 traveling device that supports the support body so that it can travel; and a blade that is provided on the front side of the traveling device, the work support system comprising: a plurality of detection devices, a collection device, and a mobile terminal, the plurality of detection devices each comprising an attitude sensor, a wireless communication unit, a battery, and a magnetic member, and are detachably installed on each of the boom, the arm, and the attachment by being fixed by the magnetic force of the magnetic member, the collection device comprising an attitude sensor, a wireless communication unit, and a control unit, and a front The operation unit or the support is installed, and transmits to the mobile terminal the posture information collected by wireless communication from each of the multiple detection devices and the posture information detected by its own posture sensor, the mobile terminal includes an imaging unit, a wireless communication unit, a touch screen, and a control unit, the control unit of the mobile terminal includes a side image display means for displaying on the touch screen a side image of the construction machine captured by the imaging unit, and a position registration means for registering the position of the blade in response to a touch operation on the side image displayed on the touch screen, and calculates the distance between the attachment and the blade based on the posture information received from the collection device, and notifies the approach of the attachment and the blade based on the calculated distance.

In the construction machine work support system according to the present invention, the position registration means may register the position of the tip of the blade.

The construction machine work support system according to the present invention may be configured such that 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 the tip 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, and the control unit of the mobile terminal 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.

In the construction machine work support system according to the present invention, 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 may be different, and the offset correction means may perform correction processing using the left maximum offset amount and the right maximum offset amount which are registered in advance.

　In the construction machine work support system according to the present invention, the detection device installed on the second boom may be installed at one end of the second boom in the longitudinal direction, and the one end of the longitudinal direction may be the end on the arm side.

This disclosure makes it possible to provide a work support system for construction machinery that can suppress (in other words, prevent) operations that cause the attachment to interfere with the blade.

1 is a diagram showing a schematic configuration of a work support system for a construction machine according to an embodiment of the present invention; 2 is a block diagram showing a configuration of a work support system for the construction machine 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 feature 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 to calculate the coordinates of the tip position of the bucket. FIG. 4 is an explanatory diagram of parameters used in calculating a vehicle inclination angle. 11 is a diagram for explaining a case in which the bucket interferes with the blade when the support body rotates. FIG. 11A and 11B are diagrams illustrating a state in which the bucket does not interfere with the blade even when the support body rotates. FIG. 13 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 construction machine work assistance system 1 (also simply referred to as "work assistance system 1") of this embodiment shown in Figures 1 and 2 uses the machine guidance function of a hydraulic excavator 2, which is a construction machine, to assist the work of an operator who operates the hydraulic excavator 2. 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, a traveling device 6, and a blade 7.

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 composed of a boom 41, an arm 42, and a bucket 43 connected in sequence, 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 that it can swing up and down, and swings in response to the hydraulic extension and retraction action 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 that it can swing back and forth and up and down, and swings in response to the hydraulic extension and retraction action 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 that it can 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 operating unit 3 and the work machine 4.

The traveling device 6 supports the support body 5 so that it can rotate 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 blade 7 is a plate that is attached to the front side of the traveling device 6 and is used to push, remove, and level soil and sand.

Here, 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 installed on the boom 41, the arm 42, and the bucket 43, respectively. 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, an IMU (Inertial Measurement Unit) sensor that detects three-dimensional acceleration and angular velocity is used as the attitude sensor 111.

The wireless communication unit 112 performs wireless communication with the collection device 12. For example, Bluetooth (registered trademark) is used 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 uses its magnetic force to fix the

detection devices

11A, 11B, and 11C to the boom 41, arm 42, and bucket 43, which are made of metal. The magnetic member 116 is provided on the bottom surface of the case 115, as shown in FIG. 3, for example, and uses its magnetic force to fix 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. In addition, 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 the 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 image range at least 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 into a single image, or may be multiple images capturing individual characteristic points of the hydraulic excavator 2.

The wireless communication unit 132 performs wireless communication at least with the collection device 12. For example, Bluetooth (registered trademark) is used 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 tip of the bucket 43 and the target construction surface D based on the multiple pieces of attitude 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 distance in the height direction 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 (i.e., the hydraulic excavator 2) as a numerical value. The third display area G103 displays specific operation guidance for the work machine 4. In FIG. 4, displays related to raising and lowering the boom and arm are arranged vertically. The fourth display area G104 displays the current side posture of the hydraulic excavator 2 as an image (figure). The fifth display area G105 displays the position of the target construction surface D relative to the machine body as an image (figure). The sixth display area G106 displays the distance in the heightwise direction between the tip of the bucket 43 and the target construction surface D as a bar graph. Note that a guidance stop button (no symbol) may be arranged at the very bottom of the guidance screen G1 shown in FIG. 4.

The control unit 134 also transmits the calculated distance between the tip of 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 tip of 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 tip of the bucket 43 and the target construction surface D, which is 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 distance along the height direction 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. Alternatively, the display 14 may display the distance between the tip of the bucket 43 and the target construction surface D as a numerical value.

In addition, the display 14 may be omitted by installing the mobile terminal 13 in a position visible to the operator and using the guidance screen G1 of the mobile terminal 13 as the display 14.

[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, such as "Please take a photo that captures the entire vehicle," is displayed (for example, in the white portion at the top end of the side image request screen G2), 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 indicating the next position to be touched, such as "Please select the arm pin," is displayed (for example, in the white portion at the top of the position registration screen G3), and the touched position coordinates are obtained.

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

attitude sensors

111, 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 as the position of the arm pin 42a (see FIG. 1), the third point P3 as the position of the bucket pin 43a (see FIG. 1), and the fourth point P4 as the tip position of the bucket 43. The fifth point P5 is defined as the front end position of the traveling device 6 that comes into contact with the ground, and the sixth point P6 as the rear end position of the traveling device 6 that comes into contact with the ground.

The seventh point P7 is defined as the position of the detection device 11A installed on the boom 41, the eighth point P8 is defined as the position of the detection device 11B installed on the arm 42, and the ninth point P9 is defined as the position of the detection device 11C installed on the bucket 43. The tenth point P10 is defined as the position where the collection device 12 is installed.

The position registration means assumes, for example, an X-Y orthogonal coordinate system (called the "vehicle body coordinate system") with the ground contact rear end position (sixth point P6) of the traveling device 6 as the origin, the horizontal direction along the length of the hydraulic excavator 2 (in other words, the traveling direction of the traveling device 6, the front-to-rear direction) as the X axis, and the height direction of the hydraulic excavator 2 (i.e. the vertical direction) 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 obtaining the coordinates of the tip position of the bucket 43 based on the position information registered by the position registration means. As shown in FIG. 10, the various parameters calculated include the ground-to-boom pin length H, boom length E, arm length F, bucket length G, etc.

The ground-to-boom pin length H is the straight-line distance connecting the rear end position of the traveling device 6 on the ground (sixth point P6) and the position of the boom pin 41a (first point P1) in the vehicle body 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 body 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 body 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) of the target construction surface D, and the target angle of the bucket 43 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, start position Y coordinate input field G402, end position X coordinate input field G403, end position Y coordinate input field G404, and 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)) for determining the Y coordinate of the target construction surface D at any X coordinate within the target construction surface D based on the input coordinate data. According to such an equation, after calculating the X coordinate (i.e., the fore-aft position) of the tip position of the bucket 43 in the vehicle body coordinate system, the Y coordinate (i.e., the height position) of the target construction surface D corresponding to the X coordinate of the tip position of the bucket 43 is obtained by substituting this X coordinate into the above equation.

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

multiple attitude sensors

111, 121. As shown in Figures 10 and 11, the tip coordinate calculation means of this embodiment calculates the coordinates of the tip position of the bucket 43 using the lengths H, E, F, and G (also referred to as "length information") described above and the angles θ1 to θ4 calculated based on the detection values of the

attitude sensors

111 and 121.

Angle θ1 is a swing angle of the boom 41 with respect to the horizontal direction (in other words, with the horizontal direction as a reference), and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11A. Angle θ2 is a swing angle of the arm 42 with respect to the horizontal direction, and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11B. Angle θ3 is a swing angle of the bucket 43 with respect to the horizontal direction, and is calculated based on the detection value of the attitude sensor 111 provided in the detection device 11C. Angle θ4 is an inclination angle of the machine body (i.e., the hydraulic excavator 2) with respect to the horizontal direction, and is calculated as the sum of angle Δθ4 calculated based on the detection value of the attitude sensor 121 provided in the collection device 12 and angle _θ40 input in advance, as shown in FIG. The angle _θ40 is a fixed value formed by a straight line connecting the rear end position of the traveling device 6 that has come into contact with the ground 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 as a specification of the hydraulic excavator 2.

The tip coordinate calculation means calculates the X and Y coordinates of the tip position of the bucket 43 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 distance in the height direction between the tip of the bucket 43 and the target construction surface D based on the coordinates of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the coordinates of the target construction surface D that have been set in advance. For example, the distance calculation means substitutes the X coordinate of the tip position of the bucket 43 calculated by the tip coordinate calculation means into the equation shown in FIG. 9(b) to obtain the Y coordinate of the target construction surface D corresponding to the X coordinate of the tip position of the bucket 43, and then calculates the difference between the obtained Y coordinate and the Y coordinate of the tip position of the bucket 43 calculated by the tip coordinate calculation means. This allows the distance in the height direction between the tip of the bucket 43 and the target construction surface D to be found.

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 distance along the height direction 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 distance along the height direction between the tip of the bucket 43 and the target construction surface D as a bar graph in the sixth display area G106.

(Function for suppressing interference with blade/Example 1)
Next, an example of a configuration for suppressing interference with the blade 7 will be described.

In this embodiment, the imaging range is adjusted to include at least the boom 41, arm 42, and bucket 43 as well as the blade 7, and a side image of the exterior of the hydraulic excavator 2 is captured by the imaging unit 131 of the mobile terminal 13.

In addition, the position coordinates acquired by the position registration means via the display function and touch input function of the display unit 133 of the mobile terminal 13 further include the eleventh and twelfth points P11 and P12 as characteristic points of the blade 7 of the hydraulic excavator 2 (see FIG. 8).

The eleventh point P11 is defined as the upper end position of the blade 7, and the twelfth point P12 is defined as the lower end position of the blade 7. The position registration means then registers the position information of the eleventh and twelfth points P11 and P12 as well as the position information of the first to tenth points P1 to P10 related to the hydraulic excavator 2 input via the display unit 133 as coordinate data in the vehicle body coordinate system.

The parameter calculation means selects the upper end position (11th point P11) or the lower end position (12th point P12) of the blade 7 that is farthest in the horizontal direction (X-axis direction) from the rear end position of the running gear 6 that is in contact with the ground (6th point P6), which is the origin of the vehicle body coordinate system, and identifies it as the most forward position of the blade 7.

The distance calculation means calculates the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the most extreme position of the blade 7 based on the coordinates of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the coordinates of the most extreme position of the blade 7 identified by the parameter calculation means. The distance calculation means calculates, for example, the difference between the X coordinate of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the X coordinate of the most extreme position of the blade 7 identified by the parameter calculation means. This allows the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the most extreme position of the blade 7 to be found.

The guidance screen display means notifies the user that the bucket 43 is approaching the blade 7 when the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the most extreme position of the blade 7 calculated by the distance calculation means becomes less than a predetermined threshold (referred to as the "horizontal distance threshold"). This notification may be made by at least one of the following: displaying text such as "Caution: Blade interference!" on the guidance screen G1 (for example, in the white portion at the bottom end of the guidance screen G1 shown in FIG. 4); changing the color of the attachment (bucket 43) of the hydraulic excavator 2 displayed in the fourth display area G104 of the guidance screen G1 to a warning color such as yellow or red; and outputting a sound such as an electronic sound or voice. When a sound is output, the smaller the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the most extreme position of the blade 7, the stronger the degree of attention may be called by, for example, increasing the sound pressure of the notification sound or changing the type of notification sound.

The horizontal distance threshold is not limited to a specific value, but is set to an appropriate value while taking into consideration that the tip of the bucket 43 can be ensured not to interfere with the blade 7. It is preferable that the horizontal distance threshold is determined based on the size of the construction machine to which the work assistance system 1 is applied, and the calculation accuracy of the tip position of the bucket 43 calculated by the tip coordinate calculation means.

For example, when applying to a hydraulic excavator classified as a small mini-excavator of less than 2 tons, it is preferable to set the horizontal distance threshold small since precise operation is possible. In this case, it is preferable to set the horizontal distance threshold in the range of 5 to 50 cm. As a specific example, if the calculation accuracy of the tip coordinate calculation means is 5 cm, the horizontal distance threshold is set to twice that, that is, 10 cm (specifically, the magnitude of the X coordinate in the vehicle body coordinate system that corresponds to the actual length is set).

Furthermore, when applying this to a hydraulic excavator classified as a large excavator of 30 tons or more, it is preferable to set the horizontal distance threshold to a large value since precise operation is more difficult than with a mini excavator. In this case, it is preferable to set the horizontal distance threshold in the range of 50 to 100 cm, taking into consideration the operational resolution of the bucket 43. As a specific example, if the calculation accuracy of the tip coordinate calculation means is 5 cm and the operational resolution of the bucket 43 is 20 cm, then the horizontal distance threshold is set to 50 cm, which is double the sum of these, 25 cm.

In the above example, the lower end position (12th point P12) farthest from the rear end position of the traveling device 6 on the ground (sixth point P6) is specified as the most forward position of the blade 7 in the position coordinates acquired by the position registration means. However, this is not limited to this configuration, and for example, if it is clear which of the upper and lower parts of the blade 7 protrudes further forward, only one of the upper and lower end positions of the blade 7 that is farther horizontally in the fore-and-aft direction from the rear end position of the traveling device 6 on the ground (sixth point P6) may be input and registered. Also, if a part of the blade 7 other than the upper and lower parts protrudes further forward, that part may be input and registered.

In addition, if the blade 7 is movable, the upper end position (eleventh point P11) and the lower end position (twelfth point P12) of the blade 7 may be acquired, registered, and selected while the blade 7 is in various positions and postures, or the part of the blade 7 that protrudes most forward may be acquired, registered, and selected. The blade 7 is movable if, for example, the blade 7 can swing, rotate, tilt, etc.

(Function for suppressing interference with blade/Example 2)
Next, another example of the configuration of the function of suppressing interference with the blade 7 will be described.

In this embodiment, the position registration means of the mobile terminal 13 acquires and registers position information of the first to tenth points P1 to P10 related to the hydraulic excavator 2 input via the display unit 133, as well as position information of the bucket 43 when it is approaching the blade 7.

Specifically, the position registration means registers the posture information in a state where the operator rotates the support body 5 and operates the work machine 4 to move the bucket 43 to a position approaching the right end of the blade 7 (particularly, the part of the right end of the blade 7 that protrudes most forward) as the first approach posture information. The first approach posture information is posture information of the work machine 4 collected from the

detection devices

11A, 11B, 11C and transmitted from the collection device 12, and posture information of the support body 5 detected by the posture sensor 121 and transmitted from the collection device 12.

The position registration means further registers, as second approaching posture information, posture information in a state in which the operator rotates the support body 5 and operates the work machine 4 to move the bucket 43 to a position approaching the left end of the blade 7 (particularly, the part of the left end of the blade 7 that protrudes most forward). The second approaching posture information is posture information of the work machine 4 collected from the

detection devices

11A, 11B, and 11C and transmitted from the collection device 12, and posture information of the support body 5 detected by the posture sensor 121 and transmitted from the collection device 12.

In addition, in cases where the structure of the hydraulic excavator 2 is symmetrical, the second approach posture information may be automatically generated from the first approach posture information and registered, or only one of the two may be registered.

The position registration means further registers, as third approach posture information, posture information in a state in which the operator rotates the support body 5 and operates the work machine 4 to move the bucket 43 to a position approaching the center in the left-right direction of the blade 7 (particularly, the part of the center in the left-right direction of the blade 7 that protrudes most forward). The third approach posture information is posture information of the work machine 4 collected from the

detection devices

These registered first to third approach posture information correspond to the degree of separation between the tip of the bucket 43 and the center of the blade 7 in the left-right direction, which is required to suppress and prevent interference between the bucket 43 and the blade 7. That is, the position registration means registers multiple sets of posture information when the bucket 43 is approaching the blade 7, with the support body 5 (and therefore the work machine 4) rotated to multiple angles that are different from each other.

As shown in FIG. 12, when the bucket 43 is in front of the blade 7 (i.e., in front of the center of the blade 7 in the left-right direction) or near the front, even if there is a sufficient distance between the blade 7 (reference symbol 43_f1 in the figure), if the support body 5 rotates with the posture of the work implement 4 remaining the same, the bucket 43 may interfere with the right end or near the right end or the left end or near the left end of the blade 7 (reference symbol 43_c1 in the figure).

The parameter calculation means calculates the position of the bucket 43 in front of or near the front of the blade 7 (reference number 43_f2 in the figure) in the position of the work machine 4 where the bucket 43 does not interfere with the right end or near the right end or the left end or near the left end of the blade 7 even if the support body 5 rotates while the position of the work machine 4 remains the same, as shown in FIG. 13, from the first approaching position information and the second approaching position information. The position of the bucket 43 in front of or near the front of the blade 7 where the bucket 43 does not interfere with the blade 7 even if the support body 5 rotates while the position of the work machine 4 remains the same, calculated in this way, is referred to as the "swing interference avoidance position".

The position registration means may register the approach posture information during the first turn and the approach posture information during the second turn as follows. After the operator moves the bucket 43 to the blade approach position during right turn indicated by reference symbol 43_c2 in FIG. 13, the position registration means rotates the support body 5 while keeping the posture of the work implement 4 unchanged to a position near the front of the blade 7 indicated by reference symbol 43_f2 in FIG. 13, and registers the posture information at this near-front position as the approach posture information during the first turn. The position registration means also registers the approach posture information during the second turn as follows. After the operator moves the bucket 43 to the blade approach position during left turn indicated by reference symbol 43_c2 in FIG. 13, the support body 5 rotates while keeping the posture of the work implement 4 unchanged to a position near the front of the blade 7 indicated by reference symbol 43_f2 in FIG. 13, and registers the posture information at this near-front position as the approach posture information during the second turn.

In this case, the parameter calculation means selects, from the first approach posture information during turning and the second approach posture information during turning, the one that is farther along the horizontal direction in the fore-and-aft direction from the rear end position of the running device 6 on the ground (i.e., the sixth point P6, the origin of the vehicle body coordinate system), i.e., the one that is farther along the X-axis direction and has a larger X coordinate, and registers this as the interference avoidance position during turning.

The distance calculation means calculates the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the turning interference avoidance position (referred to as the "turning interference avoidance distance") based on the coordinates of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the coordinates of the turning interference avoidance position calculated or selected by the parameter calculation means. The distance calculation means calculates, for example, the difference between the X coordinate of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the X coordinate of the turning interference avoidance position calculated or selected by the parameter calculation means. This determines the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the turning interference avoidance position (i.e., the turning interference avoidance distance).

The distance calculation means further calculates the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the third approach attitude information (referred to as the "forward interference avoidance distance") based on the coordinates of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the coordinates of the third approach attitude information registered by the position registration means. The distance calculation means calculates, for example, the difference between the X coordinate of the tip position of the bucket 43 calculated by the tip coordinate calculation means and the X coordinate of the third approach attitude information registered by the position registration means. This determines the horizontal distance in the fore-aft direction between the tip of the bucket 43 and the third approach attitude information (i.e., the forward interference avoidance distance). Note that the turning interference avoidance distance is smaller than the forward interference avoidance distance.

When the swing interference avoidance distance calculated by the distance calculation means falls below a predetermined threshold (referred to as the "swing distance threshold"), the guidance screen display means notifies the user that if the support body 5 is rotated while maintaining the current posture of the work implement 4, the bucket 43 will come close to the blade 7. This notification is referred to as the "first notification." The first notification may be performed by at least one of the following: displaying text such as "Caution: Blade interference during swing!" on the guidance screen G1 (for example, in the white portion at the bottom end of the guidance screen G1 shown in FIG. 4); changing the color of the attachment (bucket 43) of the hydraulic excavator 2 displayed in the fourth display area G104 of the guidance screen G1 to a warning color such as yellow; and outputting a sound such as an electronic sound or voice.

The turning distance threshold is not limited to a specific value, but is set appropriately, taking into consideration that it is possible to ensure that the tip of the bucket 43 does not interfere with the blade 7 when the support body 5 turns. For example, in the case of a mini excavator, the turning distance threshold may be set to any value within a range of about 5 to 50 cm (specifically, the magnitude of the X coordinate in the vehicle body coordinate system that corresponds to the actual length).

The guidance screen display means further notifies that the current state (in other words, the state in which the support body 5 is not rotating) of the bucket 43 is approaching the blade 7 when the forward interference avoidance distance calculated by the distance calculation means falls below a predetermined threshold (referred to as the "forward distance threshold"). This notification is referred to as the "second notification." The second notification may be performed by at least one of the following: displaying text such as "Caution: Blade Interference!" on the guidance screen G1 (for example, in the white portion at the bottom end of the guidance screen G1 shown in FIG. 4); changing the color of the attachment (bucket 43) of the hydraulic excavator 2 displayed in the fourth display area G104 of the guidance screen G1 to a warning color such as red (note that this color is different from the attention-calling color in the first notification); and outputting a sound such as an electronic sound or voice.

The forward distance threshold is not limited to a specific value, but is set to an appropriate value while taking into consideration that a state can be ensured in which the tip of the bucket 43 does not interfere with the blade 7. For example, in the case of a mini excavator, the forward distance threshold may be set to any value in the range of about 5 to 50 cm (specifically, the magnitude of the X coordinate in the vehicle body coordinate system that corresponds to the actual length). The turning distance threshold and the forward distance threshold may be set to the same value, or may be set to different values.

It is preferable that the second notification be more alert (in other words, more warning) than the first notification; for example, it is preferable that the first notification not output a sound (or not be accompanied by sound output) and the second notification output a sound (or be accompanied by sound output).

In addition, if the start of a rotation motion or a rotation operation of the support 5 can be detected by the attitude sensor 111 of the

detection devices

11A, 11B, and 11C or the attitude sensor 121 of the collection device 12, or by monitoring the operation of the operator in the operation unit 3, or by other mechanisms, a notification is not issued simply because the rotation interference avoidance distance becomes less than the rotation distance threshold, but a first notification may be issued when the start of a rotation motion or a rotation operation of the support 5 is detected in a state in which the rotation interference avoidance distance is less than the rotation distance threshold. In this case, it is preferable that the first notification is a sound output (or accompanied by the output of a sound). In addition, the content and type of the notification when the rotation interference avoidance distance becomes less than the rotation distance threshold may be different from the content and type of the notification when the start of rotation (or the start of a rotation operation) of the support 5 is detected in a state in which the rotation interference avoidance distance is less than the rotation distance threshold.

In the above example, the posture information relating to the ends in the left-right direction of the blade 7 (i.e., the positions for avoiding interference during turning) and the posture information relating to the center part in the left-right direction of the blade 7 (i.e., the third approach posture information) are registered, and the distance calculation means calculates the interference avoidance distance during turning and the forward interference avoidance distance. However, this configuration is not limited, and only one of the posture information relating to the ends in the left-right direction of the blade 7 (i.e., the positions for avoiding interference during turning) and the posture information relating to the center part in the left-right direction of the blade 7 (i.e., the third approach posture information) may be registered.

In addition, if the blade 7 is movable, the blade 7 may be placed in various positions and postures while posture information relating to the ends of the blade 7 in the left-right direction (i.e., positions for avoiding interference during turning) and posture information relating to the center of the blade 7 in the left-right direction (i.e., third approach posture information) may be registered.

[Offset correction] Next, offset correction will be explained with reference to Figures 14 and 15.

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. 14 and 15, 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 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 swing, and is swung left and right in response to the hydraulic extension and contraction operation of the offset cylinder 413 provided between the first boom 411 and the second boom 412, and is capable of offset operation. 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 swing of the second boom 412, so that an error occurs in the coordinates of the tip position 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 is larger than 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 coordinates of the tip position of the bucket 43 by using the corrected boom length E and boom angle θ1.

As shown in FIG. 15, 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 14 and 15. 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 law of cosines, 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 x cos(θ-yaw)

The length ac is calculated by the cosine law of △ABC as ac ² = ab ² + bc ² - 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 △ABC sine law: 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 the 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.
By the sine theorem of △AZC, φ of any state is,
(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 Construction machine work support system

11A Detection device

11B Detection device

11C Detection device 111 Attitude sensor 112 Wireless communication unit 113 Control unit 114 Battery 115 Case 116 Magnetic member 12 Collection device 121 Attitude sensor 122 Wireless communication unit 123 Control unit 13 Portable terminal 131 Imaging unit 132 Wireless communication unit 133 Display unit 134 Control unit 14 Display device 2 Hydraulic excavator (non-offset boom specification)
2B hydraulic excavator (offset boom specification)
3 Operation unit 4 Work machine 4B Work machine (offset boom specification)
41 Boom 41B Boom (offset boom specification)
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 body 6 Travel device 7 Blade

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 traveling device that supports the support body so that the support body can travel;
A work support system for a construction machine comprising: a blade provided on a front side of the traveling device,
A method for detecting a plurality of detection devices, a collection device, and a mobile terminal,
each of the plurality of detection devices includes a posture sensor, a wireless communication unit, a battery, and a magnetic member, and is detachably installed on the boom, the arm, and the attachment by being fixed by a magnetic force of the magnetic member;
the collection device includes a posture sensor, a wireless communication unit, and a control unit, and is installed on the operation unit or the support body, and transmits posture information collected from each of the plurality of detection devices via wireless communication and posture information detected by the posture sensor of the collection device to the mobile terminal;
the mobile terminal includes an imaging unit, a wireless communication unit, a touch screen, and a control unit;
The control unit of the mobile terminal
a side image display means for displaying a side image of the construction machine captured by the imaging unit on the touch screen;
a position registration means for registering a position of the blade in response to a touch operation of the side image displayed on the touch screen,
A construction machine work support system that calculates a distance between the attachment and the blade based on the posture information received from the collection device, and notifies of the approach of the attachment and the blade based on the calculated distance.
The construction machine work support system according to claim 1, wherein the position registration means registers the position of the tip of the blade.
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,
2. The construction machine work support system according to claim 1, wherein the control unit of the mobile terminal is provided with an offset correction means for correcting length information and attitude information of the boom based on the 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,
4. The work support system for a construction machine according to claim 3, wherein the offset correction means performs correction processing using the left maximum offset amount and the right maximum offset amount that are registered in advance.
The construction machine work support system according to claim 3, 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.