WO2024143246A1 - 検出装置 - Google Patents

検出装置 Download PDF

Info

Publication number
WO2024143246A1
WO2024143246A1 PCT/JP2023/046320 JP2023046320W WO2024143246A1 WO 2024143246 A1 WO2024143246 A1 WO 2024143246A1 JP 2023046320 W JP2023046320 W JP 2023046320W WO 2024143246 A1 WO2024143246 A1 WO 2024143246A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection device
battery
control unit
work
wireless communication
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2023/046320
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
洸平 米原
正倫 鈴木
開人 土田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nippon Seiki Co Ltd
Original Assignee
Nippon Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nippon Seiki Co Ltd filed Critical Nippon Seiki Co Ltd
Priority to JP2024567777A priority Critical patent/JPWO2024143246A1/ja
Publication of WO2024143246A1 publication Critical patent/WO2024143246A1/ja
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/10—Primary casings; Jackets or wrappings

Definitions

  • This disclosure relates to a detection device that detects the posture of a work implement of a construction machine.
  • Patent Document 1 discloses a work support system for construction machinery equipped with a work implement that is connected to a boom, arm, and attachment. This work support system calculates the difference between the position of the attachment tip and the construction target based on sensor information detected by attitude detection devices attached to the boom, arm, and attachment, and displays guidance to the operator.
  • the inventors of the present disclosure recognized the problem that, when construction machinery is in operation, the attitude detection device may be subjected to strong external impacts, such as by coming into contact with minerals such as stones and gravel contained in the soil, and that it is necessary to increase the robustness of the attitude detection device so that abnormalities do not occur in the operation of the work support system even in such an environment.
  • the purpose of this disclosure is to provide a highly robust detection device.
  • the detection device of the present disclosure comprises: A detection device fixed to a construction machine and detecting the attitude of the construction machine, the detection device includes a battery, a constant voltage circuit that supplies a driving power source obtained by transforming a battery power source supplied from the battery, and a control unit that is driven by the driving power source,
  • the constant voltage circuit includes a capacitor at the input stage or the output stage.
  • FIG. 1 is a perspective view showing the appearance of a detection device;
  • FIG. 1 is a perspective view showing components of a detection device;
  • FIG. 1 is a perspective view showing the rear appearance of a main body of a detection device;
  • Top view of the detector A-A cross-sectional view of the detection device BB cross-sectional view of the detection device
  • C-C cross-sectional view of the detection device Diagram showing the relative positions of the detector antenna and protective gear
  • FIG. 2 is a circuit block diagram of the detection device.
  • the work assistance system 1 disclosed herein presents guidance information to an operator of the construction machine to assist in the operation of the construction machine.
  • a hydraulic excavator 2 an example of a construction machine
  • the work assistance system 1 can also be applied to construction machines such as rotary forks and crawler cranes, as well as other loading and unloading machines.
  • the operation unit 3 is the riding space for the operator who operates the hydraulic excavator 2.
  • the operation unit 3 is equipped with the operating levers and switches of the hydraulic excavator 2, and a seat on which the operator sits.
  • the operation unit 3 is available in a cab specification that covers the riding space, and a canopy specification that covers only the upper part of the riding space, and the work support system 1 can be applied to either specification.
  • the bucket 43 for digging up soil is a type of attachment that can be removed from the arm 42 by removing the bucket pin (attachment pin) 43a, and can be replaced with other attachments suited to the work.
  • Other 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 can be applied regardless of the type of attachment.
  • the support body 5 supports the operating unit 3 and the work machine 4.
  • the support body 5 is equipped with an engine and the like for driving the work machine.
  • the running device 6 supports the support body 5 so that it can move and turn.
  • the running device can be of a crawler type or a wheel type equipped with wheels.
  • the detection devices 11 are devices that detect the posture of the work implement 4 of the hydraulic excavator 2. As shown in FIG. 1, the detection devices 11 are, for example, three detection devices 11A, 11B, and 11C installed on the boom 41, arm 42, and bucket 43. These three detection devices 11A, 11B, and 11C are installed on the same side (right side or left side) of the work implement 4.
  • the collection device 12 collects the information received from the detection device 11 and transmits it to the mobile terminal 13.
  • the collection device 12 is installed, for example, on the floor at the foot of the seat of the operation unit 3 of the hydraulic excavator 2.
  • the collection device 12 includes a posture sensor 121, a wireless communication unit 122, a control unit 123, and a case that houses these.
  • the attitude sensor 121 detects the attitude of the collection device 12.
  • the attitude sensor 121 is, for example, an IMU (Inertial Measurement Unit) that detects three-dimensional acceleration and angular velocity, and can estimate the attitude of the collection device 12 from the roll, pitch, and yaw rotation angles.
  • the collection device 12 is installed on the floor at the foot of the seat of the operation unit 3 of the hydraulic excavator 2. In this case, the attitude of the support body 5 can be estimated.
  • the mobile terminal 13 is a smartphone or tablet terminal, and executes application software related to the work assistance system 1 to provide machine guidance.
  • the mobile terminal 13 includes a camera 131, a wireless communication unit 132, a control unit 133, and a touch screen 134.
  • the camera 131 captures still images and videos. In this embodiment, it is used to capture a side image of the hydraulic excavator 2.
  • This side image captures characteristic points of the hydraulic excavator 2, including 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 control unit 133 activates the camera 131.
  • the operator uses the camera 131 of the mobile terminal 13 to capture a side image including the entire side of the hydraulic excavator 2 within the imaging range.
  • the control unit 133 displays the captured side image on the touch screen 134.
  • the characteristic points P1 to P6 of the construction machine will be explained.
  • the first characteristic point P1 is the position of the boom pin 41a.
  • the second characteristic point P2 is the position of the arm pin 42a.
  • the third characteristic point P3 is the position of the bucket pin 43a.
  • the fourth characteristic point P4 is the position of the tip of the bucket 43.
  • the fifth characteristic point P5 is the position of the front end of the traveling device 5 where it touches the ground.
  • the sixth characteristic point P6 is the position of the rear end of the traveling device 5 where it touches the ground.
  • the detection device feature points P7 to P12 will be described. These feature points P7 to P21 correspond to the tip and end of the mark 116 of the detection device 11.
  • Feature point P7 is the position of the end of the mark 116 of the detection device 11A.
  • Feature point P8 is the position of the tip of the mark 116 of the detection device 11A.
  • Feature point P9 is the position of the end of the mark 116 of the detection device 11B.
  • Feature point P10 is the position of the tip of the mark 116 of the detection device 11B.
  • Feature point P11 is the position of the end of the mark 116 of the detection device 11C.
  • Feature point P12 is the position of the tip of the mark 116 of the detection device 11C.
  • the control unit 133 calculates the length per pixel of the side image from the image resolution of the side image and the characteristic points P7 to P12 of the detection device. For example, if the number of pixels between the characteristic points P7 and P8 of the detection device is 10 pixels and the length of the arrow of the mark 115 of the detection device 11 is 10 cm, one pixel of the side image corresponds to 1 cm.
  • the control unit 133 calculates the length L1 between the characteristic points P6 and P1, the length L2 between the characteristic points P1 and P2, the length L3 between the characteristic points P2 and P3, and the length L4 between the characteristic points P3 and P4.
  • the control unit 133 displays the operation state of the work machine 4 on the touch screen 134 based on the coordinates of the tip of the bucket 43 calculated in step 4.
  • the operation state of the work machine 4 is, for example, a visualization of the relative distance between the target construction surface and the tip of the bucket 43. This allows the operator to intuitively understand the progress of the excavation work.
  • the detection device 11 includes a main body 7 and a protective device 8 that protects the main body 7.
  • the main body 7 includes a lower case 71, a battery box 72, a middle case 73, a circuit board 74, and an upper case 75.
  • the main body 7 is placed on the base plate 81, and the protective equipment 8 is attached to the main body 7 by tightening the nuts 83 on the bolts 811 while covering it with the cover 82 from above.
  • the detection device 11 is fixed to the work machine 4 by the magnetic force of the magnetic body 711, but the magnetic force may weaken due to an impact, causing the detection device 11 to fall off.
  • the cable tie 84 prevents the detection device 11 from falling off the work machine 4. This increases the robustness of the system against strong external impacts.
  • a hole 825 is formed between the top surface 821 and the second side surface 823.
  • a hole 826 is also formed between the top surface 821 and the third side surface 824. As shown in FIG. 8, the tip and end of the mark 116 can be seen from the outside through these two holes 825 and 826.
  • a spacer portion 8232 is formed on the mounting portion 8231 of the second side portion 823.
  • a spacer portion 8242 is formed on the mounting portion 8241 of the third side portion 824.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Secondary Cells (AREA)
PCT/JP2023/046320 2022-12-26 2023-12-25 検出装置 Pending WO2024143246A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024567777A JPWO2024143246A1 (enrdf_load_stackoverflow) 2022-12-26 2023-12-25

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022208200 2022-12-26
JP2022-208200 2022-12-26

Publications (1)

Publication Number Publication Date
WO2024143246A1 true WO2024143246A1 (ja) 2024-07-04

Family

ID=91717937

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/046320 Pending WO2024143246A1 (ja) 2022-12-26 2023-12-25 検出装置

Country Status (2)

Country Link
JP (1) JPWO2024143246A1 (enrdf_load_stackoverflow)
WO (1) WO2024143246A1 (enrdf_load_stackoverflow)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5952559U (ja) * 1982-09-30 1984-04-06 アンリツ株式会社 バツテリ保持装置
JPH06228986A (ja) * 1993-02-02 1994-08-16 Hitachi Constr Mach Co Ltd 作業車両の冷房装置
JP2018145698A (ja) * 2017-03-07 2018-09-20 住友重機械工業株式会社 作業機械

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5952559U (ja) * 1982-09-30 1984-04-06 アンリツ株式会社 バツテリ保持装置
JPH06228986A (ja) * 1993-02-02 1994-08-16 Hitachi Constr Mach Co Ltd 作業車両の冷房装置
JP2018145698A (ja) * 2017-03-07 2018-09-20 住友重機械工業株式会社 作業機械

Also Published As

Publication number Publication date
JPWO2024143246A1 (enrdf_load_stackoverflow) 2024-07-04

Similar Documents

Publication Publication Date Title
US10519630B2 (en) Posture calculation device of working machinery, posture calculation device of excavator, and working machinery
AU2021201894B2 (en) Shape measuring system and shape measuring method
KR101815269B1 (ko) 위치 계측 시스템 및 위치 계측 방법
AU2020320149B2 (en) Display system, remote operation system, and display method
EP3767042B1 (en) Construction machine
US11195351B2 (en) Work machine measurement system, work machine, and measuring method for work machine
JP7223823B2 (ja) 旋回作業車
JP6749952B2 (ja) 作業機械の緊急停止装置及び緊急停止方法
JP2013204260A (ja) 車両の遠隔操作装置、車両及び車両の遠隔操作方法
JP2024028438A (ja) 作業機械の画像表示システム及び作業機械の画像表示方法
WO2024143246A1 (ja) 検出装置
CN117616177A (zh) 挖掘机械的运转范围设定系统及其控制方法
WO2024143247A1 (ja) 検出装置
CA3164199A1 (en) Work machine and remote operation system for work machine
KR101776819B1 (ko) 굴삭기 전도 상태 판별 방법
JP7390991B2 (ja) 作業機械および施工支援システム
JP2018146594A (ja) 形状計測システム
EP4585756A1 (en) Construction history calculation system and landform data generation system
EP4219839A1 (en) Working area setting system and operation target detection system
JP7145137B2 (ja) 作業機械の制御装置
CN117999391A (zh) 轨迹生成系统
WO2024128172A1 (ja) 建設機械の作業支援システム
WO2024128173A1 (ja) 建設機械の作業支援システム
WO2024090343A1 (ja) 作業支援システム
WO2020110605A1 (ja) 建設機械の遠隔操作装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23912026

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2024567777

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE