JP2020020153A - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- JP2020020153A JP2020020153A JP2018144230A JP2018144230A JP2020020153A JP 2020020153 A JP2020020153 A JP 2020020153A JP 2018144230 A JP2018144230 A JP 2018144230A JP 2018144230 A JP2018144230 A JP 2018144230A JP 2020020153 A JP2020020153 A JP 2020020153A
- Authority
- JP
- Japan
- Prior art keywords
- controller
- work machine
- excavation
- transport vehicle
- terrain
- 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.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
2 運搬車両
12 作業機
13 旋回体
27 コントローラ
33 位置センサ
35 地形センサ
36 第1カメラ
Claims (12)
- 作業機と、
前記作業機が取り付けられた旋回体と、
地形を計測する地形センサと、
前記地形センサが計測した前記地形を示す地形データに基づいて、前記作業機による掘削開始位置を決定し、前記作業機の現在位置から前記掘削開始位置まで前記作業機を移動させるコントローラと、
を備える、
作業機械。 - 前記コントローラは、前記現在位置から前記掘削開始位置までを結ぶ旋回経路を決定し、前記旋回経路に従って、前記作業機を移動させる、
請求項1に記載の作業機械。 - 旋回経路には途中点があり、
前記コントローラは、前記途中点を通って前記作業機の刃先が移動するように、前記作業機及び前記旋回体を制御する、
請求項2に記載の作業機械。 - 前記コントローラは、前記掘削開始位置の上方に移動目標位置を設定し、
前記現在位置から前記移動目標位置までを結ぶ旋回経路を決定し、前記旋回経路に従って、前記作業機を移動させる、
請求項1に記載の作業機械。 - 前記コントローラは、前記作業機によって運搬する素材の目標体積と前記地形データとに基づいて、前記掘削開始位置から掘削終了位置までを結ぶ掘削経路を決定する、
請求項1乃至4のいずれかに記載の作業機械。 - 前記コントローラは、前記旋回経路に従って前記作業機の刃先を移動させた後、前記掘削経路に従って前記刃先が移動するように、前記作業機を制御する、
請求項5に記載の作業機械。 - 作業機械を制御するためにコントローラによって実行される方法であって、
前記作業機械付近の地形を示す地形データに基づいて、旋回体に取り付けられた作業機による掘削開始位置を決定する第1処理と、
前記作業機の現在位置から前記掘削開始位置まで前記作業機を移動させる第2処理と、
を備える方法。 - 前記第1処理では、前記現在位置から前記掘削開始位置までを結ぶ旋回経路を決定し、
前記第2処理では、前記旋回経路に従って前記作業機を移動させる、
請求項7に記載の方法。 - 前記第1処理では、前記旋回経路に途中点を設定し、
前記第2処理では、前記途中点を通って前記作業機の刃先が移動するように、前記作業機及び前記旋回体を制御する、
請求項8に記載の方法。 - 前記第1処理では、前記掘削開始位置の上方に移動目標位置を設定して、前記現在位置から前記移動目標位置までを結ぶ旋回経路を決定し、
前記第2処理では、前記旋回経路に従って、前記作業機を移動させる、
請求項7に記載の方法。 - 前記第1処理では、前記作業機によって運搬する素材の目標体積と前記地形データとに基づいて、前記掘削開始位置から掘削終了位置までを結ぶ掘削経路を決定する、
請求項7乃至10のいずれかに記載の方法。 - 前記第2処理の後、前記掘削経路に従って前記刃先が移動するように、前記作業機を制御する第3処理を備える、
請求項11に記載の方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018144230A JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
DE112019001124.3T DE112019001124T5 (de) | 2018-07-31 | 2019-03-27 | Arbeitsmaschine |
PCT/JP2019/013341 WO2020026522A1 (ja) | 2018-07-31 | 2019-03-27 | 作業機械 |
CN201980015036.8A CN111757962B (zh) | 2018-07-31 | 2019-03-27 | 作业机械 |
US16/975,163 US20200407949A1 (en) | 2018-07-31 | 2019-03-27 | Work machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018144230A JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020020153A true JP2020020153A (ja) | 2020-02-06 |
JP7274831B2 JP7274831B2 (ja) | 2023-05-17 |
Family
ID=69231575
Family Applications (1)
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JP2018144230A Active JP7274831B2 (ja) | 2018-07-31 | 2018-07-31 | 作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200407949A1 (ja) |
JP (1) | JP7274831B2 (ja) |
CN (1) | CN111757962B (ja) |
DE (1) | DE112019001124T5 (ja) |
WO (1) | WO2020026522A1 (ja) |
Cited By (7)
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CN112962709A (zh) * | 2020-07-31 | 2021-06-15 | 百度(美国)有限责任公司 | 工程机械设备及其作业轨迹规划方法和***、存储介质 |
WO2022030289A1 (ja) * | 2020-08-07 | 2022-02-10 | 株式会社小松製作所 | 掘削情報処理装置、作業機械、掘削支援装置および掘削情報処理方法 |
WO2022049987A1 (ja) * | 2020-09-01 | 2022-03-10 | コベルコ建機株式会社 | アタッチメントの目標軌跡設定システム |
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WO2022091519A1 (ja) | 2020-10-28 | 2022-05-05 | コベルコ建機株式会社 | 経路設定システム |
WO2022196330A1 (ja) | 2021-03-19 | 2022-09-22 | 日立建機株式会社 | 作業機械 |
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WO2022196330A1 (ja) | 2021-03-19 | 2022-09-22 | 日立建機株式会社 | 作業機械 |
KR20230044508A (ko) | 2021-03-19 | 2023-04-04 | 히다찌 겐끼 가부시키가이샤 | 작업 기계 |
WO2024095787A1 (ja) * | 2022-10-31 | 2024-05-10 | 株式会社小松製作所 | 制御装置、制御方法、および作業機械 |
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CN111757962B (zh) | 2022-08-30 |
DE112019001124T5 (de) | 2020-12-03 |
JP7274831B2 (ja) | 2023-05-17 |
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