WO2022254826A1 - 土質情報取得システムおよびこれを備える作業機械 - Google Patents
土質情報取得システムおよびこれを備える作業機械 Download PDFInfo
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- WO2022254826A1 WO2022254826A1 PCT/JP2022/007691 JP2022007691W WO2022254826A1 WO 2022254826 A1 WO2022254826 A1 WO 2022254826A1 JP 2022007691 W JP2022007691 W JP 2022007691W WO 2022254826 A1 WO2022254826 A1 WO 2022254826A1
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- Prior art keywords
- soil
- information
- unit
- acquisition
- information acquisition
- Prior art date
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- 239000002689 soil Substances 0.000 title claims abstract description 256
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 abstract description 29
- 238000003384 imaging method Methods 0.000 description 9
- 230000036544 posture Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
-
- 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
- E02F3/307—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 the boom and the dipper-arm being connected so as to permit relative movement in more than one plane
-
- 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
-
- 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
- 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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
Definitions
- the present invention relates to a soil information acquisition system and a working machine equipped with the same.
- the work machine has an undercarriage capable of traveling on the ground, an upper body mounted on the undercarriage, and a work attachment supported by the upper body.
- the work attachment When the work machine is a hydraulic excavator, the work attachment has a bucket arranged at its tip. The work machine can excavate the ground while the bucket is in contact with the ground.
- Patent Document 1 discloses a shovel having a sensor attached to a work attachment and a hardness estimating section that estimates the hardness of the ground based on the detected value of the sensor.
- the hardness estimator estimates the hardness of the ground based on the data detected by the sensor when the tip of the work attachment makes contact with the ground at a predetermined speed and at a predetermined angle, and on the data stored in advance. to estimate
- Patent Document 2 discloses a multi-axis motion sensor mounted on construction equipment and a measurement unit that measures hardness information of a construction target based on the reaction force accompanying the impact during construction detected by the multi-axis motion sensor. , a position information acquisition unit that acquires position information of the construction equipment, and a communication unit that transmits the hardness information and the position information to the outside.
- Patent Literatures 1 and 2 have the problem that a large capacity is required for the storage section for storing the soil information because the soil information about the surroundings is continuously detected periodically at predetermined intervals during work. be.
- An object of the present invention is to provide a soil information acquisition system capable of acquiring soil information at an appropriate timing at a work site and a work machine equipped with the system.
- the present invention provides a work having a machine body including a traveling part capable of traveling on the ground, and a work attachment mounted on the machine body so as to be relatively movable with respect to the machine body and performing a predetermined work on the ground.
- It is a soil information acquisition system that is used for machinery and acquires soil information, which is information about the soil at a work site.
- the soil information acquisition system includes a position information acquisition unit that acquires position information of the work machine at the work site, and determines acquisition timing based on soil-related information that is information related to changes in soil properties at the work site.
- an acquisition timing determination unit that outputs an acquisition signal corresponding to timing
- a soil information acquisition unit that receives the acquisition signal output from the acquisition timing determination unit and acquires the soil information according to the acquisition signal
- a storage unit that stores the position information acquired by the information acquisition unit and the soil information acquired by the soil information acquisition unit in association with each other.
- FIG. 1 is a side view of a working machine equipped with a soil information acquisition system according to a first embodiment of the present invention.
- FIG. 2 is a block diagram of the soil information acquisition system according to the first embodiment of the present invention.
- FIG. 3 is a plan view showing the reference range of the working machine according to the first embodiment of the invention.
- FIG. 4 is a side view for explaining parameters for calculating the excavation radius of the work machine according to the first embodiment of the present invention.
- FIG. 5 is a flow chart showing the initial setting operation of the soil information acquisition system according to the first embodiment of the present invention.
- FIG. 6 is a flow chart showing the soil information acquisition operation of the soil information acquisition system according to the first embodiment of the present invention.
- FIG. 1 is a side view of a working machine equipped with a soil information acquisition system according to a first embodiment of the present invention.
- FIG. 2 is a block diagram of the soil information acquisition system according to the first embodiment of the present invention.
- FIG. 3 is a plan view showing the reference
- FIG. 7 is a flow chart showing the soil information acquisition operation of the soil information acquisition system according to the second embodiment of the present invention.
- FIG. 8 is a flow chart showing the soil information acquisition operation of the soil information acquisition system according to the third embodiment of the present invention.
- FIG. 9 is a schematic diagram of the server of the soil information acquisition system according to the fourth embodiment of the present invention.
- FIG. 10 is a side view showing the reference range of the working machine according to the fifth embodiment of the invention.
- FIG. 11 is a plan view of a working attachment for a working machine according to a sixth embodiment of the invention.
- FIG. 1 is a side view of a hydraulic excavator 1 (working machine) equipped with a soil information acquisition system 100 (FIG. 2) according to the first embodiment of the present invention.
- the hydraulic excavator 1 is mounted on a lower traveling body 10 that can travel on the ground G (traveling surface), an upper revolving body 12 (upper main body) that is rotatably supported by the lower traveling body 10, and an upper revolving body 2. and a work attachment 20 .
- the lower running body 10 and the upper revolving body 12 constitute the airframe of the present invention.
- the lower traveling body 10 can travel on the ground G.
- the lower traveling body 10 includes a crawler-type traveling portion.
- the upper revolving body 12 has a revolving frame 121 supported by the lower traveling body 10 and a cab 13 mounted on the revolving frame 121 .
- the cab 13 allows an operator to board, and various devices for operating the hydraulic excavator 1 are arranged.
- the work attachment 20 is mounted on the upper revolving body 12 so as to be relatively movable with respect to the upper revolving body 12, and performs a predetermined work on the ground G.
- the work attachment 20 includes a boom 21 connected to the front end of a revolving frame 121 so as to be rotatable about a horizontal central axis of rotation in the up-and-down direction, and a tip of the boom 21 rotatable about a horizontal central axis of rotation. and a bucket 23 rotatably connected to the distal end of the arm 22 about a horizontal central axis of rotation.
- the rotation center axes of the boom 21, the arm 22 and the bucket 23 are set parallel to each other.
- the boom 21 and the arm 22 constitute the undulating body of the invention, and the bucket 23 constitutes the working member of the invention. Also.
- the work attachment 20 further includes a boom cylinder 21S that extends and retracts to raise and lower the boom 21, an arm cylinder 22S that extends and contracts to rotate the arm 22, and a bucket cylinder 23S that extends and retracts to rotate the bucket 23. have. These cylinders consist of hydraulic cylinders.
- the cab 13 is mounted on the front portion of the revolving frame 121 and adjacent to the boom 21 in the width direction of the revolving frame 121 (the left side of the boom 21 in the example shown in FIG. 1). configure the operator's cab for That is, in the cab 13 , the operator performs operations for traveling the lower travel body 10 , turning the upper revolving body 12 , and operating the work attachment 20 .
- FIG. 2 is a block diagram of the hydraulic excavator 1 including the soil information acquisition system 100 according to this embodiment.
- the soil information acquisition system 100 acquires soil information, which is information about soil at a work site.
- the hydraulic excavator 1 further includes an operation unit 31, an input unit 32, a main body position detection unit 33 (position information acquisition unit), an attachment position detection unit 34 (distance detection unit), a cylinder pressure detection unit 35, and an imaging unit.
- a device 36 , a weather information acquisition unit 37 , a drive unit 41 , a display unit 42 and a transmission unit 43 are provided.
- the operation unit 31 is arranged inside the cab 13 and operated by the operator. That is, the operation unit 31 receives an operation for operating the hydraulic excavator 1 .
- the operation includes traveling of the lower traveling body 10, turning of the upper rotating body 12, driving of the work attachments 20 (boom 21, arm 22, bucket 23), and the like.
- the input unit 32 is arranged inside the cab 13 and receives input of various information.
- the input unit 32 has various input buttons, switches, a touch panel included in the display unit 42 described later, and the like.
- the input unit 32 inputs the distance from the upper revolving body 12 (revolving central axis CL) to the tip of the work attachment 20 (bucket tip 23A), which is information referred to in the soil information acquisition operation described later. can be accepted.
- the body position detection unit 33 acquires position information of the hydraulic excavator 1 at the work site.
- the main body position detection unit 33 acquires main body coordinate information, which is information about absolute coordinates at the work site of a main body reference point provided in advance on the upper rotating body 12 .
- a main body position detection unit 33 that constitutes a main body reference point is arranged on the upper surface of the cab 13 and functions as a GNSS mobile station.
- the soil information acquisition system 100 has a GNSS (Global Navigation Satellite System) reference station (not shown) to acquire the main body coordinate information.
- a GNSS reference station is a reference station located at or closest to the work site.
- a satellite positioning system such as GLONASS (Global Navigation Satellite System), Galileo, Quasi-Zenith Satellite System (QZSS) may be adopted.
- GLONASS Global Navigation Satellite System
- Galileo Galileo
- QZSS Quasi-Zenith Satellite System
- the attachment position detector 34 is arranged at the front end of the upper surface of the cab 13 .
- the attachment position detection unit 34 is composed of a LiDAR (Light Detection And Ranging) sensor.
- the attachment position detector 34 can detect the distance L ( FIG. 4 ) from the upper rotating body 12 to the bucket tip 23A of the bucket 23 .
- the attachment position detection unit 34 may be a TOF (Time Of Flight) sensor, a stereo camera, or the like.
- the cylinder pressure detection unit 35 is arranged in the hydraulic circuit for driving the work attachment 20, and detects the cylinder pressures of the boom cylinder 21S, the arm cylinder 22S and the bucket cylinder 23S.
- the cylinder pressure detected by the cylinder pressure detection unit 35 is referred to by the soil information acquisition unit 502, which will be described later, and used to estimate the soil quality (soil hardness) at the work site.
- the imaging device 36 is arranged at the tip of the cab 13 .
- the imaging device 36 captures an image of the ground around the bucket 23 of the work attachment 20 .
- the image captured by the imaging device 36 is referred to by the soil information acquisition unit 502 and used for estimating the soil texture of the work site. Note that the imaging device 36 may also serve as the attachment position detection section 34 described above.
- the weather information acquisition unit 37 can acquire weather information at the work site.
- the weather information acquisition unit 37 is configured by a thermohygrometer that is attached to the hydraulic excavator 1 and acquires ambient temperature and humidity information.
- the weather information acquiring unit 37 acquires weather information of the work site based on forecast information provided by the Meteorological Agency or the like by being connected to the Internet or the like.
- the weather information includes forecasted rainfall, temperature and humidity in the morning, daytime, and nighttime.
- the weather information acquisition unit 37 may acquire, as weather information, an accumulated amount of rain during a certain period measured by a rain gauge installed at the work site.
- the driving section 41 drives various structures of the hydraulic excavator 1, and drives the lower traveling body 10, the upper revolving body 12, the work attachment 20, and the like, which are operated by the operating section 31.
- the drive unit 41 includes hydraulic circuits such as a hydraulic pump and a hydraulic motor.
- the display unit 42 is arranged in the cab 13 and notifies the operator of the information by displaying various kinds of information.
- the information includes soil information acquired by the soil information acquisition system 100, position information of the hydraulic excavator 1, and the like.
- the transmission unit 43 transmits the position information of the hydraulic excavator 1 acquired by the main body position detection unit 33 and the soil information of the work site acquired by the soil information acquisition unit 502 to the server 90 described later.
- the control unit 50 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores control programs, a RAM (Random Access Memory) that is used as a work area for the CPU, and the like. As shown in FIG. 2, the control unit 50 includes an operation unit 31, an input unit 32, a main body position detection unit 33, an attachment position detection unit 34, a cylinder pressure detection unit 35, an imaging device 36, a weather information acquisition unit 37, a driving A unit 41, a display unit 42 and a transmission unit 43 are connected.
- a CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the control unit 50 controls a drive control unit 501, a soil information acquisition unit 502, an acquisition timing determination unit 503, a determination unit 504, an input command unit 505, and a storage unit 506 by executing the control program stored in the ROM by the CPU. function to provide These functional units do not have substance and correspond to units of functions executed by the control program. All or part of the control unit 50 is not limited to being provided in the excavator 1, and may be arranged at a position different from that of the excavator 1 when the excavator 1 is remotely controlled. .
- control program may be transmitted from a remote server (management device), cloud, or the like to the control unit 50 in the hydraulic excavator 1 and executed, or the control program is executed on the server or cloud, Various generated command signals may be transmitted to the hydraulic excavator 1 .
- the drive control unit 501 inputs a drive command signal to the drive unit 41 according to the content of the operation received by the operation unit 31 . As a result, the operations of the lower running body 10, the upper revolving body 12, the work attachment 20, etc. are controlled.
- the soil information acquisition unit 502 receives the acquisition signal output from the acquisition timing determination unit 503, and acquires the soil information of the work site according to the acquisition signal.
- a well-known method may be adopted as a method for the soil information acquisition unit 502 to acquire soil information.
- the soil information acquisition unit 502 can acquire the soil information (ground hardness) of the ground G according to the magnitude of the reaction force when the bucket tip portion 23A of the work attachment 20 contacts the ground G. can.
- the reaction force can be estimated from each cylinder pressure detected by the cylinder pressure detector 35 .
- the posture of the work attachment 20 may be a preset reference posture, or if the reaction force is detected in an arbitrary posture, the postures of the boom 21, the arm 22 and the bucket 23 (rotation angle, ground angle) may be corrected.
- the acquisition timing determination unit 503 determines an acquisition timing for acquiring soil information based on soil-related information, which is information related to changes in soil at the work site, and outputs an acquisition signal corresponding to the acquisition timing.
- the determination unit 504 executes various determination operations in the soil information acquisition operation performed by the soil information acquisition unit 502 and acquisition timing determination unit 503 .
- the input command unit 505 inputs a command signal corresponding to the soil information to the transmission unit 43 when transmitting the acquired soil information to the server 90 .
- the storage unit 506 stores the position information of the hydraulic excavator 1 acquired by the main body position detection unit 33 and the soil information acquired by the soil information acquisition unit 502 in association with each other.
- the input unit 32, the main body position detection unit 33, the attachment position detection unit 34, the cylinder pressure detection unit 35, the imaging device 36, the weather information acquisition unit 37, the transmission unit 43, and the control unit 50 are configured to acquire soil information. Forms part of system 100 .
- the soil information acquisition system 100 also includes a server 90 (management device).
- the server 90 is located away from the work site where the hydraulic excavator 1 works, for example, in a data management center or a remote control center that collectively manages the work of a plurality of hydraulic excavators 1 . .
- the server 90 has a server reception section 901 and a server storage section 902 .
- the server receiving unit 901 is placed at a location away from the transmitting unit 43, receives the location information and the soil information transmitted from the transmitting unit 43, and inputs and stores them in the server storage unit 902.
- the server storage unit 902 stores the location information and the soil information received by the transmission unit 43 in association with each other.
- FIG. 3 is a plan view showing the reference range of the hydraulic excavator 1 according to this embodiment.
- FIG. 4 is a side view for explaining parameters for calculating the attachment length (digging radius) of the hydraulic excavator 1 according to this embodiment.
- FIG. 5 is a flowchart showing the initial setting operation of the soil information acquisition system 100.
- FIG. 6 is a flow chart showing the soil information acquisition operation of the soil information acquisition system 100 .
- the acquisition timing determination unit 503 of the soil information acquisition system 100 determines an appropriate acquisition timing for acquiring soil information, and the soil information acquisition unit 502 acquires soil information according to the timing.
- the acquisition timing determination unit 503 sets a virtual reference range P (also referred to as a soil information application range) ( FIG. 3 ) that is estimated to have a certain soil quality at the work site, and determines the hydraulic excavator 1 for the reference range P. is used as the soil-related information, and the acquisition timing is determined based on the relative position.
- the acquisition timing determining unit 503 determines a predetermined radius centered on the turning center axis CL of the upper turning body 12 in a plan view at a predetermined reference timing (at the time of initial setting).
- a range surrounded by a circle is set as the reference range P.
- the soil information acquisition operation executed by the soil information acquisition system 100 assumes that the soil is constant within the reference range P in FIG. It is based on the technical idea that acquisition is necessary.
- the attachment position detection unit 34 detects the maximum length l1 of the work attachment 20 with respect to the reference point (x1, z1) set at the upper end of the cab 13.
- the x-coordinate of the reference point corresponds to the distance in the horizontal direction from the turning center axis CL to the reference point.
- the z-coordinate of the reference point is, for example, the height from the ground.
- FIG. 3 shows a circle (inner circle) with a radius of L drawn by the bucket tip end portion 23A of the current work attachment 20 when the upper swing body 12 swings around the swing center axis CL (inner circle), and distances outside the circle.
- a circle with a radius of 2L is shown. That is, the reference range P in FIG. 3 is a circle having a radius of 2L and centered on the turning center axis CL. Note that the radius of the reference range P may be set to any value exceeding the distance L.
- the setting of the reference range P described above may be set at the time of factory shipment according to the application of the working machine (construction machine) represented by the hydraulic excavator 1 .
- the operator may input from the input unit 32 at the work site.
- the size (radius) of the reference range P can be selectively set from a plurality of methods as follows.
- Adopt a value pre-stored in association with the reference range P (applicable range) at the time of shipment from the factory.
- the radius corresponding to the length is automatically set.
- the operator inputs the machine specification information necessary for calculating the radius of the reference range P from the input unit 32, and the distance L when the work attachment 20 is in a preset reference posture is determined as the soil information.
- the acquisition unit 502 calculates the distance 2L as the radius of the reference range P.
- FIG. Information such as the lengths of the boom 21, the arm 22, and the bucket 23 is included in the machine specification information.
- the postures of the boom 21, the arm 22, and the bucket 23 with respect to the upper rotating body 12 are set in advance in the reference posture.
- the soil information acquisition system 100 executes the initial setting operation.
- the body position detector 33 acquires the position information of the hydraulic excavator 1 at the work site (step S1).
- the drive control unit 501 drives the work attachment 20 to bring the bucket tip 23A into contact with the ground G at a predetermined speed.
- the soil information acquisition unit 502 acquires soil information (step S2).
- the soil information may be estimated based on the image of the ground G captured by the imaging device 36 .
- the storage unit 506 associates (associates) the acquired position information and soil information with each other and stores them (step S3).
- the determination unit 504 refers to the position information detected by the main body position detection unit 33 to determine whether the excavator 1 has moved by a distance Q or more from the time of the initial setting operation. It is determined whether or not (step S11).
- the distance Q is set to the distance L as an example.
- the acquisition timing determination unit 503 inputs an acquisition signal to the soil information acquisition unit 502 to acquire new soil information.
- the soil information acquisition unit 502 acquires soil information (step S12).
- the storage unit 506 stores the acquired soil information and the current position information of the hydraulic excavator 1 in association with each other (step S13).
- Table 1 is a table showing the relationship between position information and soil information stored in the storage unit 506.
- a plurality of pieces of information are stored in the storage unit 506 regarding the current work site. If only the latest information is used, the information at the initial setting may be overwritten in step S13.
- the input command unit 505 may display an input signal corresponding to the information on the display unit 42, thereby notifying the operator of the surrounding soil information.
- the information may be stored in the server storage section 902 via the server reception section 901 by the input command section 505 inputting the input signal to the transmission section 43 .
- step S11 of FIG. 6 if the hydraulic excavator 1 has not moved by the distance Q or more (NO in step S11), the soil information acquisition unit 502 ends the flow of FIG. 6 without acquiring new soil information. .
- the flow of FIG. 6 is repeatedly executed while the hydraulic excavator 1 is working.
- the acquisition timing determining unit 503 determines the acquisition timing based on the soil-related information, which is information related to changes in soil characteristics at the work site, and the soil information acquisition unit 502 determines the acquisition timing at the acquisition timing. Soil information can be acquired accordingly. Therefore, the soil information is acquired at an appropriate timing according to the possibility that the soil information around the hydraulic excavator 1 will change, so it is possible to prevent excessive acquisition or insufficient acquisition of information. As a result, the required storage capacity of the storage unit 506 can be reduced compared to the case where the soil information is periodically acquired and stored together with the positional information in a predetermined storage unit.
- the acquisition timing determining unit 503 sets a virtual reference range P that is estimated to have a certain soil quality at the work site, and determines the relative position of the hydraulic excavator 1 with respect to the reference range P according to the soil quality.
- the acquisition timing is determined as related information. According to such a configuration, it is possible to set the reference range P according to the state of the work site, the size of the hydraulic excavator, the application, etc., and acquire and store the soil information efficiently at a more appropriate timing.
- the acquisition timing determination unit 503 determines the range surrounded by a reference circle having a predetermined radius centered on the upper swing body 12 (the swing center axis CL) in plan view at a predetermined reference timing. Set as P.
- the acquisition timing of the soil information is determined according to the relative position between the reference circle and the hydraulic excavator 1, focusing on the fact that the soil characteristics are similar in a predetermined range in plan view at the work site. can do. Therefore, it is possible to prevent frequent acquisition of soil information in a range having the same soil quality.
- the acquisition timing determining unit 503 divides an area surrounded by a boundary circle (circle with a radius of distance L) set concentrically with the reference circle so as to be included in the reference circle.
- An acquisition signal corresponding to the acquisition timing is output when the hydraulic excavator 1 has passed as the traveling body 10 (traveling portion) travels.
- the acquisition timing determination unit 503 may output the acquisition signal when the work attachment 20 exceeds the reference circle (circle with a radius of 2L). Even in such a configuration, new soil information can be acquired when the work attachment 20 exceeds the reference circle. , it is possible to acquire appropriate soil information according to the work position.
- the acquisition timing determination unit 503 sets the radius of the reference circle based on the distance between the upper rotating body 12 and the bucket tip portion 23A detected by the attachment position detection unit 34 or the imaging device 36 (distance detection unit).
- the radius of the reference circle may be twice the distance. According to such a configuration, regardless of the specifications of the work attachment 20 attached to the upper rotating body 12, the reference circle is appropriately set according to the actual length of the work attachment 20 detected by the distance detection section. can do. Note that the radius of the reference circle may be set to any value exceeding the distance.
- the acquisition timing determination unit 503 may set the radius of the reference circle based on the distance between the upper rotating body 12 and the bucket tip portion 23A input to the input unit 32.
- the radius of the reference circle may be twice the distance.
- the reference circle can be appropriately set according to the length of the work attachment 20 input by the operator regardless of the specifications of the work attachment 20 attached to the upper revolving body 12 .
- the radius of the reference circle may be set to any value exceeding the distance.
- FIG. 7 is a flowchart showing the soil information acquisition operation of the soil information acquisition system 100 according to this embodiment.
- steps S21, S22, and S23 are sequentially executed so as to correspond to steps S11, S12, and S13 in the first embodiment (FIG. 6).
- the determination unit 504 determines whether or not time T or more has passed since the previous soil information acquisition time. Determine (step S24).
- the soil information is newly acquired in step S22, and the storage unit 506 stores the soil information and the position information in association with each other in step S23.
- a plurality of pieces of soil information can be obtained under the condition that the hydraulic excavator 1 has not moved significantly, in other words, at substantially the same position in the work site, using the time difference as a variable.
- step S24 the soil information acquisition unit 502 ends the flow of FIG. 7 without acquiring new soil information.
- This embodiment considers the possibility that the moisture content of the ground will change due to changes in temperature between morning and afternoon, and the soil quality will change. That is, even if the hydraulic excavator 1 does not move much, the soil information acquisition unit 502 acquires new soil information after a predetermined time (for example, four hours) has elapsed. Note that the predetermined time is not limited to four hours, and can be set according to the climate of the work site.
- the predetermined time may be set according to the climate of the shipping destination of the hydraulic excavator 1 at the time of shipment from the factory.
- the temperature difference information during the day is acquired from the weather information of the area including the work site, and if the temperature difference is large, the predetermined time is shortened. If it is small, the predetermined time may be set large.
- the acquisition timing determination unit 503 determines the acquisition timing based on the elapsed time from the previous acquisition of the soil information by the soil information acquisition unit 502 as the soil-related information. Therefore, even when the work is performed such that the position of the machine body of the hydraulic excavator 1 does not change, it is possible to acquire changes in soil quality over time at an appropriate timing.
- FIG. 8 is a flowchart showing the soil information acquisition operation of the soil information acquisition system 100 according to this embodiment.
- steps S31, S32, and S33 are sequentially executed so as to correspond to steps S11, S12, and S13 in the first embodiment (FIG. 6). Furthermore, in the present embodiment, if the hydraulic excavator 1 has not moved by the distance Q or more in step S31 (NO in step S31), the determination unit 504 determines whether or not the weather has changed since the previous acquisition of the soil information. (Step S34). For this determination, the information obtained by the weather information obtaining unit 37 described above is referred to.
- the storage unit 506 stores the soil information in step S33. and location information are associated with each other and stored. As a result, it is possible to acquire a plurality of pieces of soil information under the condition that the hydraulic excavator 1 has not moved significantly, in other words, at substantially the same position in the work site, using the difference in weather information as a variable.
- step S34 the soil information acquisition unit 502 ends the flow of FIG. 8 without acquiring new soil information.
- the acquisition timing determination unit 503 determines acquisition timing using the weather information acquired by the weather information acquisition unit 37 as the soil-related information. According to such a configuration, even when the work is performed in which the position of the body of the hydraulic excavator 1 does not change, changes in soil quality due to weather can be acquired at appropriate timing.
- FIG. 9 is a schematic diagram of the server 90 of the soil information acquisition system 100 according to this embodiment.
- the server 90 stores the soil information and the position information of the hydraulic excavator 1 acquired by the hydraulic excavator 1 (hydraulic excavator 1A in FIG. 9) in association with each other. It has been explained in a manner to do.
- the soil information can be accumulated by storing the location information and the soil information acquired at the work site in the server storage unit 902 arranged at a remote location.
- automatic control of the excavator 1 can be performed while effectively using the above information.
- the server 90 further has a sub-transmitting section 903 .
- the sub-transmitting unit 903 transmits the position information and the soil information acquired by the hydraulic excavator 1A and stored in the server storage unit 902 to the hydraulic excavator 1B (another work machine) at the work site.
- the soil information acquisition system 100 further includes a sub-receiving section 44 .
- the sub-receiving unit 44 is arranged in the hydraulic excavator 1B, receives the position information and the soil information transmitted from the sub-transmitting unit 903, and inputs and stores them in the storage unit 506 in the hydraulic excavator 1B.
- soil information acquired by one hydraulic excavator 1A at the same work site is transmitted to the other hydraulic excavator 1B, whereby the soil information is efficiently used and shared by a plurality of hydraulic excavators. be able to.
- FIG. 10 is a side view showing the reference range of the hydraulic excavator 1 according to this embodiment.
- the acquisition timing determination unit 503 sets the reference range D as the range from the lower traveling body 10 to a predetermined depth in the ground at a predetermined reference timing (at the time of initial setting). This embodiment is based on the assumption that the soil quality is substantially constant within a predetermined depth range in the ground.
- FIG. 11 is a plan view of the work attachment 20 of the hydraulic excavator 1 according to this embodiment.
- the boom 21, the arm 22, and the bucket 23 have been described as rotating (swinging) around the horizontal center axis of rotation.
- the work attachment 20 has a swinging boom 22A, which connects the boom 21 and the arm 22B to each other.
- the swinging boom is swingable around a central axis of rotation extending along the longitudinal direction of the boom 21 (offset boom specification).
- the angle ⁇ formed by the boom 21 and the swing boom 22A is variable in plan view.
- FIG. 11 shows the swing boom 22A swinging to the right, the swing boom 22A can also swing to the left. Therefore, it is desirable to set the reference range P based on the case where the floor surface maximum excavation radius becomes small when the offset amount (swing angle) is maximized on each of the left and right sides.
- the relative position of the bucket 23 (bucket tip portion 23A) with respect to the upper rotating body 12 may be geometrically calculated from information on the length and relative angle of the bucket 23 with respect to the arm 22B.
- the soil information can be acquired at an appropriate timing by setting the reference range P according to the structure. can.
- the working machine according to the present invention may have a structure other than a hydraulic excavator.
- the working member arranged at the tip of the working attachment 20 is not limited to the bucket 23 .
- the upper body according to the present invention may be configured so as not to turn with respect to the lower traveling body 10 . In this case, the front-rear direction of the upper main body and the front-rear direction of the lower traveling body 10 coincide with each other.
- the present invention provides a work having a machine body including a traveling part capable of traveling on the ground, and a work attachment mounted on the machine body so as to be relatively movable with respect to the machine body and performing a predetermined work on the ground.
- It is a soil information acquisition system that is used for machinery and acquires soil information, which is information about the soil at a work site.
- the soil information acquisition system includes a position information acquisition unit that acquires position information of the work machine at the work site, and determines acquisition timing based on soil-related information that is information related to changes in soil properties at the work site.
- an acquisition timing determination unit that outputs an acquisition signal corresponding to timing
- a soil information acquisition unit that receives the acquisition signal output from the acquisition timing determination unit and acquires the soil information according to the acquisition signal
- a storage unit that stores the position information acquired by the information acquisition unit and the soil information acquired by the soil information acquisition unit in association with each other.
- the acquisition timing determination unit determines the acquisition timing based on the soil-related information that is information related to changes in the soil quality at the work site, and the soil information acquisition unit acquires the soil information according to the acquisition timing. can do. Therefore, the soil information is acquired at an appropriate timing according to the possibility that the soil information around the working machine will change, so it is possible to prevent excessive or insufficient acquisition of information. As a result, the required storage capacity of the storage unit can be reduced compared to the case where the soil information is periodically acquired and stored in the storage unit together with the position information.
- the acquisition timing determination unit sets a virtual reference range that is estimated to have a certain soil quality at a work site, and uses the relative position of the work machine with respect to the reference range as the soil-related information. It is desirable to determine the acquisition timing based on the relative position.
- the acquisition timing determination unit sets, as the reference range, a range surrounded by a reference circle with a predetermined radius centered on the aircraft in plan view at a predetermined reference timing.
- the acquisition timing determination unit determines when the work machine crosses a boundary circle set concentrically with the reference circle so as to be included in the reference circle as the traveling unit travels. It is desirable to output the acquisition signal.
- new soil information can be acquired when the working machine crosses the preset boundary circle. Also, it is possible to acquire appropriate soil information according to the work position.
- the acquisition timing determination unit output the acquisition signal when the work attachment has crossed the reference circle.
- new soil information can be acquired when the work attachment exceeds the reference circle set in advance. Also, it is possible to acquire appropriate soil information according to the work position.
- the acquisition timing determination unit sets a range from the aircraft to a predetermined depth in the ground at a predetermined reference timing as the reference range.
- the acquisition timing of the soil information is adjusted according to the relative position between the reference range and the working machine, focusing on the fact that the soil properties are similar in a predetermined range in the depth direction of the ground at the work site. can decide. Therefore, it is possible to prevent frequent acquisition of soil information in the depth direction range having the same soil quality.
- the acquisition timing determination unit may determine the acquisition timing based on the elapsed time as the soil-related information from the timing at which the soil information acquisition unit previously acquired the soil information. desirable.
- the above configuration further includes a weather information acquisition unit capable of acquiring weather information at the work site, and the acquisition timing determination unit converts the weather information acquired by the weather information acquisition unit into the soil-related information. It is preferable that the acquisition timing is determined based on the weather information.
- the storage unit is placed at a location away from the work machine, and transmits the position information acquired by the position information acquisition unit and the soil information acquired by the soil information acquisition unit. It is desirable to further include a transmitting unit and a receiving unit arranged at a location away from the transmitting unit, receiving the position information and the soil information transmitted from the transmitting unit, and inputting the information to the storage unit.
- the soil information can be accumulated by storing the location information and the soil information acquired at the work site in the storage unit arranged at a remote location.
- a sub-transmitting unit for transmitting the position information and the soil information stored in the storage unit to another work machine at the work site; It is desirable to further include a sub-receiving unit that receives the location information and the soil information that have been received.
- the soil information acquired by one work machine can be efficiently used by a plurality of work machines.
- the present invention provides a working machine comprising a machine body including a running section capable of traveling on the ground; and a soil information acquisition system according to any one of the above.
- the acquisition timing determination unit determines the acquisition timing based on the soil-related information that is information related to changes in soil characteristics at the work site, and the soil information acquisition unit determines the acquisition timing according to the acquisition timing. Soil information can be acquired. Therefore, the soil information is acquired at an appropriate timing according to the possibility that the soil information around the working machine will change, so it is possible to prevent excessive or insufficient acquisition of information. As a result, the storage capacity required for the storage unit of the work machine can be reduced compared to the case where the soil information is periodically acquired and stored in the storage unit along with the position information.
- a soil information acquisition system capable of acquiring soil information at an appropriate timing at a work site and a working machine equipped with the system are provided.
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Abstract
Description
Claims (11)
- 地面上を走行可能な走行部を含む機体と前記機体に対して相対移動可能なように前記機体に装着され地面に対する所定の作業を行う作業アタッチメントとを有する作業機械に用いられ、作業現場の土質に関する情報である土質情報を取得する土質情報取得システムであって、
作業現場における前記作業機械の位置情報を取得する位置情報取得部と、
作業現場の土質の変化に関連する情報である土質関連情報に基づいて取得タイミングを決定し当該取得タイミングに対応する取得信号を出力する取得タイミング決定部と、
前記取得タイミング決定部から出力された前記取得信号を受け入れ、当該取得信号に応じて前記土質情報を取得する土質情報取得部と、
前記位置情報取得部によって取得された前記位置情報と前記土質情報取得部によって取得された前記土質情報とを互いに関連付けて記憶する記憶部と、
を備える、土質情報取得システム。 - 請求項1に記載の土質情報取得システムであって、
前記取得タイミング決定部は、作業現場において一定の土質を有すると推定される仮想的な基準範囲を設定し、前記基準範囲に対する前記作業機械の相対位置を前記土質関連情報として当該相対位置に基づいて前記取得タイミングを決定する、土質情報取得システム。 - 請求項2に記載の土質情報取得システムであって、
前記取得タイミング決定部は、所定の基準タイミングにおいて平面視における前記機体を中心とする所定の半径の基準円によって囲まれる範囲を前記基準範囲として設定する、土質情報取得システム。 - 請求項3に記載の土質情報取得システムであって、
前記取得タイミング決定部は、前記基準円に包含されるように前記基準円と同心状に設定された境界円を前記走行部の走行に伴って前記作業機械が超えた場合に前記取得信号を出力する、土質情報取得システム。 - 請求項3に記載の土質情報取得システムであって、
前記取得タイミング決定部は、前記基準円を前記作業アタッチメントが超えた場合に前記取得信号を出力する、土質情報取得システム。 - 請求項2に記載の土質情報取得システムであって、
前記取得タイミング決定部は、所定の基準タイミングにおいて前記機体から地中の所定の深さまでの範囲を前記基準範囲として設定する、土質情報取得システム。 - 請求項1乃至6の何れか1項に記載の土質情報取得システムであって、
前記取得タイミング決定部は、前記土質情報取得部が前記土質情報を前回取得したタイミングからの経過時間を前記土質関連情報として当該経過時間に基づいて前記取得タイミングを決定する、土質情報取得システム。 - 請求項1乃至7の何れか1項に記載の土質情報取得システムであって、
前記作業現場における気象情報を取得することが可能な気象情報取得部を更に備え、
前記取得タイミング決定部は、前記気象情報取得部によって取得された前記気象情報を前記土質関連情報として当該気象情報に基づいて前記取得タイミングを決定する、土質情報取得システム。 - 請求項1乃至8の何れか1項に記載の土質情報取得システムであって、
前記記憶部は、前記作業機械から離れた場所に配置され、
前記位置情報取得部によって取得された前記位置情報と前記土質情報取得部によって取得された前記土質情報とを送信する送信部と、
前記送信部から離れた場所に配置され、当該送信部から送信された前記位置情報および前記土質情報を受け付け、前記記憶部に入力する受信部と、
を更に備える、土質情報取得システム。 - 請求項9に記載の土質情報取得システムであって、
前記記憶部に記憶された前記位置情報および前記土質情報を作業現場の他の作業機械に送信する副送信部と、
前記他の作業機械に配置され、前記副送信部から送信された前記位置情報および前記土質情報を受け付ける副受信部と、
を更に備える、土質情報取得システム。 - 地面上を走行可能な走行部を含む機体と、
前記機体に対して相対移動可能なように前記機体に支持され地面に対する所定の作業を行う作業アタッチメントと、
請求項1乃至10の何れか1項に記載の土質情報取得システムと、
を備える、作業機械。
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US18/558,486 US20240241102A1 (en) | 2021-06-03 | 2022-02-24 | Soil quality information acquisition system and work machine provided with same |
EP22815585.9A EP4310256A1 (en) | 2021-06-03 | 2022-02-24 | Soil quality information acquisition system and work machine provided with same |
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- 2022-02-24 WO PCT/JP2022/007691 patent/WO2022254826A1/ja active Application Filing
- 2022-02-24 EP EP22815585.9A patent/EP4310256A1/en active Pending
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