Excavation information processing device, working device, excavation auxiliary device and excavation information processing method

Abstract

One embodiment of the present invention provides an excavation information processing device comprising: an acquisition unit that acquires object position information representing an excavation object using position information of multiple points; an excavation volume estimation unit that sequentially estimates and outputs the excavation volume obtained by the bucket when the bucket is shoveled in at that moment based on bucket position and posture information representing the position and posture of the bucket and the object position information.

Description

Technical Field

[0001] The present invention relates to an excavation information processing device, a working device, an excavation assisting device, and an excavation information processing method. This application claims priority based on Japanese Patent Application No. 2020-134559 filed in Japan on August 7, 2020, the contents of which are incorporated herein by reference. Background Art

[0002] The excavation device described in Patent Document 1 identifies the bucket, the ground, and the excavated material from images captured by a stereo camera, and determines the excavation location based on the identification results. The excavation location is the point where the bucket first contacts the excavated material during excavation. In this excavation device, this location is determined to maximize the excavation volume (amount of excavated soil) while minimizing the ground scraping and preventing the excavated material from collapsing. Furthermore, this excavation device excavates by lifting the bucket from this excavation location.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2015 / 162710 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] The excavation device described in Patent Document 1 excavates an object by raising the bucket from an excavation point determined to increase the amount of excavated soil. However, the excavation device described in Patent Document 1 has a problem in that, for example, it is difficult to adjust the amount of excavated soil to an arbitrary value.

[0008] The present invention has been made in view of the above circumstances, and an object thereof is to provide an excavation information processing device, a working machine, an excavation assisting device, and an excavation information processing method that can easily adjust the excavated soil amount to an arbitrary value.

[0009] Technical solutions to solve problems

[0010] One embodiment of the present invention is an excavation information processing device comprising: an acquisition unit that acquires object position information representing an excavation object using position information of multiple points; an excavation volume estimation unit that sequentially estimates and outputs the excavation volume obtained by the bucket when the bucket is shoveled in at that moment based on bucket position and posture information representing the position and posture of the bucket and the object position information.

[0011] Effects of the Invention

[0012] According to the excavation information processing device, the working machine, the excavation assist device, and the excavation information processing method of the present invention, the excavated soil amount can be easily adjusted to an arbitrary value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing a structural example of a hydraulic excavator according to an embodiment of the present invention.

[0014] Figure 2 Yes Figure 1 1 is a block diagram of a configuration example of the work machine position and posture measuring unit 30, the work machine control device 110, and the excavation information processing device 120.

[0015] Figure 3 Is a simplified representation Figure 1 A side view of the hydraulic excavator 1 is shown.

[0016] Figure 4 Yes Figure 2 1 is a system flowchart showing an operation example of the work machine control device 110 and the excavation information processing device 120.

[0017] Figure 5 Yes Figure 2 Flowchart showing an example of the operation of the excavated soil amount estimating unit 122.

[0018] Figure 6 Yes Figure 1 FIG. 1 is a schematic diagram of an example of point cloud data 400 measured by the three-dimensional position information measuring unit 19 .

[0019] Figure 7 It is a schematic representation Figure 1 A side view of the bucket 8 is shown.

[0020] Figure 8 It is a schematic representation Figure 1 The illustrated diagram is a side view of an example of point cloud data 400 measured by the three-dimensional position information measuring unit 19 .

[0021] Figure 9 Schematic diagram showing an example of point cloud data 400 in this embodiment.

[0022] Figure 10 It is a schematic representation Figure 1 The illustrated diagram is a side view of an example of point cloud data 400 measured by the three-dimensional position information measuring unit 19 .

[0023] Figure 11 It is a schematic representation Figure 1 The illustrated diagram is a side view of an example of point cloud data 400 measured by the three-dimensional position information measuring unit 19 .

[0024] Figure 12 Schematic diagram showing an example of the temporal change of the excavated soil amount in this embodiment. DETAILED DESCRIPTION

[0025] The embodiments of the present invention will be described below with reference to the accompanying drawings. It should be noted that the same or corresponding components are denoted by the same reference numerals in the drawings and their descriptions are omitted as appropriate.

[0026] Figure 1 It is a perspective view showing a configuration example of a hydraulic excavator 1 as a working machine according to an embodiment of the present invention. Figure 2 Yes Figure 1 1 is a block diagram of a configuration example of the work machine position and posture measuring unit 30, the work machine control device 110, and the excavation information processing device 120. Figure 3 Is a simplified representation Figure 1 A side view of the hydraulic excavator 1 is shown.

[0027] Figure 1 The hydraulic excavator 1 shown has a vehicle body 1B as a main body and a work device 2. The vehicle body 1B has an upper revolving body 3 as a revolving body and a travel device 5 as a traveling body. The upper revolving body 3 houses an engine and a hydraulic pump as a power generating device inside the engine room 3EG. In this embodiment, the hydraulic excavator 1 can use an internal combustion engine such as a diesel engine as a power generating device, that is, an engine. However, the power generating device is not limited to an internal combustion engine. The power generating device of the hydraulic excavator 1 may be, for example, a so-called hybrid type device that combines an internal combustion engine, a generator motor, and an energy storage device. In addition, the power generating device of the hydraulic excavator 1 may also be a device that combines an energy storage device and a generator motor instead of an internal combustion engine.

[0028] The upper revolving body 3 has a cab 4. The operator of the hydraulic excavator 1 sits in the cab 4 and operates the hydraulic excavator 1. That is, the operator of the hydraulic excavator 1 operates the working device 2 or rotates the upper revolving body 3 in the cab 4, or drives the hydraulic excavator 1 via the travel device 5. The cab 4 is provided with a display device 40 for displaying various information, and an operating device for the working device 2 and the travel device 5, which are not shown and are operated by the operator. Figure 1 In the example shown, the operator's cab 4 is located on the side of the upper revolving body 3 opposite to the side where the engine room 3EG is located. However, the positional relationship between the operator's cab 4 and the engine room 3EG is not limited to this example. A handrail 9 is mounted above the upper revolving body 3.

[0029] The upper slewing body 3 is mounted on the travel device 5 so that it can rotate relative to the travel device 5 about the rotation axis RZ. The travel device 5 includes crawler tracks 5a and 5b. The travel device 5 is driven by one or both of the left and right hydraulic motors 5c. The rotation of the crawler tracks 5a and 5b of the travel device 5 causes the hydraulic excavator 1 to travel. The work implement 2 is mounted to the side of the cab 4 of the upper slewing body 3. The travel device 5 includes a sensor for measuring the rotation angle of the upper slewing body 3.

[0030] The hydraulic excavator 1 may also be an excavator equipped with a travel device having tires instead of the crawler tracks 5a and 5b, and capable of traveling by transmitting the driving force of the engine to the tires via a transmission.

[0031] For the upper rotating body 3, the side where the working device 2 and the cab 4 are arranged is the front, and the side where the engine room 3EG is arranged is the rear. The front-to-back direction of the upper rotating body 3 is the y direction. The left side when facing forward is the left of the upper rotating body 3, and the right side when facing forward is the right of the upper rotating body 3. The left-right direction of the upper rotating body 3 is also called the width direction or the x direction. For the hydraulic excavator 1 or the vehicle body 1B, the side of the travel device 5 based on the upper rotating body 3 is the bottom, and the side of the upper rotating body 3 based on the travel device 5 is the top. The up and down direction of the upper rotating body 3 is the z direction. When the hydraulic excavator 1 is set along a horizontal plane, the bottom is the vertical direction, that is, the side in the direction of gravity, and the top is the side opposite to the vertical direction. This xyz coordinate system is a coordinate system based on the hydraulic excavator 1 (upper rotating body 3), and is called a local coordinate system in this embodiment. In addition, Figure 1 The x, y, and z arrows shown in the figures and other drawings indicate directions in the local coordinate system but do not specify the position of the origin.

[0032] The working device 2 has a boom 6, an arm 7, a bucket 8 as a working tool, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The base end of the boom 6 is rotatably mounted to the front end of the upper rotating body 3 via a boom pin 13. The base end of the arm 7 is rotatably mounted to the front end of the boom 6 via an arm pin 14. The bucket 8 is mounted on the front end of the arm 7 via a bucket pin 15. The bucket 8 rotates around the bucket pin 15. The bucket 8 has a plurality of teeth 8B mounted on the side opposite to the bucket pin 15. The tooth tip 8T is the front end of the tooth 8B. In addition, in the present embodiment, the scraping surface of the bucket upper edge 8E is referred to as the bucket surface 8S. It should be noted that the bucket 8 may not have a plurality of teeth 8B. That is, it may also be a bucket in which the tooth tip is formed into a straight shape by a steel plate, instead of having Figure 1 Bucket tooth 8B as shown.

[0033] Figure 1The boom cylinder 10, arm cylinder 11, and bucket cylinder 12 are hydraulic cylinders driven by the pressure of hydraulic oil discharged from a hydraulic pump. The boom cylinder 10 drives the boom 6 to move up and down. The arm cylinder 11 drives the arm 7 to rotate about the arm pin 14. The bucket cylinder 12 drives the bucket 8 to rotate about the bucket pin 15.

[0034] In addition, the working machine 2 includes a working machine position and posture measuring unit 30. Figure 2 As shown, the work machine position and posture measurement unit 30 includes a first stroke sensor 31, a second stroke sensor 32, a third stroke sensor 33, and a work machine position and posture information generation unit 34. The first stroke sensor 31 is provided in the boom cylinder 10, the second stroke sensor 32 is provided in the arm cylinder 11, and the third stroke sensor 33 is provided in the bucket cylinder 12. The first stroke sensor 31 detects the length of the boom cylinder 10, i.e., the boom cylinder length, and outputs the detected length to the work machine position and posture information generation unit 34. The second stroke sensor 32 detects the length of the arm cylinder 11, i.e., the arm cylinder length, and outputs the detected length to the work machine position and posture information generation unit 34. The third stroke sensor detects the length of the bucket cylinder 12, i.e., the bucket cylinder length, and outputs the detected length to the work machine position and posture information generation unit 34.

[0035] Once the boom cylinder length, arm cylinder length, and bucket cylinder length are determined, the posture of the work machine 2 is determined. The first stroke sensor 31, the second stroke sensor 32, and the third stroke sensor 33 may be angle detectors or the like.

[0036] The work equipment position and posture information generation unit 34 calculates the inclination angle of the boom 6 in the local coordinate system relative to the direction perpendicular to the horizontal plane (z-axis direction) based on the boom cylinder length detected by the first stroke sensor 31. The work equipment position and posture information generation unit 34 also calculates the inclination angle of the arm 7 relative to the boom 6 based on the arm cylinder length detected by the second stroke sensor 32. The work equipment position and posture information generation unit 34 also calculates the inclination angle of the bucket 8 relative to the arm 7 based on the bucket cylinder length detected by the third stroke sensor 33. In addition, the work equipment position and posture information generation unit 34 generates and outputs work equipment position and posture information, which is information indicating the posture and position of the work equipment 2 in the local coordinate system, based on the three-dimensional shape information (dimensional information) of the work equipment 2 and the various inclination angles of the boom 6, arm 7, and bucket 8. The work equipment position and posture information includes information indicating the position and angle (posture) of the bucket 8.

[0037] Antennas 21 and 22 are installed on the upper part of the upper rotating body 3. The antennas 21 and 22 are used to detect the current position of the hydraulic excavator 1. The antennas 21 and 22 are connected to the work machine control device 110 (or its peripheral circuits), for example. The work machine control device 110 (or its peripheral circuits) uses the antennas 21 and 22 to receive radio waves from RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS refers to the Global Navigation Satellite System) to detect the current position of the hydraulic excavator 1. The signal corresponding to the GNSS radio wave received by the antennas 21 and 22 is input to the work machine control device 110, and the installation position of the antennas 21 and 22 in the global coordinate system is calculated. As an example of a global navigation satellite system, GPS (Global Positioning System) can be cited, but the global navigation satellite system is not limited to this.

[0038] like Figure 1 As shown, antennas 21 and 22 are preferably installed above the upper swing body 3 at positions separated in the left-right direction, i.e., the width direction, of the hydraulic excavator 1. In this embodiment, antennas 21 and 22 are attached to armrests 9, which are attached to both sides of the upper swing body 3 in the width direction. The locations where antennas 21 and 22 are installed on the upper swing body 3 are not limited to armrests 9, but it is preferred to place antennas 21 and 22 as far away as possible because this improves the accuracy of detecting the current position of the hydraulic excavator 1. Furthermore, it is preferable to place antennas 21 and 22 in a position that minimizes obstruction to the operator's field of view.

[0039] In addition, the hydraulic excavator 1 includes a three-dimensional position information measuring unit 19. The three-dimensional position information measuring unit 19 is provided above the cab 4, for example. Figure 3As shown, the three-dimensional position of an object (object) within a measurement range SA encompassing the bucket 8 and an excavation object 300, such as soil, sand, or rock, is measured at multiple points (multiple measurement points). The three-dimensional position of each measurement point is converted into point cloud data, and this point cloud data is output as object position information. Here, the three-dimensional position information measuring unit 19 outputs point cloud data representing the three-dimensional position of each measurement point, for example, using the x, y, and z coordinates of a local coordinate system, as object position information. In this embodiment, point cloud data and object position information are synonymous. However, object position information is not limited to point cloud data; for example, it may also be information representing a three-dimensional model, such as a solid model. This point cloud data includes information representing the shape (topography) of the excavation object 300 before and after excavation, as well as information representing the shape of the excavation object 300 inside and outside the bucket 8 during excavation. The three-dimensional position information measuring unit 19 can be configured using, for example, a three-dimensional laser rangefinder, a three-dimensional laser scanner, a three-dimensional distance sensor, a stereo camera, or the like. A three-dimensional laser rangefinder, also known as LiDAR (Light Detection and Ranging: radar), emits pulsed laser light while sequentially scanning the measurement directions (x, y, and z directions) within a certain range, and measures distance and direction based on, for example, the time it takes for reflected scattered light to return and the direction of illumination. In this embodiment, the three-dimensional position information measuring unit 19 is configured using LiDAR. In this case, the three-dimensional position information measuring unit 19 sequentially stores and updates point cloud data representing the measurement results of each measurement point (each reflection point) in each scanning cycle, and outputs it as object position information. Object position information is information representing the excavation object 300 using position information of multiple points. This object position information represents the positions of each measurement point, for example, by using coordinate information of each measurement point, and represents the shapes of the multiple measurement points by connecting adjacent measurement points using lines or surfaces. Figure 6 The following shows an example of point cloud data 400 measured by the three-dimensional position information measuring unit 19 of the present embodiment. The point cloud data 400 includes three-dimensional position information of a plurality of measurement points 401. It should be noted that the point cloud data 400 includes three-dimensional position information of a plurality of measurement points 401 corresponding to the boom 6, the arm 7, the bucket 8, and the excavation object 300. In addition, the point cloud data output by the three-dimensional position information measuring unit 19 is not limited to point cloud data representing the three-dimensional coordinate values ​​of each measurement point, but may also be point cloud data representing the distance and direction to each measurement point. It should be noted that when the three-dimensional position information measuring unit 19 is configured using a stereo camera, for example, a plurality of predetermined feature points recognized by an image can be set as the measurement points 401.

[0040] in addition, Figure 1 The hydraulic excavator 1 shown has Figure 1 and Figure 2The working device control device 110 and the excavation information processing device (excavation assisting device) 120 shown in the figure. The working device control device 110 controls the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12 of the working device 2, for example, controls the position and posture of the bucket 8. In the present embodiment, the working device control device 110 manually controls the position and posture of the bucket 8 according to the instructions of the operator using a prescribed operating device, or automatically controls the position and posture of the bucket 8 based on a preset position and trajectory. In addition, in the present embodiment, the working device control device 110 has a function of automatically controlling the excavation operation. The automatic control of the excavation operation can be composed of a combination of the following multiple controls, for example. That is, the automatic control of the excavation operation can be composed of, for example, the control of the movement of the bucket 8 to the excavation start position, the control of the action of digging the excavation object 300 by the bucket 8, that is, the excavation control ( Figure 3 ), the control of the action of digging the excavation object 300 with the bucket 8, namely, digging control ( Figure 3 ), movement control of the bucket 8 to the earth dumping position (or loading position) and earth dumping control (loading control). The work machine control device 110 of this embodiment automatically performs at least the excavation control, the scooping control, and the switching control from the excavation control to the scooping control.

[0041] Figure 2 The work machine control device 110 shown can be configured using, for example, a computer such as a microcomputer or an FPGA (Field Programmable Gate Array), or a computer and its peripheral circuits and devices. Furthermore, as a functional structure composed of a combination of hardware such as the computer, peripheral circuits, and devices, and software such as programs executed by the computer, the work machine control device 110 includes at least a position and posture information acquisition unit 111, an excavation control unit 112, and a shovel insertion control unit 113.

[0042] The position and posture information acquisition unit 111 repeatedly acquires the work machine position and posture information generated and output by the work machine position and posture information generation unit 34 from the work machine position and posture measurement unit 30 at a predetermined period. Furthermore, the position and posture information acquisition unit 111 outputs the acquired work machine position and posture information to the excavation information processing device 120.

[0043] Based on the work machine position and posture information acquired by the position and posture information acquisition unit 111, the excavation control unit 112 controls the position and posture of the bucket 8, for example, so that the trajectory of the tooth tip 8T of the bucket 8 matches the target trajectory set during the excavation operation of the bucket 8 to excavate the excavation object 300. The target trajectory set during the excavation operation can be determined by the excavation control unit 112 or another control unit (not shown) based on, for example, a target value for the amount of soil to be excavated, a target value for the excavation shape, and the terrain shape. Furthermore, the excavation control unit 112 controls the switch from excavation control to excavation control based on the penetration determination information output by the excavation information processing device 120.

[0044] The digging control unit 113 controls the position and posture of the bucket 8, for example, based on instructions from the excavation control unit 112, so that the trajectory of the tooth tip 8T of the bucket 8 matches the trajectory targeted during the digging operation of the bucket 8 digging into the excavation object 300. The trajectory targeted during the digging operation can be, for example, a trajectory in which the bucket 8 stops digging the excavation object 300 and moves to a predetermined height with the bucket surface 8S perpendicular to the vertical direction.

[0045] The excavation information processing device 120 can be implemented as a standalone device, similar to the work machine control device 110, or integrated with the work machine control device 110 or other control devices of the hydraulic excavator 1. For example, it can be configured using a computer such as a microcomputer or FPGA, or a computer and its peripheral circuits and peripheral devices. Furthermore, the excavation information processing device 120 includes a three-dimensional position information acquisition unit (acquisition unit) 121, an excavated soil amount estimation unit 122, a determination unit 123, and a display unit 124, as a functional structure composed of a combination of hardware such as a computer, peripheral circuits, and peripheral devices, and software such as a program executed by the computer.

[0046] The three-dimensional position information acquisition unit 121 repeatedly acquires object position information (point cloud data 400 ) representing the excavation object using position information of a plurality of points from the three-dimensional position information measurement unit 19 at a predetermined cycle, for example, and outputs the acquired object position information to the excavated soil amount estimation unit 122 .

[0047] Based on the bucket position and posture information indicating the position and posture of bucket 8 input from the position and posture information acquisition unit 111 and the object position information acquired by the three-dimensional position information acquisition unit 121, the excavated soil volume SVA obtained by bucket 8 at that moment in time is sequentially estimated and output. The excavated soil volume estimation unit 122 can express and output the result of estimating the excavated soil volume SVA, such as T, as a value representing the volume of the excavated soil volume SVA, as a value representing the weight of the excavated soil volume SVA, or as a value representing the ratio of the volume or weight of the excavated soil volume SVA to a predetermined reference value. Furthermore, the conversion from volume to weight can be performed, for example, as follows. Specifically, the weight of the excavated soil volume after the first excavation operation (in the scooped state) can be calculated using cylinder pressure and the work device posture. The relationship (such as specific gravity) between this calculated weight and the estimated excavated soil volume can then be determined, and the volume converted to weight using this relationship.

[0048] Furthermore, in this embodiment, the excavated soil amount estimating unit 122 estimates Figure 7 The amount of soil accumulated inside the bucket 8, i.e., the amount of soil inside the bucket SVI, is estimated, and the amount of soil outside the bucket SVO, i.e., the amount of soil that the bucket 8 will excavate, is estimated. The amount of soil inside the bucket SVI and the amount of soil outside the bucket SVO are summed to calculate the excavated soil amount SVA. That is, the excavated soil amount estimating unit 122 calculates the excavated soil amount SVA using the formula: excavated soil amount SVA = amount of soil inside the bucket SVI + amount of soil outside the bucket SVO. Figure 7 It is a side view (viewed from the x direction) schematically showing the bucket 8 during the excavation operation. Figure 7 This diagram shows a state in which the excavation object 300 (topography) in front of the bucket 8 rises from the topography before excavation due to the excavation operation of the bucket 8 .

[0049] In addition, if Figure 7 and Figure 9 As shown, the excavated soil amount estimation unit 122 extracts a measurement point 402 located inside the circle 8A drawn by the bucket tooth tip 8T when the bucket 8 is rotated around the bucket pin 15 within the width 8W of the bucket 8 from the object position information (point cloud data 400), and estimates the excavated soil amount based on the position information of the extracted measurement point 402.

[0050] Here, refer to Figures 5 to 11 An example of the operation when the excavated soil amount estimating unit 122 estimates the excavated soil amount will be described. Figure 5 This is a flowchart showing an example of one cycle of operations when the excavated soil amount estimation unit 122 repeatedly estimates the excavated soil amount at a predetermined cycle during the excavation operation. Figure 5 In addition, Figure 8 、 Figure 10and Figure 11 : is a side view (viewed from the x direction) schematically showing an example of point cloud data 400 actually acquired during excavation control. Figure 9 Schematic diagram showing an example of point cloud data 400 .

[0051] like Figure 5 As shown, the excavated soil amount estimation unit 122 first obtains the position and angle information of the bucket 8 from the work machine position and posture information obtained by the position and posture information acquisition unit 111 (step S101). Next, the excavated soil amount estimation unit 122 extracts the point cloud within the bucket width 8W from the object position information (point cloud data 400) (step S102), and further extracts the point cloud inside the circle 8A of the bucket tooth tip 8T at the center of the bucket pin 15 and closer to the bucket surface 8S (step S103). Figure 9 The example of the point cloud (a plurality of measurement points 402) extracted from the point cloud data 400 (a plurality of measurement points 401) in steps S102 and S103 is shown. Figure 9 The range shown is the width 8W of the bucket 8 sandwiched between two straight lines 501 and 502 extending in the y direction of the local coordinate system. In addition, the range inside the circle 8A of the bucket tooth tip 8T at the center of the bucket pin 15 and closer to the bucket surface 8S is the range in the bucket 8S. Figure 7 The inner side of the circle 8A shown does not enter the range inside the bucket 8 relative to the bucket surface 8S.

[0052] Next, the excavated soil amount estimating unit 122 deletes the point cloud (part of the measurement points 402 ) acquired from the work machine 2 , including the arm 7 , bracket, and link mechanism, based on the work machine position and posture information and the drawing information (dimension information) (step S104 ).

[0053] Next, the excavated soil amount estimation unit 122 estimates the soil amount SVI in the bucket (step S105). In step S105, the excavated soil amount estimation unit 122 estimates the soil amount SVI in the bucket as follows. Specifically, for example, the excavated soil amount estimation unit 122 first estimates the soil amount SVI in the bucket from the plurality of measurement points 402 extracted from the point cloud data 400 in the processing of steps S102 to S104. Figure 9 As shown in FIG, two measuring points are determined: a measuring point 402 (representative point A) on the front side (cab 4 side) and a measuring point 402 (representative point B) on the depth side. Figure 8 As shown, the excavated soil amount estimation unit 122 estimates the lower area (vertically lower side) surrounded by the straight line LAB connecting the representative point A and the representative point B, the bucket surface 8S, and the bucket outline 8C as the soil amount SVI in the bucket.

[0054] Next, the excavated soil amount estimation unit 122 estimates the amount of soil outside the bucket SVO (step S106). In step S106, the excavated soil amount estimation unit 122 estimates the amount of soil outside the bucket SVO as follows. Specifically, the excavated soil amount estimation unit 122 divides the amount of soil outside the bucket SVO into two cases, for example, when the straight line LAB connecting the representative point A and the representative point B determined in step S105 intersects the bucket surface 8S as viewed from the x direction ( Figure 10 ), and when it does not intersect with the bucket surface 8S ( Figure 11 ), the amount of soil outside the bucket SVO is estimated by two calculation methods. First, when the straight line LAB intersects the bucket surface 8S, as shown in Figure 10 As shown, the excavated soil volume estimation unit 122 estimates the area (depth: bucket width 8W) surrounded by the straight line LAB connecting the representative point A and the representative point B and the straight line LABT extending vertically upward from the bucket surface 8S and the tooth tip 8T toward the straight line LAB as the bucket outer soil volume SVO. Figure 11 As shown, when the straight line LAB does not intersect the bucket surface 8S, the excavated soil amount estimation unit 122 estimates the area of ​​the quadrilateral (depth: bucket width 8W) with the representative point A, the representative point B, the bucket pin 15 and the tooth tip 8T as vertices as viewed from the x direction as the bucket external soil amount SVO.

[0055] Next, the excavated soil amount estimating unit 122 calculates the excavated soil amount SVA by summing the soil amount SVI inside the bucket estimated in step S105 and the soil amount SVO outside the bucket estimated in step S106 (step S107). Through the above processing, the excavated soil amount estimating unit 122 sequentially estimates the excavated soil amount SVA obtained by the bucket 8 when the bucket 8 is moved forward at that moment during the excavation operation.

[0056] Furthermore, the determination unit 123 determines whether the excavated soil volume estimated by the excavated soil volume estimation unit 122 has reached the target excavated soil volume, and outputs the determination result as shovel-in determination information to the excavation control unit 112. The target excavated soil volume is a target value for the volume or weight of the excavated object 300 to be achieved by the bucket 8 through a single excavation operation. For example, it can be set by the operator or automatically by the excavation control unit 112. Furthermore, when repeatedly excavating and loading the excavated soil 300, such as when loading a dump truck, the loading soil volume can be controlled with high precision by adjusting the final excavated soil volume.

[0057] The display unit 124 displays the excavated soil volume estimated by the excavated soil volume estimating unit 122 as a numerical value or a time-series graph on the display device 40 installed in the cab 4. When the operator manually performs excavation work, the operator can, for example, switch from excavation to shoveling by referring to the estimated excavated soil volume displayed on the display device 40. In this case, the excavation information processing device 120, which includes the three-dimensional position information acquiring unit (acquisition unit) 121, the excavated soil volume estimating unit 122, and the display unit 124, functions as an excavation assistance device.

[0058] Next, refer to Figure 4 right Figure 2 An operation example of the work machine control device 110 and the excavation information processing device 120 shown in FIG. 1 will be described. Figure 4 It means that the excavation control and shovel control are automatically performed once. Figure 2 The system flow chart of the operation example of the working machine control device 110 and the excavation information processing device 120 is shown. For example, when the target excavation amount is set in advance and the bucket 8 moves to the excavation start position, the excavation control is started when the operator instructs to start the excavation control. Figure 4 The action shown. When starting Figure 4 In the operation shown in FIG. 1 , the excavation control unit 112 in the work machine control device 110 performs excavation control (step S11), and repeatedly determines whether to switch to excavation control based on the excavation determination information at a predetermined cycle (step S12). In addition, in the excavation information processing device 120, when the excavation starts, Figure 4 In the operation shown, the excavated soil amount estimation unit 122 estimates the excavated soil amount (step S21) repeatedly at a predetermined cycle, and the determination unit 123 determines whether the excavated soil amount estimated by the excavated soil amount estimation unit 122 has reached the target excavated soil amount (step S22).

[0059] When the excavated soil volume reaches the target excavated soil volume, the determination unit 123 outputs shovel entry determination information indicating that the excavated soil volume has reached the target excavated soil volume (if "YES" in step S22). Upon receiving the shovel entry determination information indicating that the excavated soil volume has reached the target excavated soil volume, the excavation control unit 112 determines that a switch to shovel entry control is to be performed ("YES" in step S12), and the shovel entry control unit 113 performs shovel entry control (step S13).

[0060] Figure 12 Yes Figure 4The diagram shows an example of the time-dependent change in the amount of excavated soil during the operation shown. The horizontal axis represents time, and the vertical axis represents the amount of excavated soil. When excavation begins, the amount of soil in the bucket SVI gradually increases. After SVI reaches a certain level, the amount of soil outside the bucket SVO begins to increase. Furthermore, once the excavated soil amount SVA reaches the target excavated soil amount, the control switches to scooping control.

[0061] As described above, according to the present embodiment, since the excavated soil amount can be estimated sequentially during the excavation work, the excavated soil amount can be easily adjusted to an arbitrary value.

[0062] While the embodiments of the present invention have been described above with reference to the drawings, specific configurations are not limited to the above embodiments and include design changes within the scope of the present invention.

[0063] For example, the hydraulic excavator 1 may be a type that performs unmanned automatic control of the vehicle body 1B and the work implement 2, a type that performs remote operation, or a type that combines automatic control with remote control or manual control by an operator. Furthermore, while the above embodiment primarily uses coordinate information in a local coordinate system, coordinate information converted to a global coordinate system may also be used.

[0064] Furthermore, in the above-described embodiment, part or all of the program executed by the computer may be distributed via a computer-readable recording medium or a communication line.

[0065] Industrial applicability

[0066] According to each aspect of the present invention, the amount of excavated soil can be easily adjusted to an arbitrary value.

[0067] Description of Reference Numerals

[0068] 1…Hydraulic excavator

[0069] 2…Working device

[0070] 8…Bucket

[0071] 8T…tooth tip

[0072] 15…Bucket pin

[0073] 19…Three-dimensional position information measurement unit

[0074] 30…Working device position and posture measurement unit

[0075] 110…Working device control device

[0076] 111…Position and posture information acquisition unit

[0077] 112…Excavation Control Department

[0078] 113…Shovel into the control unit

[0079] 120…Mining Information Processing Device

[0080] 121…Three-dimensional position information acquisition unit (acquisition unit)

[0081] 122…Excavation Volume Estimation Department

[0082] 123…Judgment Department

[0083] 124…Display unit

Claims

1. A mining information processing device, characterized in that: have: an acquisition unit that acquires object position information representing an excavation object using position information of a plurality of points; an excavated soil amount estimating unit that sequentially estimates and outputs an amount of excavated soil obtained by the bucket when the bucket is moved forward at that moment, based on bucket position and posture information indicating the position and posture of the bucket and the object position information; The excavated soil amount estimating unit estimates the amount of soil accumulated in the bucket, i.e., the in-bucket soil amount, and estimates the amount of soil predicted to be excavated by the bucket, i.e., the out-bucket soil amount, and calculates the excavated soil amount by summing the in-bucket soil amount and the out-bucket soil amount.

2. The mining information processing device according to claim 1, wherein: The method further includes a determination unit that outputs a determination result of whether the excavated soil amount has reached a target excavated soil amount.

3. The mining information processing device according to claim 1 or 2, wherein: The excavated soil amount estimation unit extracts the point located inside a circle drawn by the bucket tooth tip when the bucket is rotated about the bucket pin within the width of the bucket from the object position information, and estimates the excavated soil amount based on the position information of the extracted point.

4. A working device, characterized in that: have: The excavation information processing device according to any one of claims 1 to 3, and the bucket.

5. An excavation assisting device comprising: an acquisition unit that acquires object position information representing an excavation object using position information of a plurality of points; an excavated soil amount estimating unit that sequentially estimates an excavated soil amount obtained by the bucket when the bucket is moved forward at that moment based on bucket position and posture information indicating the position and posture of the bucket and the object position information; a display unit that displays the excavated soil amount; The excavated soil amount estimating unit estimates the amount of soil accumulated in the bucket, i.e., the in-bucket soil amount, and estimates the amount of soil predicted to be excavated by the bucket, i.e., the out-bucket soil amount, and calculates the excavated soil amount by summing the in-bucket soil amount and the out-bucket soil amount.

6. A mining information processing method, characterized in that: include: a step of acquiring object position information representing the excavation object using position information of a plurality of points; The step of sequentially estimating and outputting an amount of excavated soil obtained by the bucket when the bucket is moved forward at that moment based on bucket position and posture information indicating the position and posture of the bucket and the object position information; The estimation of the excavation volume includes the following steps: The step of estimating the amount of soil accumulated in the bucket, i.e., the amount of soil in the bucket; The step of estimating and predicting the amount of soil to be excavated by the bucket, i.e., the amount of soil outside the bucket; The step of calculating the excavated soil volume by calculating the soil volume in the bucket and the soil volume outside the bucket.

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