Work machine management system

Abstract

A management system of a work machine is provided with a terrain data generation system that generates terrain data indicating an existing shape based on a work device of the work machine, based on a detection result of a posture detection device that detects a posture of the work machine. The terrain data generation system calculates a track of the work device based on the posture of the work machine, calculates information of a face constituting the track based on the track of the work device, records position information of the track of the work device and the information of the face constituting the track in each of a plurality of squares obtained by dividing a prescribed region into a lattice shape, thereby generating construction history data, and generates the terrain data based on the position information of the track of the work device and the information of the face constituting the track contained in the construction history data.

Description

TECHNICAL FIELD

[0001] The present application relates to a management system for a work machine. BACKGROUND

[0002] Conventionally, a work machine such as a hydraulic excavator having a machine control function and a machine guidance function is known. The machine control function is a function of controlling the operation of a boom, a stick, and a bucket in such a manner that the bucket is operated along a target surface created by a three-dimensional CAD software or the like. The machine guidance function is a function of presenting information on the posture of the work machine and information on the positional relationship between a target surface around the work machine and a constituent element of the work machine to an operator.

[0003] In recent years, a trend of flexibly using construction history data in which three-dimensional positional information of the work machine and time information calculated in order to exert the machine control function and the machine guidance function are recorded together is increasing. For example, sometimes terrain data is generated based on the construction history data, and the generated terrain data is flexibly used in the management of the existing height of the work performed based on the work machine.

[0004] In Patent Literature 1, a work support management system for a work machine is disclosed in which a display table and a display content table are provided in a digging support database, the state of a work area is stored in each grid in the display table, and an identification display method (display color) is stored in the display content table in correspondence with the state of each grid, the state (height) of each grid of the display table is read in the corresponding display color with reference to the display content table, and the state of the work area is displayed in color.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Laid-Open No. 2005-11058 SUMMARY

[0008] In the system described in Patent Literature 1, for a work area, a grid (a grid of a square of 50 cm on a side) representing a plane of a prescribed size is expressed as a unit of constitution, and display processing and detailed data calculation processing are performed for each grid. However, since the grids are set at equal intervals, when terrain data in the work area is generated, depending on the position of the origin of the grid, the terrain shape of a characteristic portion such as the crest or the foot of a slope cannot be accurately reproduced, and there is a concern that the precision of the generated terrain data deteriorates. Further, in order to improve the precision of the terrain data, it is considered to set the interval of the grid narrow. However, in this case, since the number of grids (the number of squares) increases in proportion to the square of the inverse of the interval of the grid (the width of the square), there is a problem that the amount of data to be managed increases.

[0009] The present application provides a work machine management system that reduces the amount of data required to generate terrain data and enables generation of high-precision terrain data.

[0010] A work machine management system according to one aspect of the present application includes a terrain data generation system that generates terrain data showing a resultant shape based on a work device of a work machine based on a detection result of a posture detection device that detects a posture of the work machine. The terrain data generation system calculates a locus of the work device based on the posture of the work machine, calculates information of a face constituting the locus based on the locus of the work device, records position information of the locus of the work device and the information of the face constituting the locus in each of a plurality of squares obtained by dividing a prescribed region into a grid shape, and thereby generates construction history data. The terrain data generation system generates the terrain data based on the position information of the locus of the work device and the information of the face constituting the locus included in the construction history data.

[0011] Effects of the Invention

[0012] According to the present application, a work machine management system that reduces the amount of construction history data required to generate terrain data and enables generation of high-precision terrain data can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a diagram showing the structure of the management system.

[0014] Figure 2 is a structural diagram of a hydraulic excavator.

[0015] Figure 3 is a diagram showing the structure of a hydraulic drive device of the hydraulic excavator.

[0016] Figure 4 is a hardware structural diagram of a vehicle body controller of the hydraulic excavator and a management controller of the management server.

[0017] Figure 5 is a functional block diagram showing the main functions of the terrain data generation system.

[0018] Figure 6 is a diagram showing the excavator reference coordinate system.

[0019] Figure 7 is a diagram showing the normal vector of the face constituting the locus through which the bucket passes.

[0020] Figure 8 is a diagram showing the normal vector on the curved surface constituting the locus through which the bucket passes.

[0021] Figure 9 is a diagram showing an example of the construction history data.

[0022] Figure 10 is a diagram showing the work area A in which the grid processing is performed.

[0023] Figure 11 is a diagram showing the grid width Gw and the grid center point Gen.

[0024] Figure 12 is a diagram showing the gridding of the trajectory of the shovel.

[0025] Figure 13 is a diagram showing an example of the construction history data of variable length.

[0026] Figure 14 is a flowchart showing the construction history data generation processing performed by the body controller.

[0027] Figure 15 is a cross-sectional view showing the cross section obtained by passing through the trajectory-constituting point Gt1 on a certain grid center axis and the trajectory-constituting point Gt2 on a grid center axis adjacent to the grid center axis in the E-axis direction and parallel to the EH plane.

[0028] Figure 16 is a diagram showing the case where the adjacent tangent planes are close to parallel to each other.

[0029] Figure 17 is a diagram showing the case where the grid width Gw is large compared with the complexity of the terrain shape.

[0030] Figure 18 is a flowchart showing the terrain data generation and output processing performed by the management controller.

[0031] Figure 19A is a diagram showing the terrain data generated by the management system of the present embodiment.

[0032] Figure 19B is a diagram showing the terrain data generated by the management system of the comparative example of the present embodiment.

[0033] Figure 20 is a diagram showing the supplementary information generated by the management system of the modified example 1 of the present embodiment.

[0034] Figure 21 is a flowchart showing an example of the setting method of the extraction condition of the log data of the construction history data. DETAILED DESCRIPTION

[0035] With reference to the drawings, a management system of a work machine of an embodiment of the present application will be described. The work machine is a machine used in various works such as civil works, engineering works, and dismantling works. In the present embodiment, an example in which the work machine is a hydraulic excavator 100 of a crawler type will be described.

[0036] Figure 1 is a diagram showing the structure of the management system 1. As shown in Figure 1 , the management system 1 has a vehicle controller 110 provided to the hydraulic excavator 100 that performs a work at a work site, and a management controller 150 provided to a management server 51. The management server 51 is provided to the management center 50 that is set at the work site or at a place away from the work site. The management center 50 is set, for example, at a head office, a branch office, a factory, or the like of a maker of the hydraulic excavator 100, a rental company of the hydraulic excavator 100, a data center that exclusively performs server operation, a facility of an owner of the hydraulic excavator 100, or the like. The management server 51 is an external device that remotely manages (grasps, monitors) the state of the hydraulic excavator 100.

[0037] The hydraulic excavator 100 and the management server 51 perform bidirectional communication via a communication line 59 of a wide area network. That is, the hydraulic excavator 100 and the management server 51 perform transmission and reception of information (data) via the communication line 59. The communication line 59 is a mobile telephone communication network (mobile communication network) developed by a mobile telephone carrier or the like, the Internet, or the like. For example, as illustrated, in a case where the hydraulic excavator 100 and a wireless base station office 58 are connected by the mobile telephone communication network (mobile communication network), the wireless base station office 58 transmits the received information to the management server 51 via the Internet if predetermined information is received from the hydraulic excavator 100.

[0038] The management server 51 receives the data received from the hydraulic excavator 100 and stores it to a storage device 52 such as a hard disk drive. The management server 51 causes the information (data) stored in the storage device 52 to be displayed on a display device 53 such as a liquid crystal display device. A manager can grasp the state of the hydraulic excavator 100 by operating the management server 51 by using an input device 54 such as a keyboard or a mouse, and causing the information of the predetermined hydraulic excavator 100 to be displayed on the display device 53.

[0039] Figure 2 is a structural diagram of the hydraulic excavator 100. As shown in Figure 2As shown, the hydraulic excavator 100 is provided with a vehicle body (machine body) 100b and a working device 100a mounted to the vehicle body 100b. The vehicle body 100b is provided with a traveling body 11 and a rotating body 12 rotatably provided on the traveling body 11, and the working device 100a is mounted to the front portion of the rotating body 12. The hydraulic excavator 100 is provided with a left traveling hydraulic motor 3b that drives a track 19 on the left side of the traveling body 11 and a right traveling hydraulic motor 3a that drives a track 19 on the right side of the traveling body 11. The traveling body 11 travels by driving the left and right pair of tracks 19 by the traveling hydraulic motors 3 (3a, 3b). The hydraulic excavator 100 has a rotating hydraulic motor 4 that rotates (turns) the rotating body 12 relative to the traveling body 11.

[0040] The working device 100a is a multi-joint type working device having a plurality of driven members (front members) driven by a plurality of actuators. The working device 100a is a structure in which three driven members (a boom 8, a stick 9, and a bucket 10) are connected in series. A base end portion of the boom 8 is rotatably connected to the front portion of the rotating body 12 via a boom pin 91 (see FIG. 1). A base end portion of the stick 9 is rotatably connected to the front end portion of the boom 8 via a stick pin 92 (see FIG. 1). The bucket 10 is rotatably connected to the front end portion of the stick 9 via a bucket pin 93 (see FIG. 1). The boom pin 91, the stick pin 92, and the bucket pin 93 are arranged in parallel with each other, and the respective driven members (the boom 8, the stick 9, and the bucket 10) are relatively rotatable in the same plane. Figure 6 Figure 6 Figure 6

[0041] The boom 8 is driven by a boom cylinder (hydraulic cylinder) 5 as an actuator, the stick 9 is driven by a stick cylinder (hydraulic cylinder) 6 as an actuator, and the bucket 10 is driven by a bucket cylinder (hydraulic cylinder) 7 as an actuator. The hydraulic cylinders (5 to 7) are provided with a bottomed cylindrical cylinder tube having one end plugged, a head cover that closes an opening of the other end of the cylinder tube, a cylinder rod that penetrates the head cover and is inserted into the cylinder tube, and a piston that is provided at the top end of the cylinder rod and divides the inside of the cylinder tube into a cylinder rod side oil chamber and a cylinder bottom side oil chamber. The one end side of the boom cylinder 5 is connected to the rotating body 12, and the other end side is connected to the boom 8. The one end side of the stick cylinder 6 is connected to the boom 8, and the other end side is connected to the stick 9. The one end side of the bucket cylinder 7 is connected to the stick 9, and the other end side is connected to the bucket 10 via a bucket link 13. By driving the respective hydraulic cylinders (5 to 7), work such as excavation and grading of a mountain is performed.

[0042] ​​​On the front left side of the swing body 12, a cab 17 for an operator to ride is provided. In the cab 17, a right travel lever device 23a and a left travel lever device 23b for giving an instruction to the travel body 11 to act are provided. In addition, in the cab 17, a right operation lever device 22a and a left operation lever device 22b for giving an instruction to the swing body 12, the working device 100a, the boom 8, the stick 9, and the bucket 10 to act are provided. As such, the hydraulic excavator 100 of the present embodiment is provided with the operation devices (22a, 22b, 23a, 23b) for causing the swing body 12, the working device 100a, and the travel body 11 to act.

[0043] In the swing body 12, an engine 14 as a prime mover, a pump 2 driven by the engine 14, and a control valve unit 20 are mounted. Although not shown, the control valve unit 20 has a plurality of flow control valves (also referred to as directional control valves) that control the flow (flow rate and direction) of working oil as a working fluid supplied from the pump 2 to actuators (the boom cylinder 5, the stick cylinder 6, the bucket cylinder 7, the swing hydraulic motor 4, and the travel hydraulic motor 3).

[0044] Figure 3 is a view showing the structure of the hydraulic driving device of the hydraulic excavator 100. Furthermore, in order to simplify the explanation, the structure for driving the boom cylinder 5, the stick cylinder 6, the bucket cylinder 7, and the swing hydraulic motor 4 is described in Figure 3 , and the illustration of circuits, valves, and the like that are not directly related to the present embodiment is omitted.

[0045] The pump 2 is driven by the engine 14, sucks working oil from an oil tank, and discharges it to a pump line L1 that connects the control valve unit 20 and a discharge port of the pump 2. Furthermore, in Figure 3 , an example in which the pump 2 is a fixed displacement type hydraulic pump is shown, but a variable displacement type hydraulic pump can also be employed. In addition, the pump 2 that supplies working oil to the control valve unit 20 can be one or a plurality of pumps.

[0046] The control valve unit 20 is controlled by a solenoid valve unit 40 having a plurality of solenoid proportional valves 41a to 44b, thereby controlling the flow of working oil (hydraulic oil) supplied from the pump 2 to the actuators. The control valve unit 20 controls the flow of working oil (hydraulic oil) supplied from the pump 2 to the boom cylinder 5 in accordance with a signal pressure generated by the solenoid proportional valves 41a and 41b. The control valve unit 20 controls the flow of working oil (hydraulic oil) supplied from the pump 2 to the stick cylinder 6 in accordance with a signal pressure generated by the solenoid proportional valves 42a and 42b. The control valve unit 20 controls the flow of working oil (hydraulic oil) supplied from the pump 2 to the bucket cylinder 7 in accordance with a signal pressure generated by the solenoid proportional valves 43a and 43b. The control valve unit 20 controls the flow of working oil (hydraulic oil) supplied from the pump 2 to the swing hydraulic motor 4 in accordance with a signal pressure generated by the solenoid proportional valves 44a and 44b.

[0047] The electromagnetic proportional valves 41a to 44b set the pilot hydraulic oil supplied from the pilot hydraulic pressure source 29 to a primary pressure (original pressure), and set a secondary pressure generated by reducing the pressure according to an instruction current from the valve driving device 158 (see Fig. 1) controlled by the vehicle body controller 110 to a signal pressure and output to the control valve unit 20. Further, the pilot hydraulic pressure source 29 is, for example, a hydraulic pump (pilot pump) driven by the engine 14. Figure 4 ) of the valve driving device 158 (see Fig. 1) controlled by the vehicle body controller 110 to a signal pressure and output to the control valve unit 20. Further, the pilot hydraulic pressure source 29 is, for example, a hydraulic pump (pilot pump) driven by the engine 14.

[0048] The right operating lever device 22a has an operating sensor that sets a voltage signal (operation signal) corresponding to the operation amount and operation direction of the operating lever to boom operation information and bucket operation information and outputs to the vehicle body controller 110. The left operating lever device 22b has an operating sensor that sets a voltage signal (operation signal) corresponding to the operation amount and operation direction of the operating lever to stick operation information and rotation operation information and outputs to the vehicle body controller 110.

[0049] If the operation signal is input from the operating sensor of the operating device 22a, 22b to the vehicle body controller 110, the vehicle body controller 110 controls the electromagnetic proportional valves 41a to 44b of the electromagnetic valve unit 40 so that the actuators act at an operation speed corresponding to the operation signal. Thereby, the control valve unit 20 is controlled, the working oil discharged from the pump 2 is supplied to the actuators, and the actuators act.

[0050] If the boom is lifted by the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 41a to the 1st pressure receiving portion of the boom flow control valve, and the boom flow control valve acts to one side (boom lifting side). Thereby, the working oil is supplied to the cylinder bottom side oil chamber of the boom cylinder 5, and the working oil is discharged from the cylinder rod side oil chamber of the boom cylinder 5 to the oil tank. As a result, the boom cylinder 5 is elongated, and the boom 8 is rotated upward with the boom pin 91 as a fulcrum. If the boom is lowered by the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 41b to the 2nd pressure receiving portion of the boom flow control valve, and the boom flow control valve acts to the other side (boom lowering side). Thereby, the working oil is supplied to the cylinder rod side oil chamber of the boom cylinder 5, and the working oil is discharged from the cylinder bottom side oil chamber of the boom cylinder 5 to the oil tank. As a result, the boom cylinder 5 is contracted, and the boom 8 is rotated downward with the boom pin 91 as a fulcrum.

[0051] If the bucket loading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43a to the first pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to one side (the bucket loading side). Thereby, the working oil is supplied to the cylinder bottom side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder rod side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 extends, and the bucket 10 rotates downward with the bucket pin 93 as a fulcrum. That is, the bucket loading operation is performed. If the bucket unloading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43b to the second pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to the other side (the bucket unloading side). Thereby, the working oil is supplied to the cylinder rod side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder bottom side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 contracts, and the bucket 10 rotates upward with the bucket pin 93 as a fulcrum. That is, the bucket unloading operation is performed.

[0052] If the bucket loading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43a to the first pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to one side (the bucket loading side). Thereby, the working oil is supplied to the cylinder bottom side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder rod side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 extends, and the bucket 10 rotates downward with the bucket pin 93 as a fulcrum. That is, the bucket loading operation is performed. If the bucket unloading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43b to the second pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to the other side (the bucket unloading side). Thereby, the working oil is supplied to the cylinder rod side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder bottom side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 contracts, and the bucket 10 rotates upward with the bucket pin 93 as a fulcrum. That is, the bucket unloading operation is performed. If the bucket loading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43a to the first pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to one side (the bucket loading side). Thereby, the working oil is supplied to the cylinder bottom side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder rod side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 extends, and the bucket 10 rotates downward with the bucket pin 93 as a fulcrum. That is, the bucket loading operation is performed. If the bucket unloading operation is performed using the operating device 22a, an instruction pressure corresponding to the operation amount thereof is output from the electromagnetic proportional valve 43b to the second pressure receiving portion of the flow control valve for the bucket, and the flow control valve for the bucket operates to the other side (the bucket unloading side). Thereby, the working oil is supplied to the cylinder rod side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder bottom side oil chamber of the bucket cylinder 7 to the tank. As a result, the bucket cylinder 7 contracts, and the bucket 10 rotates upward with the bucket pin 93 as a fulcrum. That is, the bucket unloading operation is performed.

[0053] If the driven members (8, 9, 10) rotate by the operation of the actuators (5, 6, 7), the posture of the working device 100a and the position of the tooth tip of the bucket 10 change.

[0054] If a right-hand rotation operation is performed using the operating device 22b, a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 44a to the first pressure-receiving part of the rotation flow control valve, causing the rotation flow control valve to actuate in one direction (right-hand rotation). As a result, working oil is supplied to the rotation hydraulic motor 4, which rotates in one direction (right-hand rotation). Consequently, the rotating body 12 rotates to the right relative to the traveling body 11. If a left-hand rotation operation is performed using the operating device 22b, a command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 44b to the second pressure-receiving part of the rotation flow control valve, causing the rotation flow control valve to actuate in the other direction (left-hand rotation). As a result, working oil is supplied to the rotation hydraulic motor 4, which rotates in the other direction (left-hand rotation). Consequently, the rotating body 12 rotates to the left relative to the traveling body 11. If the rotating body 12 rotates relative to the traveling body 11 due to the operation of the rotation hydraulic motor 4, the position of the tips of the bucket 10 teeth, etc., changes.

[0055] The hydraulic excavator 100 is equipped with pressure sensors 5a to 7b to detect the pressure (cylinder pressure) in the boom cylinder 5, stick cylinder 6, and bucket cylinder 7, and outputs the detection results (electrical signals) to the body controller 110. Pressure sensor 5a detects the pressure in the cylinder rod side oil chamber of the boom cylinder 5, and pressure sensor 5b detects the pressure in the cylinder bottom side oil chamber of the boom cylinder 5. Pressure sensor 6a detects the pressure in the cylinder rod side oil chamber of the stick cylinder 6, and pressure sensor 6b detects the pressure in the cylinder bottom side oil chamber of the stick cylinder 6. Pressure sensor 7a detects the pressure in the cylinder rod side oil chamber of the bucket cylinder 7, and pressure sensor 7b detects the pressure in the cylinder bottom side oil chamber of the bucket cylinder 7.

[0056] like Figure 2 As shown, a device for measuring the rotation angle α (hereinafter referred to as the boom angle) of the boom 8 relative to the rotating body 12 is mounted on the boom pin 91 (refer to...). Figure 6 A boom angle sensor 30 is installed on the boom pin 92 to measure the rotation angle β (hereinafter referred to as the boom angle) of the boom 9 relative to the boom 8. Figure 6 The boom angle sensor 31 is installed on the bucket link 13 to measure the rotation angle (hereinafter referred to as the bucket angle) γ (refer to the reference) of the bucket 10 relative to the boom 9. Figure 6 A bucket angle sensor 32 is mounted on the rotating body 12 to measure the tilt angle (hereinafter referred to as the pitch angle) θp of the rotating body 12 (body 100b) relative to a reference plane (e.g., a horizontal plane) in the longitudinal direction. Figure 6The vehicle body front and rear tilt angle sensor 33a is also present. In addition, a vehicle body left and right tilt angle sensor 33b is mounted on the rotating body 12 to measure the tilt angle (hereinafter referred to as the roll angle) θr (not shown) of the rotating body 12 (vehicle body 100b) relative to a reference plane (e.g., a horizontal plane) in the left and right direction.

[0057] For angle sensors 30, 31, 32, 33a, and 33b, sensors such as IMUs (Inertial Measurement Units), potentiometers, and rotary encoders can be used. Furthermore, bucket angle sensor 32 can be installed on the bucket 10 instead of on the bucket link 13.

[0058] The hydraulic excavator 100 includes: a pair of left and right RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems) antennas (first GNSS antenna 35a and second GNSS antenna 35b) on the rotating body 12; and a GNSS receiver 36 mounted in the cab 17 that calculates the position information of the hydraulic excavator 100 using the radio waves received by the GNSS antennas 35a and 35b (see reference). Figure 3 , Figure 5 ).

[0059] Angle sensors 30, 31, 32, 33a, and 33b, and GNSS antennas 35a and 35b function as attitude sensors for detecting the posture of the hydraulic excavator 100. Additionally, GNSS antennas 35a and 35b function as position sensors for detecting the position of the hydraulic excavator 100.

[0060] like Figure 3 As shown, the hydraulic excavator 100 has a posture detection device 130, which detects (calculates) the position, orientation, and posture (posture of the working device 100a and posture of the body 100b) of the hydraulic excavator 100 based on the detection results from the boom angle sensor 30, stick angle sensor 31, bucket angle sensor 32, front and rear tilt angle sensor 33a and left and right tilt angle sensor 33b of the body, as well as the position information from the GNSS antennas 35a and 35b.

[0061] The posture detection device 130 calculates the position of the hydraulic excavator 100 in the field coordinate system, as well as the posture information of the hydraulic excavator 100, including the boom angle α, stick angle β, bucket angle γ, pitch angle θp, roll angle θr and azimuth angle θy, and outputs the results to the vehicle body controller 110.

[0062] Figure 4is a hardware configuration diagram of the body controller 110 of the hydraulic excavator 100 and the management controller 150 of the management server 51.

[0063] The hydraulic excavator 100 has the body controller 110, a communication device 155 for communicating with the management server 51, a posture detection device 130 that detects (calculates) the posture of the hydraulic excavator 100, a target surface setting device 161 that sets a target surface St (refer to Figure 6 ), a pressure detection device 162 that detects the pressure of the hydraulic cylinders (5 to 7), and a storage device 169 that stores information.

[0064] The communication device 155 is a wireless communication device capable of wireless communication with a wireless base station office 58 connected to a communication line 59 as a wide area network, and has a communication interface including a communication antenna that sets a prescribed frequency band as a sensitive bandwidth. In addition, the communication device 155 can also perform information exchange with the management server 51 directly or indirectly using a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), and the like.

[0065] The target surface setting device 161 is a device capable of inputting information (position information of one or a plurality of target surfaces, information of an inclination angle of a target surface with respect to a reference surface (a horizontal surface), and the like) related to the target surface St (refer to Figure 6 ) to the body controller 110. The target surface setting device 161 is connected to an external terminal (not shown) that stores three-dimensional data of a target surface prescribed on a site coordinate system. In the present embodiment, a cross-sectional shape cut by a plane (a movement plane of the working device) of the working device 100a moving on the target surface of the three-dimensional data acquired from the external terminal is utilized as the target surface St (a two-dimensional target surface). In addition, the input of the target surface St via the target surface setting device 161 can also be performed manually by an operator. Furthermore, data exchange between the target surface setting device 161 and the body controller 110 can be performed by wired communication, can be performed by wireless communication, or can be performed by a recording medium such as a USB flash memory or an SD card.

[0066] The pressure detection device 162 has pressure sensors 5a to 7b that detect the pressures of the cylinder rod side oil chambers and the cylinder bottom side oil chambers of the hydraulic cylinders 5 to 7 that drive the driven parts of the working device 100a, and outputs the detection results to the body controller 110. The operation detection device 163 has operation sensors of the operation devices 22a, 22b that detect the operation amounts and the operation directions of the operation devices 22a, 22b, and outputs the detection results to the body controller 110.

[0067] Storage device 169 is a non-volatile memory such as flash memory or hard disk drive. Storage device 169 stores information such as the dimensions of the hydraulic excavator 100. Figure 6 The lengths shown are Lbm from the center of the boom pin 91 to the center of the stick pin 92, Lam from the center of the stick pin 92 to the center of the bucket pin 93, and Lbkt from the center of the bucket pin 93 to the tip of the bucket 10 tooth Pb. Additionally, the storage device 169 stores information related to the installation positions of the hydraulic cylinders (5-7) as dimensional information of the hydraulic excavator 100 (e.g., the distance from the boom pin 91 to the cylinder rod side connection of the boom cylinder 5, the distance from the boom pin 91 to the cylinder bottom side connection of the boom cylinder 5, etc.). Furthermore, the storage device 169 stores the position coordinates of the GNSS antennas 35a and 35b in the excavator's reference coordinate system. Moreover, the position coordinates of the GNSS antennas 35a and 35b in the excavator's reference coordinate system can be calculated based on design dimensions or measurement results obtained from a measuring instrument such as a total station.

[0068] Figure 4 The display device 164 shown is a liquid crystal display device that displays images on a display screen based on display control signals output from the body controller 110. The valve actuation device 158 controls the command current supplied to the solenoids of the electromagnetic proportional valves 41a to 44b of the solenoid valve unit 40 based on valve actuation signals output from the body controller 110.

[0069] The management server 51 includes a management controller 150, a communication device 55 for communicating with the hydraulic excavator 100, an input device 54 such as a keyboard and mouse for inputting specified information into the management controller 150 through the operation of the manager, a display device 53 such as an LCD display, and a storage device 52 for storing information.

[0070] The communication device 55 is a communication device capable of communicating with the hydraulic excavator 100 via the communication line 59, which serves as a wide area network. Furthermore, the communication device 55 can also exchange information directly or indirectly with the hydraulic excavator 100 using communication methods such as Wi-Fi, ZigBee, and Bluetooth.

[0071] The vehicle body controller 110 and the management controller 150 are each constituted by a microcomputer having a CPU (Central Processing Unit) 110a, 150a as a working circuit, a ROM (Read Only Memory) 110b, 150b and a RAM (Random Access Memory) 110c, 150c as storage devices, an input interface 110d, 150d, an output interface 110e, 150e, and other peripheral circuits. The vehicle body controller 110 and the management controller 150 can each be constituted by one microcomputer or a plurality of microcomputers.

[0072] The input interface 110d, 150d converts signals from various devices in a manner that the CPU 110a, 150a can operate. The ROM 110b, 150b is a nonvolatile memory such as an EEPROM. In the ROM 110b, 150b, a program that enables various operations shown in the flowcharts described later to be executed by the CPU 110a, 150a is stored. That is, the ROM 110b, 150b is a storage medium that can read a program that realizes the functions of the present embodiment.

[0073] The RAM 110c, 150c is a volatile memory that is a working memory that directly performs input and output of data between the CPU 110a, 150a. The RAM 110c, 150c temporarily stores necessary data during execution of the program by the CPU 110a, 150a.

[0074] The CPU 110a, 150a is an operation device that expands and executes the program stored in the ROM 110b, 150b in the RAM 110c, 150c, and performs predetermined operation processing on signals taken in from the input interface 110d, 150d and the ROM 110b, 150b and the RAM 110c, 150c in accordance with the program. The output interface 110e, 150e generates a signal for output corresponding to the operation result in the CPU 110a, and outputs the signal to various devices.

[0075] Referring to Figure 5 , a terrain data generation system 180 that generates terrain data showing a resultant shape obtained by the working device 100a of the hydraulic excavator 100 will be described. Figure 5 is a functional block diagram showing main functions of the terrain data generation system 180. As Figure 5As shown, the terrain data generation system 180 includes: a vehicle body controller 110 as a first processing device, which performs processing to generate construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130; and a management controller 150 as a second processing device, which performs processing to generate terrain data based on the construction history data.

[0076] like Figure 5 As shown, the posture detection device 130 functions as the working device posture detection unit 131, the vehicle body position detection unit 132, and the vehicle body angle detection unit 133. The working device posture detection unit 131 calculates the boom angle α, stick angle β, and bucket angle γ based on the detection results from the boom angle sensor 30, stick angle sensor 31, and bucket angle sensor 32, and outputs the calculation results to the vehicle body controller 110.

[0077] The vehicle position detection unit 132 calculates the antenna position information in the field coordinate system based on the position information of the first GNSS antenna 35a output from the GNSS receiver 36, and outputs it to the vehicle controller 110. If position information in a coordinate system other than the field coordinate system is input, the vehicle position detection unit 132 performs coordinate transformation processing to convert the position information in that coordinate system into the field coordinate system, and calculates the antenna position information in the field coordinate system.

[0078] In this embodiment, the situation where the GNSS receiver 36 outputs coordinate values ​​in the field coordinate system is described. Furthermore, the GNSS receiver 36 only needs to be able to output coordinate values ​​in at least one of the following coordinate systems: geographic coordinate system, Cartesian coordinate system, geocentric orthogonal coordinate system, and field coordinate system. The coordinate values ​​in the geographic coordinate system consist of latitude, longitude, and elliptic height. The coordinate values ​​in the Cartesian coordinate system, geocentric orthogonal coordinate system, and field coordinate system are three-dimensional orthogonal coordinate systems composed of X, Y, and Z coordinates. The geographic coordinate system coordinate values ​​can be converted into a three-dimensional orthogonal coordinate system such as the Cartesian coordinate system using methods such as Gauss-Kruger's conformal projection. Additionally, the Cartesian coordinate system, geocentric orthogonal coordinate system, and field coordinate system can be mutually converted using affine transformations or Helmholtz transformations.

[0079] The field coordinate system in this embodiment is a coordinate system with the E-axis in the east direction on the horizontal plane, the N-axis in the north direction on the horizontal plane, and the H-axis in the vertical direction, with any position in the work site as the origin.

[0080] The body angle detection section 133 calculates the azimuth angle θy, the pitch angle θp, and the roll angle θr based on the antenna position information output from the first GNSS antenna 35a and the second GNSS antenna 35b and the detection results (sensor values) of the body front-rear tilt angle sensor 33a and the body left-right tilt angle sensor 33b, and outputs the calculation results to the body controller 110. The body angle detection section 133 calculates the azimuth angle θy based on the positional relationship between the first GNSS antenna 35a and the second GNSS antenna 35b.

[0081] The body controller (first processing device) 110 of the hydraulic excavator 100 performs processing of generating construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130 and transmitting the generated construction history data to the management server 51 outside the hydraulic excavator 100. Hereinafter, the functions of the body controller 110 will be described in detail.

[0082] The body controller 110 functions as a track calculation section 111, a supplementary information calculation section 112, a construction history generation section 113, and a transmission section 114. The track calculation section 111 calculates the track of the bucket 10 based on the pressure information from the pressure detection device 162, the operation information from the operation detection device 163, and the posture information (angle information) from the posture detection device 130.

[0083] In the "digging operation" in which the mountain is excavated using the bucket 10, the track of the bucket 10 is the moving track of the tooth tip of the bucket 10 that contacts the ground. In the "compaction operation" in which the ground is compacted using the back surface of the bucket 10 by moving the bucket 10 forward, the track of the bucket 10 is the moving track of a specific portion on the back surface of the bucket 10 that contacts the ground. In the "slope ramming operation" in which the bucket 10 hits the ground, the track of the bucket 10 corresponds to the bottom surface of the bucket 10 at the instant when the bucket 10 hits the ground.

[0084] In the compaction operation, the "specific portion on the back surface of the bucket 10" that contacts the ground differs depending on the shape of the bucket 10. For example, in a bucket in which the back surface of the bucket is not connected gently to the bottom surface, such as a slope surface bucket, it is preferable to set the end portion on the side opposite to the tooth tip in the bottom surface of the bucket as the specific portion on the back surface. On the other hand, in a bucket in which the back surface of the bucket is connected gently to the bottom surface and the back surface of the bucket 10 is curved, such as a normal bucket, the portion that contacts the ground differs depending on the shape of the bucket 10. Therefore, it is preferable to experimentally perform the compaction operation before the work, confirm the portion of the bucket 10 that contacts the ground, and set the specific portion on the back surface of the bucket 10.

[0085] The trajectory calculation portion 111 determines whether the hydraulic excavator 100 is performing a digging operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. In the digging operation, the bucket rod pull-in operation is performed, and the bucket 10 is in contact with the ground.

[0086] The trajectory calculation portion 111 determines that the bucket rod pull-in operation is being performed when the bucket rod pull-in operation amount of the left lever device 22b is equal to or greater than a predetermined operation amount threshold La1, and determines that the bucket rod pull-in operation is not being performed when the bucket rod pull-in operation amount is less than the operation amount threshold La1. The operation amount threshold La1 is a threshold value for determining whether the left lever device 22b is being operated in the bucket rod pull-in direction, and is stored in advance in the ROM 110b.

[0087] The trajectory calculation portion 111 determines that the bucket 10 is in contact with the ground when the pressure Pab of the cylinder bottom side oil chamber of the bucket rod cylinder 6 is equal to or greater than a pressure threshold Pab0, and determines that the bucket 10 is not in contact with the ground when the pressure Pab of the cylinder bottom side oil chamber of the bucket rod cylinder 6 is less than the pressure threshold Pab0. The pressure threshold Pab0 is a threshold value for determining whether the bucket 10 is in contact with the ground in the digging operation based on the bucket rod pull-in operation, and is stored in advance in the ROM 110b. When the bucket rod cylinder 6 is operated in the extension direction, the pressure of the cylinder bottom side oil chamber of the bucket rod cylinder 6 rises if the bucket 10 is in contact with the ground. Therefore, by monitoring the pressure of the cylinder bottom side oil chamber of the bucket rod cylinder 6, it is possible to determine whether the digging operation is being performed.

[0088] The trajectory calculation portion 111 determines that the hydraulic excavator 100 is performing the digging operation when the bucket rod pull-in operation amount of the left lever device 22b is equal to or greater than the operation amount threshold La1 and the pressure Pab of the cylinder bottom side oil chamber of the bucket rod cylinder 6 is equal to or greater than the pressure threshold Pab0. The trajectory calculation portion 111 determines that the hydraulic excavator 100 is not performing the digging operation when the bucket rod pull-in operation amount of the left lever device 22b is less than the operation amount threshold La1, or when the pressure Pab of the cylinder bottom side oil chamber of the bucket rod cylinder 6 is less than the pressure threshold Pab0.

[0089] The trajectory calculation portion 111 determines whether the hydraulic excavator 100 is performing a compacting operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. In the compacting operation, the bucket rod push-out operation is performed, and the bucket 10 is in contact with the ground.

[0090] The trajectory calculation portion 111 determines that boom lowering operation is being performed when the boom lowering operation amount of the right lever device 22a is equal to or greater than a predetermined operation amount threshold value Lbl, and determines that boom lowering operation is not being performed when the boom lowering operation amount is less than the operation amount threshold value Lbl. The operation amount threshold value Lbl is a threshold value for determining whether the right lever device 22a is being operated in the boom lowering direction, and is stored in advance in the ROM 110b.

[0091] The trajectory calculation portion 111 determines that the bucket 10 is in contact with the ground when the pressure Par of the rod side oil chamber of the bucket cylinder 6 is equal to or greater than a pressure threshold value ParO, and determines that the bucket 10 is not in contact with the ground when the pressure Par of the rod side oil chamber of the bucket cylinder 6 is less than the pressure threshold value ParO. The pressure threshold value ParO is a threshold value for determining whether the bucket 10 is in contact with the ground in the compaction work based on the bucket stick-out operation, and is stored in advance in the ROM 110b. When the bucket cylinder 6 is actuated in the retraction direction, the pressure of the rod side oil chamber of the bucket cylinder 6 rises if the bucket 10 is in contact with the ground. Therefore, by monitoring the pressure of the rod side oil chamber of the bucket cylinder 6, it is possible to determine whether compaction operation is being performed.

[0092] The trajectory calculation portion 111 determines that the hydraulic excavator 100 is performing compaction operation when the bucket stick-out operation amount of the left lever device 22b is equal to or greater than the operation amount threshold value La2 and the pressure Par of the rod side oil chamber of the bucket cylinder 6 is equal to or greater than the pressure threshold value ParO. The trajectory calculation portion 111 determines that the hydraulic excavator 100 is not performing compaction operation when the bucket stick-out operation amount of the left lever device 22b is less than the operation amount threshold value La2, or when the pressure Par of the rod side oil chamber of the bucket cylinder 6 is less than the pressure threshold value ParO.

[0093] The trajectory calculation portion 111 determines whether the hydraulic excavator 100 is performing slope tamping operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. In slope tamping operation, boom lowering operation is performed, and the bucket 10 is in contact with and presses the ground.

[0094] The trajectory calculation portion 111 determines that boom lowering operation is being performed when the boom lowering operation amount of the right lever device 22a is equal to or greater than a predetermined operation amount threshold value Lbl, and determines that boom lowering operation is not being performed when the boom lowering operation amount is less than the operation amount threshold value Lbl. The operation amount threshold value Lbl is a threshold value for determining whether the right lever device 22a is being operated in the boom lowering direction, and is stored in advance in the ROM 110b.

[0095] The trajectory calculation portion 111 determines that the bucket 10 is in contact with and pressing against the ground when the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is equal to or greater than the pressure threshold value PbrO, and determines that the bucket 10 is not pressing against the ground when the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is less than the pressure threshold value PbrO. The pressure threshold value PbrO is a threshold value for determining whether the bucket 10 is pressing against the ground in the slope tamping operation based on the boom lowering operation, and is stored in advance in the ROM 110b. When the boom cylinder 5 is operated in the direction of contraction, if the bucket 10 is pushed against (strikes) the ground, the pressure of the rod-side oil chamber of the boom cylinder 5 sharply rises. Therefore, by monitoring the pressure of the rod-side oil chamber of the boom cylinder 5, it is possible to determine whether the slope tamping operation is being performed.

[0096] The trajectory calculation portion 111 determines that the hydraulic excavator 100 is performing the slope tamping operation when the boom lowering operation amount of the right lever device 22a is equal to or greater than the operation amount threshold value Lbl and the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is equal to or greater than the pressure threshold value PbrO. The trajectory calculation portion 111 determines that the hydraulic excavator 100 is not performing the slope tamping operation when the boom lowering operation amount of the right lever device 22a is less than the operation amount threshold value Lbl, or when the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is less than the pressure threshold value PbrO.

[0097] Further, the method of determining the digging operation, the tamping operation, and the slope tamping operation is not limited to the above-described method. The operation can be determined based on only one of the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. For example, it can be determined that the slope tamping operation is being performed when the time rate of change of the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is equal to or greater than a threshold value, and it can be determined that the slope tamping operation is not being performed when the time rate of change of the pressure Pbr of the rod-side oil chamber of the boom cylinder 5 is less than the threshold value.

[0098] The trajectory calculation portion 111 executes the trajectory calculation process if it is determined that one of the digging operation, the tamping operation, and the slope tamping operation is being performed. Hereinafter, the trajectory calculation process will be described in detail.

[0099] The trajectory calculation portion 111 repeatedly calculates the position coordinates of the monitoring points set for the bucket 10 at a prescribed calculation cycle, thereby generating trajectory information (trajectory data) composed of the position coordinates of the monitoring points at each time.

[0100] The monitoring points are points for determining the locus of the part of the bucket 10 that contacts the ground while the working device 100a is working, and are set in accordance with the action content (work content) of the hydraulic excavator 100. In the case where it is determined that the excavating action is being performed, the locus calculation portion 111 sets two points of the left and right ends of the tooth tip Pb of the bucket 10 as the monitoring points. In the case where it is determined that the compacting action is being performed, the locus calculation portion 111 sets two points of the left and right ends of a specific part of the back surface of the bucket 10 as the monitoring points. In the case where it is determined that the slope compacting action is being performed, the locus calculation portion 111 sets the four corner points of the bottom surface of the bucket 10 as the monitoring points.

[0101] The locus calculation portion 111 calculates the position coordinates of the monitoring points in the site coordinate system on a per prescribed time (calculation period) basis, based on the posture information (boom angle a, stick angle β, bucket angle γ, antenna position coordinates of the first GNSS antenna 35a in the site coordinate system, and azimuth angle θy, roll angle θr, pitch angle θp of the vehicle body 100b (rotating body 12)) output by the posture detection device 130, and the dimension information of each part of the hydraulic excavator 100 stored in the storage device 169. The position coordinates of the monitoring points calculated on a per prescribed time basis are information indicating the locus of the bucket 10. That is, the locus calculation portion 111 calculates the locus of the bucket 10 based on the posture information and the dimension information of the hydraulic excavator 100.

[0102] Reference Figure 6 will describe an example of a specific calculation method of the position coordinates of the monitoring points while the excavating action is being performed. Figure 6 is a diagram indicating the excavator reference coordinate system. Figure 6 The excavator reference coordinate system of is a coordinate system set with respect to the rotating body 12. In the excavator reference coordinate system, the center of the left and right widths of the boom pin 91 on the central axis of the boom pin 91 is set as the origin O. In addition, in the excavator reference coordinate system, an axis parallel to the rotation central axis of the rotating body 12 and extending from the origin O toward the upper side of the rotating body 12 is set as the Z-axis, and an axis orthogonal to the Z-axis and extending from the origin O toward the front side of the rotating body 12 is set as the X-axis. In addition, in the excavator reference coordinate system, an axis orthogonal to the Z-axis and the X-axis and extending from the origin O toward the left side of the rotating body 12 is set as the Y-axis. That is, the central axis of the boom pin 91 extending toward the left and right sides of the rotating body 12 is set as the Y-axis.

[0103] The tilt angle of the boom 8 with respect to the X-Y plane is a boom angle a, the tilt angle of the arm 9 with respect to the boom 8 is an arm angle β, and the tilt angle of the bucket 10 with respect to the arm 9 is a bucket angle γ. The boom angle a is a minimum value in a state where the boom 8 is raised to an upper limit (a state where the boom cylinder 5 is most extended) and a maximum value in a state where the boom 8 is lowered to a lower limit (a state where the boom cylinder 5 is most contracted). The arm angle β is a minimum value in a most contracted state of the arm cylinder 6 and a maximum value in a most extended state of the arm cylinder 6. The bucket angle γ is a minimum value in a most contracted state of the bucket cylinder 7 (a state where the bucket 10 is most contracted) and a maximum value in a most extended state of the bucket cylinder 7. In addition, the tilt angle of the vehicle body 100b (the swing body 12) about the Y axis is a pitch angle θp, the tilt angle of the vehicle body 100b (the swing body 12) about the X axis is a roll angle θr, and the tilt angle of the vehicle body 100b (the swing body 12) about the Z axis is a yaw angle θy. Figure 6

[0104] By using the yaw angle θy, the pitch angle θp, and the roll angle θr, and the coordinate values of the first GNSS antenna 35a in the excavator reference coordinate system and the coordinate values in the site coordinate system obtained based on the RTK-GNSS positioning of the first GNSS antenna 35a, the vehicle body coordinate system and the site coordinate system can be converted to each other.

[0105] The position coordinates of the monitoring point in the site coordinate system are obtained by converting the tilt angles a, β, γ of the boom 8, the arm 9, and the bucket 10 and the position coordinates in the excavator reference coordinate system calculated from the size information of the working device 100a.

[0106] The Z coordinate and the X coordinate of the monitoring point (the tooth tip of the bucket 10 in the example shown in FIG. 1) Pb in the excavator reference coordinate system can be expressed by the following equations (1) and (2). Figure 6

[0107] [Equation 1]

[0108] Z = L bm · sin a + L am · sin (a + β) + L bkt · sin (a + β + γ) … (1)

[0109] [Equation 2]

[0110] X = L bm · cos a + L am · cos (a + β) + L bkt · cos (a + β + γ) … (2)

[0111] ​​Further, the Y coordinates of the monitoring points of the tooth tip Pb of the shovel 10 can be found from the offset amount (fixed value) Yo in the Y axis direction from the origin O to the center in the width direction of the shovel 10 and the width of the tooth tip of the shovel 10. For example, in the case where the width of the tooth tip Pb of the shovel 10 is bw, the Y coordinates of the monitoring points become Yo - (bw / 2) and Yo + (bw / 2). The offset amount Yo is stored in advance in the storage device 169. Further, in the case where the Y coordinate of the center in the width direction of the shovel 10 is 0 (zero), the Y coordinates of the monitoring points become (-bw / 2) and (+bw / 2).

[0112] If a vector from the first GNSS antenna 35a toward the origin of the machine reference coordinate system in the machine reference coordinate system is set as (offset_X, offset_Y, offset_Z), a rotation matrix of rotation around the X, Y, and Z axes in the machine reference coordinate system is set as Rx(θr), Ry(θp), and Rz(θy), the position coordinates of the monitoring points in the machine reference coordinate system are set as (X, Y, Z), and a vector from the origin of the site coordinate system toward the position coordinates of the first GNSS antenna 35a is set as (offset_E, offset_N, offset_H), the position coordinates (E, N, H) of the monitoring points in the site coordinate system are calculated by the following formula (3).

[0113] [Equation 3]

[0114]

[0115] Figure 5 The supplementary information calculation section 112 shown in the figure calculates supplementary information based on the trajectory (position coordinates of the monitoring points) of the shovel 10 of the work device 100a calculated by the trajectory calculation section 111 and the target surface set by the target surface setting device 161. The supplementary information is information that supplements the terrain data described later and is information of a surface constituting the trajectory of the shovel 10. In the present embodiment, the supplementary information calculation section 112 calculates the normal vector of the surface constituting the trajectory passed through by the shovel 10 as the supplementary information.

[0116] Figure 7 is a graph showing the normal vector n of the surface constituting the trajectory of the shovel 10. The supplementary information calculation section 112 calculates the normal vector n of the surface constituting the trajectory passed through by the shovel 10 as the supplementary information as shown in the figure. Figure 7As shown, from points on the surface constituting the locus of the bucket 10, three points P1, P2, P3 are selected. The supplementary information calculation section 112 calculates the normal vector n (ne, nn, nh) perpendicular to the surface containing the points P1, P2, P3, based on the cross product of the vector P1P2 and the vector P1P3. The vector P1P2 is a vector connecting the point P1 and the point P2, and the vector P1P3 is a vector connecting the point P1 and the point P3. The points P1, P2, P3 can be any three different points existing on the surface constituting the locus of the bucket 10. Further, ne is the component of the normal vector n in the E-axis direction, nn is the component of the normal vector n in the N-axis direction, and nh is the component of the normal vector n in the H-axis direction.

[0117] In the case where the hydraulic excavator 100 is performing the digging operation, the supplementary information calculation section 112 sets the left and right ends of the tooth tip of the bucket 10 at a certain instant (the bucket 10 before movement) as the points P1, P2, and sets one of the left and right ends of the tooth tip of the bucket 10 after a prescribed time has passed (the bucket 10 after movement) as the point P3. In the case where the hydraulic excavator 100 is performing the compaction operation, the supplementary information calculation section 112 sets the left and right ends of a specific portion on the back surface of the bucket 10 at a certain instant (the bucket 10 before movement) as the points P1, P2, and sets one of the left and right ends of the specific portion on the back surface of the bucket 10 after a prescribed time has passed (the bucket 10 after movement) as the point P3. In the case where the hydraulic excavator 100 is performing the slope compaction operation, the supplementary information calculation section 112 sets any three of the four corners of the bottom surface of the bucket 10 at the instant when the bucket 10 strikes the ground as the points P1 to P3.

[0118] The supplementary information calculation section 112 calculates the information of the surface constituting the locus of the bucket 10, that is, the normal vector n, based on the position coordinates of any points on the working device 100a (two points of the left and right ends of the tooth tip Pb of the bucket 10) that move by the digging operation, in the case where the hydraulic excavator 100 is performing the digging operation. The supplementary information calculation section 112 calculates the information of the surface constituting the locus of the bucket 10, that is, the normal vector n, based on the position coordinates of any points on the working device 100a (two points of the left and right ends of a specific portion on the back surface of the bucket 10) that move by the compaction operation, in the case where the hydraulic excavator 100 is performing the compaction operation. The supplementary information calculation section 112 calculates the information of the surface constituting the locus of the bucket 10, that is, the normal vector n, based on the position coordinates of any points on the surface of the working device 100a (four points of the four corners of the bottom surface of the bucket 10) that press the ground, in the case where the hydraulic excavator 100 is performing the slope compaction operation.

[0119] Figure 8 is a diagram showing the normal vectors n1, n2 on the curved surface constituting the locus of the bucket 10. As shown, the normal vector n1 is calculated based on the position coordinates of the points P1, P2, P3, and the normal vector n2 is calculated based on the position coordinates of the points P4, P5, P6. Figure 8As shown, when the trajectory traversed by the bucket 10 is a curved surface, the normal vector may differ depending on the method of point selection. For example, the normal vector n1 is different when points P1, P2, and P3 are selected compared to the normal vector n2 when points P2, P3, and P4 are selected. Furthermore, in this embodiment, during digging, points P1 and P2 are the two points at the left and right ends of the tooth tips Pb of the bucket 10 before movement, and points P3 and P4 are the two points at the left and right ends of the tooth tips Pb of the bucket 10 after movement. During compaction, points P1 and P2 are the two points at the left and right ends of a specific portion of the back surface of the bucket 10 before movement, and points P3 and P4 are the two points at the left and right ends of the specific portion of the back surface of the bucket 10 after movement. During slope compaction, points P1 to P4 are the four corners of the bottom surface of the bucket 10.

[0120] In this embodiment, the supplementary information calculation unit 112 calculates the distance (also referred to as the distance between target surfaces) in the vertical direction (H-axis direction) between the target surface St set by the target surface setting device 161 and the monitoring points (points P1 to P4). When the points P1 to P4 at the left and right ends of the tooth tip Pb of the bucket 10 before and after movement are not all on the same plane, the supplementary information calculation unit 112 selects the three points with the closer distance between target surfaces and calculates the algorithm line vector n based on these three points.

[0121] Figure 5 The construction history generation unit 113, as shown, generates construction history data based on the trajectory of the bucket 10 of the working device 100a (position coordinates of the monitoring point) calculated by the trajectory calculation unit 111, the supplementary information (normal vector) calculated by the supplementary information calculation unit 112, and the target surface set by the target surface setting device 161. The construction history generation unit 113 stores the generated construction history data in the storage device 169.

[0122] Figure 9 This is a graph representing an example of historical construction data. For example... Figure 9 As shown, construction history data (construction history data) is at each specified time (in Figure 9 In the example shown, 1 [sec] is a collection of log data recorded along with the time (time stamp). The log data of the construction history data includes the position coordinates of the trajectory constituent points (trajectory position coordinates) that grid the trajectory of the bucket 10, the supplementary information (normal vector) calculated by the supplementary information calculation unit 112, the result of the action judgment determined by the trajectory calculation unit 111, and the distance from the monitoring point (the tip of the bucket 10) to the target surface St (distance between target surfaces) calculated by the supplementary information calculation unit 112.

[0123] The construction history generation section 113 generates construction history data by recording the position information of the track of the shovel 10 (the position coordinates of the monitoring points) and the supplementary information (the normal vector n) and the like to each square. That is, in the construction history data, the position information of the track of the shovel 10 is stored in correspondence with the information of the face constituting the track of the shovel 10. The construction history generation section 113 calculates the position coordinates of the track-constituting points as follows.

[0124] Referring to Figures 10-12 , the method of calculating the position coordinates of the track-constituting points will be described. Figure 10 is a view showing the work area A to which the square processing has been applied. As shown in Figure 10 , the construction history generation section 113 performs square processing of dividing a prescribed area (work area) A in an EN plane (an EN plane orthogonal to the H axis) parallel to the E axis and N axis of the site coordinate system into a grid shape. By the square processing, it is possible to set a square G of each fixed interval uniquely determined with respect to the site coordinate system.

[0125] Figure 11 is a view showing the square width Gw and the square center point Gen. As shown in Figure 11 , in the present embodiment, the width in the E axis direction of the square G (square width Gw) is the same as the width in the N axis direction (square width Gw). In the example shown in Figure 11 , the square width Gw is set to 1 m. Further, the square width Gw can be set to an arbitrary value in consideration of the data capacity of the construction history data and the density of the point group constituting the terrain data described later and the like. The position coordinates (Ec, Nc) of the center point Gen of the square G on the EN plane are Ec = Gw x (n + 0.5), Nc = Gw x (m + 0.5). Here, n, m are integers setting the position coordinates (0, 0) of the origin of the EN plane as a reference, and correspond to the position coordinates of the left corner of the square G in Figure 11 . For example, the position coordinates (2, 0) of the left corner of the square G having Figure 11 as the position coordinates of the left corner, the position coordinates (Ec, Nc) of the center point Gen of the square G are Ec = 1 x (2 + 0.5) = 2.5, Nc = 1 x (0 + 0.5) = 0.5.

[0126] In Figure 11 , the track of the shovel 10 is shown projected on the EN plane. The construction history generation section 113 judges whether or not the square center point Gen is present inside the projected track of the shovel 10 within a prescribed time range (for example, 1 second).

[0127] Figure 12 is a view showing the squaring of the track of the shovel 10. As shown in Figure 12As shown, the construction history generation section 113 sets an intersection between an axis (hereinafter, also referred to as a grid center axis) that passes through the grid center point Gen on the EN plane and is parallel to the H axis and a plane that constitutes the locus of the shovel 10 calculated from the position coordinates of the monitoring point as the locus constituting point Gt and calculates the position coordinates thereof in a case where it is determined that the grid center point exists inside the projected locus of the shovel 10. The position coordinates of the locus constituting point Gt are the locus information of the shovel 10 that constitutes the construction history data, as shown in Figure 9 As shown, the log file of the construction history data is recorded in compliance with the format thereof.

[0128] Further, in a case where the grid width Gw is small and the position coordinates of a plurality of locus constituting points Gt need to be recorded for the log data of the same time stamp, the number of grids at the same time stamp can be recorded and one log data (log data at the same time) can be made variable length, as shown in Figure 13 As shown, the log file of the construction history data is recorded in compliance with the format thereof.

[0129] Figure 5 The transmission section 114 shown in the flowchart transmits the log data of the construction history data generated by the construction history generation section 113 and stored in the storage device 169 to the management controller 150.

[0130] Referring to Figure 14 , the construction history data generation processing performed by the vehicle body controller 110 will be described. Figure 14 The processing of the flowchart shown is started, for example, by the activation of an ignition switch (not shown) and is repeatedly executed at a prescribed calculation cycle after initial settings not shown are performed.

[0131] As shown in Figure 14 , in step S100, the vehicle body controller 110 acquires operation information (operation direction and operation amount) detected by the operation detection device 163, posture information (position coordinates of the hydraulic excavator 100, boom angle a, stick angle β, bucket angle γ, pitch angle θp, roll angle θr, and yaw angle θy) detected by the posture detection device 130, pressure information detected by the pressure detection device 162, and the like, and proceeds to step S110.

[0132] In step S110, the vehicle body controller 110 performs action judgment processing that judges whether or not one of the excavating action, the compacting action, and the slope ramming action is being performed, on the basis of the operation information and the pressure information acquired in step S100. In step S110, if it is determined that one of the excavating action, the compacting action, and the slope ramming action is being performed, the process proceeds to step S120, and if it is determined that none of the excavating action, the compacting action, and the slope ramming action is being performed, the process ends in the present calculation cycle. Figure 14The process shown in the flowchart proceeds to step S100 in the next operation loop.

[0133] In step S120, the vehicle body controller 110 calculates the trajectory of the bucket 10 (the position coordinates of the monitoring points) and proceeds to step S130. In step S130, the vehicle body controller 110 calculates the position coordinates of the monitoring points (e.g., ...) based on the position coordinates of the monitoring points calculated in step S120 of the previous calculation cycle. Figure 7 The position coordinates of points P1 and P2 shown) and the position coordinates of the monitoring points calculated in step S120 of this operation loop (for example, Figure 7 The coordinates of point P3 are shown. The algorithm line vector n is used as supplementary information, and then the process proceeds to step S140.

[0134] In step S140, the vehicle body controller 110 generates log data of construction history based on the trajectory information and supplementary information calculated in steps S120 and S130, records it to the storage device 169, and the process ends. Figure 14 The process is illustrated in the flowchart. Furthermore, steps S100 to S130 are performed at a predetermined operation period t1 (e.g., 10 [msec]), while the recording of construction history data (S140) is performed at each predetermined time t2 (e.g., every 1 [sec]) (t2 > t1). In an operation loop where the recording of construction history data (S140) is not performed, if step S130 ends, the process proceeds to step S100 of the next operation loop.

[0135] By repeated execution Figure 14 The process, as shown in the flowchart, involves storing the log data of the construction history data in storage device 169. The log data of the construction history data stored in storage device 169 is sent to management server 51 at a predetermined sending period.

[0136] like Figure 5 As shown, the management controller (second processing unit) 150 of the management server 51 receives construction history data sent from the body controller 110 of the hydraulic excavator 100, and performs processing to generate terrain data based on the position information of the trajectory of the bucket 10 (position coordinates of the trajectory constituent points) and the information of the surface constituting the trajectory of the bucket 10 (normal vector n as supplementary information) contained in the received construction history data. The functions of the management controller 150 will be described in detail below.

[0137] The management controller 150 functions as a receiving unit 151, an extracting unit 152, a supplementing unit 153, and an output unit 154. The receiving unit 151 receives construction history data sent from the body controller 110 of the hydraulic excavator 100 and stores the log data of the received construction history data in the storage device 52.

[0138] The reception section 151 stores log data of the construction history data output from the specific hydraulic excavator 100 in the storage device 52. In addition, the reception section 151 can also store construction history data output from a plurality of hydraulic excavators 100 in the storage device 52.

[0139] If log data of the construction history data is stored in the storage device 52, there is a case where log data including a construction area duplication is included in the log data. The extraction section 152 extracts log data in which the trajectory of the bucket 10 approximates to the shape of the existing terrain from among the log data of the construction history data stored in the storage device 52. That is, in a case where the construction history data is data obtained by a digging operation or a compaction operation, the extraction section 152 extracts log data in which it is inferred that the bucket 10 moves along the existing terrain. Hereinafter, the log data extracted by the extraction section 152 is also referred to as extracted log data.

[0140] The extraction section 152 judges whether or not the construction area is duplicated (i.e., whether or not there are two or more log data in which the combination of the E coordinate and the N coordinate is the same) with respect to the log data of the construction history data stored in the storage device 52. The extraction section 152 directly adopts as the extracted log data log data in which it is judged that the construction area is not duplicated, i.e., log data in which the combination of the E coordinate and the N coordinate is not duplicated. The extraction section 152, with respect to log data in which it is judged that the construction area is duplicated, i.e., log data in which the combination of the E coordinate and the N coordinate is duplicated with other log data, infers and extracts log data in which the distance between target surfaces is the smallest among these log data as log data in which the shape of the existing terrain is closest.

[0141] The supplement section 153 performs a supplement process of calculating supplement position information (position coordinates of the supplement point Gc) that supplements the terrain information between the trajectory-constituting points Gt of the log data extracted by the extraction section 152. The supplement section 153 generates terrain data (supplemented terrain data) including the position coordinates of all the trajectory-constituting points Gt included in the extracted log data and the position coordinates of the supplement point Gc. That is, the supplement section 153 generates terrain data based on the extracted log data.

[0142] Reference Figure 15 will be specifically described. Figure 15 is a sectional view obtained based on a plane (hereinafter, also referred to as a cross section) that passes through the trajectory-constituting point Gt1 on the grid center axis Ga1 and the trajectory-constituting point Gt2 on the grid center axis Ga2 adjacent to the grid center axis Ga1 in the E-axis direction and is parallel to the EH plane, is a view obtained by cutting the cross section along the EH plane, and is a view obtained by cutting the cross section along the EH plane in the direction of the arrow A. Figure 12Fig. 2 is a diagram showing a part of Fig. 1 enlarged. Further, in the following, a method of calculating a supplementary point Gc between points Gt formed by adjacent tracks in the E-axis direction on a plane (cross section) parallel to the EH plane will be described, but the method of calculating a supplementary point Gc between points Gt formed by adjacent tracks in the N-axis direction on a plane (cross section) parallel to the NH plane is the same.

[0143] The supplementary section 153 determines whether or not there is log data relating to a track-forming point Gt adjacent in the E-axis direction in the extracted log data with respect to a certain track-forming point Gt. In the case where there is no log data relating to an adjacent track-forming point Gt, the same processing is performed with respect to the next track-forming point Gt. In the case where there is log data relating to an adjacent track-forming point Gt, the following processing is performed.

[0144] The supplementary section 153 calculates a tangent plane of a track in each of the plurality of squares on the basis of position information of the track of the shovel 10 (position coordinates of the track-forming points) and information of a face constituting the track of the shovel 10 (supplementary information) stored in each of the squares. For example, the supplementary section 153 calculates a tangent plane Tl passing through a track-forming point Gtl and having a normal vector "nl" on the basis of the position coordinates of the track-forming point Gtl stored as information of a certain square Gl and the normal vector nl as supplementary information. In addition, the supplementary section 153 calculates a tangent plane T2 passing through a track-forming point Gt2 and having a normal vector "n2" on the basis of the position coordinates of the track-forming point Gt2 stored as information of a square G2 adjacent to the square Gl in the E-axis direction and the normal vector n2 as supplementary information.

[0145] The supplementary section 153 calculates position information (position coordinates of the intersection points) relating to the intersection lines of the tangent planes of the tracks of the respective adjacent squares as supplementary position information (position coordinates of the supplementary points) and generates the terrain data on the basis of the position information of the track of the shovel 10 (position coordinates of the track-forming points) and the supplementary position information (position coordinates of the supplementary points).

[0146] For example, the supplementary section 153 calculates the intersection line of the tangent planes Tl and T2, sets the intersection point of the intersection line and the cross section as a supplementary point Gcl2, and adds the position coordinates of the supplementary point Gcl2 as supplementary position information to the terrain data and records it. Here, as shown in Fig. 3, in the case where the adjacent tangent planes Tl and T2 are nearly parallel, or as shown in Fig. 4, in the case where the width Gw of the square is larger than the complexity of the terrain shape, there can be a case where the intersection point Gcl2 of the intersection line of the tangent planes Tl and T2 and the cross section does not exist between the two track-forming points Gtl and Gt2. Figure 16 Figure 17

[0147] ​​The supplement unit 153 determines whether the intersection Gc12 of the intersection line of the tangent planes T1, T2 and the cross section exists between the locus formation points Gt1, Gt2. In a case where it is determined that the intersection Gc12 exists between the locus formation points Gt1, Gt2, the supplement unit 153 calculates the position coordinates of the intersection Gc12 as the supplement position information (position coordinates of the supplement point) for supplementing the terrain information between the locus formation points Gt1, Gt2, and ends the supplement processing with the locus formation points Gt1, Gt2 as the targets. In a case where it is determined that the intersection Gc12 does not exist between the locus formation points Gt1, Gt2, the supplement unit 153 sets the supplement position information as none for supplementing the terrain information between the locus formation points Gt1, Gt2, and ends the supplement processing with the locus formation points Gt1, Gt2 as the targets.

[0148] The supplement unit 153 performs the supplement processing with the next locus formation points Gt2, Gt3 (see FIG. 10) as the targets after the supplement processing with the locus formation points Gt1, Gt2 as the targets is ended. Figure 12 ) as the targets. The supplement unit 153 ends the generation processing of the terrain data after the supplement processing with all the adjacent locus formation points as the targets is ended. The terrain data thus generated is constituted of the position information of the tracks of the shovel 10 (position coordinates of the locus formation points corresponding to the squares) and the supplement position information (position coordinates of the supplement points for supplementing the terrain information between the adjacent squares).

[0149] Figure 5 The output unit 154 illustrated in FIG. 11 converts the terrain data generated by the supplement unit 153 into point group data or TIN (Triangulated Irregular Network) data, and outputs the converted data as the as-is terrain data to the progress management system 190.

[0150] The progress management system 190 calculates the progress management information such as the as-built elevation, the as-built shape, and the like, on the basis of the as-is terrain data generated by the management controller 150. The progress management system 190 outputs the progress management information to the display device 53, and causes the progress management information to be displayed on the display screen of the display device 53, thereby giving information to the manager. Note that the method of giving information is not limited to this. The progress management system 190 can also output the progress management information to a printing device (not illustrated), and cause the progress management information to be printed on a paper medium by the printing device.

[0151] In addition, the progress management system 190 can also be configured to cause the progress management information to be displayed on the display screen of the display device 164 mounted on the hydraulic excavator 100, the display screen of a mobile terminal such as a smartphone, a tablet, a notebook PC, or the like carried by the operator who is performing work in the surroundings of the hydraulic excavator 100, and the like. Note that the function of the progress management system 190 can also be provided by the management controller 150.

[0152] Referring to Figure 18 , the terrain data generation and output processing performed by the management controller 150 will be described. Figure 18 The processing of the flowchart shown in FIG. 10 is started by the execution operation of the terrain data generation and output processing by the input device 54 of the management server 51, and is executed after an initial setting, not shown, is performed.

[0153] In step S150, the management controller 150 extracts the log data closest to the target surface from among the log data of the construction history data stored in the storage device 52, and proceeds to step S160.

[0154] In step S160, the management controller 150 performs a supplement process of supplementing the supplementary position information (position coordinates of the supplementary points) of the terrain information between the trajectory-constituting points based on the log data extracted in step S150, generates the supplemented terrain data constituted by the trajectory-constituting points and the supplementary points, and proceeds to step S170.

[0155] In step S170, the management controller 150 converts the supplemented terrain data generated in step S160 into the point group data or the TIN data, and outputs the converted data as the current terrain data to the progress management system 190, and ends the processing of the flowchart shown in FIG. 10. Figure 18

[0156] Referring to Figure 19A and Figure 19B , the difference between the terrain data generated by the management system 1 of the present embodiment and the terrain data generated by the management system of the comparative example of the present embodiment will be described. The management system of the comparative example of the present embodiment does not include the supplementary information in the log data of the construction history data, and generates the terrain data only from the trajectory-constituting points without performing the supplement process.

[0157] Therefore, in the management system of the comparative example of the present embodiment, as shown by the double-dotted line in FIG. 9, since the current terrain data is generated only from the trajectory-constituting points Gt, there is a case where the terrain shape 99 of the characteristic portions such as the crest and the toe cannot be reproduced correctly. In contrast, in the management system 1 of the present embodiment, as shown in FIG. 8, the supplementary points Gc are calculated between the trajectory-constituting points Gt, and the terrain information is supplemented. That is, in the present embodiment, since the current terrain data is generated using the trajectory-constituting points Gt and the supplementary points Gc, the terrain shape 99 of the characteristic portions such as the crest and the toe can be reproduced accurately. Figure 19B Figure 19A

[0158] According to the above-described embodiments, the following effects are exerted.

[0159] ​​​(1) The management system 1 of the hydraulic excavator 100 (work machine) is provided with a terrain data generation system 180 that generates terrain data indicating an existing shape based on a work device 100a of the hydraulic excavator 100, based on a detection result of a posture detection device 130 that detects a posture of the hydraulic excavator 100. A body controller 110 of the terrain data generation system 180 calculates a track of a bucket 10 of the work device 100a based on the posture of the hydraulic excavator 100, calculates information of a face (supplementary information) constituting the track based on the track of the bucket 10, records position information (position coordinates of a track constituting point Gt) of the track of the bucket 10 and the information of the face (supplementary information) constituting the track in each of a plurality of squares obtained by dividing a prescribed region (work region A) into a grid shape, and thereby generates construction history data. A management controller 150 of the terrain data generation system 180 generates terrain data based on the position information (position coordinates of the track constituting point Gt) of the track of the bucket 10 and the information of the face (supplementary information) constituting the track included in the construction history data.

[0160] In this configuration, the management controller 150 of the terrain data generation system 180 calculates supplementary position information (position coordinates of a supplementary point Gc) that supplements terrain information between the squares based on the position coordinates of the track of the bucket 10 and the information of the face (supplementary information) constituting the track of the bucket 10, and thereby can generate terrain data. Therefore, compared to a case in which terrain data is generated using only the position information (position coordinates of the track constituting point) included in the construction history data, terrain data that correctly reproduces a current terrain shape including characteristic terrain such as a slope top and a slope foot can be generated.

[0161] That is, in the present embodiment, high-precision terrain data can be generated without setting the square width to be narrow. Therefore, according to the present embodiment, it is possible to provide the management system 1 of the hydraulic excavator 100 that reduces the amount of construction history data required for generation of terrain data and can generate high-precision terrain data.

[0162] (2) In the present embodiment, the body controller 110 of the terrain data generation system 180 performs an operation of a tangent plane of the track in each of the plurality of squares based on the position information of the track of the shovel 10 (position coordinates of the track-constituting points Gt) and the information of the face constituting the track (supplementary information) recorded in each of the plurality of squares, and in the adjacent squares, the position information (for example, position coordinates of the intersection point Gc12) about the intersection line of the tangent planes (for example, T1, T2) of the tracks of the respective adjacent squares with each other is operated as supplementary position information (for example, position coordinates of the supplementary point Gc12), and the terrain data is generated based on the position information of the track of the shovel 10 (position coordinates of the track-constituting points Gt) and the supplementary position information (position coordinates of the supplementary points Gc). Thus, it is possible to generate the terrain data close to the present situation terrain shape.

[0163] (3) The terrain data generation system 180 stores log data of construction history data, infers and extracts log data of the construction history data in which the track of the shovel 10 is close to the present situation terrain shape, and generates terrain data based on the extracted log data. Thus, it is possible to generate the terrain data close to the present situation terrain shape with higher accuracy.

[0164] (4) The terrain data generation system 180 has: the body controller (first processing device) 110 provided to the hydraulic excavator 100, which performs a process of generating construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130 and transmitting the generated construction history data to the management server (server) 51 outside the hydraulic excavator 100; and the management controller (second processing device) 150 provided to the management server (server) 51, which receives the construction history data and performs a process of generating terrain data based on the received construction history data.

[0165] In this structure, the management server 51 operated by the manager generates terrain data based on the construction history data transmitted from the hydraulic excavator 100. Therefore, the manager can easily perform progress management of the work performed by the hydraulic excavator 100 at a place remote from the hydraulic excavator 100.

[0166] (5) The information of the face constituting the track is information indicating a normal vector n of the face constituting the track of the shovel 10. Therefore, it is possible to set the information of the face in one square to three components.

[0167] (6) The terrain data generation system 180 determines whether the bucket 10 of the hydraulic excavator 100 is in contact with the ground, and in the case where the bucket 10 of the hydraulic excavator 100 is in contact with the ground, the information of the surface constituting the locus of the bucket 10 is calculated on the basis of the position coordinates of an arbitrary point on the traveling working device. Thus, in the case where the bucket 10 is not in contact with the ground, the calculation process of the information of the surface constituting the locus of the bucket 10 is not required, and therefore, it is possible to reduce the calculation load and to reduce the amount of data to be generated.

[0168] (7) In the case where the hydraulic excavator 100 is performing the excavating operation, the 2 points of the left and right ends of the tooth tip of the bucket 10 are set as the monitoring points, in the case where the hydraulic excavator 100 is performing the compacting operation, the 2 points of the left and right ends of the specific portion of the back surface of the bucket 10 are set as the monitoring points, and in the case where the hydraulic excavator 100 is performing the slope compacting operation, the 4 corner points of the bottom surface of the bucket 10 are set as the monitoring points. Thus, it is possible to appropriately calculate the locus of the bucket 10 in correspondence with the operation content. As a result, it is possible to generate the terrain data with high accuracy as compared with the case where the monitoring points are not changed regardless of the operation.

[0169] The following modified examples are also within the scope of the present application, and it is also possible to combine the structures shown in the modified examples with the structures described in the above-described embodiments, or to combine the structures described in different modified examples with each other.

[0170] <Modified Example 1>

[0171] In the above-described embodiments, the example in which the normal vector n is calculated using the points Pl to P4 (refer to FIG. 6) is described, but the present application is not limited to this. Figure 7 , Figure 8 The present application is not limited to this. Figure 20 is a diagram showing the supplementary information generated by the management system 1 of the modified example 1 of the present embodiment. As shown in Figure 20 , in the present modified example, the normal vector n obtained by the outer product of the vector (also referred to as the moving direction vector) Vm according to the direction in which the bucket 10 moves and the vector (hereinafter, also referred to as the ground contact line vector) Vc connecting the 2 points of the ground contact in the bucket 10 is calculated as the supplementary information.

[0172] The ground contact line vector Vc is calculated on the basis of the position information of the monitoring points. The moving direction vector Vm is calculated using the dimensions Lbm, Lam, Lbkt of the boom 8, the stick 9, and the bucket 10, the posture information (the azimuth angle θy, the roll angle θr, the pitch angle θp, the boom angle α, the stick angle β, and the bucket angle γ) on the basis of Equation (4).

[0173] [Equation 4]

[0174]

[0175] Further, X, Y, Z used herein are the same as X, Y, Z used in formula (3). dX / dt, dY / dt, dZ / dt are time differentials of X, Y, Z.

[0176] In the present modification example 1, the supplementary information calculation section 112 calculates a normal vector n as the supplementary information from the cross product of the moving direction vector Vm and the ground line vector Vc. According to such a modification example, the same functional effects as the above-described embodiment are exerted. In the present modification example 1, the normal vector can be calculated in an operation in which the bucket 10 moves while being in contact with the ground, such as a digging operation and a compaction operation.

[0177] <Modification Example 2>

[0178] In the above-described embodiment, an example in which the supplementary information is information indicating the normal vector n of the face constituting the trajectory of the bucket 10 is described, but the present application is not limited thereto. The supplementary information can be information of the face constituting the trajectory of the bucket 10, and can be information (information related to the normal vector n) from which the normal vector n can be determined. Hereinafter, modification examples of the supplementary information are described.

[0179] <Modification Example 2-1>

[0180] In the above-described embodiment, an example in which the normal vector n (ne, nn, nh) expressed in 3 components is set as the supplementary information is described. In contrast, in the present modification example 2-1, the supplementary information is 2 components of a slope Ae with respect to the E axis and a slope An with respect to the N axis of the face constituting the trajectory of the bucket 10. The slope Ae of the face constituting the trajectory with respect to the E axis is Ae = nh / ne, and the slope An of the face constituting the trajectory with respect to the N axis is An = nh / nn.

[0181] The supplement section 153 calculates the normal vector n = (1 / Ae, 1 / An, 1) based on the slopes Ae, An. Thereby, the terrain data can be generated in the same manner as the above-described embodiment. As such, in the present modification example 2-1, the supplementary information is information related to the slopes of the face constituting the trajectory of the bucket 10 with respect to the reference surface (a horizontal surface, an E-N plane, or the like). In this configuration, the number of dimensions of the supplementary information can be set to "2", and thus the data capacity of the construction history data can be reduced as compared with the above-described embodiment. As a result, reduction of the storage capacity and the communication amount of the storage device 52, 169 can be achieved.

[0182] <Modification Example 2-2>

[0183] In the case of further reducing the dimension, for example, the normal vector of a certain face on the shape data in which the target face data and the like are assumed to be a shape similar to the locus of the shovel 10, and information associated with the normal vector of the face constituting the locus of the shovel 10 can also be set as the supplementary information. For example, an ID as intrinsic identification information can be set for all the faces constituting the target face data, and the ID of the target face closest to the monitoring point at a certain time point can be set as the supplementary information.

[0184] The supplementary section 153 calculates the normal vector n based on the ID of the target face. Thereby, the terrain data can be generated in the same manner as in the above-described embodiment. As such, in the present modification example 2-2, the supplementary information is information (ID) for determining the target face (the target face closest to the locus constituting point Gt) in the vicinity of the locus of the shovel 10. In this configuration, since the dimension of the supplementary information can be set to "1", the data capacity of the construction history data can be further reduced compared to the modification example 2-1. As a result, further reduction of the storage capacity and the communication amount of the storage device 52, 169 can be achieved.

[0185] <Modification Example 3>

[0186] In the above-described embodiment, an example in which the extraction section 152, for the log data judged to be construction area duplication, i.e., the log data in which the combination of the E coordinate and the N coordinate duplicates other log data, determines and extracts the log data in which the distance between the target faces is the smallest among these log data as the log data closest to the current terrain shape, is described, but the present application is not limited thereto. The time of these log data or the height in the H-axis direction can also be compared, and the log data can be extracted based on the comparison result.

[0187] Figure 21 is a flowchart illustrating an example of a setting method of the extraction condition of the log data of the construction history data. As shown in Figure 21 , first, in the case where the log data of the construction history data includes the distance between target faces information, it is considered that the current terrain gradually approaches the target face, and thus it is preferable to set "the distance between target faces is the minimum value" as the extraction condition. In the case where the log data of the construction history data does not include the distance between target faces information and there is no heaped portion in the site (only a dug portion exists), it is considered that the height of the current terrain always changes in the direction of lowering, and thus it is preferable to adopt the extraction condition of "the H-axis direction is the lowest value". In the case where the log data of the construction history data does not include the distance between target faces information and there is a heaped portion in the site, it is assumed that the height of the current terrain increases or decreases, and thus it is preferable not to adopt the condition of the height direction, but to adopt the extraction condition using the time information "the time is the latest value".

[0188] As such, by comparing the heights in the H-axis direction among the log data that are repeated in the work area, extracting the log data of which the height in the H-axis direction is the lowest, or extracting the log data of which the time is the latest among the log data that are repeated in the work area, it is possible to extract the log data in the area in which the target surface data does not exist.

[0189] <Modified Example 4>

[0190] In the above-described embodiment, an example in which the body controller 110 of the hydraulic excavator 100 functions as the first processing device, performs the processing of generating the work history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130 and transmitting the generated work history data to the management server 51 outside the hydraulic excavator 100, and the management controller 150 of the management server 51 functions as the second processing device, performs the processing of generating the terrain data based on the work history data received from the body controller 110, is described, but the present application is not limited thereto. The body controller 110 of the hydraulic excavator 100 can have the function as the second processing device.

[0191] <Modified Example 5>

[0192] In the above-described embodiment, an example in which the operation devices (22a, 22b, 23a, 23b) are electric operation devices is described, but the present application is not limited thereto. Hydraulic pilot type operation devices can be used instead of the electric operation devices.

[0193] <Modified Example 6>

[0194] In the above-described embodiment, an example in which the supplementary information calculation section 112 selects three points close to the target surface St among the points P1 to P4 (refer to FIG. 6) to calculate the normal vector n is described, but a surface different from the target surface St can be set as a reference surface, and three points close to the reference surface can be selected to calculate the normal vector n. Alternatively, the normal vector n can be calculated for all combinations of the plurality of points obtained, and an average or a weighted average thereof can be taken. Figure 8

[0195] <Modified Example 7>

[0196] As the posture sensors, an example in which the angle sensors 30, 31, 32 are used is described, but the present application is not limited thereto. Stroke sensors that detect the cylinder lengths of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 can be used as the posture sensors instead of the angle sensors 30, 31, 32. In this case, the posture detection device calculates the boom angle a, the arm angle β, and the bucket angle γ based on the cylinder lengths detected by the stroke sensors.

[0197] <Modified Example 8>

[0198] ​In the above-described embodiments, the case where the working machine is a hydraulic excavator of a crawler type has been described as an example, but the present application is not limited thereto. The working machine can also be a hydraulic excavator of a wheel type, a bulldozer, a wheel loader, or the like.

[0199] <Variant 9>

[0200] In the above-described embodiments, as the actuators, examples of hydraulic actuators such as hydraulic motors and hydraulic cylinders have been described, but the present application can also be applied to a working machine provided with electric actuators such as electric motors and electric cylinders as actuators.

[0201] The above-described embodiments have been described as examples of the application of the present application, but the above-described embodiments merely show a part of the application examples of the present application, and the gist of the present application is not limited to the specific configurations of the above-described embodiments.

[0202] Explanation of Reference Numerals

[0203] 1 … management system, 5 … boom cylinder (actuator), 6 … stick cylinder (actuator), 7 … bucket cylinder (actuator), 8 … boom (driven part), 9 … stick (driven part), 10 … bucket (driven part), 11 … traveling body, 12 … rotating body, 14 … engine, 17 … cab, 22a, 22b, 23a, 23b … operating device, 30 … boom angle sensor, 31 … stick angle sensor, 32 … bucket angle sensor, 33a … vehicle body front-rear inclination angle sensor, 33b … vehicle body left-right inclination angle sensor, 35a … first GNSS antenna, 35b … second GNSS antenna, 36 … GNSS receiving device, 50 … management center, 51 … management server (server), 52 … storage device, 53 … display device, 54 … input device, 55 … communication device, 100 … hydraulic excavator, 100a … working device, 100b … vehicle body (machine body), 110 … vehicle body controller (first processing device), 111 … trajectory calculation section, 112 … supplementary information calculation section, 113 … construction history generation section, 114 … transmission section, 130 … posture detection device, 131 … working device posture detection section, 132 … vehicle body position detection section, 133 … vehicle body angle detection section, 150 … management controller (second processing device), 151 … reception section, 152 … extraction section, 153 … supplementation section, 154 … output section, 161 … target surface setting device, 162 … pressure detection device, 163 … operation detection device, 169 … storage device, 180 … terrain data generation system, A … prescribed area (working area), G … grid, Gc … supplementary point, Gen … grid center point, Gt … trajectory constituting point, Gw … grid width, n … normal vector, St … target surface, T1, T2 … tangent plane, Vc … ground contact line vector, Vm … movement direction vector.

Claims

1. A management system of a work machine, provided with a terrain data generating system that generates terrain data indicating a resultant shape based on a work device of the work machine, based on a detection result of a posture detection device that detects a posture of the work machine, characterized by the terrain data generating system performing the following: calculating a locus of the work device based on the posture of the work machine, calculating supplementary information on a normal vector of a face constituting the locus of the work device based on the locus of the work device, recording position information of the locus of the work device and the supplementary information in each of a plurality of squares obtained by dividing a prescribed region into a lattice shape, thereby generating construction history data, calculating tangent planes of the locus in each of the squares based on the position information of the locus of the work device and the supplementary information recorded in each of the plurality of squares included in the construction history data, calculating, between adjacent squares, position information on an intersection line of the tangent planes of the loci of the respective adjacent squares with each other as supplementary position information, and generating the terrain data based on the position information of the locus of the work device and the supplementary position information.

2. The management system of a work machine according to claim 1, characterized in that the terrain data generating system performs the following: storing log data of the construction history data, in the log data of the construction history data, inferring and extracting log data in which the locus of the work device approaches a present terrain shape, generating the terrain data based on the extracted log data.

3. The management system of a work machine according to claim 1, characterized in that the terrain data generating system has: a first processing device provided in the work machine that performs a process of generating the construction history data based on the posture of the work machine detected by the posture detection device and transmitting the generated construction history data to a server outside the work machine, and a second processing device provided in the server that receives the construction history data and performs a process of generating the terrain data based on the received construction history data.

4. The management system of a work machine according to claim 1, characterized in that the information on a normal vector as the supplementary information is calculated as an outer product of a vector according to a direction in which the work device moves and a vector connecting two points of a ground contact in the work device.

5. The management system of a work machine according to claim 1, characterized in that the information on a normal vector as the supplementary information is information on a slope of a face constituting the locus of the work device with respect to a reference face, the terrain data generating system calculates a normal vector of the face constituting the locus of the work device based on the supplementary information, the tangent planes of the locus in each of the squares are calculated based on the position information of the locus of the work device and the normal vector recorded in each of the plurality of squares. ​ 6. The work machine management system according to claim 1, characterized in that the information on the normal vector as the supplementary information is identification information of a target surface in the vicinity of a locus of the work device, the terrain data generating system calculates a normal vector of a surface constituting the locus based on a normal vector of a target surface determined from the identification information, a tangent plane of the locus in each of the plurality of squares is calculated based on the position information of the locus of the work device and the normal vector recorded in each of the squares.

7. The work machine management system according to claim 1, characterized in that the terrain data generating system performs the following: judges whether the work device of the work machine is in contact with the ground, in the case where the work device of the work machine is in contact with the ground, calculates the supplementary information based on position coordinates of an arbitrary point on the work device that moves.

8. The work machine management system according to claim 1, characterized in that the terrain data generating system performs the following: judges whether the work machine is performing a digging operation, in the case where the work machine is performing a digging operation, calculates the supplementary information based on position coordinates of an arbitrary point on the work device that moves by the digging operation.

9. The work machine management system according to claim 1, characterized in that the terrain data generating system performs the following: judges whether the work machine is performing a slope tamping operation, in the case where the work machine is performing a slope tamping operation, calculates the supplementary information based on position coordinates of an arbitrary point on a surface of the work device that presses the ground.

Images