Automatic leveling system

Abstract

The present invention provides an automatic leveling system (10) for preventing the leveling object (S) from collapsing. The automatic leveling system (10) includes an engineering machine (20) for performing leveling operations, a camera (41), and a controller (50). The camera (41) acquires three-dimensional information of the position and shape of at least one of the leveling object (S) and surrounding objects (5). The engineering machine (20) is equipped with a working attachment (25) including a remote attachment (25c). The controller (50) sets a leveling range (AE) based on the acquired three-dimensional information and causes the engineering machine (20) to perform leveling operations within the leveling range (AE) using the remote attachment (25c).

Description

Technical Field

[0001] This invention relates to an automatic leveling system. Background Technology

[0002] Patent document 1 describes a technology for performing earthwork-related operations through the automatic driving of engineering machinery.

[0003] As in patent document 1 Figure 2 As shown in Figure 7, the soil and rocks are sometimes placed in a mountain shape. For example, the soil and rocks are sometimes placed on the ground in a mountain shape, or sometimes loaded into a container (the dump truck bed in Patent Document 1) in a mountain shape. Soil and rocks placed in such a mountain shape sometimes collapse. In addition, the same problem occurs even when objects other than soil and rocks are placed in a mountain shape.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 2000-64359 Summary of the Invention

[0007] The purpose of this invention is to provide an automatic leveling system that can automatically level placed objects to prevent them from collapsing.

[0008] An automatic leveling system is provided for automatically leveling an object. The automatic leveling system includes construction machinery capable of performing leveling actions on the object, a camera, and a controller. The construction machinery includes a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a working attachment undulatingly mounted on the upper rotating body. The working attachment includes an attachment body main body and a distal attachment. The attachment body has a distal end portion that is movable at least along the front-rear direction of the upper rotating body. The front-rear direction of the upper rotating body is the same as the front-rear direction of the upper rotating body. The distal attachment is held at the distal end portion of the attachment body main body, and the distal attachment performs the leveling action by moving while in contact with the object being leveled. The camera acquires three-dimensional information of the position and shape of at least one of the object being leveled and its surrounding objects. The controller sets a leveling range based on the three-dimensional information detected by the imaging device, and causes the engineering machinery to perform the leveling action using the remote auxiliary device within the leveling range. Attached Figure Description

[0009] Figure 1This is a side view of the engineering machinery and the transport vehicle for stacking and leveling objects involved in the automatic leveling system according to the embodiments of the present invention.

[0010] Figure 2 This is a top view of the engineering machinery and the transport vehicle.

[0011] Figure 3 This is a block diagram representing the structure of the automatic leveling system.

[0012] Figure 4 This is a top view showing the leveling range when the rotation of the upper rotating body of the engineering machinery and the leveling action of the auxiliary device are performed alternately.

[0013] Figure 5 This is a top view showing the target rotation angle of the upper rotating body calculated by the automatic leveling system.

[0014] Figure 6 This indicates that the transport vehicle and its container are relative to Figure 1 The side view shown is of the tilted state of the engineering machinery. Detailed Implementation

[0015] Reference Figures 1-6 The preferred embodiments of the present invention will be described below.

[0016] Figure 1 This indicates the construction machinery 20 and the transport vehicle 2 included in the automatic leveling system 10 according to the described embodiment. The transport vehicle 2 includes a transport vehicle body 3 and a container 5. The transport vehicle body 3 is capable of movement and supports the container 5. The transport vehicle 2 can transport the leveling object S loaded into the container 5 by the construction machinery 20 through the movement of the transport vehicle body 3. The transport vehicle 2 can be a dump truck or a truck of other types. The transport vehicle body 3 has a transport vehicle cab 3a.

[0017] The container 5 contains the flat object S. The container 5 may be, for example, a rack on the transport vehicle 2. The container 5 may be movable relative to the main body 3 of the transport vehicle, or it may be fixed to the main body 3 of the transport vehicle. The container 5 is not limited to the rack on the transport vehicle 2. The container 5 may also be placed directly on the ground, for example, like a sand pit.

[0018] The container 5 has a front-to-back direction U and a lateral direction V. The front-to-back direction U is the horizontal direction when the container 5 is placed on a horizontal plane, and it is the direction of the long side of the container 5. There are a front side U1 and a rear side U2 on the front-to-back direction U, and the front side U1 and the rear side U2 are opposite to each other. In this embodiment, the front side U1 is the side of the container 5 relative to the driver's cab 3a of the transport vehicle, and the rear side U2 is the side of the container 5 relative to the driver's cab 3a of the transport vehicle. Figure 2 As shown, the horizontal direction V of the container is the horizontal direction when the container 5 is placed on a horizontal plane, and it is orthogonal to the front-back direction U of the container. On the horizontal direction V of the container, there is an inner side V1 and an outer side V2, which are opposite to each other. The inner side V1 is the side of the container 5 closer to the center on the horizontal direction V, and the outer side V2 is the side of the container 5 furthest from the center on the horizontal direction V.

[0019] The container 5 includes a bottom part 5a, a rear part 5b, a pair of left and right side parts 5c, and a front part 5d.

[0020] The container bottom portion 5a is the lower part of the container 5 in the vertical direction Z, i.e., the bottom. The container rear portion 5b forms the end of the container rear side U2 of the container 5. The container rear portion 5b protrudes upward from the end of the container rear side U2 of the container bottom portion 5a. The container rear portion 5b is, for example, a plate-like component, such as a rear baffle. The container rear portion 5b has a plane or a substantially plane that takes the container's longitudinal direction U as a normal direction or a substantially normal direction.

[0021] like Figure 2 As shown, the pair of container sides 5c are the ends of the two outer sides V2 of the container 5 in the transverse direction V, i.e., the left and right ends. The pair of container sides 5c protrudes upward from the ends of the two outer sides V in the transverse direction V of the container bottom surface 5a, i.e., the left and right ends. Each of the pair of container sides 5c is, for example, a plate-like component, such as a side baffle. Each of the pair of container sides 5c has a plane or a substantially plane that takes the transverse direction V of the container as a normal direction or a substantially normal direction.

[0022] like Figure 1As shown, the container front portion 5d is the end of the container front side U1 of the container 5. The container front portion 5d protrudes upward from the end of the container front side U1 of the container bottom portion 5a. The container front portion 5d is, for example, a plate-like component, such as a gantry frame portion. When the container 5 is a rack, the container front portion 5d protrudes upward beyond the upper ends of the pair of container sides 5c and the container rear portion 5b. The container rear portion 5b has a plane or a substantially plane that takes the container's front-rear direction U as a normal direction or a substantially normal direction.

[0023] The automatic leveling system 10 is a system for automatically leveling an object S. The construction machinery 20 is capable of performing the action of leveling the object S, i.e., the leveling action. The object S can be leveled as long as it can be leveled, such as sand, stones, or waste. In this embodiment, the object S is contained in the container 5, specifically, placed on the bottom surface 5a of the container. However, the object S is not limited to the object contained in the container 5; it can also be an object placed directly on the ground, such as a pile of sand on the ground.

[0024] The automatic leveling system 10 includes, in addition to the engineering machinery 20, the following: Figure 3 The multiple elements shown include at least one imaging device 41, a height detection unit 43, a container tilt detection unit 45, and a controller 50.

[0025] The construction machinery 20 is a machine used for operations, such as construction machinery used for construction work, for example, an excavator. The construction machinery 20 is capable of performing a leveling action, which is an action to level the object S. The construction machinery 20 can be a dedicated machine for the leveling action, or it can be a machine capable of performing other actions. In the case of an excavator, the construction machinery 20 can capture the object S (e.g., excavate sand) and load the captured object S (e.g., remove soil) into container 5.

[0026] Construction machinery 20 includes a lower traveling body 21, an upper rotating body 23, and working auxiliary devices 25. Figure 3 The drive control unit 31 and posture detection unit 33 are shown.

[0027] The lower walking body 21 rotatably supports the upper rotating body 23. The lower walking body 21 is capable of walking, specifically walking on the ground. The upper rotating body 23 is mounted on the lower walking body 21 in such a way that it can... Figure 4 and Figure 5The rotation center axis 26 shown is the center, rotating relative to the lower traveling body 21. The rotation center axis 26 extends in the vertical direction, and... Figure 4 and Figure 5 In the middle, it extends along the depth direction.

[0028] The working attachment 25 can be mounted undulatingly on the upper rotating body 23 and can perform working actions including the leveling action. The working attachment 25 includes an attachment body and a distal attachment 25c.

[0029] The auxiliary device body includes a boom 25a and a stick 25b. The boom 25a has a boom base end and a boom distal end on the opposite side. The boom base end corresponds to the base end of the auxiliary device body and is mounted to the upper rotating body 23 in such a way that it can undulate and rotate about a lateral rotation axis in both the boom raising and lowering directions. The stick 25b has a stick base end and a stick distal end on the opposite side. The stick base end is mounted to the boom distal end of the boom 25a in such a way that it can rotate about a lateral rotation axis in both the up and down directions, i.e., in both the stick pushing and stick retracting directions. The stick distal end corresponds to the distal end of the auxiliary device body and can move through the undulating motion of the boom 25a and the rotational motion of the stick 25b. The distal attachment 25c is held at the distal end of the attachment body, in this embodiment, in a manner that allows it to rotate relative to the stick 25b in an up-down direction at the distal end of the stick 25b.

[0030] The distal accessory 25c includes a leveling portion 25c1. The leveling portion 25c1 is a part capable of leveling the object S by moving while in contact with it. The leveling portion 25c1 includes a contact surface that can contact the object S, such as a plane or a substantially plane. Figure 1 The illustrated distal attachment 25c is a bucket, and the leveling portion 25c1 is the generally planar portion of the bucket, i.e., the bottom surface.

[0031] The upper rotating body 23 has a front-to-back direction X and a lateral direction Y. The front-to-back direction X of the upper rotating body is the front-to-back direction of the upper rotating body 23, and is orthogonal to the rotation center axis 26 and the rotation center axis of the working auxiliary device. The front-to-back direction X of the upper rotating body has a front side X1 and a rear side X2. The front side X1 is the side of the auxiliary device 25 that protrudes from the upper rotating body 23, and the rear side X2 is the side opposite to the front side X1. The lateral direction Y of the upper rotating body is the lateral direction of the upper rotating body 23, and is orthogonal to the rotation center axis and parallel to the rotation center axis of the working auxiliary device 25.

[0032] Figure 3 The drive control unit 31 shown controls the drive of a plurality of actuators (not shown). The plurality of actuators include a rotary motor that rotates the upper slewing body 23 relative to the lower traveling body 21, and a plurality of telescopic working cylinders that move the working attachment 25. The plurality of working cylinders include a boom working cylinder that raises and lowers the boom 25a, a stick working cylinder that rotates the stick 25b relative to the boom 25a, and a distal attachment working cylinder that rotates the distal attachment 25c relative to the stick 25b. The drive control unit 31 includes... Figure 3 The diagram shows multiple control units, namely, a slewing control unit 31a, a boom control unit 31b, a stick control unit 31c, and a remote auxiliary device control unit 31d. The slewing control unit 31a controls the slewing drive of the upper slewing body 23 using the slewing motor. The boom control unit 31b controls the drive of the boom 25a using the boom working cylinder. The stick control unit 31c controls the drive of the stick 25b using the stick working cylinder. The remote auxiliary device control unit 31d controls the drive of the remote auxiliary device 25c using the remote auxiliary device working cylinder.

[0033] Figure 3 The posture detection unit 33 shown detects the posture of the construction machinery 20. The posture detection unit 33 includes, for example, multiple angle sensors. Specifically, the posture detection unit 33 includes a slewing angle detection unit 33a, a boom angle detection unit 33b, a stick angle detection unit 33c, and a remote auxiliary device angle detection unit 33d. The slewing angle detection unit 33a detects the slewing angle, which is... Figure 1The upper slewing body 23 is shown as having an angle relative to the rotation direction of the lower traveling body 21. The boom angle detection unit 33b detects the boom angle, which is the angle of the boom 25a relative to the undulation direction of the upper slewing body 23. The stick angle detection unit 33c detects the stick angle, which is the angle of the stick 25b relative to the rotation direction of the boom 25a. The distal attachment angle detection unit 33d detects the distal attachment angle, which is the angle of the distal attachment 25c relative to the rotation direction of the stick 25b.

[0034] The at least one imaging device 41 detects three-dimensional information related to the position and shape of the object being photographed. The object being photographed is at least one of the flat object S and surrounding objects, the surrounding objects being objects existing around the flat object S, such as the container 5. The imaging device 41 acquires a distance image, which is an image containing distance information (depth information). The imaging device 41 can, for example, acquire the three-dimensional information of the object being photographed based on the distance image and the two-dimensional image.

[0035] The at least one camera device 41 may consist of a single camera device 41 or multiple camera devices 41. The camera device 41, the height detection unit 43, the container tilt detection unit 45, and the controller 50 may each be mounted on the construction machinery 20 or disposed outside the construction machinery 20, such as at the work site. When the at least one camera device 41 includes a camera device 41 disposed outside the construction machinery 20, it may be possible to obtain the aforementioned three-dimensional information of locations (e.g., the portion shadowed by the auxiliary device 25 when viewed from the camera device 41) that would not be obtainable if the at least one camera device 41 only included a camera device 41 mounted on the construction machinery 20. The inclusion of a camera device 41 disposed outside the construction machinery 20 allows construction machinery that was not originally equipped with a camera device to be used in the automatic leveling system 10. When the three-dimensional coordinate system of the camera device 41 differs from the three-dimensional coordinate system (machine coordinate system) of the construction machinery 20, the following process is performed: at least one of the two coordinate systems is transformed to unify the coordinate system.

[0036] The at least one imaging device 41 may also include a device for acquiring three-dimensional information of the object being photographed using laser light, such as a LiDAR (Light Detection and Ranging) or a TOF (Time of Flight) sensor. The at least one imaging device 41 may also include a device for acquiring the three-dimensional information using electromagnetic waves, such as millimeter-wave radar. Alternatively, the at least one imaging device 41 may also include a stereo camera. Alternatively, the at least one imaging device 41 may also include a combination of a camera capable of acquiring two-dimensional images and a mechanism for acquiring three-dimensional information related to the position and shape of the object being photographed based on the two-dimensional information and distance information.

[0037] The at least one imaging device 41 involved in the described embodiment is disposed on the upper surface of the cab 24 of the upper rotating body 23 to acquire three-dimensional information related to the position and shape of the container 5. The imaging device 41 may be an imaging device that acquires the three-dimensional information of the entire object being photographed, regardless of whether the object being photographed is the container 5 (i.e., the surrounding object) or the flat object S, or it may be an imaging device that acquires the three-dimensional information of only a part of the object being photographed. Figure 1 and Figure 2 The imaging device 41 shown acquires three-dimensional information of at least the rear portion 5b, the pair of side portions 5c, and the front portion 5d of the container 5. It also acquires three-dimensional information of the bottom portion 5a of the container. The imaging device 41 may, for example, include two mechanisms: one mechanism detects the three-dimensional coordinates of multiple points among the points contained in the container 5 that can determine the shape of the container 5, for example, such as... Figure 2 As shown, the three-dimensional coordinates of the four corner points of the container 5 as seen from above are detected, and another mechanism determines the three-dimensional information of the container 5 based on the three-dimensional coordinates of the above multiple points.

[0038] Figure 3 The height detection unit 43 shown detects the height H of the object being leveled S. The height H can be the height of the object being leveled S relative to the construction machinery 20, or the height of the object being leveled S relative to the ground. For example, the height H can also be the height of the object being leveled as shown in the diagram of the construction machinery 20. Figure 1The specific reference position 20a illustrated is the height of the reference object S, that is, the vertical distance from the reference position 20a to the upper end of the object S. For example, if the object S is mountain-shaped, the upper end of the object S is its apex. The reference position 20a is a position uniquely determined by the position of the upper rotating body 23, for example, it could be the position of the support shaft at the base end of the boom 25a, or it could be a point contained within the rotation center axis 26.

[0039] Alternatively, the height detection unit 43 can determine the height H of the object being leveled based on the position of the distal accessory 25c when it is pushed against the object being leveled. For example, the height H of the object being leveled can also be calculated based on the position of the distal accessory 25c when the pushing force applied to it reaches a predetermined value. The pushing force can be determined, for example, based on the working pressure of at least one of the plurality of hydraulic cylinders that move the working accessory 25.

[0040] Alternatively, the height detection unit 43 can be configured to determine the height H based on the three-dimensional or two-dimensional information of the flat object S. The three-dimensional or two-dimensional information can be obtained by the imaging device 41, or it can be obtained by a different mechanism than the imaging device 41.

[0041] Figure 3 The container tilt detection unit 45 shown detects the tilt of the container 5. For example, the container tilt detection unit 45 can detect the tilt of the container 5 relative to a horizontal plane, or it can detect the tilt of the container 5 relative to the ground on which the construction machinery 20 is mounted. The container tilt detection unit 45 can also be configured to determine the tilt of the container 5 based on three-dimensional or two-dimensional information related to the position and shape of the container 5. The three-dimensional or two-dimensional information can be information obtained by the imaging device 41, or information obtained by a different mechanism. Alternatively, the container tilt detection unit 45 can also be a tilt sensor mounted on the container 5.

[0042] The controller 50 performs multiple actions, including signal input / output, judgment or calculation, and information storage. Specifically, the multiple actions include... Figure 2The calculation of the leveling range AE and the control of the leveling action of the construction machinery 20 are shown. The leveling range AE is the range within which the leveling action is performed. The controller 50, based on the posture of the construction machinery 20 detected by the posture detection unit 33, causes the drive control unit 31 to perform control actions, thereby realizing the automatic control of the construction machinery 20.

[0043] The automatic leveling system 10 operates in the following manner.

[0044] The construction machinery 20 performs the leveling action. This leveling action is an action to flatten the object S being leveled, that is, to flatten the upper part of the object S, which prevents the object S from collapsing. For example, the action of leveling the object S contained in the container 5 prevents the object S from collapsing when it is being transported in the state of being contained in the container 5, thereby preventing the object S from overflowing from the container 5. On the other hand, the action of leveling the object S placed on the ground prevents the object S from collapsing due to its own weight or wind, etc.

[0045] The controller 50 sets the leveling range AE based on the three-dimensional information of the object being photographed obtained by the shooting device 41. The leveling range AE is the area traversed by the distal auxiliary device 25c performing the leveling action, more specifically, the area traversed by the leveling part 25c1. The leveling range AE includes a leveling start position PE1 and a leveling completion position PE2. The leveling start position PE1 is the position where the leveling action begins, and the leveling completion position PE2 is the position where the leveling action ends. The controller 50 controls the movement of the construction machinery 20 in a manner that causes the construction machinery 20 to perform the leveling action within the leveling range AE1. That is, the controller 50 controls the leveling action. The controller 50 controls the movement of the construction machinery 20 in a manner that causes the distal auxiliary device 25c to move linearly from the leveling start position PE1 to the leveling completion position PE2. The leveling action can also be performed multiple times. For example, after the first leveling action is completed, a second and subsequent leveling actions can be performed. Alternatively, the leveling action can be performed only once.

[0046] Specifically, the controller 50 causes the drive control unit 31 to perform control actions, thereby controlling the leveling action. The controller 50 controls the leveling action by controlling at least one of the actions of the working auxiliary device 25 and the rotation action of the upper rotating body 23. The control of the actions of the working auxiliary device 25 and the control of the rotation action are respectively performed by the drive control unit 31. Alternatively, or in addition to controlling the actions of the working auxiliary device 25 and the rotation action, the controller 50 may also control the leveling action by controlling the walking action of the lower traveling body 21.

[0047] The moving direction of the distal auxiliary device 25c used for the leveling action, i.e., the leveling direction, can be the forward direction of the upper rotating body towards the front side X1 of the upper rotating body, or the rear direction of the upper rotating body towards the rear side X2 of the upper rotating body. The forward direction of the upper rotating body is the so-called pushing-out leveling direction, and the rear direction of the upper rotating body is the so-called pulling-back leveling direction. The leveling direction may also include the rotation direction, that is, the direction in which the upper rotating body 23 rotates relative to the lower traveling body 21. Figure 2 The flat direction shown when viewed from above, that is, the direction of movement of the distal accessory 25c, can be the front-to-back direction U of the container, or a direction that intersects the front-to-back direction U of the container, such as the transverse direction V of the container.

[0048] The controller 50 can set the flattening range AE in various ways. Specific examples are shown below.

[0049] The following are examples 1A to 1E of setting the flattening range AE using the three-dimensional information.

[0050] Example 1A: The controller 50 sets the flatness range AE based on the three-dimensional information of the flat object S set on the ground.

[0051] Example 1B: The controller 50 sets the leveling range AE based on the three-dimensional information of the leveled object S set on the ground and the three-dimensional information of the surrounding objects of the leveled object S, such as the ground.

[0052] Example 1C: The controller 50 sets the flattening range A based on the three-dimensional information of the flattening object S contained in the container 5.

[0053] Example 1D: The controller 50 sets the flattening range AE based on the three-dimensional information of the container 5.

[0054] Example 1E: The controller 50 sets the flattening range AE based on the three-dimensional information of the flattening object S contained in the container 5 and the three-dimensional information of the container 5.

[0055] Ideally, the flattening range AE should be set in a manner that flattens the object S as uniformly as possible. For example... Figure 2 As shown when viewed from above, the leveling start position PE1 and the leveling completion position PE2 can also be set at or near the edge of the object being leveled S. The leveling start position PE1 and the leveling completion position PE2 can also be set near the edge of the container 5 as viewed from above, for example, near any one of the rear portion 5b of the container, the pair of container sides 5c, and the front portion 5d of the container.

[0056] Figure 1 , Figure 2 , Figure 4 and Figure 5 This indicates that the front-to-back direction U of the container is consistent with or approximately consistent with the front-to-back direction X of the upper rotating body, and the distal auxiliary device 25c moves along the front-to-back direction X of the upper rotating body for the leveling action, i.e., performing the push-out leveling or the pull-back leveling. In this case, the controller 50 may also set the position of the end of the leveling range AE at a position offset from the edge of the container 5, such as the rear part 5b of the container, the pair of container sides 5c, or the front part 5d of the container (the offset position). For example, the controller 50 may also set the position of the end of the leveling range AE in the front-to-back direction X of the upper rotating body at a position offset relative to the end of the container 5 in the front-to-back direction X of the upper rotating body, i.e., the rear part 5b or the front part 5d of the container, in the front-to-back direction X of the upper rotating body.

[0057] As an example 2A, regarding the leveling start position A1, for example, the leveling object S can also be suppressed from being at... Figure 1The leveling start position PE1 shown is set such that it overflows from the container 5 along the front-rear direction X of the upper rotating body. Specifically, the controller 50 may also set the leveling start position PE1 to be further outward of the front-rear direction X of the upper rotating body relative to the end of the container 5. More specifically, the controller 50 may also set the leveling start position PE1 to be offset from the end of the rear side X2 of the upper rotating body (e.g., the rear part 5b of the container) towards the rear side X2 of the upper rotating body in the leveling range AE2. In addition, if the container 5 is not a rack of the transport vehicle 2 and the front part 5d of the container is lower than the leveling object S, the controller 50 may also set the leveling start position PE1 to be offset from the end of the front side X1 of the upper rotating body of the container 5 (e.g., the front part 5d of the container) towards the front side X1 of the upper rotating body.

[0058] As an example 2B, the leveling range AE can also be set in a manner that prevents the distal accessory device 25c from contacting the container 5 at the leveling start position PE1 or the leveling completion position PE2. Specifically, the controller 50 can also set the leveling start position PE1 or the leveling completion position PE2 to a position closer to the inside of the upper rotating body in the front-rear direction X relative to the end of the upper rotating body of the container 5 in the front-rear direction X. More specifically, the controller 50 can also set the position of the end of the upper rotating body front side X1 of the leveling range AE to a position offset from the end of the upper rotating body front side X1 of the container 5 (e.g., the front part 5d of the container) towards the upper rotating body rear side X2.

[0059] The leveling start position PE1 and leveling completion position PE2 in Example 2A and Example 2B are described as follows. Viewed from above, the leveling portion 25c1 is not a line or a point, but a leveling operation surface with a specific area. At the start of the leveling operation, the leveling start position PE1 is located at the upstream side of the leveling operation surface of the leveling portion 25c1 during the leveling operation. For example, in push-out leveling, the leveling start position PE1 is the end of the upper rotating body rear side X2 of the leveling operation surface. Similarly, at the end of the leveling operation surface of the leveling portion 25c1, the leveling completion position PE2 is located at the downstream side of the leveling operation. For example, in push-out leveling, it is the end of the upper rotating body front side X1 of the leveling operation surface.

[0060] The rotational action of the upper rotating body 23 can expand the flattening range AE. For example, relative to Figure 2If the lateral width (Y) of the upper rotating body of the distal auxiliary device 25c shown is significantly larger than the lateral width (V) of the container 5, if the leveling action (forward and backward leveling action) of the distal auxiliary device 25c relative to the upper rotating body 23 along the forward and backward direction (X) of the upper rotating body is performed only once, it may not be sufficient to level the object S. In this case, the controller 50 controls the construction machinery 20 by alternating the forward and backward leveling action and the rotational action of the upper rotating body 23 relative to the lower traveling body 21. This expands the leveling range AE along the lateral direction (V) of the container compared to the case where the forward and backward leveling action is performed only once, thereby leveling the object S over a larger area. For example, the leveling range AE can be set to encompass the entire or approximately the entire interior of the container 5 when viewed from above, i.e., the interior of the container 5 can be included.

[0061] Specifically, for example, such as Figure 4 As shown, the controller 50 causes the construction machinery 20 to sequentially perform the first forward and backward leveling action, the slewing action, and the second forward and backward leveling action. The controller 50 can also further perform a second slewing action and a third forward and backward leveling action after the second forward and backward leveling action. Similarly, a fourth and subsequent forward and backward leveling actions can also be added.

[0062] The engineering machinery 20 can also be controlled in the following manner: after leveling the object S in the central region of the container's transverse direction V, the object S in one outer region (e.g., the right side) of the container's transverse direction V is leveled, and then the object S in another outer region (e.g., the left side) of the container's transverse direction V is leveled. Alternatively, the engineering machinery 20 can be controlled in the following manner: leveling the object S multiple times sequentially from one side (e.g., the right side) to the other side (e.g., the left side) of the container's transverse direction V.

[0063] The controller 50 enables the forward and backward leveling action and the rotation action to be performed alternately. Therefore, for example, the rotation angle of the upper rotating body 23 relative to the lower traveling body 21 can be set in the following manner. Figure 5 This represents the hypothetical straight line Lo, straight line Lp, and point Ps used to determine the rotation angle. Viewed from above, straight line Lo extends through the rotation center axis 26 towards the front X1 of the upper rotating body. Point Ps is the front vertex of the container 5, located at the front U1 of the container. Figure 5The upper rotating body (front side X1) in the configuration shown is located at the end of the container on the outer side of the transverse direction V. Viewed from the engineering machinery 20, this point Ps is the leftmost point. The coordinates of this point Ps relative to the rotation center axis 26, i.e., the mechanical coordinates, are (Px, Py, Pz). Viewed from above, the straight line Lp connects the rotation center axis 26 and the point Ps. Viewed from above, the angle θ between the straight line Lo and the straight line Lp can be calculated based on the following formula: θ = Arctan(Py / Px). Based on the angle θ, the controller 50 calculates the target value of the rotation angle of the upper rotating body 23 relative to the lower traveling body 21, i.e., the target rotation angle, controls the rotation action of the upper rotating body 23 based on this target rotation angle, and controls the forward and backward leveling action of the auxiliary device 25. Thus, the leveling object S near the point Ps of the container 5 can be leveled. The straight line Lo is not like... Figure 5 In the case where the rotation angle is aligned with the central axis of the accessory device 25 as shown, but deviates from the central axis of the accessory device 25 in the lateral direction Y of the upper rotating body, the controller 50 may also take the deviation into account when setting the rotation angle.

[0064] The leveling range AE can also be set based on the lateral width of the distal attachment 25c. The lateral width, i.e., the size of the distal attachment 25c in the lateral direction Y of the upper rotating body, affects the necessity of alternating the forward and backward leveling actions and the rotational actions, or the likelihood of the distal attachment 25c contacting either of the pair of container sides 5c. Therefore, the controller 50 can also set the leveling range AE based on the lateral width of the distal attachment 25c. Ideally, information related to the lateral width of the distal attachment 25c is set for the controller 50. Examples of this setting include inputs to the controller 50 via communication, such as inputs made during the manufacture of the engineering machinery 20, and inputs made to the controller 50 via operator input. For example, information related to the lateral width of the distal attachment 25c can be obtained from a distance image or a two-dimensional image. In this case, the image of the remote accessory device 25c can be acquired by the imaging device 41 or by a sensor different from the imaging device 41.

[0065] like Figure 4As shown, the controller 50 can also set the leveling range AE based on the lateral width of the distal appendage 25c to prevent the distal appendage 25c from contacting the pair of container sides 5c respectively. The controller 50 can also set the rotation angle of the upper rotating body 23, which alternately performs the forward and backward leveling action and the rotation action, based on the lateral width of the distal appendage 25c. For example, the controller 50 can also calculate... Figure 5 The angle θ shown is calculated based on the lateral width of the distal accessory 25c, and the value corrected in this way is set as the final target rotation angle of the upper rotating body 23. Alternatively, the controller 50 can also be used to allow viewing from above... Figure 4 The straight line Lq, as shown, passes through the point Ps, setting the rotation angle of the upper rotating body 23. The straight line Lq is parallel to the straight line Lo and passes through the end of the distal accessory 25c in the lateral direction Y of the upper rotating body. The straight line Lo, as described above, is a straight line extending from above through the rotation center axis 26 and towards the front X1 of the upper rotating body.

[0066] The controller 50 can also set the leveling range AE in the height direction based on the height H of the object to be leveled S detected by the height detection unit 43, that is, set the leveling height. For example, the controller 50 can also set the leveling height as the range in the height direction from the position of the vertex of the object to be leveled S to the position below the vertex with a specified height dimension. Ideally, the controller 50 sets the specified height dimension. Examples of this setting method include setting based on the three-dimensional information of the object to be leveled S, input by the operator, input via communication, etc. When the height detection unit 43 detects the height H based on the pushing force of the remote accessory 25c to the object to be leveled S, the controller 50 can also set the leveling height based on the height of the remote accessory 25c when the pushing force reaches a specified value.

[0067] The controller 50 can also set the flatness range AE based on the tilt of the container 5 detected by the container tilt detection unit 45. The tilt of the container 5 can be, for example, the tilt of the container 5 relative to the horizontal plane, or... Figure 6As shown, the container 5 has an inclination relative to the ground on which the construction machinery 20 is mounted. In this manner, the controller 50 can also set the leveling range AE by leveling the object S along the direction of the bottom surface of the container 5, i.e., the upper surface of the container bottom surface 5a. Ideally, the controller 50 sets the leveling range AE to a range parallel to the container bottom surface 5a.

[0068] As described above, this invention provides an automatic leveling system capable of automatically leveling a placed object to prevent it from collapsing. The automatic leveling system includes construction machinery, a camera, and a controller. The construction machinery includes a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and an auxiliary working device undulatingly mounted on the upper rotating body. The auxiliary working device includes an auxiliary device body and a distal auxiliary device. The auxiliary device body has a distal end and is operable such that the distal end can move at least along the front-back direction of the upper rotating body. The front-back direction of the upper rotating body is the same as the front-back direction of the upper rotating body. The distal auxiliary device is held at the distal end of the auxiliary device body, and performs the leveling action by moving while in contact with the object being leveled. The camera acquires three-dimensional information of the position and shape of at least one of the object being leveled and its surrounding objects. The controller sets a leveling range based on the three-dimensional information obtained by the imaging device, and causes the engineering machinery to perform the leveling action using the remote auxiliary device within the leveling range.

[0069] The controller can appropriately set the leveling range based on the three-dimensional information acquired by the imaging device. The controller can also control the leveling action of the engineering machinery to level the object within the appropriately set leveling range, thereby leveling the object at an appropriate location. This achieves automatic control of the leveling action, preventing the object from collapsing.

[0070] The surrounding object is, for example, a container that holds the flattened object. In this case, it is ideal for the controller to set the flattening range based on the three-dimensional information of the container. Flattening the flattened object contained in the container in the above manner can prevent the flattened object contained in the container from collapsing and overflowing from the container.

[0071] Furthermore, compared to the shape of the flattened object, the shape of the container is less likely to change over time. Therefore, compared to the three-dimensional information of the flattened object, the imaging device can more easily and accurately detect the three-dimensional information of the container. Consequently, compared to relying solely on the three-dimensional information of the flattened object contained within the container, the controller can more reliably set a more ideal flattening range based on the three-dimensional information of the container.

[0072] Ideally, the controller sets the leveling range in the longitudinal direction of the upper rotating body, and sets the position of the end of the leveling range in the longitudinal direction of the upper rotating body at a position offset from the end of the container in the longitudinal direction of the upper rotating body. This, compared to the case where the end of the leveling range is at the same position as the end of the container in the longitudinal direction of the upper rotating body, can suppress the overflow of the object to be leveled from the container and prevent the distal accessory from contacting the container.

[0073] Ideally, the controller sets the leveling action start position to be located further outward from the end of the container in the front-back direction of the upper rotating body. This leveling action start position is the location of the end of the leveling area in the front-back direction of the upper rotating body, and it is also the starting point of the leveling action. Setting this leveling action start position can prevent the object to be leveled from overflowing from the end of the container in the front-back direction of the upper rotating body to the outer side of the upper rotating body.

[0074] Ideally, the controller sets the position of the leveling range at the front end of the upper rotating body in the longitudinal direction to be further rearward relative to the front end of the container in the longitudinal direction of the upper rotating body. This prevents the distal appendage from contacting the front end of the container when the front end of the container protrudes further upward than the object to be leveled in the longitudinal direction of the upper rotating body.

[0075] Ideally, the automatic leveling system further includes a height detection unit that detects the height of the object to be leveled. Based on the height of the object detected by the height detection unit, the controller sets the leveling range in the height direction. This allows the leveling range to be set at an appropriate height corresponding to the height of the object, thereby enabling leveling of the object at a more suitable location and preventing it from collapsing.

[0076] Ideally, the automatic leveling system further includes a container tilt detection unit for detecting the tilt of the container. The controller, based on the tilt detected by the container tilt detection unit, sets the leveling range so that the construction machinery levels the object to be leveled along the direction of the container's bottom surface. In this way, even if the bottom surface of the container is tilted, the object to be leveled can still be leveled along that bottom surface. Therefore, when the bottom surface of the container returns to a horizontal or nearly horizontal state, the leveled portion of the object also becomes horizontal or nearly horizontal and is less prone to collapse.

[0077] Ideally, the controller causes the construction machinery to alternately perform forward and backward leveling actions and rotational actions. The forward and backward leveling action involves moving the distal auxiliary device relative to the upper rotating body along the forward and backward direction of the upper rotating body, while the rotational action involves rotating the upper rotating body relative to the lower traveling body. By alternately performing the forward and backward leveling actions and the rotational actions in this manner, compared to the case where the rotation angle of the upper rotating body relative to the lower traveling body remains fixed and only the forward and backward leveling actions are performed, a wider range of leveling capabilities can be achieved on the object being leveled.

[0078] Ideally, the controller sets the leveling range in the lateral direction of the upper rotating body based on the lateral width of the remote accessory. The lateral direction of the upper rotating body is orthogonal to its longitudinal direction, and the lateral width is the dimension of the remote accessory in that lateral direction. Setting the leveling range in the lateral direction of the upper rotating body allows the leveling range to be positioned appropriately corresponding to the lateral width of the remote accessory.

[0079] The camera device can also be installed outside the construction machinery. When the camera device is installed on the construction machinery, the object to be photographed (at least one of the leveling object and surrounding objects) may be shadowed by structural elements (e.g., accessories) of the construction machinery when viewed from the camera device. However, by positioning the camera device appropriately outside the construction machinery, it is possible to prevent the object from being shadowed by structural elements of the construction machinery when viewed from the camera device, thus enabling the object to be photographed. Furthermore, construction machinery that does not originally have a camera device can be used in the automatic leveling system. However, this does not preclude the possibility of installing a different camera device on the construction machinery.

[0080] Various modifications can be made to the above embodiments. For example, the configuration, shape, and connection of the structural elements in the above embodiments can be changed. For example, the number of structural elements can be changed, and some structural elements may not be provided. For example, the fixing or connection of structural elements to each other can be direct or indirect. For example, what is described as multiple different parts or components can also be a single part or component. For example, what is described as a single part or component can also be divided into multiple different parts or components. For example, the controller can be composed of one device or multiple devices.

Claims

1. An automatic leveling system, characterized in that: An automatic leveling system for automatically leveling objects, the automatic leveling system comprising: Construction machinery capable of performing leveling operations on the object to be leveled; The imaging device acquires three-dimensional information about the position and shape of at least one of the flat object and the surrounding objects of the flat object; The height detection unit detects the height of the flat object; and The controller enables the engineering machinery to perform the leveling action, wherein... The construction machinery includes a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a working attachment undulatingly mounted on the upper rotating body. The working attachment includes: an attachment body having a distal end portion and operable to move at least along the longitudinal direction of the upper rotating body; and a distal attachment portion held at the distal end portion of the attachment body and operable to level the object being leveled by moving while in contact with it. The longitudinal direction of the upper rotating body is the same as the longitudinal direction of the upper rotating body. The controller is configured to set a leveling range and cause the construction machinery to perform the leveling action within the leveling range using the remote auxiliary device. The surrounding object is a container that holds the flattened object. The controller sets the flattening range based on the three-dimensional information of the container obtained by the imaging device. The controller sets the flattening height as the range in the height direction from the position of the vertex of the flattened object to the position located below the vertex with a specified height dimension.

2. An automatic leveling system, characterized in that: An automatic leveling system for automatically leveling objects, the automatic leveling system comprising: Construction machinery capable of performing leveling operations on the object to be leveled; The imaging device acquires three-dimensional information about the position and shape of at least one of the flat object and its surrounding objects; the surrounding objects are containers that contain the flat object. The controller enables the engineering machinery to perform the leveling action; and A container tilt detection unit detects the tilt of the container, wherein... The construction machinery includes a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a working attachment undulatingly mounted on the upper rotating body. The working attachment includes: an attachment body having a distal end portion and operable to move at least along the longitudinal direction of the upper rotating body; and a distal attachment portion held at the distal end portion of the attachment body and operable to level the object being leveled by moving while in contact with it. The longitudinal direction of the upper rotating body is the same as the longitudinal direction of the upper rotating body. The controller is configured to set a leveling range and cause the construction machinery to perform the leveling action within the leveling range using the remote auxiliary device. The controller sets the leveling range based on the three-dimensional information of the container obtained by the shooting device and the tilt detected by the container tilt detection unit, so that the engineering machinery levels the object to be leveled in the direction along the bottom surface of the container.

3. An automatic leveling system, characterized in that: An automatic leveling system for automatically leveling objects, the automatic leveling system comprising: Construction machinery capable of performing leveling operations on the object to be leveled; The imaging device acquires three-dimensional information about the position and shape of at least one of the flat object and its surrounding objects; and The controller enables the engineering machinery to perform the leveling action, wherein... The construction machinery includes a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a working attachment undulatingly mounted on the upper rotating body. The working attachment includes: an attachment body having a distal end portion and operable to move at least along the longitudinal direction of the upper rotating body; and a distal attachment portion held at the distal end portion of the attachment body and operable to level the object being leveled by moving while in contact with it. The longitudinal direction of the upper rotating body is the same as the longitudinal direction of the upper rotating body. The controller is configured to set a leveling range based on the three-dimensional information acquired by the imaging device, and to cause the construction machinery to perform the leveling action using the remote auxiliary device within the leveling range. The controller sets the leveling range in the horizontal direction of the upper rotating body based on the lateral width of the remote accessory device. The horizontal direction of the upper rotating body is a direction orthogonal to the front-back direction of the upper rotating body, and the lateral width is the size of the remote accessory device in the horizontal direction of the upper rotating body.

4. The automatic leveling system according to claim 3, characterized in that: The surrounding objects are containers that contain the flattened object, and the controller sets the flattening range based on the three-dimensional information of the containers.

5. The automatic leveling system according to claim 1, characterized in that: The controller sets the flatness range in the front-rear direction of the upper rotating body. The controller sets the position of the end of the leveling range in the front-back direction of the upper rotating body at a position offset from the end of the container in the front-back direction of the upper rotating body.

6. The automatic leveling system according to claim 5, characterized in that: The controller sets the leveling action start position at a position further outward from the end of the container in the front-back direction of the upper rotating body. The leveling action start position is the position of the end of the leveling range in the front-back direction of the upper rotating body, and is also the position where the leveling action begins.

7. The automatic leveling system according to any one of claims 1, 2, and 4, characterized in that: The controller sets the position of the leveling range at the front end of the upper rotating body in the front-back direction to be further back than the front end of the container in the front-back direction of the upper rotating body.

8. The automatic leveling system according to any one of claims 1 to 3, characterized in that: The controller causes the engineering machinery to alternately perform forward and backward leveling actions and rotational actions. The forward and backward leveling action is the leveling action that moves the remote auxiliary device relative to the upper rotating body along the forward and backward direction of the upper rotating body. The rotational action is the action that makes the upper rotating body rotate relative to the lower traveling body.

9. The automatic leveling system according to any one of claims 1 to 3, characterized in that: The camera is mounted on the exterior of the construction machinery.

Images