Position estimation system, position estimation unit, work machine, and elongation unit

Abstract

A position estimation system (50) is provided with a bucket angle sensor (66) and a controller (54). A first working device (25) has a boom (11), a bucket (13), and a bucket cylinder (21) that drives the bucket (13), and is able to swing with respect to a vehicle body (2). An extension arm (12) has a link mechanism (32) that transmits driving of the bucket cylinder (21) to the bucket (13), and is able to be fitted between the boom (11) and the bucket (13). The bucket angle sensor (66) is able to be disposed at the link mechanism (32). The controller (54) estimates a position of a bucket tip (13p) of the bucket (13) based on shape data of the first working device (25), shape data of the extension arm (12), information related to a posture of the first working device (25), and a detection value of the bucket angle sensor (66).

Description

Technical Field

[0001] This disclosure relates to a position estimation system, a position estimation unit, a working machine, and an extension unit. Background Technology

[0002] In operating machinery with a working device, techniques for calculating the position of the bucket tip are known. For example, the operating machinery in Patent Document 1 includes a vehicle body and a working device. To detect the position of the vehicle body, an antenna for, for example, a GNSS (Global Navigation Satellite System) is installed on the vehicle body. Additionally, an IMU (Inertial Measurement Unit) is installed on the vehicle body. The IMU detects the vehicle body's roll angle and pitch angle, etc. The working device includes a boom, a boom, a bucket, and hydraulic cylinders that drive them. The controller of the operating machinery calculates the position of the bucket tip based on the position and posture of the vehicle body, the dimensions of each part of the working device, and the swing angles of each part of the working device.

[0003] Patent document 1 describes the installation of angle sensors on the swinging parts of each working device when detecting the swing angle of each part of the working device.

[0004] In addition, when an extension boom is installed to expand the working range, the bucket tip position is calculated by inputting the dimensions of each part of the extension boom for calibration.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: (Japan) Re-evaluation No. 2016 / 056676 Summary of the Invention

[0008] However, when assembling an extension boom for dredging operations, the part containing the angle sensor may be submerged in water when the angle sensor is installed on the bucket or bucket pin. Therefore, the angle sensor is highly susceptible to damage and needs to be reliably protected to prevent damage.

[0009] The purpose of this disclosure is to provide a position estimation system, a position estimation unit, a working machine, and an extension unit that are not easily affected by the operation.

[0010] Technical solutions for solving the problem

[0011] The first aspect of this disclosure provides a position estimation system for estimating information related to the position of the bucket of a working machine, the working machine comprising: a main body of the working machine; a first working device capable of swinging relative to the main body of the working machine, having a boom, a bucket, and a bucket cylinder for driving the bucket; and a second working device capable of being mounted between the boom and the bucket, having a linkage mechanism for transmitting the drive of the bucket cylinder to the bucket; the position estimation system comprising a first posture detector and a controller. The first posture detector can be disposed on the linkage mechanism. The controller estimates information related to the position of the bucket relative to the working machine based on data related to the shape of the first working device, data related to the shape of the second working device, information related to the posture of the first working device, and the detection value of the first posture detector. The second working device has an extension, the extension including a first end that can be connected to the bucket and a second end that can be connected to the boom. The linkage mechanism has a first link portion, a second link portion, and a third link portion. The first link portion can be connected to the extension portion via a first connecting portion and to a bucket link portion connected to the bucket via the second connecting portion. The second link portion is connected to the first link portion via a second connecting portion and extends toward the second end side. The third link portion is disposed at the second end side compared to the first link portion, is connected to the extension portion via a third connecting portion, and is connected to the second link portion via a fourth connecting portion.

[0012] A second aspect of this disclosure provides a position estimation unit for estimating information related to the position of the bucket of a working machine, the working machine comprising: a main body of the working machine; a first working device capable of swinging relative to the main body of the working machine, having a boom, a bucket, and a bucket cylinder for driving the bucket; and a second working device capable of being mounted between the boom and the bucket, having a linkage mechanism for transmitting the drive of the bucket cylinder to the bucket. The position estimation unit includes a first posture detector and a detector controller. The first posture detector can be disposed on the linkage mechanism. The detector controller acquires the detection value of the first posture detector and sends information based on the detection value to the main body of the working machine. The second working device has an extension including a first end that can be connected to the bucket and a second end that can be connected to the boom. The linkage mechanism has a first link portion, a second link portion, and a third link portion. The first link portion can be connected to the extension portion via a first connecting portion and to a bucket link portion connected to the bucket via a second connecting portion. The second link portion is connected to the first link portion via a second connecting portion and extends toward the second end portion. The third link is disposed on the second end side compared to the first link, is connected to the extension via the third connection, and is connected to the second link via the fourth connection.

[0013] A third aspect of this disclosure provides a working machine comprising a working device body, a first working device, a second working device, a first posture detector, and a controller. The first working device has a boom, a bucket, and a bucket cylinder for driving the bucket, and is capable of swinging relative to the working machine body. The second working device has a linkage mechanism that transmits the drive of the bucket cylinder to the bucket, and can be mounted between the boom and the bucket. The first posture detector is disposed on the linkage mechanism. The controller estimates information related to the bucket position based on data related to the shape of the first working device, data related to the shape of the second working device, information related to the posture of the first working device, and the detection value of the first posture detector. The second working device has an extension portion including a first end that can be connected to the bucket and a second end that can be connected to the boom. The linkage mechanism has a first link portion, a second link portion, and a third link portion. The first link portion can be connected to the extension portion via a first connecting portion, and is connected to a bucket link portion connected to the bucket via a second connecting portion. The second link portion is connected to the first link portion via a second connecting portion and extends toward the second end. The third link is disposed on the second end side compared to the first link, is connected to the extension via the third connection, and is connected to the second link via the fourth connection.

[0014] A fourth aspect of this disclosure provides an extension unit comprising an extension arm and a first posture detector. The extension arm has an extension portion and a linkage mechanism. The extension portion includes a first end portion connectable to a bucket and a second end portion connectable to a boom. The linkage mechanism transmits drive of the bucket cylinder to the bucket. The linkage mechanism includes a first link portion, a second link portion, and a third link portion. The first link portion is connectable to the extension portion via a first connecting portion and to a bucket link portion connected to the bucket via a second connecting portion. The second link portion is connected to the first link portion via a second connecting portion and extends toward the boom side. The third link portion is disposed at a second end portion closer to the first link portion, is connected to the extension portion via a third connecting portion, and is connected to the second link portion via a fourth connecting portion.

[0015] Invention Effects

[0016] According to this disclosure, a position estimation system, a position estimation unit, a working machine, and an extension unit that are not easily affected by the operation can be provided. Attached Figure Description

[0017] Figure 1 This is a perspective view of the working machinery according to the embodiments of this disclosure.

[0018] Figure 2 This is a side view of the working apparatus according to an embodiment of the present disclosure.

[0019] Figure 3 This is a top view of the working apparatus according to an embodiment of the present disclosure.

[0020] Figure 4 (a) is a side view of the bucket according to an embodiment of the present disclosure, and (b) is a view showing the bucket from... Figure 4 (a) is a diagram showing the state of the paper surface and the front side of the bucket after it has been removed.

[0021] Figure 5 This is a block diagram illustrating the configuration of the position estimation system according to an embodiment of the present disclosure.

[0022] Figure 6 It is a diagram that schematically represents the structure of the operating machinery.

[0023] Figure 7 This is an example of a guide screen.

[0024] Figure 8 This is a side view of the first working device in the embodiment of the present disclosure, showing the state in which the extension arm, except for the third link, is removed.

[0025] Figure 9 (a) to (c) are diagrams showing information sent from the position estimation unit to the vehicle body in other embodiments of this disclosure.

[0026] Figure 10 This is a side view showing the extension arm of a linkage mechanism having other embodiments of the present disclosure.

[0027] Figure 11 (a) is a top view showing the configuration of the bucket angle sensor toward the third link in another embodiment of the present disclosure, and (b) is a side view showing the configuration of the bucket angle sensor toward the third link in another embodiment of the present disclosure. Detailed Implementation

[0028] Hereinafter, a position estimation system, working machinery, and extension unit according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0029] (Overview of Operation Machinery 1)

[0030] Figure 1 This is a perspective view of the operating machinery 1 in the implementation method.

[0031] The working machinery 1 mainly comprises a vehicle body 2 (an example of the working machinery body), a working device 3, and a position estimation system 50 (see reference). Figure 5 The vehicle body 2 has a rotating body 4 and a traveling device 5. The rotating body 4 is supported so as to be able to rotate relative to the traveling device 5. A cab 6 is disposed on the rotating body 4. The traveling device 5 includes tracks 5a and 5b. The working machine 1 travels by rotating the tracks 5a and 5b.

[0032] (Working device 3)

[0033] The working device 3 is mounted on the vehicle body 2. The working device 3 includes a first working device 25 and an extension arm 12 (an example of a second working device). The extension arm 12 is configured to be detached from the first working device 25.

[0034] The first working device 25 includes a boom 10, a forearm 11, and a bucket 13.

[0035] The base end of the boom 10 is rotatably mounted to the vehicle body 2 via boom pin 14. The base end of the forearm 11 is rotatably mounted to the front end of the boom 10 via forearm pin 15. The base end of the extension boom 12 is mounted to the front end of the forearm 11 via two connecting pins 16 and 17. The bucket 13 is rotatably mounted to the front end of the extension boom 12 via bucket pin 18.

[0036] The working device 3 includes a pair of boom cylinders 19, boom cylinders 20, and bucket cylinders 21. The boom cylinders 19, boom cylinders 20, and bucket cylinders 21 are hydraulic cylinders.

[0037] A pair of boom cylinders 19 are configured to clamp the boom 10. One end of the bottom side of each boom cylinder 19 is rotatably mounted to the slewing body 4 via a boom cylinder bottom pin 19a. One end of the rod side of each boom cylinder 19 is rotatably mounted to the boom 10 via a boom cylinder top pin 19b.

[0038] One end of the boom cylinder 20 is mounted to the boom 10 via a boom cylinder bottom pin (not shown). The other end of the boom cylinder 20 is mounted to the boom 11 via a boom cylinder top pin 20b.

[0039] One end of the bucket cylinder 21 on the bottom side is mounted to the boom 11 via the bucket cylinder bottom pin 21a. The other end of the bucket cylinder 21 on the rod side is mounted to the extension boom 12 via the third link pin 38 (described later).

[0040] The boom 10 moves by extending and retracting the boom cylinder 19. The forearm 11 and extension boom 12 move by extending and retracting the boom cylinder 20. The bucket 13 moves by extending and retracting the bucket cylinder 21.

[0041] (Extend arm 12)

[0042] Figure 2 This is a side view of the working device 3. Figure 3 yes Figure 2 Top view.

[0043] The telescopic arm 12 has an extension section 31 and a linkage mechanism 32.

[0044] The extension 31 is installed between the boom 11 and the bucket 13. The extension 31 has a base end 31b (an example of a second end) fitted to the boom 11 and a front end 31a (an example of a first end) fitted to the bucket 13.

[0045] The elongated portion 31 is mounted to the forearm 11 at the base end 31b via connecting pins 16 and 17. Connecting pins 16 and 17 are arranged side by side along the long side of the forearm 11. Connecting pin 16 is positioned on the base end side of the forearm 11 compared to connecting pin 17.

[0046] In the extension 31, a bucket 13 is mounted at the front end 31a via a bucket pin 18.

[0047] The linkage mechanism 32 transmits the extension and retraction of the bucket cylinder 21 to the bucket 13. The linkage mechanism 32 is mounted on the extension portion 31. The linkage mechanism 32 has a first linkage portion 33, a second linkage component 34 (an example of the second linkage portion), and a third linkage portion 35.

[0048] The first connecting rod portion 33 is disposed at the front end portion 31a of the extension portion 31. For example... Figure 3 As shown, the first link portion 33 has a pair of first link members 33a configured to sandwich the extension portion 31. Figure 2 As shown, one end of each first link member 33a is rotatably connected to the side of the extension 31 via a first link pin 36 (an example of a first connecting portion) on the base end 31b side relative to the bucket pin 18. The other end of each first link member 33a is rotatably connected to the bucket link member 47a, which is rotatably connected to the bucket 13, via a second link pin 37 (an example of a second connecting portion).

[0049] One end of the second link component 34 is rotatably connected to the other end of a pair of first link components 33a via a second link pin 37. The second link component 34 is formed such that it extends from the portion where the second link pin 37 is disposed toward the base end 31b. The other end of the second link component 34 is rotatably connected to the front end of the bucket cylinder 21 rod side via a third link pin 38.

[0050] The third link portion 35 is disposed on the forearm 11 side (base end portion 31b side) compared to the first link portion 33. In this embodiment, the third link portion 35 is disposed on the base end portion 31b. Figure 3 As shown, the third link portion 35 has a pair of third link members 35a arranged to sandwich the extension portion 31. One end of each third link member 35a is rotatably connected to the other end of the second link member 34 and the front end of the bucket cylinder 21 rod side via a third link pin 38 (an example of the fourth connection portion). The other end of each third link member 35a is rotatably connected to the side of the extension portion 31 via a connecting pin 16 (an example of the third connection portion).

[0051] In this embodiment, the line segment L2 connecting the connecting pin 16 and the third connecting pin 38 has a different length than the line segment L4 connecting the first connecting pin 36 and the second connecting pin 37; L2 is longer than L4. Therefore, the linkage mechanism 32 constitutes a four-section linkage with the first connecting pin 36, the second connecting pin 37, the third connecting pin 38, and the connecting pin 16 as joints, but it is not a parallel linkage.

[0052] (Bucket 13)

[0053] Figure 4 (a) is a side view of the bucket 13. The bucket 13 includes a bucket body 41, a connecting part 42, and bucket teeth 43. The connecting part 42 is connected to the bucket body 41 and includes a portion mounted on the extension boom 12.

[0054] The bucket teeth 43 are connected to the bucket body 41. The tip 13p of the bucket 13 is located at the front end of the bucket teeth 43. The bucket body 41 mainly has a bottom part 41a, a back part 41b, and a pair of side wall parts 41c. Figure 4 (b) indicates that... Figure 4 (a) is a diagram showing the state of the bucket 13 and the front side wall 41c after removal.

[0055] The bottom portion 41a has a curved shape when viewed from the side. The back portion 41b is connected to the bottom portion 41a at position 41p. A pair of sidewall portions 41c are arranged opposite each other, covering the sides of the space surrounded by the bottom portion 41a and the back portion 41b. The opening to the external space of the space surrounded by the bottom portion 41a, the back portion 41b, and the pair of sidewall portions 41c is indicated as opening 13a.

[0056] like Figure 4 As shown in (b), the bottom portion 41a has a front lip 41d, a front surface portion 41e, and a curved portion 41f. The front surface portion 41e is a flat, plate-like portion that has a straight shape when viewed from the side. The curved portion 41f is a curved, plate-like portion that has a convex shape when viewed from the side, curving outward toward the outside of the bucket body 41. The curved portion 41f is connected to the front surface portion 41e at position 41q.

[0057] The front lip 41d is a flat, plate-like component with a straight shape when viewed from the side. The front lip 41d is fixed to the end of the front surface portion 41e opposite to the position 41q. The thickness of the front lip 41d is greater than the thickness of the front surface portion 41e. The front lip 41d is the component that fixes the bucket teeth 43.

[0058] The back portion 41b has a first component 41g and a second component 41h. The first component 41g is plate-shaped and is connected to the curved portion 41f of the bottom portion 41a at position 41p. The second component 41h is disposed on the outside of the first component 41g and has a portion that is curved outward into a convex shape.

[0059] The connecting part 42 is disposed on the rear part 41b. The connecting part 42 includes a pair of brackets 42a (see reference). Figure 1 A pair of brackets 42a are arranged opposite each other in the width direction. (e.g.) Figure 4 (a) and Figure 4 As shown in (b), bracket 42a is fixed to the back portion 41b. The bracket 42a is erected upright from the back portion 41b outwards. Each bracket 42a includes a first hole 42b and a second hole 42c. Figure 2 As shown, a bucket pin 18 is inserted into the first hole 42b on the opening 13a side. A bucket link pin 46 for mounting the bucket 13 to the bucket link portion 47 is inserted into the second hole 42c on the bottom part 41a side.

[0060] It should be noted that, as Figure 1 As shown, the bucket linkage portion 47 has a pair of bucket linkage components 47a. One end of each bucket linkage component 47a is rotatably connected to the bracket 42a via a bucket linkage pin 46. The other end of each bucket linkage component 47a is rotatably connected to the first linkage component 33a and the second linkage component 34 via a second linkage pin 37. The bucket teeth 43 are disposed at the front end of the bottom portion 41a on the side opposite to the rear portion 41b.

[0061] (Location estimation system 50)

[0062] Figure 5 This is a block diagram showing the structure of the position estimation system 50.

[0063] like Figure 5 As shown, the position estimation system 50 includes an input device 52, a display 53, a controller 54, a storage device 55, a position sensor 56 (an example of a state detector), and an attitude sensor 57.

[0064] Input device 52 and display 53 are disposed in the cab 6. Input device 52 receives operator input for setting control of the working machinery 1 and outputs operation signals corresponding to the operation. Input device 52 may be, for example, a touch screen. Alternatively, input device 52 may also include a joystick or switch. The operator can use input device 52 to input shape data of the vehicle body 2 and the working device 3. For example, when assembling a new extension arm 12, the shape data of the extension arm 12 can be input using input device 52.

[0065] Display 53 shows an image corresponding to the command signal input to input device 52. Display 53 also displays a guidance screen to assist the operation of the working machine 1.

[0066] As a guide screen, display 53 may show, for example, terrain data and the current position of the tip 13p of the bucket 13 (an example of information related to the position of the bucket).

[0067] The controller 54 calculates the bucket angle θ3 based on the acquired data and displays the terrain data and the position of the tip 13p of the bucket 13 on the display 53.

[0068] The controller 54 includes a processor such as a CPU (Central Processing Unit), and memories such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage device 55 includes semiconductor memory or a hard disk. The storage device 55 is an example of a recording medium that can be read by the non-transitory controller 54. The storage device 55 can be executed by the processor to estimate the position of the tip 13p of the bucket 13 and record computer instructions for displaying the position of the tip 13p.

[0069] Position sensor 56 determines the position of the working machinery 1. Position sensor 56 is disposed on the vehicle body 2. Position sensor 56 includes a GNSS (Global Navigation Satellite System) receiver 61, an antenna 62, and an IMU 63. GNSS receiver 61 is, for example, a GPS (Global Positioning System) receiver. GNSS receiver 61 receives positioning signals from satellites, calculates the position of antenna 62 using the positioning signals, and generates vehicle position data. Controller 54 acquires vehicle position data (an example of position-related information) from GNSS receiver 61. IMU 63 is an inertial measurement unit. IMU 63 acquires tilt angle data (an example of tilt-related information). Tilt angle data includes the horizontal angle (pitch angle) relative to the vehicle's longitudinal direction and the horizontal angle (roll angle) relative to the vehicle's lateral direction.

[0070] The posture sensor 57 detects posture data representing the posture of the working device 3. The posture sensor 57 includes a boom angle sensor 64 (an example of a third posture detector), a forearm angle sensor 65 (an example of a second posture detector), and a bucket angle sensor 66 (an example of a first posture detector). The boom angle sensor 64 detects the boom angle θ1. Figure 6 This is a schematic diagram showing the structure of the operating machine 1. For example... Figure 5 As shown, the boom angle θ1 represents the tilt angle of the boom 10 in the vehicle body 2. The forearm angle sensor 65 detects the forearm angle θ2. The forearm angle θ2 represents the tilt angle of the forearm 11 relative to the boom 10.

[0071] The boom angle sensor 64, for example, is an IMU, configured on the boom 10. The boom angle sensor 64 outputs a detection signal representing the boom angle to the controller 54. The controller 54 calculates the boom angle θ1 based on the tilt angle data of the vehicle body 2 and the detection signal.

[0072] The forearm angle sensor 65, for example, is an IMU, configured on the forearm 11. The forearm angle sensor 65 outputs a detection signal representing the forearm angle to the controller 54. The controller 54 calculates the forearm angle θ2 based on the tilt angle data of the vehicle body 2, the upper arm angle θ1, and the detection signal.

[0073] It should be noted that the boom angle sensor 64 and the forearm angle sensor 65 can also be sensors for detecting the cylinder stroke. In this case, the controller 54 calculates the boom angle θ1 and the forearm angle θ2 based on the cylinder stroke.

[0074] The bucket angle sensor 66 is an IMU. For example... Figure 2 and Figure 3 As shown, the bucket angle sensor 66 is mounted on the outer side 35b (an example of an outer side) of the third link member 35a. The bucket angle sensor 66 is housed inside the housing 68. Viewed from the side, when the straight line connecting the boom pin 15 and the connecting pin 16 is defined as L1, and the line segment passing through the center of the third link member 35a (the line segment connecting the connecting pin 16 and the third link pin 38) is defined as L2, the angle Φ1 formed by the straight line L1 (an example of a third straight line) and the line segment L2 can be detected based on the detection value of the bucket angle sensor 66.

[0075] The detection value of the bucket angle sensor 66 is transmitted to the controller 54 disposed on the vehicle body 2 via a wire 67. The wire 67 extends from the housing 68, runs along the side of the third link member 35a and the boom 11 toward the vehicle body 2. The wire 67 is preferably waterproof. Power is supplied to the bucket angle sensor 66 through the wire 67.

[0076] Storage device 55 stores shape data of vehicle body 2 and working device 3. The shape data of vehicle body 2 represents the shape of vehicle body 2. The shape data of vehicle body 2 represents the positional relationship between antenna 62 and reference position of vehicle body 2. The shape data of vehicle body 2 represents the positional relationship between reference position of vehicle body 2 and boom pin 14.

[0077] The shape data of the working device 3 represents the shape of each part of the working device 3. The shape data of the working device 3 includes the shape data of the first working device 25 (an example of data related to the shape of the first working device) and the shape data of the extension arm 12 (an example of data related to the shape of the second working device).

[0078] The shape data includes boom length L11, forearm length L12, and bucket length L13. Boom length L11 is the length from boom pin 14 to forearm pin 15. Forearm length L12 is the length from forearm pin 15 to bucket pin 18. Bucket length L13 is the length from bucket pin 18 to the tip 13p of the bucket 13.

[0079] In addition, the shape data of the extension arm 12 includes the positional relationship of the connecting pin 16, the bucket pin 18, and the first link pin 36 relative to the boom pin 15, the length from the first link pin 36 to the second link pin 37, the length from the connecting pin 16 to the third link pin 38, and the length from the second link pin 37 to the third link pin 38.

[0080] In addition, the shape data of the bucket 13 includes the positional relationship between the bucket pin 18 and the bucket connecting rod pin 46, the length from the bucket connecting rod pin 46 to the first connecting rod pin 36, and the positional relationship between the bucket pin 18 and the tip 13p.

[0081] The controller 54 calculates the angle Φ1 obtained from the detection value of the bucket angle sensor 66. Figure 6 The bucket angle θ3 is shown. Here, when viewed from the side, the straight line connecting the boom pin 15 and the bucket pin 18 is defined as L3, and the line segment passing through the center of the first link component 33a (the line segment connecting the first link pin 36 and the second link pin 37) is defined as L4.

[0082] In detail, the controller 54 calculates the angle Φ1 based on the detection value detected by the bucket angle sensor 66, the tilt angle data, the boom angle θ1 and the forearm angle θ2, the shape data of the working device 3, and the shape data of the extension arm 12, and further calculates the angle Φ2 formed by the straight line L3 (an example of the first straight line) and the straight line L4.

[0083] The controller 54 calculates the bucket angle θ3 based on the angle Φ2, the shape data of the working device 3, and the shape data of the extension arm 12. The bucket angle θ3 is the angle formed by the straight line L5 (an example of the second straight line) connecting the bucket pin 18 and the tip 13p, and the straight line L3 when viewed from the side.

[0084] In this way, the controller 54 acquires the boom angle θ1, forearm angle θ2, and bucket angle θ3. The boom angle θ1, forearm angle θ2, and bucket angle θ3 are included in the posture data.

[0085] The controller 54 calculates the bucket position data based on tilt angle data, posture data, and shape data, and according to the vehicle body position data detected by the position sensor 56. The bucket position data, for example, represents the position of the tip 13p of the bucket 13. The bucket angle θ3 may be included in the bucket position data.

[0086] Storage device 55 stores current terrain data and design terrain data. Current terrain data represents the existing terrain of the work site. Design terrain data represents the target shape of the work site. Controller 54 displays the current terrain data, design terrain data, and shape data on display 53. Figure 7 The guide screen 71 shown is as follows. Figure 7 As shown, the guide screen 71 displays the current terrain 72, the designed terrain 73, and the position of the operating machinery 1. The shape data includes data representing the shape of the bucket 13. Based on the shape data of the bucket 13 and the position of the bucket tip 13p, the controller 54 displays the position of the bucket 13 relative to the current terrain 72 and the designed terrain 73 on the guide screen 71.

[0087] The operator of the working machine 1 can grasp the positional relationship between the bucket 13, the existing terrain 72, and the designed terrain 73 through the guide screen 71.

[0088] (Features, etc.) (1)

[0090] The position estimation system 50 of this embodiment estimates information related to the position of the bucket 13 of the working machine 1. The working machine 1 includes a vehicle body 2, a first working device 25, and an extension arm 12. The position estimation system 50 includes a bucket angle sensor 66 and a controller 54. The first working device 25 has a boom 11, a bucket 13, and a bucket cylinder 21 that drives the bucket 13, and is capable of swinging relative to the vehicle body 2. The extension arm 12 has a linkage mechanism 32 that transmits the drive of the bucket cylinder 21 to the bucket 13, and can be mounted between the boom 11 and the bucket 13. The bucket angle sensor 66 can be disposed on the linkage mechanism 32. The controller 54 estimates the position of the tip 13p of the bucket 13 relative to the working machine 1 based on the shape data of the first working device 25, the shape data of the extension arm 12, information related to the posture of the first working device 25, and the detection value of the bucket angle sensor 66. Figure 2As shown, the extendable arm 12 has an extendable portion 31. The extendable portion 31 includes a front end portion 31a that can be connected to the bucket 13 and a base end portion 31b that can be connected to the boom 11. The linkage mechanism 32 has a first link portion 33, a second link member 34, and a third link portion 35. The first link portion 33 can be connected to the extendable portion 31 via a first link pin 36, and is connected to the bucket link portion 47 connected to the bucket 13 via a second link pin 37. The second link member 34 is connected to the first link portion 33 via a second link pin 37 and extends toward the base end portion 31b. The third link portion 35 is disposed on the base end portion 31b side compared to the first link portion 33, is connected to the extendable portion 31 via a connecting pin 16, and is connected to the second link member 34 via a third link pin 38.

[0091] In this way, by configuring the bucket angle sensor 66 on the linkage mechanism 32, the possibility of being submerged in water during operations such as dredging can be reduced, and the operation can be less affected by the operation. (2)

[0093] In the position estimation system 50 of this embodiment, the bucket angle sensor 66 is disposed on the third link 35.

[0094] Thus, by installing the bucket angle sensor 66 on the third link section 35 near the boom 11, the possibility of flooding can be further reduced. Additionally, the waterproofing performance of the housing 68 can be simplified.

[0095] In addition, compared with setting the bucket angle sensor 66 at other locations on the linkage mechanism 32, the length of the wire 67 extending from the bucket angle sensor 66 to the vehicle body 2 can be shortened.

[0096] Furthermore, after removing the extension arm 12, which includes the third link 35, the third link 35 is connected to the boom 11, and the bucket 13 is installed on the boom 11. As a result, there is no need to replace the bucket angle sensor 66 or the wire 67 extending from the bucket angle sensor 66, thus making the assembly and disassembly operations easier.

[0097] Figure 8 This diagram shows the state in which the extension arm 12, excluding the third link 35, is removed from between the bucket 13 and the boom 11. Figure 8 In the structure shown, the bucket link assembly 47a is rotatably connected to the third link assembly 35a via the third link pin 38. The bucket pin 18 is disposed on the portion of the boom 11 where the connecting pin 17 is disposed, and the bucket 13 is rotatably connected to the boom 11 via the bucket pin 18. In this way, regardless of the installation or removal of the extension boom 12, the bucket angle sensor 66 can be maintained in the third link portion 35. Therefore, the installation and removal of the extension boom 12 can be performed easily without sensor replacement. (3)

[0099] In the position estimation system 50 of this embodiment, the bucket angle sensor 66 is disposed on the side 35b outside the third link portion 35.

[0100] Therefore, it is easy to maintain and replace the bucket angle sensor 66. (4)

[0102] In the position estimation system 50 of this embodiment, the information related to the position of the bucket 13 includes the angle θ3 of the straight line L5 connecting the tip 13p of the bucket 13 and the bucket pin 18 relative to the straight line L3 connecting the swing fulcrum of the bucket pin 18 (which connects the bucket 13 to the extension 31) and the boom pin 15 (which connects the boom 11 to the extension 31). The controller 54 calculates the rotation angle Φ1 of the third link 35 relative to the straight line L1 connecting the boom 11 to the extension pin 16 and the boom pin 15 based on the detection value of the bucket angle sensor 66. Based on the rotation angle Φ1 of the third link 35, it calculates the rotation angle Φ2 of the first link 33 relative to the straight line L3, and calculates the bucket angle θ3 based on the rotation angle Φ2 of the first link 33.

[0103] In this way, by calculating the rotation angle Φ2 of the first link 33 based on the rotation angle Φ1 of the third link 35, the bucket angle θ3 can be estimated. (5)

[0105] In the position estimation system 50 of this embodiment, the first working device 25 also has a boom 10 connected to the vehicle body 2 and the boom 11. The position estimation system 50 also includes a boom angle sensor 65 and a boom angle sensor 64. The boom angle sensor 65 detects the posture of the boom 11. The boom angle sensor 64 detects the posture of the boom 10. The controller 54 estimates the position of the bucket 13 based on the estimated bucket angle θ3 and the detection values ​​of the boom angle sensor 65 and the boom angle sensor 64.

[0106] Therefore, the position of bucket 13 can be estimated using the bucket angle θ3. (6)

[0108] The position estimation system 50 of this embodiment also includes a position sensor 56. The position sensor 56 detects information related to the position and tilt of the vehicle body 2. The controller 54 estimates the position of the bucket 13 based on the information related to the position of the bucket 13 relative to the working machinery 1 and the detection value of the position sensor 56.

[0109] Therefore, the position of bucket 13 in the global coordinate system can be estimated. (7)

[0111] The machine tool 1 of this embodiment includes a vehicle body 2, a first working device 25, an extension arm 12, a bucket angle sensor 66, and a controller 54. The first working device 25 has a boom 11, a bucket 13, and a bucket cylinder 21 for driving the bucket 13, and is capable of swinging relative to the vehicle body 2. The extension arm 12 has a linkage mechanism 32 that transmits the drive of the bucket cylinder 21 to the bucket 13, and can be mounted between the boom 11 and the bucket 13. The bucket angle sensor 66 is disposed on the linkage mechanism 32. The controller 54 estimates the bucket angle θ3 relative to the vehicle body 2 based on the shape data of the first working device 25, the shape data of the extension arm 12, information related to the posture of the first working device 25, and the detection value of the bucket angle sensor 66. The extension arm 12 has an extension portion 31. The extension portion 31 includes a front end portion 31a that can be connected to the bucket 13 and a base end portion 31b that can be connected to the boom 11. The linkage mechanism 32 includes a first linkage portion 33, a second linkage member 34, and a third linkage portion 35. The first linkage portion 33 is connected to the extension portion 31 via a first linkage pin 36 and to the bucket linkage portion 47 connected to the bucket 13 via a second linkage pin 37. The second linkage member 34 is connected to the first linkage portion 33 via a second linkage pin 37 and extends toward the base end portion 31b. The third linkage portion 35 is disposed on the base end portion 31b side compared to the first linkage portion 33, is connected to the extension portion 31 via a connecting pin 16, and is connected to the second linkage member 34 via a third linkage pin 38.

[0112] In this way, by configuring the bucket angle sensor 66 on the linkage mechanism 32, the possibility of being submerged in water during operations such as dredging can be reduced, and the operation can be less affected by the operation. (8)

[0114] The extension unit in this embodiment includes an extension arm 12 and a bucket angle sensor 66. The extension arm 12 can be mounted between the boom 11 and the bucket 13 of the working machine 1 in the first working device 25, which has a vehicle body 2, a boom 11, a bucket 13, and a bucket cylinder 21 that drives the bucket 13 and is capable of swinging relative to the vehicle body 2. The bucket angle sensor 66 is disposed on the extension arm 12. The extension arm 12 has an extension portion 31 and a linkage mechanism 32. The extension portion 31 includes a front end portion 31a that can be connected to the bucket 13 and a base end portion 31b that can be connected to the boom 11. The linkage mechanism 32 transmits the drive of the bucket cylinder 21 to the bucket 13. The linkage mechanism 32 has a first linkage portion 33, a second linkage component 34, and a third linkage portion 35. The first link portion 33 is connected to the extension portion 31 via the first link pin 36, and to the bucket link portion 47 connected to the bucket 13 via the second link pin 37. The second link component 34 is connected to the first link portion 33 via the second link pin 37 and extends toward the base end portion 31b. The third link portion 35 is disposed on the base end portion 31b side compared to the first link portion 33, is connected to the extension portion 31 via the connecting pin 16, and is connected to the second link component 34 via the third link pin 38.

[0115] Therefore, it is possible to provide an extension arm 12 with a bucket angle sensor 66 configured in the linkage mechanism 32.

[0116] (Other implementation methods)

[0117] The present invention has been described above as an embodiment of the invention, but the present invention is not limited to the above embodiment and various modifications can be made without departing from the spirit of the invention.

[0118] (A)

[0119] In the above embodiment, the bucket angle sensor 66 is pre-set to be disposed on the third link 35, and the detection value of the bucket angle sensor 66 is obtained by the controller 54. However, the bucket angle sensor 66 can also be added to existing working machinery that can be equipped with an extension arm. In this case, a position estimation unit 80 can be provided to the existing working machinery as a sensor controller 81 (an example of a detector controller) that includes the bucket angle sensor 66, the wire 67, and controls the bucket angle sensor 66.

[0120] like Figure 9 As shown in (a), alternatively, the sensor controller 81 acquires the detection value Vd from the bucket angle sensor 66 and sends the detection value Vd to the controller 54 of the vehicle body 2 via the wire 67 (an example of information based on the detection value). The controller 54 calculates the bucket angle θ3 based on the detection value Vd.

[0121] like Figure 9As shown in (b), alternatively, the sensor controller 81 acquires the detection value Vd from the bucket angle sensor 66, and calculates the angle Φ1 based on the tilt angle data, the boom angle θ1 and the forearm angle θ2, the shape data of the working device 3, and the shape data of the extension arm 12. The sensor controller 81 transmits the angle Φ1 data (an example based on the detection value information) from the sensor controller 81 to the controller 54 of the vehicle body 2 via the wire 67. The controller 54 calculates the bucket angle θ3 based on the angle Φ1 data. In this case, the sensor controller 81 acquires data to calculate the angle Φ1.

[0122] In addition, such as Figure 9 As shown in (c), alternatively, the sensor controller 81 may calculate the angle Φ2 based on the detection value Vd obtained from the bucket angle sensor 66, and on the tilt angle data, boom angle θ1 and forearm angle θ2, the shape data of the working device 3, and the shape data of the extender arm 12. The sensor controller 81 transmits the angle Φ2 data (an example based on the detection value information) from the sensor controller 81 to the controller 54 of the vehicle body 2 via the wire 67. The controller 54 calculates the bucket angle θ3 based on the angle Φ2 data. In this case, the sensor controller 81 acquires the data used to calculate the angle Φ2.

[0123] Alternatively, the sensor controller 81 may calculate the bucket angle θ3 based on the detection value of the bucket angle sensor 66, and send the data of the bucket angle θ3 (an example of information based on the detection value) to the controller 54 of the vehicle body 2.

[0124] It should be noted that the sensor controller 81 includes a processor such as a CPU (Central Processing Unit), and a memory or storage device such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage device includes semiconductor memory or a hard disk. The storage device is an example of a recording medium that can be read by the non-transitory sensor controller 81. The storage device can be executed by the processor and records computer instructions used to perform the above-described control.

[0125] Therefore, even when the extension arm 12 is installed on the existing working machinery, the position of the tip 13p of the bucket 13 can be obtained by adding the position estimation unit 80 to the working machinery.

[0126] (B)

[0127] In the linkage mechanism 32 of the extension arm 12 in the above embodiment, the length of the line segment L4 from the first link pin 36 to the second link pin 37 and the length of the line segment L2 from the connecting pin 16 to the third link pin 38 are different, but they can also be the same.

[0128] Figure 10 This diagram shows the extended arm 12' of the linkage mechanism 32', which functions as a parallel link. It should be noted that... Figure 10 In the diagram, conductor 67 is omitted.

[0129] exist Figure 10 In the extended arm 12′ shown, the length of the third link member 35a′, which is configured as the third link portion 35′, is the same as the length of the first link member 33a′ of the first link portion 33′, and the length of the line segment L4′ from the first link pin 36 to the second link pin 37 is the same as the length of the line segment L2′ from the connecting pin 16 to the third link pin 38.

[0130] In this case, angles Φ1 and Φ2 become the same value, so the bucket angle θ3 can be calculated based on the shape data of the bucket 13 according to angle Φ1.

[0131] Therefore, it is not necessary to calculate the angles Φ1 to Φ2, thus enabling a more accurate estimation of the bucket angle θ3.

[0132] (C)

[0133] In the above embodiment, the bucket angle sensor 66 is disposed on the outer side 35b of the third link component 35a (see reference). Figure 3 However, it is not limited to this.

[0134] Figure 11 (a) is a top view showing the housing 68 and the third link 35″. Figure 11 (b) is a side view showing the housing 68 and the third link 35″.

[0135] As shown in the figure, a connecting portion 35c is provided to connect a pair of third link components 35a. A housing 68 for accommodating the bucket angle sensor 66 is mounted on the upper surface of the connecting portion 35c. In this way, the third link portion 35″ can also be positioned other than the side 35b of the third link component 35a.

[0136] (D)

[0137] In the above embodiment, the position of the tip 13p of the bucket 13 is estimated as information related to the position of the bucket, but it may not be limited to the position of the tip 13p. Other positions besides the tip 13p of the bucket 13 may also be estimated. Based on this position and the shape data of the bucket 13, the posture of the bucket 13 can be displayed on the guide screen 71.

[0138] (E)

[0139] The working machine 1 is not limited to the hydraulic excavator described above, but can also be a mechanical excavator, a rope excavator, or other machinery. The working machine 1 in the above embodiment is a so-called backhoe excavator, but it can also be a forward shovel excavator. Furthermore, it is not limited to tracked excavators, but can also be a wheeled excavator.

[0140] Industrial availability

[0141] According to this disclosure, a position estimation system, a position estimation unit, a working machine, and an extension unit that are not easily affected by the operation can be provided.

[0142] Explanation of reference numerals in the attached figures

[0143] 11 forearms

[0144] 12 Extendable Arms

[0145] 13 buckets

[0146] 13p shovel tip

[0147] 21 Bucket Cylinder

[0148] 25 First working device

[0149] 32-bar linkage

[0150] 50-position estimation system

[0151] 54 controller

[0152] 66 Bucket Angle Sensor

Claims

1. A position estimation system for estimating information related to the position of the bucket of a working machine, the working machine comprising: a main body of the working machine; a first working device having a boom; the bucket and a bucket cylinder for driving the bucket, which are oscillating relative to the main body of the working machine; and a second working device having a linkage mechanism for transmitting the drive of the bucket cylinder to the bucket, which can be assembled between the boom and the bucket, the position estimation system being characterized in that it comprises: A first attitude detector, which can be configured on the linkage mechanism; The controller, based on data related to the shape of the first working device, data related to the shape of the second working device, information related to the posture of the first working device, and the detection value of the first posture detector, estimates information related to the position of the bucket relative to the working machinery. The second working device has an extension portion. The extension includes a first end that can be connected to the bucket and a second end that can be connected to the forearm. The linkage mechanism has the following characteristics: The first link portion is connected to the extension portion via the first connecting portion and to the bucket link portion connected to the bucket via the second connecting portion; The second link portion is connected to the first link portion via the second connecting portion and extends toward the second end portion; The third link portion is disposed on the second end side compared to the first link portion, is connected to the extension portion via the third connecting portion, and is connected to the second link portion via the fourth connecting portion; The first posture detector is disposed on the third link. Information related to the position of the bucket includes a bucket angle, which is the angle of a second straight line relative to a first straight line. The first straight line is the line connecting the bucket pin that connects the bucket to the extension portion and the forearm pin that serves as the swing fulcrum of the forearm. The second straight line is the line connecting the bucket tip and the bucket pin. Based on the detection value of the first posture detector, the controller calculates the rotation angle of the third link relative to the third straight line connecting the connecting pin between the extension and the forearm pin. Based on the rotation angle of the third link, the rotation angle of the first link relative to the first straight line is calculated. The bucket angle is calculated based on the rotation angle of the first connecting rod.

2. The location estimation system according to claim 1, wherein, The first posture detector is disposed on the outer side of the third link.

3. The location estimation system according to claim 1, wherein, The first working device also has a large arm connected to the main body of the working machinery and the forearm. It also has: A second posture detector detects the posture of the forearm; A third posture detector detects the posture of the upper arm. The controller estimates the position of the bucket based on the estimated bucket angle and the detection values ​​of the second and third posture detectors.

4. The position estimation system according to any one of claims 1 to 3, wherein, The linkage mechanism is a parallel linkage.

5. The position estimation system according to any one of claims 1 to 3, wherein, It also has a status detector that detects the position and tilt of the main body of the operating machinery. The controller estimates the position of the bucket based on information related to the position of the bucket relative to the working machinery and the detection value of the status detector.

6. The position estimation system according to any one of claims 1 to 3, wherein, The first attitude detector is an IMU (Inertial Measurement Unit).

7. A position estimation unit for estimating information related to the position of the bucket of a working machine, the working machine comprising: a main body of the working machine; a first working device having a boom, the bucket, and a bucket cylinder for driving the bucket, capable of swinging relative to the main body of the working machine; and a second working device having a linkage mechanism for transmitting the drive of the bucket cylinder to the bucket, capable of being assembled between the boom and the bucket, the position estimation unit being characterized in that it comprises: A first attitude detector, which can be configured on the linkage mechanism; The detector controller acquires the detection value from the first posture detector and sends information based on the detection value to the main body of the operating machinery. The second working device has an extension portion. The extension includes a first end that can be connected to the bucket and a second end that can be connected to the forearm. The linkage mechanism has the following characteristics: The first link portion is connected to the extension portion via the first connecting portion and to the bucket link portion connected to the bucket via the second connecting portion; The second link portion is connected to the first link portion via the second connecting portion and extends toward the second end portion; The third link portion is disposed on the second end side compared to the first link portion, is connected to the extension portion via the third connecting portion, and is connected to the second link portion via the fourth connecting portion; The first posture detector is disposed on the third link. Information related to the position of the bucket includes a bucket angle, which is the angle of a second straight line relative to a first straight line. The first straight line is the line connecting the bucket pin that connects the bucket to the extension portion and the forearm pin that serves as the swing fulcrum of the forearm. The second straight line is the line connecting the bucket tip and the bucket pin. Based on the detection value of the first posture detector, the controller calculates the rotation angle of the third link relative to the third straight line connecting the connecting pin between the extension and the forearm pin. Based on the rotation angle of the third link, the rotation angle of the first link relative to the first straight line is calculated. The bucket angle is calculated based on the rotation angle of the first connecting rod.

8. A work machine characterized by, have: Main body of the operating machinery; The first working device has a boom, a bucket and a bucket cylinder that drives the bucket, and can swing relative to the main body of the working machinery; The second working device has a linkage mechanism that transmits the drive of the bucket cylinder to the bucket, and is assembled between the boom and the bucket; A first posture detector is disposed in the linkage mechanism; The controller, based on data related to the shape of the first working device, data related to the shape of the second working device, information related to the posture of the first working device, and the detection value of the first posture detector, estimates information related to the position of the bucket relative to the main body of the working machinery. The second working device has an extension portion. The extension includes a first end that can be connected to the bucket and a second end that can be connected to the forearm. The linkage mechanism has the following characteristics: The first link portion is connected to the extension portion via the first connecting portion and to the bucket link portion connected to the bucket via the second connecting portion; The second link portion is connected to the first link portion via the second connecting portion and extends toward the second end portion; The third link portion is disposed on the second end side compared to the first link portion, is connected to the extension portion via the third connecting portion, and is connected to the second link portion via the fourth connecting portion; The first posture detector is disposed on the third link. Information related to the position of the bucket includes a bucket angle, which is the angle of a second straight line relative to a first straight line. The first straight line is the line connecting the bucket pin that connects the bucket to the extension portion and the forearm pin that serves as the swing fulcrum of the forearm. The second straight line is the line connecting the bucket tip and the bucket pin. Based on the detection value of the first posture detector, the controller calculates the rotation angle of the third link relative to the third straight line connecting the connecting pin between the extension and the forearm pin. Based on the rotation angle of the third link, the rotation angle of the first link relative to the first straight line is calculated. The bucket angle is calculated based on the rotation angle of the first connecting rod.

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