Excavation path generation system

Abstract

An excavation path generation system (1) is used in a construction machine (10) provided with a machine body (11) and an attachment device (20) that is attached to the machine body and has a bucket (25) that excavates an object to be excavated. This excavation path generation system is provided with: a property acquisition unit (73) that acquires information relating to properties of an object to be excavated, including the hardness of the object to be excavated; and an excavation path generation unit (75) that generates an excavation path, which is the target path of the bucket when excavating the object to be excavated. The excavation path generation unit sets the excavation depth of the bucket with respect to the surface of the object to be excavated on the basis of the hardness of the object to be excavated acquired by the property acquisition unit.

Description

Technical Field

[0001] The present invention relates to an excavation path generation system used in a construction machine that excavates an excavation object. Background Art

[0002] For example, Patent Document 1 describes a technique for developing an excavation plan for a construction machine in consideration of the influence of the properties of an excavation object. Patent Document 1 describes estimating the properties of an excavation object such as excavation resistance.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication No. 2021-188362

[0006] Patent Document 1 does not describe a specific excavation path of the bucket during the excavation operation. Summary of the invention

[0007] An object of the present invention is to provide an excavation route generation system capable of generating an appropriate excavation route corresponding to the properties of an excavation object.

[0008] An excavation path generation system is used for an engineering machine including a machine body and an attachment. The attachment is mounted on the machine body. The attachment has a bucket for excavating an excavation object. The excavation path generation system includes a property acquisition unit and an excavation path generation unit. The property acquisition unit acquires information related to the property of the excavation object including the hardness of the excavation object. The excavation path generation unit generates an excavation path, which is a target path of the bucket when excavating the excavation object. The excavation path generation unit sets the excavation depth of the bucket relative to the surface of the excavation object based on the hardness of the excavation object acquired by the property acquisition unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a diagram showing a construction machine and the like of the excavation-path generation system according to one embodiment of the present invention as viewed from the side.

[0010] Figure 2 yes Figure 1 Block diagram of the mining path generation system shown.

[0011] Figure 3 Yes means Figure 1 Figure 2 shows an example of a mining path E.

[0012] Figure 4 It indicates the digging depth D ratio Figure 3 An example of an excavation path E is shown in a diagram of a deep excavation path E.

[0013] Figure 5 yes Figure 3 An explanatory diagram of the excavation path E etc. shown.

[0014] Figure 6 yes Figure 2 A flowchart of the operation of the controller 70 etc. is shown. DETAILED DESCRIPTION

[0015] Reference Figure 1 to Figure 6 A digging route generation system 1 according to an embodiment of the present invention will be described. Figure 1 This is a diagram showing a construction machine 10 and the like of the excavation-path generation system 1 according to the present embodiment viewed in a lateral direction. Figure 2 yes Figure 1 A block diagram of the excavation path generation system 1 is shown. Figure 3 Yes means Figure 1 Figure 2 shows an example of a mining path E. Figure 4 It indicates the digging depth D ratio Figure 3 An example of an excavation path E is shown in a diagram of a deep excavation path E. Figure 5 yes Figure 3 An explanatory diagram of the excavation path E etc. shown. Figure 6 yes Figure 2 A flowchart of the operation of the controller 70 etc. is shown.

[0016] like Figure 1 As shown, the excavation path generation system 1 is a system for generating a path (excavation path E) of the bucket 25 in the excavation operation (excavation work) of the construction machine 10. The excavation path generation system 1 includes the construction machine 10, a posture sensor 51, and a property sensor 53 (see Figure 2 )、camcorder 55、operating device 60 (refer to Figure 2 ) and controller 70 (refer to Figure 2 ). In addition, the excavation path generation system 1 may include a part of the construction machine 10 , or may not include the construction machine 10 but be arranged outside the construction machine 10 .

[0017] The construction machine 10 is a machine that performs excavation, such as an excavator. The construction machine 10 is configured to be capable of automatic driving. The construction machine 10 includes a machine body 11, an attachment 20, an actuator 30, and a drive control unit 40 (see Figure 2 ).

[0018] The machine body 11 is the main part of the construction machine 10. The machine body 11 includes a lower traveling body 11a and an upper revolving body 11b. The lower traveling body 11a can travel on a traveling surface (the ground, etc.). The lower traveling body 11a may have tracks or wheels. The upper revolving body 11b is rotatably mounted on the lower traveling body 11a. The attachment 20 is mounted on the upper revolving body 11b. The upper revolving body 11b has a cab 11b1, etc.

[0019] <Direction>

[0020] The up-down direction of the machine body 11 is defined as the "machine up-down direction". The machine up-down direction is the extension direction of the rotation axis of the upper rotating body 11b relative to the lower traveling body 11a. The extension direction of the rotation axis of the attachment 20 (more specifically, the boom 21 described later) relative to the upper rotating body 11b is defined as the "lateral direction". The direction orthogonal to the machine up-down direction and the lateral direction is defined as the front-to-back direction X. In the front-to-back direction X, the direction in which the attachment 20 protrudes relative to the upper rotating body 11b is defined as the far direction X1, and the opposite direction of the far direction X1 is defined as the front direction X2. In the present embodiment, the far direction X1 is the front direction, and the front direction X2 is the rear direction.

[0021] The attachment 20 is mounted on the machine body 11 (more specifically, the upper revolving body 11b). The attachment 20 is a part that performs work. The attachment 20 includes a boom 21, an arm 23, a bucket 25, and a bucket rotation link 26. The boom 21 is mounted on the upper revolving body 11b so as to be able to rise and fall (rotate in the machine up and down direction). The arm 23 is mounted on the boom 21 so as to be able to rotate (rotate in the forward and backward direction X and the machine up and down direction).

[0022] The bucket 25 is provided at the distal end of the attachment 20. The bucket 25 is mounted on the arm 23 so as to be rotatable (rotatable in the forward and backward directions and the machine up and down directions). The bucket 25 includes a bucket base end 25b, a bucket opening surface 25o, and a bucket distal end 25t. The bucket base end 25b is an end of the bucket 25 on the arm 23 side (a portion mounted on the arm 23). The bucket base end 25b is a portion that serves as a rotation axis of the bucket 25 relative to the arm 23. The bucket opening surface 25o is an opening surface of the bucket 25. The bucket distal end 25t is an end (e.g., a tip) of the bucket 25 on the opposite side of the bucket base end 25b.

[0023] <Excavation object A>

[0024] The bucket 25 excavates the excavation object A. For example, the excavation object A is in the form of soil, particles, flakes, or powder. For example, the excavation object A may be sand, stone, metal, resin, rubber, or waste. The surface As (upper surface) of the excavation object A may include a plane or a substantially plane, or may include a curved surface. The surface As may include a horizontal plane or a substantially horizontal plane, or may include a plane or a substantially plane inclined relative to the horizontal direction. For example, the shape of the surface As may be a shape combining a plurality of planes (or substantially planes) (for example, a shape combining a horizontal plane and an inclined plane, etc.). The shape of the surface As may also be a surface having concavities and convexities. The direction orthogonal to the surface As is set as the excavation up-down direction Z. In the excavation up-down direction Z, the direction from the inside to the outside of the excavation object A is set as the excavation up-down direction Z1, and the opposite direction of the excavation up-down direction Z1 is set as the excavation down-down direction Z2. In addition, in the case where the surface As is a surface other than a plane, the excavation up-down direction Z will change according to the method of selecting the position of the surface As that serves as the reference of the excavation up-down direction Z (details will be described below).

[0025] The bucket rotation link 26 is a member for rotating the bucket 25 relative to the arm 23 in accordance with the extension and contraction of a bucket cylinder 35 (described later). The bucket rotation link 26 connects the bucket cylinder 35, the arm 23, and the bucket 25.

[0026] The actuator 30 operates the construction machine 10. The actuator 30 includes a boom cylinder 31, an arm cylinder 33, and a bucket cylinder 35. The boom cylinder 31 causes the boom 21 to rise and fall relative to the upper revolving body 11b. The boom cylinder 31 is, for example, a (hydraulic) telescopic cylinder (hydraulic cylinder) driven by hydraulic pressure (the same also applies to the arm cylinder 33 and the bucket cylinder 35). The arm cylinder 33 rotates the arm 23 relative to the boom 21. The bucket cylinder 35 rotates the bucket 25 relative to the arm 23. In addition, the actuator 30 may also be an actuator driven by electricity (electric actuator 30).

[0027] The drive control unit 40 controls the operation of the actuator 30. The drive control unit 40 may include a hydraulic circuit for controlling the hydraulic actuator 30. The drive control unit 40 may also include a circuit for controlling the electric actuator 30.

[0028] The posture sensor 51 (posture detection unit) detects the posture of the construction machine 10. The posture sensor 51 includes a boom sensor 51a, a dipper arm sensor 51c, and a bucket sensor 51e. The boom sensor 51a detects the posture of the boom 21. The dipper arm sensor 51c detects the posture of the dipper arm 23. The bucket sensor 51e detects the posture of the bucket 25. The boom sensor 51a can also detect the angle (tilt, rotation angle) of the boom 21 relative to the horizontal direction or the upper rotating body 11b. The angle relative to the horizontal direction or the components of the construction machine 10 can also be detected. In this respect, the dipper arm sensor 51c and the bucket sensor 51e are also the same. The boom sensor 51a can also include a tilt sensor (gyro sensor, acceleration sensor, inertial measurement device, etc.) that detects the angle of the boom 21 relative to the horizontal direction. The tilt sensor can also be included. In this respect, the dipper arm sensor 51c and the bucket sensor 51e are also the same. The boom sensor 51a may also include an angle sensor (e.g., a rotary encoder, etc.), which is mounted on the rotating shaft or rotating support portion of the boom 21 relative to the upper rotating body 11b. The boom sensor 51a may also include an angle sensor, and in this respect, the arm sensor 51c and the bucket sensor 51e are the same. The boom sensor 51a may also include a stroke sensor for detecting the stroke of a working cylinder (boom working cylinder 31) that drives the boom 21. The boom sensor 51a may also include a stroke sensor, and in this respect, the arm sensor 51c and the bucket sensor 51e are the same. The boom sensor 51a may also be a sensor that detects the posture of the boom 21 based on at least one of a two-dimensional image and a distance image (the arm sensor 51c and the bucket sensor 51e are the same). In this case, at least one of the two-dimensional image and the distance image may also be captured by a camera device 55 (described later).

[0029] The posture sensor 51 can be mounted on the construction machine 10 or arranged outside the construction machine 10 (e.g., at a work site). Figure 2 ), the camera device 55, the operating device 60 and the controller 70 (refer to Figure 2 ) is also the same.

[0030] Property sensor 53 (refer to Figure 2 ) detects the properties of the excavation object A (e.g., sandy soil texture). Figure 2 As shown, the property sensor 53 includes a hardness sensor 53a and a shape sensor 53c.

[0031] Hardness sensor 53a detects Figure 1 The hardness (rigidity) of the excavation object A is shown.

[0032] [Example A1 of Hardness Detection] Hardness sensor 53a (see Figure 2 ) can also detect (calculate, estimate) the hardness of the excavation object A based on the reaction force (reaction force of the bucket 25) that the bucket 25 receives from the excavation object A. In this case, the hardness sensor 53a can be provided in the attachment 20, or in the actuator 30. The hardness sensor 53a can be provided in the bucket 25, or in a member to which the reaction force of the bucket 25 is transmitted. For example, the hardness sensor 53a can be a sensor that detects the deformation of the bucket rotation link 26, or a sensor that detects the deformation of the bucket cylinder 35. In the case where the bucket cylinder 35 is a hydraulic type, the hardness sensor 53a can also be a sensor that detects the hydraulic pressure of the bucket cylinder 35. In addition, the hardness sensor 53a can also be provided in at least one of the boom 21, the arm 23, the boom cylinder 31, the arm cylinder 33, the upper swing body 11b and the lower traveling body 11a.

[0033] [Example A2 of Hardness Detection] The hardness sensor 53a (see Figure 2 ) The hardness of the excavation object A may also be detected based on information other than the reaction force of the bucket 25.

[0034] [Example A2-1 of Detecting Hardness] For example, the hardness sensor 53a may be a sensor that detects the hardness of the excavation object A by contacting the excavation object A with a portion other than the bucket 25. In this case, for example, the hardness sensor 53a may include a member (e.g., a rod-shaped member) inserted into the excavation object A.

[0035] [Example A2-2 of Detecting Hardness] The hardness sensor 53a may detect the hardness of the excavation object A without contacting the excavation object A. For example, the hardness sensor 53a may detect the hardness of the excavation object A based on an image of the excavation object A (e.g., at least one excavation object A during excavation and after excavation). For example, learning data in which the relationship between the image and hardness of the excavation object A is learned in advance is stored in the controller 70 (see Figure 2 ). Then, the hardness sensor 53a (for example, the camera 55) captures an image of the excavation object A. The hardness of the excavation object A may be detected (estimated) based on the captured image of the excavation object A and the learning data. In this case, the hardness sensor 53a may also include the camera 55 and the controller 70.

[0036] Shape sensor 53c (see Figure 2 ) detects the shape of the surface As of the excavation object A. The shape sensor 53c is, for example, an imaging device 55 or the like.

[0037] The camera 55 takes a picture of the object to be imaged. When the camera 55 is used as the posture sensor 51, the object to be imaged by the camera 55 may be the entire construction machine 10 or the attachment 20. When the camera 55 is used as the property sensor 53, the object to be imaged by the camera 55 is the excavation object A. The camera 55 may detect two-dimensional information of the object to be imaged (e.g., position or shape in the image). The camera 55 may include a camera (single-lens camera) that detects two-dimensional information. The camera 55 may obtain a distance image, and may detect three-dimensional information (e.g., three-dimensional coordinates or three-dimensional shape) of the object to be imaged based on the distance image. The camera 55 may include a stereo camera. The camera 55 may irradiate electromagnetic waves or other waves to the object to be imaged, and detect reflected waves, thereby detecting the distance of the object to be imaged. The camera 55 may include a TOF (Time Of Flight) sensor that detects the distance based on the time from the irradiation of the waves to the return of the reflected waves, or may include a sensor that detects the distance based on the frequency of the reflected waves. The camera device 55 may also include a device that uses light (such as laser) to detect three-dimensional information, for example, it may also include LIDAR (Light Detection and Ranging). The camera device 55 may also include a device that uses radio waves to detect three-dimensional information (such as millimeter wave radar, etc.). The camera device 55 may also detect three-dimensional information of the object being imaged based on the range image and the two-dimensional image. Only one camera device 55 may be provided, or multiple camera devices 55 may be provided.

[0038] The operating device 60 is a device for the operator to input information. The operating device 60 inputs information to the controller 70 (see Figure 2 ) issues an instruction signal for indicating. The operating device 60 may be a tablet computer, a portable terminal (smart phone, etc.), or a personal computer. The operating device 60 may also be arranged on a server. In the case where the operating device 60 is arranged outside the construction machinery 10, a communication device is provided for communicating between the construction machinery 10 and the operating device 60. The communication performed by the communication device may be wireless communication or wired communication. In the case where the operating device 60 is arranged on the construction machinery 10, for example, the operating device 60 may also be arranged in the cab of the upper rotating body 11b, etc.

[0039] Controller 70 (see Figure 2 ) is a computer that performs signal input and output, calculation (processing), information storage, etc. For example, the program stored in the storage unit of the controller 70 is executed in the calculation unit, thereby achieving Figure 2The controller 70 receives signals (specifically, detection results and operation results) from the posture sensor 51, the property sensor 53, and the operating device 60 (receives the signals). The controller 70 can operate the construction machine 10 (see Figure 1 The controller 70 inputs a command for operating the construction machine 10 to the drive control unit 40. The controller 70 includes a posture acquisition unit 71, a property acquisition unit 73, an excavation path generation unit 75, and an automatic driving control unit 77.

[0040] The posture acquisition unit 71 acquires the position of the accessory device 20 detected by the posture sensor 51 (see Figure 1 )’s posture information.

[0041] The property acquisition unit 73 acquires the property of the excavation object A (refer to Figure 1 The property acquisition unit 73 includes a hardness acquisition unit 73a and a shape acquisition unit 73c. ​​The hardness acquisition unit 73a acquires the hardness (property) of the excavation object A. Specifically, the hardness acquisition unit 73a acquires information on the hardness of the excavation object A detected by the hardness sensor 53a. The shape acquisition unit 73c acquires the shape (property) of the excavation object A. Specifically, the shape acquisition unit 73c acquires information on the shape of the excavation object A detected by the shape sensor 53c.

[0042] The excavation path generation unit 75 generates Figure 1 The excavation path E is a target path for the bucket 25 when the bucket 25 performs an excavation operation to excavate the excavation object A. The excavation path E is a target path for the working position of the excavation work performed by the bucket 25. The excavation path E is a target path for a specific part of the bucket 25. For example, the excavation path E is a target path for the bucket distal end 25t. The following describes a case where the excavation path E is a target path for the bucket distal end 25t. Figure 2 The excavation path generation unit 75 shown generates an excavation path E (see Figure 1 ) will be described in detail below.

[0043] The automatic driving control unit 77 causes the construction machine 10 (see Figure 1 ) Automatic driving. The automatic driving control unit 77 inputs the command to Figure 2 The drive control unit 40 shown in FIG. 1 is used to control the construction machine 10 (bucket 25) to move in accordance with the Figure 1 The excavation operation is performed along the excavation path E shown. The automatic driving control unit 77 controls the operation of the construction machine 10 based on the posture of the attachment 20 detected by the posture sensor 51 .

[0044] <Work>

[0045] Figure 1 The excavation path generation system 1 shown is configured to operate as follows. Figure 2 The controller 70 and components of the controller 70 (such as the excavation path generation unit 75 ) will be described. Figure 1 The construction machine 10 (bucket 25) shown in FIG. 1 performs an excavation operation according to the excavation path E generated by the excavation path generation unit 75. The excavation operation is as follows: Figure 3 As shown, the bucket 25 performs an action of digging the digging object A. The digging action includes an insertion action, a pull-in action, and a digging action. The digging action is performed in the order of the insertion action, the pull-in action, and the digging action.

[0046] The excavation path E generated by the excavation path generation unit 75 includes information on the target position and the moving direction of the bucket 25. For example, the excavation path E includes an initial excavation path Ea, an intermediate excavation path Eb, and a final excavation path Ec. The target is set so that the bucket distal end portion 25t (a specific portion of the bucket 25) passes through the initial excavation path Ea, the intermediate excavation path Eb, and the final excavation path Ec in sequence.

[0047] The excavation path E includes a target point P. The target point P is a point that the bucket distal end portion 25t aims to pass through. For example, information on the target point P is a three-dimensional position coordinate or the like. A plurality of target points P are set for the excavation path E. In this case, the target is set so that the bucket distal end portion 25t passes through each target point P in a predetermined order. The target point P includes a first target point P1, a second target point P2, a third target point P3, and a fourth target point P4. The target is set so that the bucket distal end portion 25t passes through the first target point P1, the second target point P2, the third target point P3, and the fourth target point P4 in sequence.

[0048] <Insert Action>

[0049] The insertion operation is an operation in which the bucket 25 is inserted into the excavation object A. Specifically, the insertion operation is an operation in which the bucket 25 moves from the outside to the inside of the excavation object A in the downward excavation direction Z2. In the insertion operation, the bucket base end portion 25b moves in the downward excavation direction Z2. In the insertion operation, the bucket 25 moves relative to the arm 23 (see FIG. Figure 1 ) (rotation angle of the bucket 25) may be constant (or substantially constant) or variable. During the insertion operation, the bucket distal end portion 25t may also rotate in the front direction X2 relative to the bucket base end portion 25b.

[0050] The excavation path generation unit 75 sets the excavation path E in the insertion operation, that is, the initial excavation path Ea. The initial excavation path Ea includes a first target point P1 and a second target point P2. The first target point P1 is the starting point of the initial excavation path Ea. For example, the first target point P1 is set to the position of the surface As of the excavation object A. The second target point P2 is the end point of the initial excavation path Ea and the starting point of the intermediate excavation path Eb. The second target point P2 is set to a position closer to the excavation lower direction Z2 than the surface As (inside the excavation object A) (the same applies to the third target point P3). The position of the second target point P2 in the front-back direction X may be the same position as the position of the first target point P1 in the front-back direction X, may be closer to the front direction X2 than the first target point P1, or may be closer to the far direction X1 than the first target point P1. The direction of the initial excavation path Ea (the moving direction of the bucket distal end portion 25t) includes the excavation lower direction Z2. The direction of the initial excavation path Ea may be the excavation downward direction Z2 and the distant direction X1 (diagonally downward), or the excavation downward direction Z2 and the front direction X2 (diagonally downward). Figure 5 The first vector V1 shown is directed toward the excavation downward direction Z2 (downward) (closer to the vertical direction). The first vector V1 is directed toward a direction inclined by 45 degrees with respect to the excavation upward and downward direction Z, that is, toward the front direction X2 and the excavation downward direction Z2.

[0051] <Zoom in>

[0052] The close action is Figure 3 The bucket 25 shown is in a state where it is arranged inside the excavation object A (a state where it is inserted inside the excavation object A), and the bucket 25 moves in the approach direction X2. In the approaching action, the bucket base end 25b and the bucket distal end 25t move in the approach direction X2. For example, in the approaching action, the bucket 25 may also move in the approach direction X2 parallel to or approximately parallel to the surface As of the excavation object A. In the case where the surface As extends horizontally or approximately horizontally, the approaching action may also be an action (horizontal pulling) that moves the bucket 25 horizontally or approximately horizontally in the approach direction X2. In the case where the approaching action is a horizontal pulling, the machine body 11 (refer to Figure 1 ) is easy to stabilize in the approaching action. In addition, for example, in the approaching action, the bucket 25 may also move in a direction inclined relative to the surface As and in the front direction X2. For example, in the approaching action, the rotation angle of the bucket 25 relative to the boom 23 may be constant (or approximately constant) or may be variable.

[0053] The excavation path generation unit 75 sets the excavation path E of the zoom-in action, that is, the mid-term excavation path Eb. The mid-term excavation path Eb includes the second target point P2 and the third target point P3 mentioned above. The third target point P3 is the end point of the mid-term excavation path Eb and the start point of the final excavation path Ec. The direction of the mid-term excavation path Eb (the moving direction of the bucket distal end portion 25t) includes the front direction X2. The direction of the mid-term excavation path Eb can be the front direction X2 and the excavation upward direction Z1 (obliquely upward), or it can be the front direction X2 and the excavation downward direction Z2 (obliquely downward). However, the direction of the mid-term excavation path Eb is shorter than that of the excavation path X2. Figure 5 The first vector V1 (described above) and the second vector V2 are further oriented toward the front direction X2 (parallel to the front-rear direction X). The second vector V2 is oriented in a direction inclined 45 degrees with respect to the excavation vertical direction Z, that is, toward the front direction X2 and the excavation upward direction Z1.

[0054] <Digging action>

[0055] The digging action is that the bucket 25 moves from Figure 3 The inside of the excavation object A shown in FIG. 1 is dug up by the surface As. More specifically, the digging action is an action in which the bucket 25 moves from a position closer to the excavation lower direction Z2 (lower side) than the surface As to the excavation upper direction Z1. In the digging action, the bucket 25 moves to the excavation upper direction Z1 in a state in which the excavation object A enters the inside of the bucket 25 (in a state in which the bucket 25 has dug up the excavation object A). Figure 5 As shown, in the digging action, when the bucket 25 digs from the surface As, the bucket opening surface 25o is set to be vertically upward or approximately vertically upward. For example, in the digging action, the bucket distal end 25t may be rotated (rotated toward the digging side) relative to the bucket base end 25b in the front direction X2 and vertically upward, while the bucket base end 25b moves in the far direction X1. In addition, for example, in the digging action, the bucket distal end 25t may be rotated (rotated toward the digging side) relative to the bucket base end 25b in the front direction X2 and vertically upward in a state where the position of the bucket base end 25b in the front-back direction X is constant (or approximately constant).

[0056] like Figure 3As shown, the excavation path generation unit 75 sets the excavation path E of the digging action, that is, the final excavation path Ec. The final excavation path Ec includes the third target point P3 and the fourth target point P4 mentioned above. The fourth target point P4 is the end point of the final excavation path Ec. For example, the fourth target point P4 is set to the position of the surface As. The position of the fourth target point P4 in the front-back direction X can be the same position as the position of the third target point P3 in the front-back direction X, or it can be a position closer to the downstream side of the front direction X2 than the third target point P3, or it can be a position closer to the downstream side of the far direction X1 than the third target point P3. The direction of the final excavation path Ec (the moving direction of the bucket distal end 25t) includes the excavation upper direction Z1. The direction of the final excavation path Ec can be the excavation upper direction Z1 and the far direction X1 (obliquely upward), or it can be the excavation upper direction Z1 and the front direction X2 (obliquely upward). However, the direction of the final excavation path Ec is shorter than the second vector V2 (refer to Figure 5 ) (described above) is further toward the excavation upward direction Z1 (close to the vertical direction).

[0057] <Variation Examples of the Presence or Absence of Each Action>

[0058] In addition, during the excavation action, at least one of the insertion action and the digging action may not be performed. For example, after the insertion action, the zooming action may be performed, and the excavation action may be terminated without the digging action. In addition, the zooming action and the digging action may be performed without the insertion action. Furthermore, the zooming action may be performed without the insertion action, and the excavation action may be terminated without the digging action. The following describes the case where the insertion action, the zooming action, and the digging action are performed during the excavation action.

[0059] <Modification of Target Point P, etc.>

[0060] The target point P can be set to various positions. For example, one or more target points P may be set between the first target point P1 and the second target point P2 (the same also applies to the second target point P2 and the third target point P3, and the third target point P3 and the fourth target point P4). The bucket distal end portion 25t (a specific portion of the bucket 25) may move linearly or curvedly between the target points P that are adjacent in sequence.

[0061] <Outline of Generating Mining Path E>

[0062] The excavation path generation unit 75 generates the excavation path E according to the properties of the excavation object A (e.g., sandy soil). The excavation path generation unit 75 generates the excavation path E according to the hardness of the excavation object A. The excavation path generation unit 75 may also generate the excavation path E according to the hardness and shape of the excavation object A. The excavation path generation unit 75 sets the excavation depth D and the excavation distance L as parameters of the excavation path E.

[0063] <Excavation Depth D>

[0064] The excavation depth D is the depth of the bucket 25 relative to the surface As of the excavation object A. The excavation depth D is the distance from the surface As to the bucket distal end 25t (a specific portion of the bucket 25) in the excavation vertical direction Z. When the bucket 25 excavates the excavation object A, the "surface As" is the surface As of the excavation object A after excavation.

[0065] Here, as described above, the excavation up-down direction Z is a direction orthogonal to the surface As, and the excavation up-down direction Z may be different depending on the position (point or range) (hereinafter referred to as the "reference position") of the surface As serving as the reference of the excavation up-down direction Z. For example, the excavation path generation unit 75 pre-sets which position of the surface As is to be set as the reference position. For example, the reference position of each action (insertion action, zoom-in action, digging action) is pre-set by the excavation path generation unit 75. Specifically, the reference position of the insertion action is set to the first target point P1 (the starting position of the insertion action) or a prescribed range around the first target point P1. For example, the reference position of the digging action is set to the fourth target point P4 (the ending position of the digging action) or a prescribed range around the target point P. For example, the reference position of the zoom-in action may be the same as the reference position of the insertion action, the same as the reference position of the digging action, or a position other than these reference positions (for example, a position in the middle of these reference positions).

[0066] <Setting of excavation depth D according to hardness>

[0067] The excavation path generation unit 75 changes the excavation depth D (sets the excavation depth D) according to the hardness of the excavation object A acquired by the hardness acquisition unit 73a (property acquisition unit 73). When the hardness of the excavation object A acquired by the hardness acquisition unit 73a is the first hardness, the excavation path generation unit 75 sets the excavation depth D to the first excavation depth (see Figure 4 At this time, when the hardness of the excavation object A acquired by the hardness acquisition unit 73a is a second hardness harder than the first hardness, the excavation path generation unit 75 sets the excavation depth D to a second excavation depth shallower than the first excavation depth (see Figure 3 The harder (larger) the hardness of the excavation object A is, the shallower (smaller) the excavation depth D is made by the excavation path generation unit 75. The softer (smaller) the hardness of the excavation object A is, the deeper (larger) the excavation depth D is made by the excavation path generation unit 75. As the hardness of the excavation object A becomes harder, the excavation path generation unit 75 may make the excavation depth D shallower in stages or may make the excavation depth D shallower continuously.

[0068] When the excavation depth D is too deep, there are problems as follows, for example.

[0069] [Question Example B1]

[0070] If the excavation depth D is too deep, the amount of excavation object A dug up by the bucket 25 may become too much. Figure 1 The rear portion (the portion on the opposite side to the attachment 20 side) of the machine body 11 (more specifically, the lower traveling body 11 a ) shown in the figure may be lifted up relative to the ground contact surface (problem of lifting up of the rear portion of the vehicle body).

[0071] [Question Example B2]

[0072] In addition, if Figure 3 If the excavation depth D shown is too deep, the excavation object A may not be able to enter the bucket 25 completely, and the excavation object A may overflow from the bucket 25 (problem of the excavation object A not being able to enter completely). Therefore, the excavation operation at the deep excavation depth D may become an unnecessary operation.

[0073] [Question Example B3]

[0074] Furthermore, during the insertion operation, if the excavation depth D (initial excavation depth Da described later) is too deep, the reaction force received by the bucket 25 from the excavation object A becomes too large. As a result, the front part of the machine body 11 (the attachment 20 side) may be lifted relative to the ground (the problem of lifting of the front part of the vehicle body).

[0075] When the excavation depth D is too shallow, there are, for example, the following problems.

[0076] [Question Example C1]

[0077] If the excavation depth D is too shallow, there is a possibility that the excavation amount of the excavation object A by one excavation operation cannot be sufficiently ensured (problem of excavation amount).

[0078] [Example Question C1a]

[0079] In order to ensure the excavation amount of the excavation object A, it is sometimes necessary to increase the number of excavation actions. Figure 1 ) has a problem of poor efficiency in excavation operations.

[0080] [Example Question C1b]

[0081] In order to ensure the excavation amount of the excavation object A, it is necessary to lengthen the excavation distance L. Therefore, it is sometimes necessary to lengthen the moving distance of the bucket 25. Figure 1 ) has a problem of poor efficiency in excavation operations.

[0082] In order to suppress these problems, the excavation path generation unit 75 preferably sets the excavation depth D to an appropriate value so that the excavation depth D does not become too deep and does not become too shallow.

[0083] The excavation path generation unit 75 may set an initial excavation depth Da as the excavation depth D, and may set a final excavation depth Dc as the excavation depth D. The excavation path generation unit 75 may also set an intermediate excavation depth Db as the excavation depth D. The excavation path generation unit 75 may also set a limit value (excavation depth limit value) for the excavation depth D. Specifically, the excavation path generation unit 75 may set an initial excavation depth limit value ThDa, may set an intermediate excavation depth limit value ThDb, and may set a final excavation depth limit value ThDc.

[0084] <Initial excavation depth Da>

[0085] The initial excavation depth Da is the excavation depth D (at the second target point P2) at the end of the insertion action. The initial excavation depth Da is the insertion amount (initial bucket insertion amount) of the bucket 25 into the excavation object A when the bucket 25 is inserted into the excavation object A (i.e., during the insertion action). The initial excavation depth Da is the distance in the excavation up-down direction Z from the surface As of the excavation object A to the bucket distal end 25t (a specific part of the bucket 25) at the end of the insertion action. The reference position in the excavation up-down direction Z is, for example, the above-mentioned "reference position of the insertion action" or the like. The excavation path generation unit 75 changes the initial excavation depth Da according to the hardness of the excavation object A acquired by the hardness acquisition unit 73a (property acquisition unit 73) (refer to Figure 3 and Figure 4 ).

[0086] <Example of Setting Initial Excavation Depth Da Based on Reaction Force Threshold Th1>

[0087] An example of setting the initial excavation depth Da by the excavation path generation unit 75 when the hardness of the excavation object A is detected based on the reaction force received by the bucket 25 is as follows. In this case, the excavation path generation unit 75 sets the insertion amount of the bucket 25 when the reaction force received by the bucket 25 from the excavation object A exceeds the reaction force threshold value Th1 as the initial excavation depth Da. The definition of the above-mentioned "insertion amount" is the same as the definition of the excavation depth D. The excavation path generation unit 75 sets the initial excavation depth Da while the bucket 25 is performing the insertion action. The excavation path generation unit 75 deepens the initial excavation depth Da until the reaction force received by the bucket 25 exceeds the reaction force threshold value Th1. The reaction force threshold value Th1 is set in advance (before setting the initial excavation depth Da) to the excavation path generation unit 75. The reaction force threshold value Th1 is set to a size that can, for example, suppress the problem of the front part of the vehicle body lifting (the above-mentioned [Problem Example B3]). For example, the reaction force threshold value Th1 is based on the machine body 11 (refer to Figure 1 ) is set based on the stability of the vehicle (mass balance in the front-rear direction X, etc.).

[0088] <Other Setting Examples of Initial Excavation Depth Da>

[0089] The initial excavation depth Da may not be set based on the reaction force threshold value Th1. For example, the relationship (relational expression, mapping, etc.) between the hardness of the excavation object A and the excavation depth D to be set (here, the initial excavation depth Da) may be preset in the excavation path generation unit 75. Therefore, the excavation path generation unit 75 may set the initial excavation depth Da based on the hardness of the excavation object A obtained by the hardness acquisition unit 73a and the above relationship. Similar to the initial excavation depth Da, the excavation path generation unit 75 may set the intermediate excavation depth Db and the final excavation depth Dc based on the relationship (relational expression, mapping, etc.) between the excavation object A and the excavation depth D.

[0090] <Initial excavation depth limit value ThDa>

[0091] The initial excavation depth limit value ThDa (excavation depth limit value) is a limit value of the initial excavation depth Da. The excavation path generation unit 75 limits the initial excavation depth Da based on the initial excavation depth limit value ThDa. The excavation path generation unit 75 limits the initial excavation depth Da in such a manner that the initial excavation depth Da does not exceed the initial excavation depth limit value ThDa as much as possible. For example, the excavation path generation unit 75 limits the initial excavation depth Da in such a manner that it becomes the same depth as the initial excavation depth limit value ThDa, approximately the same depth, or shallower than the initial excavation depth limit value ThDa. The initial excavation depth limit value ThDa is set in advance to the excavation path generation unit 75 (before the initial excavation depth Da is set). The initial excavation depth limit value ThDa is set to a value that can suppress the problem of the above-mentioned excavation depth D being too deep (the above-mentioned [Problem Example B1] and [Problem Example B2]) (the same also applies to the intermediate excavation depth limit value ThDb and the final excavation depth limit value ThDc described later). Specifically, the initial excavation depth limit value ThDa is set to the value described below. It is assumed that the rotation angle of the bucket 25 is a specified angle at the end of the insertion action. In addition, at Figure 3 In the example shown, the "predetermined angle at the end of the insertion operation" is the rotation angle of the bucket 25 that makes the bucket opening surface 25o tilted by about 45 degrees with respect to the excavation vertical direction Z. The bucket 25 is configured so that, when the rotation angle of the bucket 25 reaches the predetermined angle at the end of the insertion operation, most of the bucket 25 is inserted into the inside of the excavation object A, and only a part of the bucket 25 is not inserted into the inside of the excavation object A. The value of the excavation depth D of the bucket distal end portion 25t at this time is set to the initial excavation depth limit value ThDa. In addition, the value of the initial excavation depth limit value ThDa is only an example, and the initial excavation depth limit value ThDa can be set to various values ​​from various viewpoints.

[0092] <Final excavation depth Dc>

[0093] The final excavation depth Dc is the excavation depth D (at the third target point P3) at the start of the digging operation. The final excavation depth Dc is the distance from the surface As of the excavation object A to the bucket distal end 25t (a specific part of the bucket 25) at the start of the digging operation in the excavation vertical direction Z. The reference position in the excavation vertical direction Z is, for example, the above-mentioned "reference position of the digging operation". The excavation path generation unit 75 changes the final excavation depth Dc (sets the final excavation depth Dc) based on the hardness of the excavation object A acquired by the hardness acquisition unit 73a (property acquisition unit 73).

[0094] <Example of Setting Final Excavation Depth Dc Based on Initial Excavation Depth Da>

[0095] For example, the excavation path generation unit 75 may set the final excavation depth Dc based on the initial excavation depth Da. The excavation path generation unit 75 may change the final excavation depth Dc according to the depth of the initial excavation depth Da.

[0096] Specifically, the excavation path generation unit 75 may also set the final excavation depth Dc based on the depth difference α. The depth difference α is the difference (deviation) between the initial excavation depth Da and the final excavation depth Dc. For example, the depth difference α is the difference between the initial excavation depth Da and the final excavation depth Dc in the excavation up-down direction Z. The depth difference α may be greater than 0, that is, the final excavation depth Dc may be deeper than the initial excavation depth Da. The depth difference α may be less than 0, that is, the final excavation depth Dc may be shallower than the initial excavation depth Da. The depth difference α may also be set to 0, that is, the final excavation depth Dc may be equal to the initial excavation depth Da.

[0097] The depth difference α may be a fixed value set in advance (before the excavation depth D is set) to the excavation path generation unit 75 .

[0098] The depth difference c may be set by the excavation path generation unit 75 according to the property of the excavation object A acquired by the property acquisition unit 73. Specifically, the excavation path generation unit 75 may change the depth difference α according to the hardness of the excavation object A acquired by the hardness acquisition unit 73a. The excavation path generation unit 75 sets the depth difference α in a manner that can suppress the above-mentioned problem of the excavation depth D being too deep and the problem of the excavation depth D being too shallow. Specifically, for example, the harder (larger) the hardness of the excavation object A is, the smaller the depth difference α may be, and the final excavation depth Dc may be shallower than the initial excavation depth Da. Alternatively, the softer (smaller) the hardness of the excavation object A is, the larger the depth difference α may be, and the final excavation depth Dc may be deeper than the initial excavation depth Da.

[0099] <Other examples of setting the final excavation depth Dc>

[0100] Furthermore, the excavation path generation unit 75 may set the final excavation depth Dc not based on the initial excavation depth Da. For example, the excavation path generation unit 75 may set the final excavation depth Dc not based on the initial excavation depth Da but based on the property (e.g., hardness) of the excavation object A at the position where the pulling-in action or the digging action is performed.

[0101] <Final excavation depth limit value ThDc>

[0102] The final excavation depth limit value ThDc (excavation depth limit value) is a limit value of the final excavation depth Dc. The excavation path generation unit 75 limits the final excavation depth Dc so that the final excavation depth Dc does not exceed the final excavation depth limit value ThDc as much as possible. For example, the excavation path generation unit 75 limits the final excavation depth Dc so that the final excavation depth Dc becomes the same depth as the final excavation depth limit value ThDc, the same depth as the final excavation depth limit value ThDc, or becomes shallower than the final excavation depth limit value ThDc. The final excavation depth limit value ThDc is set in advance (before the final excavation depth Dc is set) to the excavation path generation unit 75. For example, the value of the final excavation depth limit value ThDc is set in the same manner as the value of the initial excavation depth limit value ThDa. The value of the final excavation depth limit value ThDc may be equal to the value of the initial excavation depth limit value ThDa, or may be different from the value of the initial excavation depth limit value ThDa (the relationship between the intermediate excavation depth limit value ThDb and the initial excavation depth limit value ThDa is also the same).

[0103] <Medium-term excavation depth Db>

[0104] The intermediate excavation depth Db is the excavation depth D during the pull-in operation. The intermediate excavation depth Db is the excavation depth D during the period from the end of the insertion operation (the second target point P2) to the start of the digging operation (the third target point P3). The intermediate excavation depth Db is the distance from the surface As of the excavation object A to the bucket distal end 25t (a specific part of the bucket 25) during the pull-in operation in the excavation vertical direction Z. The reference position in the excavation vertical direction Z is, for example, the above-mentioned "reference position of the pull-in operation". The excavation path generation unit 75 may set the intermediate excavation depth Db or may not set the intermediate excavation depth Db. As described above, the final excavation depth Dc may be set based on the initial excavation depth Da. Similarly, the intermediate excavation depth Db may be set based on the initial excavation depth Da or may be set based on the final excavation depth Dc. In addition, at least one of the initial excavation depth Da and the final excavation depth Dc may be set based on the intermediate excavation depth Db.

[0105] <Medium-term excavation depth limit value ThDb>

[0106] The intermediate excavation depth limit value ThDb (excavation depth limit value) is a limit value of the intermediate excavation depth Db. The excavation path generation unit 75 limits the intermediate excavation depth Db so that the intermediate excavation depth Db does not exceed the intermediate excavation depth limit value ThDb as much as possible. The intermediate excavation depth limit value ThDb is set in advance (before the intermediate excavation depth Db is set) to the excavation path generation unit 75. For example, the value of the intermediate excavation depth limit value ThDb is set in the same manner as the value of the initial excavation depth limit value ThDa.

[0107] <Excavation distance L>

[0108] The excavation distance L is a moving distance of the bucket 25 in the front-to-back direction X from a state where the bucket 25 is inserted into the excavation object A to a state where the bucket 25 is excavated from the inside of the excavation object A through the surface As. Specifically, the excavation distance L is a moving distance of the bucket 25 in the front-to-back direction X during the closing operation. More specifically, the excavation distance L is a moving distance of the bucket 25 (e.g., the bucket distal end portion 25t) in the front-to-back direction X from the end of the insertion operation (e.g., from the second target point P2) to the start of the excavation operation (e.g., to the third target point P3).

[0109] Here, if the excavation distance L is too long, there may be a problem that the rear part of the vehicle body is lifted up (same as the above-mentioned [Problem Example B1]), and a problem that the excavation object A cannot be fully entered into the bucket 25 (same as the above-mentioned [Problem Example B2]). In addition, if the excavation distance L is too short, there may be a problem that the excavation amount of the excavation object A performed by a single excavation action cannot be fully ensured (same as the above-mentioned [Problem Example C1]). Therefore, in order to suppress these problems, the excavation path generation unit 75 preferably sets the excavation distance L to an appropriate length so that the excavation distance L does not become too long or too short.

[0110] Specifically, the excavation distance L may be set according to the excavation depth D, or may be set based on a target excavation volume (described later). A specific example of setting the excavation distance L is as follows.

[0111] <Setting of Excavation Distance L Corresponding to Excavation Depth D>

[0112] As described above, the excavation path generation unit 75 changes the excavation depth D (sets the excavation depth D) according to the hardness of the excavation object A obtained by the hardness acquisition unit 73a. Next, the excavation path generation unit 75 changes the excavation distance L according to the excavation depth D. As a result, the excavation path generation unit 75 changes the excavation distance L according to the hardness of the excavation object A obtained by the hardness acquisition unit 73a. When the excavation depth D is set to the first excavation depth, the excavation path generation unit 75 sets the excavation distance L to the first excavation distance (see Figure 4 At this time, when the excavation depth D is set to a second excavation depth shallower than the first excavation depth, the excavation path generation unit 75 sets the excavation distance L to a second excavation distance longer than the first excavation distance (see Figure 3). Specifically, the harder the excavation object A is, the shallower the excavation depth D is and the longer the excavation distance L is. The softer the excavation object A is, the deeper the excavation depth D is and the shorter the excavation distance L is. As the excavation depth D increases, the excavation path generation unit 75 may shorten the excavation distance L in stages or continuously.

[0113] <Setting of Excavation Distance L Corresponding to Target Excavation Volume>

[0114] For example, the excavation path generation unit 75 may set the excavation distance L so that the estimated excavation volume reaches the target excavation volume.

[0115] The above-mentioned "estimated excavation volume" is the volume of the excavation object A that is expected to be excavated when the bucket 25 performs an excavation action according to a certain excavation path E. The estimated excavation volume is the volume of the area where the excavation object A exists and the bucket 25 is expected to pass when the bucket 25 moves according to the excavation path E. A specific example of the estimated excavation volume is as follows. The surface As of the excavation object A and the area surrounded by the excavation path E when viewed from the lateral direction (a direction orthogonal to the front-rear direction X and the excavation up-down direction Z) are taken as follows. Figure 3 The area of ​​the shaded portion in the figure is defined as the “excavation area”. At this time, the estimated excavation volume is the product of the “excavation area” and the width of the bucket 25 in the lateral direction (or a value obtained by correcting the product, etc.).

[0116] The above-mentioned "target excavation volume" is set in advance (before setting the excavation distance L) to the excavation path generation unit 75. For example, the target excavation volume is determined based on the capacity of the bucket 25. Specifically, the target excavation volume is β times the capacity of the bucket 25. The multiple β is preferably 1 or more. Even if the bucket 25 excavates the excavation object A in an amount equal to the capacity of the bucket 25, it is expected that a part of the excavation object A will fall from the bucket 25 when the bucket 25 performs a digging action or before and after the digging action. Therefore, the multiple β is more preferably greater than 1. The multiple β may also be, for example, 2.

[0117] <Further Specific Example of Generating the Mining Path E>

[0118] Reference Figure 6 The flowchart (steps S11 to S51) shown in FIG. Figure 3 A further specific example of the excavation path E shown is shown below. Figure 6 Each step (steps S11 to S51 ) of the flowchart will be described.

[0119] In step S11, the excavation path generation unit 75 determines Figure 3The first target point P1 (starting point of the excavation path E, excavation start position) shown in FIG. 1 is a first target point P1 shown in FIG. 1 (starting point of the excavation path E, excavation start position). For example, the excavation path generation unit 75 may determine the first target point P1 based on the shape of the excavation object A acquired by the shape acquisition unit 73c, the excavation operation plan information set by the controller 70, and the information on the progress status of the excavation operation.

[0120] In step S21, the bucket 25 is inserted into the excavation object A. More specifically, the automatic driving control unit 77 causes the bucket 25 to perform an insertion operation so that the bucket 25 is inserted into the excavation object A. At this time, the hardness acquisition unit 73a acquires information on the hardness of the excavation object A by acquiring information on the reaction force that the bucket 25 receives from the excavation object A (the reaction force of the bucket 25).

[0121] In step S22, the excavation path generation unit 75 determines whether the reaction force of the bucket 25 is greater than the reaction force threshold value Th1. When the reaction force of the bucket 25 is greater than the reaction force threshold value Th1 (in the case of "Yes" in step S22), the excavation path generation unit 75 determines the insertion amount of the bucket 25 at this time (during the processing of step S22) as the initial excavation depth Da (step S24). When the reaction force of the bucket 25 is less than the reaction force threshold value Th1 (in the case of "No" in step S22), the processing flow of the excavation path generation unit 75 proceeds to step S23.

[0122] In step S23, the excavation path generation unit 75 determines whether the insertion amount of the bucket 25 is greater than the initial excavation depth limit value ThDa. When the insertion amount of the bucket 25 is greater than the initial excavation depth limit value ThDa (when step S23 is "Yes"), the excavation path generation unit 75 performs the next process. In this case, the excavation path generation unit 75 determines the insertion amount of the bucket 25 at this time (during the process of step S23) as the initial excavation depth Da (step S24). When the insertion amount of the bucket 25 is less than the initial excavation depth limit value ThDa (when step S23 is "No"), the process returns to step S21. In this case, the automatic driving control unit 77 causes the bucket 25 to further insert into the excavation object A.

[0123] In step S31, the excavation path generation unit 75 calculates the final excavation depth Dc based on the initial excavation depth Da (the initial excavation depth Da determined in step S24). Specifically, the excavation path generation unit 75 calculates the sum of the initial excavation depth Da and the depth difference α. When the calculated sum is less than the final excavation depth limit value ThDc, the excavation path generation unit 75 sets the sum of the initial excavation depth Da and the depth difference α as the final excavation depth Dc. When the calculated sum is deeper (larger) than the final excavation depth limit value ThDc, the excavation path generation unit 75 sets the final excavation depth limit value ThDc as the final excavation depth Dc.

[0124] In step S41 , the excavation path generation unit 75 determines the excavation distance L. The excavation path generation unit 75 determines the excavation distance L so that the estimated excavation volume (described above) reaches the target excavation volume (described above, for example, β times the capacity of the bucket 25 ).

[0125] In step S51 , the excavation path generation unit 75 sets an excavation path E (final excavation path Ec) for the excavation operation. For example, the shape of the excavation path E from the third target point P3 to the fourth target point P4 is set in advance in the excavation path generation unit 75 .

[0126] <Correction of Digging Path E>

[0127] The excavation path generation unit 75 may also be based on Figure 1 The excavation path generation unit 75 may modify the excavation path E set by the excavation path generation unit 75 according to the operation of the operating device 60. The excavation path generation unit 75 may modify the parameters of the excavation path E according to the operation of the operating device 60. Figure 3 The excavation path generation unit 75 may modify at least one of the reaction force threshold value Th1, the initial excavation depth limit value ThDa, the intermediate excavation depth limit value ThDb, and the final excavation depth limit value ThDc according to the operation of the operating device 60. The excavation path generation unit 75 may modify at least one of the depth difference α and the target excavation volume (e.g., the multiple β) according to the operation of the operating device 60.

[0128] By Figure 1 The effects of the excavation path generation system 1 according to the present embodiment are as follows. Figure 2 The controller 70 and the components of the controller 70 (such as the excavation path generation unit 75) will be described. Figure 1As shown, the excavation path generation system 1 is used for a construction machine 10. The construction machine 10 includes a machine body 11 and an attachment 20. The attachment 20 is mounted on the machine body 11. The attachment 20 has a bucket 25 for excavating an excavation object A. The excavation path generation system 1 includes a property acquisition unit 73 and an excavation path generation unit 75. The property acquisition unit 73 acquires Figure 3 The hardness of the excavation object A and the shape of the surface As of the excavation object A are shown.

[0129] The excavation path generation unit 75 generates an excavation path E. The excavation path E is a target path of the bucket 25 when excavating the excavation object A. The excavation path generation unit 75 changes the excavation depth D of the bucket 25 relative to the surface As of the excavation object A (sets the excavation depth D) based on the hardness of the excavation object A acquired by the property acquisition unit 73.

[0130] According to the above configuration, the excavation path generation unit 75 can automatically set an appropriate excavation depth D corresponding to the hardness of the excavation object A. Therefore, the excavation path generation system 1 (see Figure 1 ) can generate an appropriate excavation path E corresponding to the properties of the excavation object A. As a result, the operator's time and effort of manually setting the excavation path E can be saved.

[0131] The excavation path generation unit 75 changes the initial excavation depth Da and the final excavation depth Dc (sets the initial excavation depth Da and the final excavation depth Dc) according to the hardness of the excavation object A acquired by the property acquisition unit 73. The initial excavation depth Da is the excavation depth D when the action of inserting the bucket 25 into the excavation object A, i.e., the "insertion action", ends. The final excavation depth Dc is the excavation depth D when the action of digging up the surface As of the excavation object A, i.e., the "excavation action", starts.

[0132] According to the above configuration, the excavation path generation unit 75 can automatically generate the excavation depth D (initial excavation depth Da and final excavation depth Dc) corresponding to the hardness of the excavation object A for each of the insertion operation and the digging operation.

[0133] The excavation path generation unit 75 changes the difference (depth difference c) between the initial excavation depth Da and the final excavation depth Dc according to the hardness of the excavation object A acquired by the property acquisition unit 73 .

[0134] According to the above configuration, it is possible to realize more specifically automatic generation of the excavation path E corresponding to the hardness of the excavation object A.

[0135] When the hardness of the excavation object A acquired by the property acquisition unit 73 is the first hardness, the excavation path generation unit 75 sets the excavation depth D to the first excavation depth (see Figure 4When the hardness of the excavation object A acquired by the property acquisition unit 73 is a second hardness harder than the first hardness, the excavation path generation unit 75 sets the excavation depth D to a second excavation depth shallower than the first excavation depth (see Figure 3 ).

[0136] In the above configuration, when the hardness of the excavation object A is a second hardness that is harder than the first hardness (when the hardness of the excavation object A is harder), the excavation path generation unit 75 sets the excavation depth D to a second excavation depth that is shallower than the first excavation depth (sets the excavation depth D to be shallower). As a result, when the bucket 25 moves along the excavation path E, the reaction force (more specifically, the force in the excavation upward direction Z1) received by the bucket 25 from the excavation object A is suppressed. As a result, the machine body 11 (see Figure 1 ) is prevented from tilting up the front of the vehicle relative to the ground contact surface (the problem of tilting up the front of the vehicle body). Therefore, the excavation path generation unit 75 can generate the excavation path E in a manner that can prevent the problem of tilting up the front of the vehicle body.

[0137] In the above configuration, the excavation path generation unit 75 sets the excavation depth D to be shallower when the excavation object A is harder. That is, the excavation path generation unit 75 sets the excavation depth D to be deeper when the excavation object A is softer (see Figure 4 ). Thus, when the bucket 25 moves along the excavation path E, it is easy to ensure the excavation amount of the bucket 25 for the excavation object A. At this time, the construction machine 10 (refer to Figure 1 Therefore, the excavation path generation unit 75 can easily ensure the excavation amount and can generate the excavation path E in a manner that improves the workability of the excavation work.

[0138] The excavation path generation unit 75 changes the excavation distance L according to the excavation depth D. The excavation distance L is the movement distance of the bucket 25 in the front-rear direction X after the bucket 25 is inserted into the excavation object A until the bucket 25 is lifted from the surface As of the excavation object A.

[0139] According to the above configuration, the following effects can be obtained. The excavation path generation unit 75 changes the excavation depth D according to the hardness of the excavation object A. Moreover, in the above configuration, the excavation path generation unit 75 changes the excavation distance L according to the excavation depth D. Thus, the excavation path generation unit 75 can generate an appropriate excavation depth D and an appropriate excavation distance L corresponding to the hardness of the excavation object A.

[0140] When the excavation depth D is set to the first excavation depth, the excavation path generation unit 75 sets the excavation distance L to the first excavation distance (see Figure 4When the excavation depth D is set to a second excavation depth shallower than the first excavation depth, the excavation path generation unit 75 sets the excavation distance L to a second excavation distance longer than the first excavation distance (see Figure 3 ).

[0141] In the above configuration, when the excavation depth D is set to the second excavation depth shallower than the first excavation depth (when the excavation depth D is shallower), the excavation path generation unit 75 sets the excavation distance L to the second excavation distance longer than the first excavation distance (sets the excavation distance L to be longer). Thus, when the bucket 25 moves along the excavation path E, even if the excavation depth D is shallow, the excavation amount of the excavation object A can be easily ensured. Figure 1 Therefore, the excavation path generation unit 75 can easily ensure the excavation amount and can generate the excavation path E in a manner that improves the workability of the excavation work.

[0142] In addition, in the above structure, when the excavation depth D is shallower, the excavation distance L is set longer (refer to Figure 3 That is, the excavation path generation unit 75 sets the excavation distance L to be shorter when the excavation depth D is deeper (see Figure 4 ). Thus, when the bucket 25 moves along the excavation path E, the bucket 25 is prevented from excavating an excessive amount of the excavation object A. At this time, the machine body 11 (see Figure 1 ) is prevented from lifting up the rear portion of the excavation machine 10 relative to the ground contact surface due to the mass of the excavation object A in the bucket 25 (the rear portion of the vehicle body is lifted up). In addition, in this case, in the excavation work performed by the construction machine 10, unnecessary movements (the case where the excavation distance L is too long) are prevented, and the workability of the excavation work is improved. Therefore, the excavation path generation unit 75 can suppress the problem of the rear portion of the vehicle body lifting up, and can generate the excavation path E in a manner that improves the workability of the excavation work.

[0143] The excavation path generation unit 75 sets the excavation distance L so that the volume of the excavation object A excavated by the bucket 25 reaches a target excavation volume determined based on the capacity of the bucket 25 .

[0144] According to the above configuration, the excavation path generation unit 75 can set the excavation distance L so that the excavation amount of the bucket 25 for the excavation object A becomes appropriate. Specifically, the excavation path generation unit 75 can set the excavation distance L so that the excavation amount can be ensured and the problem of the rear part of the vehicle body lifting due to excessive excavation amount can be suppressed.

[0145] The property acquisition unit 73 acquires the hardness of the excavation object A based on the reaction force received by the bucket 25 from the excavation object A.

[0146] According to the above configuration, a sensor (hardness sensor 53a (see FIG. 5 ) for obtaining the hardness of the excavation object A) can be provided on the bucket 25 or on a portion receiving force from the bucket 25. Figure 2 )). Therefore, it is not necessary to install the sensor (hardness sensor 53a) in the construction machine 10 (refer to Figure 1 ) outside.

[0147] The excavation path generation unit 75 sets the insertion amount of the bucket 25 into the excavation object A from when the reaction force received by the bucket 25 from the excavation object A exceeds the reaction force threshold value Th1 as the excavation depth D when the bucket 25 is inserted into the excavation object A (the excavation depth of the bucket 25 relative to the surface As of the excavation object A, the initial excavation depth Da). The reaction force threshold value Th1 is set in advance in the excavation path generation unit 75.

[0148] According to the above configuration, the excavation path generation unit 75 can set the initial excavation depth Da while (at the same time as) the bucket 25 is performing an excavation operation (more specifically, an insertion operation). Thus, the excavation path generation unit 75 does not need to set the initial excavation depth Da in advance before the excavation operation. In addition, the property acquisition unit 73 does not need to acquire the hardness of the excavation object A for setting the initial excavation depth Da in advance before the excavation operation.

[0149] The excavation path generation unit 75 limits the excavation depth D (for example, the initial excavation depth Da) based on the excavation depth limit value (for example, the initial excavation depth limit value ThDa) set in advance in the excavation path generation unit 75 .

[0150] According to the above structure, it is possible to prevent the excavation depth D from becoming too deep. As a result, when the bucket 25 moves along the excavation path E, the bucket 25 is prevented from excavating too much of the excavation object A. At this time, the machine body 11 (see Figure 1 ) is prevented from lifting the rear part of the shovel relative to the ground contact surface due to the mass of the excavation object A in the bucket 25 (the rear part of the vehicle body lifting). Figure 1 ), unnecessary movements (when the excavation depth D is too deep) are suppressed, and the workability of the excavation operation is improved. Therefore, the excavation path generation unit 75 can suppress the problem of the rear part of the vehicle body tilting up, and can generate the excavation path E in a manner that improves the workability of the excavation operation.

[0151] The excavation path generation unit 75 generates an excavation path according to the operator's operation of the operating device 60 (see Figure 1 ) operation to correct the excavation path E set by the excavation path generation unit 75.

[0152] According to the above configuration, the worker can easily correct the excavation path E automatically set by the excavation path generation unit 75 .

[0153] Excavation path generation system 1 (refer to Figure 1 ) includes a construction machine 10 provided with a property acquisition unit 73 and an excavation path generation unit 75 (see Figure 1 ).

[0154] According to the above configuration, it is not necessary to provide at least one of the property acquisition unit 73 and the excavation path generation unit 75 in the construction machine 10 (see Figure 1 ) outside.

[0155] <Modification>

[0156] The above-mentioned embodiments may be modified in various ways. For example, the number of components of the above-mentioned embodiments (including modified examples) may be changed, or some components may not be provided. For example, the modified examples of the above-mentioned embodiments may be combined with each other in various ways. For example, the fixing or connection between the components may be direct or indirect. For example, the number of components of the above-mentioned embodiments (including modified examples) may be changed, or some components may not be provided. Figure 2 The connection of each component shown. For example, the configuration of the components may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component contained in a higher component may not be included in the higher component, and may be included in other components. For example, a component described as multiple components or parts different from each other may be set as one component or part. For example, a component described as one component or part may be divided into multiple components or parts different from each other and set. For example, various parameters (set values, thresholds, ranges, etc.) may be pre-set to the controller 70, or may be directly set by manual operation of the operator. Various parameters may not be changed, may be changed by manual operation, and may be automatically changed by the controller 70 according to certain conditions. However, Figure 3 The excavation depth D shown is determined by the excavation path generation unit 75 (see Figure 2 ) settings. For example, you can change Figure 6 The order of the steps in the flowchart shown may not be performed in part. For example, each component may have only a part of each feature (function, arrangement, shape, operation, etc.).

[0157] The present invention provides an excavation path generation system for use in engineering machinery, wherein the engineering machinery includes a machine body and an auxiliary device installed on the machine body and having a bucket for excavating an excavation object, the excavation path generation system including: a property acquisition unit for acquiring information related to the properties of the excavation object including the hardness of the excavation object; and an excavation path generation unit for generating a target path for the bucket when excavating the excavation object, i.e., an excavation path, wherein the excavation path generation unit sets the excavation depth of the bucket relative to the surface of the excavation object based on the hardness of the excavation object acquired by the property acquisition unit.

[0158] In the above structure, the excavation path generating unit may set an initial excavation depth and a final excavation depth according to the hardness of the excavation object obtained by the property acquiring unit, wherein the initial excavation depth is the excavation depth when the action of the bucket being inserted into the excavation object, i.e., the insertion action ends, and the final excavation depth is the excavation depth when the action of the bucket digging from the inside of the excavation object through the surface, i.e., the digging action begins.

[0159] In the above configuration, the excavation path generation unit may set a difference between the initial excavation depth and the final excavation depth based on the hardness of the excavation object acquired by the property acquisition unit.

[0160] In the above structure, the excavation path generation unit may set the excavation depth to the first excavation depth when the hardness of the excavation object obtained by the property acquisition unit is the first hardness, and the excavation path generation unit may set the excavation depth to the second excavation depth shallower than the first excavation depth when the hardness of the excavation object obtained by the property acquisition unit is the second hardness harder than the first hardness.

[0161] In the above structure, the excavation path generating unit may set an excavation distance according to the excavation depth, wherein the excavation distance is a movement distance of the bucket in the front-to-rear direction from a state where the bucket is inserted into the excavation object to a state where the bucket digs from the inside of the excavation object through the surface.

[0162] In the above structure, the excavation path generation unit may set the excavation distance to the first excavation distance when the excavation depth is set to the first excavation depth, and the excavation path generation unit may set the excavation distance to the second excavation distance longer than the first excavation distance when the excavation depth is set to the second excavation depth shallower than the first excavation depth.

[0163] In the above configuration, the excavation path generation unit may set the excavation distance so that the volume of the excavation object excavated by the bucket reaches a target excavation volume, and the target excavation volume may be determined based on a capacity of the bucket.

[0164] In the above configuration, the property acquisition unit may acquire the hardness of the excavation object based on a reaction force that the bucket receives from the excavation object.

[0165] In the above structure, the excavation path generation unit may set the insertion amount of the bucket into the excavation object when the reaction force received by the bucket from the excavation object exceeds a reaction force threshold value pre-set to the excavation path generation unit as the excavation depth of the bucket relative to the surface of the excavation object.

[0166] In the above configuration, the excavation path generation unit may limit the excavation depth based on an excavation depth limit value preset in the excavation path generation unit.

[0167] In the above configuration, the excavation-path generating unit may correct the excavation path set by the excavation-path generating unit according to an operation of an operating device performed by an operator.

[0168] In the above configuration, the construction machine may further include the construction machine provided with the property acquisition unit and the excavation path generation unit.

Claims

1. An excavation path generation system for a construction machine, the construction machine comprising a machine body and an attachment mounted on the machine body and having a bucket for excavating an excavation object, the excavation path generation system comprising: a property acquisition unit that acquires information related to the property of the excavation object including the hardness of the excavation object; as well as The excavation path generating unit generates an excavation path which is a target path of the bucket when excavating the excavation object, wherein: The excavation path generation unit sets an excavation depth of the bucket relative to a surface of the excavation object based on the hardness of the excavation object acquired by the property acquisition unit.

2. The excavation path generation system according to claim 1, characterized in that: The excavation path generation unit sets an initial excavation depth and a final excavation depth based on the hardness of the excavation object acquired by the property acquisition unit. The initial excavation depth is the excavation depth when the action of inserting the bucket into the excavation object, i.e., the insertion action, is completed; The final excavation depth is the excavation depth at the start of an operation of the bucket to excavate from the inside of the excavation object through the surface, that is, a digging operation.

3. The excavation path generation system according to claim 2, characterized in that: The excavation path generation unit sets a difference between the initial excavation depth and the final excavation depth based on the hardness of the excavation object acquired by the property acquisition unit.

4. The excavation path generation system according to claim 1, characterized in that: The excavation path generation unit sets the excavation depth to a first excavation depth when the hardness of the excavation object acquired by the property acquisition unit is a first hardness. The excavation path generation unit sets the excavation depth to a second excavation depth that is shallower than the first excavation depth when the hardness of the excavation object acquired by the property acquisition unit is a second hardness that is harder than the first hardness.

5. The excavation path generation system according to claim 1, characterized in that: The excavation path generation unit sets an excavation distance, based on the excavation depth, the excavation distance being a movement distance of the bucket in the front-rear direction from a state where the bucket is inserted into the excavation object to a state before the bucket excavates from the inside of the excavation object through the surface.

6. The excavation path generation system according to claim 5, characterized in that: The excavation path generation unit sets the excavation distance to a first excavation distance when the excavation depth is set to a first excavation depth. The excavation path generation unit sets the excavation distance to a second excavation distance longer than the first excavation distance when the excavation depth is set to a second excavation depth that is shallower than the first excavation depth.

7. The excavation path generation system according to claim 5, characterized in that: The excavation path generation unit sets the excavation distance so that the volume of the excavation object excavated by the bucket reaches a target excavation volume determined based on the capacity of the bucket.

8. The excavation path generation system according to claim 1, characterized in that: The property acquisition unit acquires the hardness of the excavation object based on a reaction force received by the bucket from the excavation object.

9. The excavation path generation system according to claim 8, characterized in that: The excavation path generation unit sets, as the excavation depth of the bucket relative to the surface of the excavation object, an insertion amount of the bucket into the excavation object when a reaction force received by the bucket from the excavation object exceeds a reaction force threshold value preset in the excavation path generation unit.

10. The excavation path generation system according to claim 1, characterized in that: The excavation path generation unit limits the excavation depth based on an excavation depth limit value that is set in advance in the excavation path generation unit.

11. The excavation path generation system according to claim 1, characterized in that: The excavation-path generating unit corrects the excavation path set by the excavation-path generating unit according to an operation of an operating device performed by an operator.

12. The excavation path generation system according to any one of claims 1 to 11, characterized in that Also includes: The construction machine is provided with the property acquisition unit and the excavation path generation unit.

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