Construction history calculation system and topographic data generation system

Abstract

The construction history calculation system has a controller that calculates construction history data on the basis of the detection results of a posture detection device that detects the posture of a work machine. The controller acquires target surface data, sets a plurality of constituent surfaces including a target constituent surface constituting the target surface data and an adjacent constituent surface as a surface region on the basis of the acquired target surface data, sets a plurality of recording points so as to have a predetermined surface density with respect to the surface region, and determines the orientation of the target surface data on the basis of the detection result of the orientation detection device. A trajectory of a work device of a work machine is calculated, and position information of the trajectory of the work device in which position information of a monitoring point of the work device constituting the trajectory of the work device and position information of the trajectory of the work device are associated with each of a plurality of recording points are calculated as construction history data.

Description

Technical Field

[0001] The present invention relates to a construction history calculation system and a terrain data generation system. Background Art

[0002] It is known that there are working machines such as hydraulic excavators that have a mechanical control function and a mechanical guidance function. The mechanical control function is a function of controlling the movement of the boom, the dipper arm, and the bucket so that the bucket moves along a target surface created by three-dimensional CAD software or the like. The mechanical guidance function is a function of providing the operator with information on the posture of the working machine and information on the positional relationship between the target surface around the working machine and the components of the working machine (such as the bucket).

[0003] In recent years, the trend of making use of construction history data that records the three-dimensional position information of the working machine calculated for the purpose of machine control and machine guidance is expanding. For example, terrain data is sometimes generated based on the construction history data, and the generated terrain data is used to manage the existing height of the work performed by the working machine.

[0004] Patent document 1 discloses an operation support management system for an operation machine, which sets up the following display table and display content table in an excavation support database, stores the status of the operation area of ​​each grid in the display table, establishes a correspondence between the identification display method (display color) and the status of each grid and stores them in the display content table, makes the status (height) of each grid in the display table refer to the display content table and reads the corresponding display color, and displays the status of the operation area in a color-differentiated manner.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2005-11058 Summary of the invention

[0008] In the system described in Patent Document 1, the work area is represented by a grid (a square grid with a single side of 50 cm) representing a plane of a specified size, and display processing and detailed data calculation processing are performed for each grid. However, since the grids are set at equal intervals, there is a concern that the topographic shape of the characteristic parts of the slope area such as the top or foot of the slope and the slope cannot be correctly reproduced due to the position of the origin of the grid and the interval of the grid. That is, the system described in Patent Document 1 has the risk of not being able to generate high-precision terrain data.

[0009] An object of the present invention is to provide a construction history calculation system and a terrain data generation system capable of calculating construction history data required for generating high-precision terrain data.

[0010] A construction history calculation system of one embodiment of the present invention has a controller for calculating construction history data based on the detection result of a posture detection device for detecting the posture of a working machine. The controller acquires target surface data, and based on the acquired target surface data, sets a plurality of constituent surfaces including an object constituent surface constituting the target surface data and adjacent constituent surfaces adjacent to the object constituent surface as a surface area, sets a plurality of recording points with respect to the surface area in a manner to achieve a predetermined surface density, calculates the trajectory of the working device of the working machine based on the detection result of the posture detection device, and calculates the position information of the trajectory of the working device by establishing a correspondence between the position information of the monitoring point of the working device constituting the trajectory of the working device and each of the plurality of recording points as the construction history data.

[0011] Effects of the Invention

[0012] According to the present invention, it is possible to provide a construction history calculation system and a terrain data generation system capable of calculating construction history data required for generating high-precision terrain data. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing the configuration of a management system for a work machine.

[0014] Figure 2 This is a diagram of the structure of a hydraulic excavator.

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

[0016] Figure 4 This is a hardware configuration diagram of the terrain data generation system.

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

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

[0019] Figure 7 is a plan view of the target shape.

[0020] Figure 8 is a stereogram of the target shape.

[0021] Fig. 9 It is a development diagram of a target shape, and shows an example of arrangement of recording points in this embodiment.

[0022] Fig.10 It is a three-dimensional diagram of a target shape, and shows an example of arrangement of recording points according to the present embodiment.

[0023] Fig.11 This is a diagram showing an example of target surface data obtained by finely dividing surfaces on the same plane.

[0024] Fig. 12A This is a diagram showing an example in which recording dots are arranged at a predetermined surface density on each constituent surface.

[0025] Fig. 12B This is a diagram showing an example in which recording dots are arranged at a predetermined surface density in a surface area formed by a plurality of constituent surfaces.

[0026] Fig.13 This is a flowchart showing the procedure of the surface area setting process performed by the recording point setting unit.

[0027] Fig.14 This is a three-dimensional diagram of a target shape, showing an example in which the target shape is divided into four.

[0028] Fig.15A FIG. 1 is a diagram showing an example in which recording points are arranged on the outer periphery of a surface area.

[0029] Fig. 15B 1 is a diagram showing an example in which recording points are arranged at the end points of the outer peripheral line of the surface area.

[0030] Fig.16 This is a flowchart showing the procedure of recording point setting processing performed by the recording point setting unit.

[0031] Fig.17 It is a diagram illustrating recording points and direction vectors set at the recording points.

[0032] Fig.18 This is a diagram showing how construction progresses toward a vertical wall surface that forms a target shape.

[0033] Fig.19 It is a diagram for explaining the direction vectors of the recording points set at the corners of the target shape.

[0034] Fig. 20 This is a diagram showing an example of a construction history data table, showing an example in which the construction history data table includes recording point coordinates, trajectory coordinates, and action judgment results.

[0035] Fig.21 It is a diagram for explaining a method of recording the trajectory coordinates of the bucket.

[0036] Fig. 22This is a diagram showing an example of a construction history data table, showing an example in which the construction history data table includes record point coordinates, direction vectors, action judgment results, and target surface distances.

[0037] Fig.23 This is a flowchart showing the steps of the construction history data generation process executed by the vehicle body controller.

[0038] Fig.24 This is a diagram for explaining an example of a method of setting extraction conditions of log data of construction history data.

[0039] Fig.25 This is a flowchart showing the procedure of terrain data generation and output processing executed by the management controller.

[0040] Fig.26A This is a diagram showing terrain data generated by the terrain data generation system according to the present embodiment.

[0041] Fig.26B It is a diagram showing terrain data generated by a terrain data generation system according to a comparative example of the present embodiment.

[0042] Fig. 27 This is a flowchart showing the procedure of recording point setting processing executed by the vehicle body controller according to the first modification of the present embodiment.

[0043] Fig.28 This is a flowchart showing the procedure of the surface area setting process executed by the vehicle body controller according to the second modification of the present embodiment.

[0044] Fig.29A It is a diagram showing an example of a distance threshold table.

[0045] Fig.29B It is a diagram showing concave and convex parts of a target shape. DETAILED DESCRIPTION

[0046] A management system for a working machine according to an embodiment of the present invention will be described with reference to the drawings. The working machine is a machine used for various works such as civil engineering, construction work, and demolition work. In this embodiment, a crawler-type hydraulic excavator 100 is used as an example to describe the working machine.

[0047] Figure 1 1 is a diagram showing the structure of a management system 1 for a work machine. Figure 1As shown, the management system 1 includes: a body controller 110 provided on a hydraulic excavator 100 operating at a work site; and a management controller 150 provided on a management server 51. The management server 51 is provided at the work site or a management center 50, and the management center 50 is provided at a place far from the work site. The management center 50 is provided, for example, at a facility of a manufacturer of the hydraulic excavator 100, a facility of a rental company of the hydraulic excavator 100, or a facility of an owner of the hydraulic excavator 100. The management server 51 is an external device that remotely manages the state of the hydraulic excavator 100.

[0048] The hydraulic excavator 100 and the management server 51 perform two-way communication via the communication line 59 of the wide area network. That is, the hydraulic excavator 100 and the management server 51 send and receive information (data) via the communication line 59. The communication line 59 is a mobile phone communication network (mobile communication network) developed by mobile phone operators, the Internet, etc. The hydraulic excavator 100 is connected to the communication line 59 via a wireless base station 58, for example.

[0049] The management server 51 receives data received from the hydraulic excavator 100 and stores it in a storage device 52 such as a hard disk drive. The management server 51 displays the information (data) stored in the storage device 52 on a display device 53 such as a liquid crystal display device. The administrator operates the management server 51 through an input device 54 such as a keyboard and a mouse to display information of a predetermined hydraulic excavator 100 on the display device 53, thereby being able to grasp the status of the hydraulic excavator 100.

[0050] Figure 2 1 is a structural diagram of the hydraulic excavator 100. Figure 2 As shown, the hydraulic excavator 100 has a vehicle body (machine body) 100b and a working device 100a mounted on the vehicle body 100b. The vehicle body 100b has a traveling body 11 and a rotating body 12 rotatably provided on the traveling body 11, and the working device 100a is mounted on the front part of the rotating body 12. The hydraulic excavator 100 has a traveling hydraulic motor 3 (also referred to as a right traveling hydraulic motor 3a) that drives the crawler track 19 on the right side of the traveling body 11, and a traveling hydraulic motor 3 (also referred to as a left traveling hydraulic motor 3b) that drives the crawler track 19 on the left side of the traveling body 11. The pair of left and right crawler tracks 19 are driven by the traveling hydraulic motor 3, whereby the traveling body 11 travels. The hydraulic excavator 100 has a rotating hydraulic motor 4 that causes the rotating body 12 to swing (rotate) relative to the traveling body 11.

[0051] The working device 100a is a multi-joint working device having a plurality of driven parts (front parts) driven by a plurality of actuators. The working device 100a is a structure in which three driven parts (boom 8, arm 9 and bucket 10) are connected in series. The base end of the boom 8 is connected to the front part via a boom pin 91 (see FIG. Figure 6 ) is rotatably connected to the front portion of the rotating body 12. The base end of the arm 9 is connected to the front portion of the rotating body 12 via an arm pin 92 (see Figure 6 ) is rotatably connected to the front end of the boom 8. The bucket 10 is connected to the front end of the boom 8 via a bucket pin 93 (see Figure 6 ) is rotatably connected to the front end of the boom 9. The boom pin 91, the boom pin 92, and the bucket pin 93 are arranged parallel to each other, and each driven component (boom 8, boom 9, and bucket 10) can rotate relatively in the same plane.

[0052] The boom 8 is driven by a boom cylinder (hydraulic cylinder) 5 as an actuator, the arm 9 is driven by an arm cylinder (hydraulic cylinder) 6 as an actuator, and the bucket 10 is driven by a bucket cylinder (hydraulic cylinder) 7 as an actuator. The hydraulic cylinders (5 to 7) have: a bottomed cylindrical cylinder with one end blocked; a head cover that closes the opening of the other end of the cylinder; a cylinder rod that penetrates the head cover and is inserted into the cylinder; and a piston that is provided at the front end of the cylinder rod and divides the cylinder into a piston rod side oil chamber and a cylinder bottom side oil chamber. One end side of the boom cylinder 5 is connected to the rotating body 12, and the other end side is connected to the boom 8. One end side of the arm cylinder 6 is connected to the boom 8, and the other end side is connected to the arm 9. One end side of the bucket cylinder 7 is connected to the arm 9, and the other end side is connected to the bucket 10 via a bucket link 13. By driving each hydraulic cylinder (5 to 7), excavation and leveling of the mountain are performed.

[0053] A cab 17 for an operator to ride is provided on the left side of the front portion of the swing body 12. The cab 17 is provided with a right travel lever device 23a and a left travel lever device 23b for giving an operation instruction to the traveling body 11. In addition, the cab 17 is provided with a right operating lever device 22a and a left operating lever device 22b for giving an operation instruction to the boom 8, the arm 9, the bucket 10, and the swing body 12. In this way, the hydraulic excavator 100 of this embodiment has operating devices (22a, 22b, 23a, 23b) for operating the swing body 12, the working device 100a, and the traveling body 11.

[0054] The rotating body 12 is equipped with an engine 14 as a prime mover, a pump 2 driven by the engine 14, and a control valve unit 20. Although not shown in the figure, the control valve unit 20 has a plurality of flow control valves (also called directional control valves) to control the flow (flow rate and direction) of the working oil as the working fluid supplied from the pump 2 to the actuators (the boom cylinder 5, the arm cylinder 6, the bucket cylinder 7, the rotating hydraulic motor 4, and the traveling hydraulic motor 3).

[0055] Figure 3 1 is a diagram showing the structure of the hydraulic drive device of the hydraulic excavator 100. In addition, in order to simplify the description, Figure 3 1 and 2 , the configuration for driving the boom cylinder 5 , the arm cylinder 6 , the bucket cylinder 7 , and the swing hydraulic motor 4 is described, and circuits, valves, and the like that are not directly related to the present embodiment are omitted from illustration.

[0056] The pump 2 is driven by the engine 14, sucks hydraulic oil from the oil tank, and discharges it to the pump line L1 connecting the control valve unit 20 and the discharge port of the pump 2. Figure 3 In FIG. 1 , an example in which the pump 2 is a fixed displacement hydraulic pump is shown, but a variable displacement hydraulic pump may also be adopted. In addition, the pump 2 that supplies the hydraulic oil to the control valve unit 20 may be one or more.

[0057] The control valve unit 20 controls the flow of the working oil (hydraulic oil) supplied from the pump 2 to the actuator by being controlled by the solenoid valve unit 40 having a plurality of solenoid proportional valves 41a to 44b. The control valve unit 20 controls the flow of the working oil (hydraulic oil) supplied from the pump 2 to the boom cylinder 5 according to the signal pressure generated by the solenoid proportional valves 41a and 41b. The control valve unit 20 controls the flow of the working oil (hydraulic oil) supplied from the pump 2 to the arm cylinder 6 according to the signal pressure generated by the solenoid proportional valves 42a and 42b. The control valve unit 20 controls the flow of the working oil (hydraulic oil) supplied from the pump 2 to the bucket cylinder 7 according to the signal pressure generated by the solenoid proportional valves 43a and 43b. The control valve unit 20 controls the flow of the working oil (hydraulic oil) supplied from the pump 2 to the swing hydraulic motor 4 according to the signal pressure generated by the solenoid proportional valves 44a and 44b.

[0058] The electromagnetic proportional valves 41a to 44b use the pressure of the pilot hydraulic oil supplied from the pilot hydraulic source 29 as a primary pressure (original pressure) and adjust the pressure according to the pressure from the valve drive device 158 (see Figure 4 ) is output as a signal pressure to the control valve unit 20. The pilot hydraulic source 29 is a hydraulic pump (pilot pump) driven by the engine 14, for example.

[0059] The right operating lever device 22a has an operating sensor that outputs a voltage signal (operation signal) corresponding to the operating amount and operating direction of the operating lever as boom operating information and bucket operating information to the vehicle body controller 110. The left operating lever device 22b has an operating sensor that outputs a voltage signal (operation signal) corresponding to the operating amount and operating direction of the operating lever as arm operating information and rotation operating information to the vehicle body controller 110.

[0060] When an operation signal is inputted to the vehicle body controller 110 from the operation sensors of the operation devices 22a and 22b, the vehicle body controller 110 controls the electromagnetic proportional valves 41a to 44b of the electromagnetic valve unit 40 so that the actuator operates at an operation speed corresponding to the operation signal. As a result, the control valve unit 20 is controlled to supply the hydraulic oil discharged from the pump 2 to the actuator, and the actuator operates.

[0061] If the boom raising operation is performed by the operating device 22a, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 41a to the first pressure receiving part of the flow control valve for the boom, and the flow control valve for the boom is operated to one side (the boom raising side). As a result, the working oil is supplied to the cylinder bottom side oil chamber of the boom cylinder 5, and the working oil is discharged from the piston rod side oil chamber of the boom cylinder 5 to the oil tank. As a result, the boom cylinder 5 is extended, and the boom 8 rotates upward with the boom pin 91 as a fulcrum. If the boom lowering operation is performed by the operating device 22a, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 41b to the second pressure receiving part of the flow control valve for the boom, and the flow control valve for the boom is operated to the other side (the boom lowering side). As a result, the working oil is supplied to the piston rod side oil chamber of the boom cylinder 5, and the working oil is discharged from the cylinder bottom side oil chamber of the boom cylinder 5 to the oil tank. As a result, the boom cylinder 5 is contracted, and the boom 8 rotates downward with the boom pin 91 as a fulcrum.

[0062] If the bucket loading operation is performed by the operating device 22a, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 43a to the first pressure receiving part of the bucket flow control valve, and the bucket flow control valve moves to one side (bucket loading side). As a result, the working oil is supplied to the cylinder bottom side oil chamber of the bucket cylinder 7, and the working oil is discharged from the piston rod side oil chamber of the bucket cylinder 7 to the oil tank. As a result, the bucket cylinder 7 extends, and the bucket 10 rotates downward with the bucket pin 93 as a fulcrum. In other words, the bucket loading operation is performed. If the bucket unloading operation is performed by the operating device 22a, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 43b to the second pressure receiving part of the bucket flow control valve, and the bucket flow control valve moves to the other side (bucket unloading side). As a result, the working oil is supplied to the piston rod side oil chamber of the bucket cylinder 7, and the working oil is discharged from the cylinder bottom side oil chamber of the bucket cylinder 7 to the oil tank. As a result, the bucket cylinder 7 contracts, and the bucket 10 rotates upward with the bucket pin 93 as a fulcrum. In other words, a bucket dumping operation is performed.

[0063] If the boom retracting operation is performed by the operating device 22b, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 42a to the first pressure-receiving part of the flow control valve for the boom, and the flow control valve for the boom moves to one side (the boom retracting side). As a result, the working oil is supplied to the oil chamber on the cylinder bottom side of the boom cylinder 6, and the working oil is discharged from the oil chamber on the piston rod side of the boom cylinder 6 to the oil tank. As a result, the boom cylinder 6 extends, and the boom 9 rotates downward with the boom pin 92 as a fulcrum. In other words, the boom retracting action is performed. If the boom release operation is performed by the operating device 22b, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 42b to the second pressure-receiving part of the flow control valve for the boom, and the flow control valve for the boom moves to the other side (the boom release side). As a result, the working oil is supplied to the oil chamber on the piston rod side of the boom cylinder 6, and the working oil is discharged from the oil chamber on the cylinder bottom side of the boom cylinder 6 to the oil tank. As a result, the arm cylinder 6 contracts, and the arm 9 rotates upward with the arm pin 92 as a fulcrum. In other words, the arm releasing operation is performed.

[0064] When the driven members (8, 9, 10) are rotated by the operation of the actuators (5, 6, 7), the posture of the working device 100a and the position of the claw tip of the bucket 10 and the like are changed.

[0065] If the right rotation operation is performed by the operating device 22b, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 44a to the first pressure receiving part of the rotation flow control valve, and the rotation flow control valve moves to one side (right rotation side). As a result, the working oil is supplied to the rotation hydraulic motor 4, and the rotation hydraulic motor 4 rotates in one direction (right rotation direction). As a result, the rotating body 12 rotates in the right direction relative to the travel body 11. If the left rotation operation is performed by the operating device 22b, the command pressure corresponding to the operation amount is output from the electromagnetic proportional valve 44b to the second pressure receiving part of the rotation flow control valve, and the rotation flow control valve moves to the other side (left rotation side). As a result, the working oil is supplied to the rotation hydraulic motor 4, and the rotation hydraulic motor 4 rotates in the other direction (left rotation direction). As a result, the rotating body 12 rotates in the left direction relative to the travel body 11. If the rotating body 12 rotates relative to the travel body 11 by the action of the rotation hydraulic motor 4, the position of the claw tip of the bucket 10 and the like will change.

[0066] The hydraulic excavator 100 has pressure sensors 5a to 7b that detect the pressure (cylinder pressure) in the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 and output the detection results (electrical signals) to the vehicle controller 110. The pressure sensor 5a detects the pressure of the piston rod side oil chamber of the boom cylinder 5, and the pressure sensor 5b detects the pressure of the cylinder bottom side oil chamber of the boom cylinder 5. The pressure sensor 6a detects the pressure of the piston rod side oil chamber of the arm cylinder 6, and the pressure sensor 6b detects the pressure of the cylinder bottom side oil chamber of the arm cylinder 6. The pressure sensor 7a detects the pressure of the piston rod side oil chamber of the bucket cylinder 7, and the pressure sensor 7b detects the pressure of the cylinder bottom side oil chamber of the bucket cylinder 7.

[0067] like Figure 2 As shown, the boom 8 is provided with a device for measuring the rotation angle (hereinafter also referred to as the boom angle) α of the boom 8 relative to the rotating body 12 (refer to Figure 6 ) of the boom angle sensor 30. The boom 9 is provided with a sensor for measuring the rotation angle (hereinafter also referred to as the boom angle) β of the boom 9 relative to the boom 8 (refer to Figure 6 ) of the arm angle sensor 31. The bucket link 13 is provided with a sensor for measuring the rotation angle (hereinafter also referred to as bucket angle) γ of the bucket 10 relative to the arm 9 (refer to Figure 6 ) bucket angle sensor 32. In addition, the bucket angle sensor 32 may be installed on the bucket 10 instead of the bucket link 13. A sensor for measuring the tilt angle (hereinafter also referred to as the pitch angle) θp (refer to Figure 6 In addition, a vehicle body left and right tilt angle sensor 33b is installed on the rotating body 12 for measuring the tilt angle (hereinafter also referred to as the roll angle) θr (not shown) of the rotating body 12 (vehicle body 100b) in the left and right direction relative to a reference plane (e.g., a horizontal plane).

[0068] The angle sensors 30, 31, 32, 33a, and 33b of the present embodiment are IMUs (Inertial Measurement Units). In addition, the angle sensors 30, 31, 32, 33a, and 33b may be sensors such as potentiometers and rotary encoders instead of IMUs.

[0069] The hydraulic excavator 100 has a pair of left and right RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems) antennas (a first GNSS antenna 35a and a second GNSS antenna 35b) on the rotating body 12, and a GNSS receiving device 36 (see FIG. 1 ) mounted in the cab 17 and calculating the position information of the hydraulic excavator 100 using the radio waves received by the GNSS antennas 35a and 35b. Figure 3 , Figure 5 ). In addition, the GNSS antennas 35a, 35b and the GNSS receiving device 36 may be provided integrally or independently. The GNSS receiving device 36 outputs the position information of the GNSS antennas 35a, 35b to the vehicle body controller 110.

[0070] The angle sensors 30, 31, 32, 33a, 33b and the GNSS antennas 35a, 35b function as attitude sensors for detecting the attitude of the hydraulic excavator 100. The GNSS antennas 35a, 35b also function as position sensors for detecting the position of the hydraulic excavator 100.

[0071] like Figure 3 As shown, the hydraulic excavator 100 has a posture detection device 130, which detects (calculates) the position, orientation, and posture of the hydraulic excavator 100 (the posture of the working device 100a, the posture of the vehicle body 100b) based on the detection results obtained by the boom angle sensor 30, the dipper angle sensor 31, the bucket angle sensor 32, the vehicle body front and rear tilt angle sensor 33a, and the vehicle body left and right tilt angle sensor 33b, and the position information from the GNSS antennas 35a and 35b.

[0072] The posture detection device 130 calculates the position of the hydraulic excavator 100 in the site coordinate system and posture information indicating the posture of the hydraulic excavator 100 , namely, the boom angle α, the arm angle β, the bucket angle γ, the pitch angle θp, the roll angle θr, and the azimuth angle θy, and outputs the calculated information to the vehicle body controller 110 .

[0073] Reference Figure 4 as well as Figure 5 , a terrain data generating system 180 for generating terrain data representing a pre-existing shape obtained based on the working device 100a of the hydraulic excavator 100 will be described. Figure 4 The main hardware configuration of the terrain data generating system 180 will be described. Figure 4 This is a diagram showing the hardware configuration of the terrain data generating system 180 .

[0074] like Figure 4As shown, the terrain data generation system 180 includes a construction history calculation system 181 and a terrain data calculation system 182. The construction history calculation system 181 is mounted on the hydraulic excavator 100. The construction history calculation system 181 includes: a vehicle body controller 110; a communication device 155 for communicating with the management server 51; a posture detection device 130 for detecting (calculating) the posture of the hydraulic excavator 100; a target surface input device 161 for inputting target surface data to the vehicle body controller 110; a pressure detection device 162 for detecting the pressure of the hydraulic cylinder (5 to 7); an operation detection device 163 for detecting the operation amount of the operating devices 22a and 22b; and a storage device 169 for storing information. The storage device 169 is a non-volatile memory such as a flash memory or a hard disk drive.

[0075] The communication device 155 is a wireless communication device capable of wirelessly communicating with the wireless base station 58 connected to the communication line 59, and has a communication interface including a communication antenna that sets a predetermined frequency band as a sensitive bandwidth. In addition, the communication device 155 can also directly or indirectly exchange information with the management server 51 using a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), and Bluetooth (registered trademark).

[0076] The target surface input device 161 is a device capable of inputting target surface data to the vehicle body controller 110. The target surface data includes the components constituting the target surface St (see Figure 6 ) and the position information of multiple constituent surfaces. The target surface data has a data structure based on, for example, a triangular mesh model, a quadrilateral mesh model, etc. The target surface data includes the coordinates of multiple nodes, the edges connecting the nodes, and the constituent surfaces S surrounded by the multiple edges (see Fig.10 The data exchange between the target surface input device 161 and the vehicle body controller 110 may be performed by wired communication, wireless communication, or via a recording medium such as a USB flash memory or an SD card.

[0077] The pressure detection device 162 has pressure sensors 5a to 7b, detects the pressure of the piston rod side oil chamber and the cylinder bottom side oil chamber of the hydraulic cylinders 5 to 7 that drive the driven components of the working device 100a, and outputs the detection results to the vehicle body controller 110. The operation detection device 163 has operation sensors of the operating devices 22a and 22b, detects the operation amount and operation direction of the operating devices 22a and 22b, and outputs the detection results to the vehicle body controller 110.

[0078] The display device 164 is provided in the cab 17 of the hydraulic excavator 100. The display device 164 is a liquid crystal display device that displays a display image on a display screen based on a display control signal output from the vehicle body controller 110. The valve drive device 158 controls the command current supplied to the solenoids of the electromagnetic proportional valves 41a to 44b of the electromagnetic valve unit 40 based on the valve drive signal output from the vehicle body controller 110.

[0079] The terrain data calculation system 182 is provided in the management center 50. The terrain data calculation system 182 includes: a management controller 150; a communication device 55 for communicating with the hydraulic excavator 100; an input device 54 such as a keyboard and a mouse for inputting predetermined information to the management controller 150 through the operation of the manager; a display device 53 such as a liquid crystal display device; and a storage device 52 for storing information.

[0080] The communication device 55 is a communication device capable of communicating with the hydraulic excavator 100 via a communication line 59 as a wide area network. Alternatively, the communication device 55 may directly or indirectly exchange information with the hydraulic excavator 100 using a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), or Bluetooth (registered trademark).

[0081] The vehicle body controller 110 and the management controller 150 are composed of a microcomputer, and the microcomputer has a CPU (Central Processing Unit) 110a, 150a as a working circuit, a ROM (Read Only Memory) 110b, 150b and a RAM (Random Access Memory) 110c, 150c as a storage device, an input interface 110d, 150d and an output interface 110e, 150e, and other peripheral circuits. The vehicle body controller 110 and the management controller 150 can each be composed of a single computer or a plurality of computers.

[0082] The input interfaces 110d and 150d convert signals from various devices into data that can be operated by the CPUs 110a and 150a. The ROMs 110b and 150b are nonvolatile memories such as EEPROMs. The ROMs 110b and 150b store programs that can be used by the CPUs 110a and 150a to perform various operations as shown in the flowcharts described later. In other words, the ROMs 110b and 150b are storage media that can read programs that implement the functions of the present embodiment.

[0083] In addition, the ROM 110b stores various data such as dimension information and threshold values ​​of the hydraulic excavator 100. For example, the ROM 110b stores the dimension information of the hydraulic excavator 100, Figure 6The length Lbm from the center position of the boom pin 91 to the center position of the arm pin 92, the length Lam from the center position of the arm pin 92 to the center position of the bucket pin 93, and the length Lbkt from the center position of the bucket pin 93 to the claw tip Pb of the bucket 10 are shown. In addition, the ROM 110b stores information related to the installation position of the hydraulic cylinder (5 to 7) as the dimension information of the hydraulic excavator 100 (for example, the distance from the boom pin 91 to the piston rod side connection part of the boom cylinder 5, the distance from the boom pin 91 to the cylinder bottom side connection part of the boom cylinder 5, etc.). In addition, the position coordinates of the GNSS antennas 35a and 35b in the excavator reference coordinate system are stored in the ROM 110b. In addition, the position coordinates of the GNSS antennas 35a and 35b in the excavator reference coordinate system can be calculated based on the design dimensions or based on the measurement results obtained by a measuring instrument such as a total station.

[0084] The RAM 110c, 150c is a volatile memory and is a working memory for directly inputting and outputting data to and from the CPU 110a, 150a. The RAM 110c, 150c temporarily stores necessary data while the CPU 110a, 150a is executing a program.

[0085] The CPU 110a, 150a is a computing device that expands the program stored in the ROM 110b, 150b in the RAM 110c, 150c and performs computing operations, and performs predetermined computing operations on the signals taken in from the input interface 110d, 150d, the ROM 110b, 150b, and the RAM 110c, 150c according to the program. The output interface 110e, 150e generates an output signal corresponding to the computing result in the CPU 110a, 150a, and outputs the signal to various devices.

[0086] Next, refer to Figure 5 , explaining the main functions of the terrain data generation system 180. Figure 5 1 is a functional block diagram showing the main functions of the terrain data generation system 180. Figure 5 As shown, the vehicle body controller 110 functions as a first processing device that performs a process of generating construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130. The management controller 150 functions as a second processing device that performs a process of calculating terrain data based on the position information of the trajectory of the working device 100a included in the construction history data, wherein the terrain data represents a pre-existing shape obtained based on the working device 100a of the hydraulic excavator 100.

[0087] like Figure 5As shown, the posture detection device 130 functions as a working device posture detection unit 131, a vehicle body position detection unit 132, and a vehicle body angle detection unit 133. The working device posture detection unit 131 calculates the boom angle α, the arm angle β, and the bucket angle γ based on the detection results obtained by the boom angle sensor 30, the arm angle sensor 31, and the bucket angle sensor 32, and outputs the calculation results to the vehicle body controller 110.

[0088] The vehicle body position detection unit 132 calculates the antenna position information of the site coordinate system based on the position information of the first GNSS antenna 35a output from the GNSS receiving device 36, and outputs it to the vehicle body controller 110. When the vehicle body position detection unit 132 inputs the position information of a coordinate system other than the site coordinate system, it performs a coordinate conversion process to convert the position information of the coordinate system into the position information of the site coordinate system, and calculates the antenna position information of the site coordinate system.

[0089] In the present embodiment, the case where the GNSS receiving device 36 outputs the coordinates (coordinate values) of the on-site coordinate system is described. In addition, the GNSS receiving device 36 only needs to be able to output the coordinates of at least one of the coordinate systems of the geographic coordinate system, the plane rectangular coordinate system, the geocentric orthogonal coordinate system, or the on-site coordinate system. The coordinates in the geographic coordinate system are composed of latitude, longitude, and ellipsoid height, and the coordinates of the plane rectangular coordinate system, the geocentric orthogonal coordinate system, and the on-site coordinate system are three-dimensional orthogonal coordinate systems composed of X, Y, and Z coordinates. The coordinates of the geographic coordinate system can be converted into coordinates of a three-dimensional orthogonal coordinate system such as a plane rectangular coordinate system using Gauss-Kruger's equirectangular projection method or the like. In addition, the coordinates of the plane rectangular coordinate system, the geocentric orthogonal coordinate system, and the on-site coordinate system can be converted into each other by using affine transformation or Helmert transformation or the like.

[0090] The on-site coordinate system in this embodiment is a coordinate system with an arbitrary position in the work site as the origin, with the E axis on the horizontal plane being the east direction, the N axis on the horizontal plane being the north direction, and the H axis being the vertical upward direction.

[0091] The vehicle body angle detection unit 133 calculates the azimuth angle θy, the pitch angle θp, and the roll angle θr based on the antenna position information of the first GNSS antenna 35a and the second GNSS antenna 35b and the detection results (sensor values) obtained by the vehicle body front and rear tilt angle sensor 33a and the vehicle body left and right tilt angle sensor 33b, and outputs the calculation results to the vehicle body controller 110. The vehicle body angle detection unit 133 calculates the azimuth angle θy based on the positional relationship between the first GNSS antenna 35a and the second GNSS antenna 35b.

[0092] The body controller (first processing device) 110 of the hydraulic excavator 100 generates construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130, and transmits the generated construction history data to the management server 51 outside the hydraulic excavator 100. The function of the body controller 110 will be described in detail below.

[0093] The vehicle body controller 110 functions as a recording point setting unit 111, a trajectory calculation unit 112, a construction history generation unit 113, and a transmission unit 114. After acquiring the target surface data from the target surface input device 16, the recording point setting unit 111 calculates the coordinates of the recording point of the trajectory of the monitoring point of the working device 100a described later (the working machine trajectory recording position) and the direction vector at the recording point.

[0094] The method of setting the recording point by the recording point setting unit 111 is described. Figure 7 as well as Figure 8 , which illustrates an example of setting recording points at equal intervals in the horizontal direction. Figure 7 is a plan view of a target shape 120, Figure 8 is a stereogram of the target shape 120 . Figure 7 as well as Figure 8 The example in which recording points (circular marks filled with black in the figure) are set at equal intervals in the E-axis direction and the N-axis direction when viewed from the vertical upward direction is shown. The recording points are points used when the position information (ENH coordinates) of the trajectory of the bucket 10 is recorded as construction history data in the construction history generating unit 113 described later.

[0095] like Figure 7 as well as Figure 8 As shown, the target surface data is data that specifies the target shape 120 by a plurality of constituent surfaces S. The target shape 120 has a square top surface area 125 as the constituent surface S, and slope surface areas 121, 122, 123, and 124 as four constituent surfaces S connected to the sides of the top surface area 125, and is in the shape of a quadrangular pyramid. Figure 7 In the example shown, the recording points are set at fixed intervals along the horizontal direction (E-axis direction and N-axis direction). Figure 8 As shown in FIG. 1 , the number of recording points per unit area of ​​the slope surface regions 121 to 124, which are steep slopes, is smaller than the number of recording points per unit area of ​​the top surface region 125. That is, the surface density [dots / m 2] is smaller than the surface density of the recording points in the top surface area 125. In this way, if the recording points are arranged at fixed intervals along the E-axis direction and the N-axis direction with respect to a plurality of constituent surfaces S, the surface density of the recording points becomes smaller in the constituent surface S having a large inclination angle with respect to the reference surface (E-N plane). The side with a higher surface density of the recording points can generate topographic data with high accuracy. Figure 7 as well as Figure 8 In the example shown, the shape accuracy of the slope surface regions 121 to 124 is lower than that of the top surface region 125 .

[0096] Therefore, the recording point setting unit 111 of the present embodiment sets a plurality of recording points in a manner that achieves a predetermined surface density ρS with respect to each constituent surface S constituting the target surface data based on the acquired target surface data. Specifically, the recording point setting unit 111 sets the recording points in a manner that makes the surface density of the recording points in the top surface area 125 the same as the surface density of the recording points in the slope surface areas 121 to 124. That is, the recording point setting unit 111 sets the recording points in a manner that achieves a fixed surface density ρS with respect to all constituent surfaces S constituting the target surface data. The surface density ρS is pre-stored in ROM 110b. Refer to Figures 9 to 16 , a recording point setting method performed by the recording point setting unit 111 according to the present embodiment is described.

[0097] Fig. 9 1 is a development diagram of the target shape 120 , and shows an example of arrangement of recording points according to the present embodiment. Fig.10 FIG. 1 is a three-dimensional diagram of a target shape 120, showing an example of the arrangement of recording points in this embodiment. Fig. 9 As shown, the recording point setting method of the present embodiment is a method of unfolding the surfaces (top surface area 125, slope surface areas 121 to 124) constituting the target shape 120 and arranging the recording points on the unfolded view at a fixed surface density. Specifically, the recording point setting unit 111 sets the multiple constituent surfaces S constituting the target surface data as the surface area A, and sets the multiple recording points in a manner to achieve a predetermined surface density ρS with respect to the surface area A. For example, the recording point setting unit 111 sets the top surface area 125 as the object constituent surface to be set for the recording points, and sets the slope surface areas 121 to 124 adjacent to the top surface area 125 as adjacent constituent surfaces, and sets a separate surface area A based on these five constituent surfaces S. The recording point setting unit 111 sets the recording points in a manner to achieve a fixed surface density with respect to all the constituent surfaces S constituting the target surface data. Thus, as Fig.10 As shown, even in the surface inclined with respect to the EN plane, such as the slope surface regions 121 to 124 , the recording dots can be arranged at the same surface density as that of the top surface region 125 parallel to the EN plane.

[0098] In this embodiment, the constituent surfaces S constituting the target shape 120 are unfolded on the E-N plane, and the recording points are arranged at equal intervals using the same reference point, the same first reference axis, i.e., the E axis, and the same second reference axis, i.e., the N axis, relative to each constituent surface S. In addition, the method for setting the recording points is not limited to this. Different reference points and reference axes may also be set relative to each constituent surface S. For example, any side of the constituent surface S may be set as the first reference axis of the constituent surface S, and an axis parallel to the constituent surface S and orthogonal to the first reference axis may be set as the second reference axis.

[0099] Furthermore, when the recording dots are arranged at equal intervals in the E-axis direction and the N-axis direction, as described below, the recording dots may not be properly arranged on the constituent surface S. Fig.11 , which illustrates an example in which the recording points are not properly configured on the constituent surface S. Fig.11 1 is a diagram showing an example of target surface data obtained by finely dividing a surface on the same plane. When the target surface input device 161 automatically generates the target surface data using CAD software (CAD: Computer-Aided Design) or the like, according to the division method of the target shape 120, such as Fig.11 As shown, sometimes even in the same plane, a complexly divided component surface S is formed. Here, for example, in every n[m 2 ] is configured with a recording point in a specified surface density configuration recording point, such as Fig. 12A As shown, when the finely divided constituent surface S is less than n[m 2 ], no recording point is arranged in the constituent surface S. In this case, when observing the target surface data as a whole, there is a concern that the recording points are not arranged with a sufficient surface density.

[0100] Therefore, in this embodiment, a plurality of constituent surfaces S that exist continuously on the same plane and a set of a plurality of continuous constituent surfaces S that form a gently curved surface are regarded as the same surface area A, and recording points are arranged at a fixed surface density for each surface area A. In this embodiment, one or more constituent surfaces S constitute a surface area A. The recording point setting unit 111 sets the angle between the normal lines of the adjacent constituent surfaces S among the plurality of constituent surfaces S constituting the acquired target surface data. Less than the pre-defined angle threshold In the case of , the adjacent constituent surfaces S are set as the same surface area A. In addition, the recording point setting unit 111 sets the angle between the normal lines of the adjacent constituent surfaces S among the plurality of constituent surfaces S constituting the acquired target surface data. is the angle threshold In the above case, the adjacent constituent surfaces S are set as different surface areas A. Angle threshold Pre-stored in ROM 110b.

[0101] Reference Fig.13 , the contents of the setting process of the plane area A performed by the recording point setting unit 111 are described. Fig.13 The process of the flowchart shown is started when, for example, an ignition switch (not shown) of the hydraulic excavator 100 is turned on.

[0102] like Fig.13 As shown, in step S10, the recording point setting unit 111 determines the initial constituent surface to be set as the surface area A, and proceeds to step S15. In step S15, the recording point setting unit 111 selects constituent surfaces (adjacent constituent surfaces) adjacent to the constituent surface (target constituent surface) to be set as the recording point, and proceeds to step S20. The adjacent constituent surfaces are constituent surfaces that share at least one side of the target constituent surface.

[0103] In step S20, the recording point setting unit 111 calculates the normal vector of the target constituent surface and the normal vector of the adjacent constituent surface, and then proceeds to step S25. In step S25, the recording point setting unit 111 calculates the angle between the normal vector of the target constituent surface and the normal vector of the adjacent constituent surface. And proceed to step S30.

[0104] In step S30, the recording point setting unit 111 determines the angle calculated in step S25. Is the angle less than the threshold? In step S30, if it is determined that the angle Insufficient Angle Threshold Then the process proceeds to step S33. In step S30, if it is determined that the angle is the angle threshold If so, the process proceeds to step S36.

[0105] In step S33, the recording point setting unit 111 sets the target constituent plane and the adjacent constituent plane as the same plane region A, and proceeds to step S40. In step S36, the recording point setting unit 111 sets the target constituent plane and the adjacent constituent plane as different plane regions A, and proceeds to step S40.

[0106] In step S40, the recording point setting unit 111 determines whether there are other constituent surfaces S adjacent to the target constituent surface and the constituent surfaces S have not yet been subjected to the region setting process (step S33 or step S36). In step S40, if it is determined that there are other constituent surfaces S adjacent to the target constituent surface and the constituent surfaces S have not yet been subjected to the region setting process, the process returns to step S15. In addition, in step S15, the recording point setting unit 111 no longer regards the constituent surface S that has been subjected to the region setting process as the target constituent surface. In step S15, the recording point setting unit 111 selects the constituent surface S that is adjacent to the target constituent surface and has not yet been subjected to the region setting process (step S33 or step S36) as the adjacent constituent surface, and proceeds to step S20.

[0107] In step S40, if it is determined that there are no other constituent surfaces S adjacent to the target constituent surface and there are no constituent surfaces S that have not yet been subjected to the area setting process, the process proceeds to step S45. In step S45, the recording point setting unit 111 determines whether the setting of the surface area A is completed for all constituent surfaces S constituting the target surface data.

[0108] In step S45, if it is determined that the setting of the surface area A has not been completed for all the constituent surfaces S constituting the target surface data, the process returns to step S10. In step S10, the recording point setting unit 111 determines the next constituent surface S to be set as the surface area A, and proceeds to step S15. In addition, the recording point setting unit 111 no longer determines the constituent surface S that has been determined as the target constituent surface as the target constituent surface. That is, the recording point setting unit 111 determines the constituent surface S that has never been determined as the target constituent surface as the target constituent surface.

[0109] In step S45, if it is determined that the setting of the surface area A is completed for all the constituent surfaces S constituting the target surface data, the recording point setting unit 111 ends the process. Fig.13 The process is shown in the flowchart.

[0110] Reference Fig.11 , a specific example of setting processing for the surface area A constituting the surface S is described. Fig.11 As shown in FIG. 1 , the recording point setting unit 111 determines the constituent surface Sa as the target constituent surface. The recording point setting unit 111 selects the constituent surface Sb adjacent to the constituent surface Sa. The recording point setting unit 111 calculates the angle between the normal vector of the constituent surface Sa as the target constituent surface and the normal vector of the constituent surface Sb as the adjacent constituent surface.

[0111] The recording point setting unit 111 determines the angle between the normal vector of the constituting surface Sa and the normal vector of the constituting surface Sb. Is the angle less than the threshold? The recording point setting unit 111 determines that the angle Insufficient Angle Threshold In the case of , the constituent surface Sa and the constituent surface Sb are respectively set as the same area. For example, the constituent surfaces Sa and Sb are respectively set as the first surface area A1. The recording point setting unit 111 also performs the same processing on the other constituent surfaces Sc and Sd adjacent to the constituent surface Sa as the target constituent surface. Fig.11 In the example shown, the constituent surfaces Sc and Sd are set as the same region as the constituent surface Sa, similarly to the constituent surface Sb. That is, the constituent surfaces Sa, Sb, Sc, and Sd are each set as the first surface region A1.

[0112] The recording point setting unit 111 changes the target constituent surface and performs the same processing. For example, the recording point setting unit 111 sets the constituent surface Sb as the next target constituent surface. The recording point setting unit 111 determines the angle between the normal vector of the constituent surface Sb as the target constituent surface and the normal vectors of the constituent surfaces Se and Sz as the adjacent constituent surfaces. Is the angle less than the threshold? The recording point setting unit 111 sets the angle between the normal vector of the constituent surface Sb and the normal vector of the constituent surface Se. Insufficient Angle Threshold In the case of , the constituent surface Sb and the constituent surface Se are set as the same region. That is, the constituent surface Se is set as the first surface region A1 which is the same as the constituent surfaces Sa, Sb, Sc, and Sd.

[0113] The recording point setting unit 111 sets the angle between the normal vector of the constituent surface Sb and the normal vector of the constituent surface Sz. is the angle threshold In the above case, the component surface Sb and the component surface Sz are set as different regions. For example, the component surface Sz is set as the second surface region A2.

[0114] The recording point setting unit 111 performs this processing on each component surface. The result is, Fig.11 In the example shown, all of the plurality of constituent surfaces S within the rectangle indicated by the bold line are set as the same first surface area A1. In other words, the rectangular first surface area A1 indicated by the bold line is composed of a plurality of triangular constituent surfaces S. The recording point setting unit 111 arranges the recording points in the set surface area A so as to achieve a predetermined surface density ρS. Thus, as shown in FIG. Fig. 12B As shown, even when there are finely divided constituent surfaces S in the same plane, the recording points can be arranged at an appropriate surface density. In addition, the recording points are arranged at equal intervals along the parallel first and second reference axes in one constituent surface S of the constituent surface area A.

[0115] Fig.14 is with Fig.10 The same graph shows Fig.10 In order to avoid the complexity of the drawings, Fig.14 In the , expand the interval icon recording point. Fig.14 In the example shown, the top surface area 125 is divided into four parts, and the top surface area 125 is composed of four constituent surfaces 125a, 125b, 125c, and 125d. The recording point setting unit 111 sets the four constituent surfaces 125a to 125d as the same surface area A15, and arranges recording points in the surface area A15 according to a prescribed surface density ρS. Similarly, the recording point setting unit 111 also sets the plurality of constituent surfaces S located on the same plane as the same surface area A11 to A14 for the slope surface areas 121 to 124 divided into two parts, and arranges recording points in each surface area A11 to A14 according to a prescribed surface density ρS.

[0116] like Fig.14 As shown in FIG. 1 , depending on the position of the reference point for arranging the recording points and the surface density ρS of the recording points, there may be cases where the recording points are not arranged at the foot and top of the target shape 120, which are the locations that give features to the target shape 120. Therefore, the recording point setting unit 111 of the present embodiment arranges the recording points in each surface area A at a predetermined surface density ρS, and then, as shown in FIG. Fig.15A As shown by the black filled triangle mark ▲, additional recording points are set on the periphery of each surface area A according to the predetermined line density ρL. The line density ρL is pre-stored in ROM110b. The recording point setting unit 111 uses any point (position) on the periphery of the surface area A as a reference point and arranges recording points on the periphery at a fixed interval. In this way, the shape of the foot and top of the slope area 121 to 124 can be expressed with high precision.

[0117] The recording point setting unit 111 may also be, for example Fig. 15B As shown by the black-filled star mark ★, recording points are set at the end points of the outer peripheral line (straight line or curve) Lo constituting the outer periphery of each surface area A. Thus, the shape of the end of the slope area 121 to 124 (that is, the corner of the target shape 120) can be expressed with high precision.

[0118] In addition, the method for determining the endpoints of the line Lo is as follows. The recording point setting unit 111 calculates the angle ω between the constituent lines La and La that constitute the outer periphery of the mutually connected constituent surface S in the surface area A, and determines whether the calculated angle ω is a value within the angle range (above ω1 and below ω2) including 180°. When the angle ω is a value outside the angle range, the recording point setting unit 111 determines the connecting point between the constituent lines La and La as the endpoint. When the angle ω is a value within the angle range, the recording point setting unit 111 does not use the connecting point between the constituent lines La and La as the endpoint. In this case, the mutually connected constituent lines La and La are determined as the same outer periphery line Lo. The threshold values ​​ω1 and ω2 for specifying the angle range are pre-stored in ROM110b. ω1 is a value obtained by subtracting ω0 (for example, about 5°) from 180°, and ω2 is a value obtained by adding ω0 to 180°.

[0119] Reference Fig.16 , the contents of the recording point setting process performed by the recording point setting unit 111 are described. Fig.16 The processing of the flowchart shown is based on Fig.13 The flowchart shown is completed and started.

[0120] like Fig.16 As shown, in step S51, the recording point setting unit 111 determines the initial surface area A to be set as the target of recording point setting, and proceeds to step S53. In step S53, the recording point setting unit 111 arranges recording points in the surface area (also referred to as the target surface area) A determined as the target so as to achieve a predetermined surface density ρS (see Fig.14 ), and the process proceeds to step S55. In step S55, the recording point setting unit 111 arranges recording points on the outer periphery of the target surface area A so as to achieve a predetermined line density ρL (see Fig.15A ), and proceeds to step S57. In step S57, the recording point setting unit 111 arranges recording points at the end points of the outer peripheral line Lo of the target surface area A (refer to Fig. 15B ) and proceed to step S59.

[0121] In step S59, the recording point setting unit 111 determines whether the recording point setting is completed for all the surface areas A constituting the target surface data. In step S59, if it is determined that the recording point setting is not completed for all the surface areas A constituting the target surface data, the processing returns to step S51. In step S51, the recording point setting unit 111 determines the next surface area A to be set as the recording point from the surface areas A where the recording point has not been set, and proceeds to step S53. In step S59, if it is determined that the recording point setting is completed for all the surface areas A constituting the target surface data, the recording point setting unit 111 ends. Fig.16 The process is shown in the flowchart.

[0122] Next, refer to Fig.17 , a method for setting a direction vector performed by the recording point setting unit 111 is described. Fig.17 : is a diagram illustrating a recording point and a direction vector set at the recording point. The direction vector is a vector used to calculate the position information (ENH coordinate) of the bucket 10 trajectory and the distance (target surface distance) from the bucket 10 trajectory to the target surface St in the construction history generation unit 113 described later. In addition, the distance from the bucket 10 trajectory to the target surface St is the straight-line distance between the recording point and the intersection of the straight line extending from the recording point and extending in the direction of the direction vector and the surface constituting the bucket 10 trajectory.

[0123] like Fig.17 As shown, the direction vector of the specified recording point Pr0 can be set to a unit vector (hereinafter also referred to as the first direction vector 141) specified in a manner extending vertically upward from the recording point Pr0. The first direction vector 141 is pre-stored in ROM110b. In this way, by specifying a unit vector extending in the vertical direction from the recording point as a direction vector, the position information of the trajectory of the bucket 10 passing vertically above the recording point can be recorded as construction history data. On the other hand, when a vector extending in the vertical direction from the recording point is specified as a direction vector, it is sometimes impossible to properly record the position information of the trajectory of the bucket 10 passing from the side of the recording point. Refer to Fig.18 , describe the situation in detail.

[0124] Fig.18 1 is a diagram showing the progress of construction toward the vertical wall that constitutes the target shape 120. Fig.18 As shown, when the target shape 120 includes a vertical wall surface (target surface St) composed of a surface area A orthogonal to the reference plane (E-N plane), a plurality of recording points with the same E coordinate and N coordinate but different H coordinate are set on the vertical wall surface. Fig.18 The bucket trajectory (1), (2), and (3) shown in FIG. 1 progress toward the vertical wall in the order shown, and the bucket 10 trajectory (that is, the terrain) gradually approaches the vertical wall (target surface St). In this case, if the first direction vector 141 (refer to Fig.17), there is a risk that the construction history data cannot be properly recorded. In addition, when the target shape 120 includes an overhanging shape such as the target surface extending outward as it moves upward from the reference surface, there is also a risk that the construction history data cannot be properly recorded. Therefore, it is desirable to set a direction vector having a horizontal direction component with respect to the recording point of the vertical wall surface and the surface area A of the overhanging shape. That is, it is desirable that the direction vector changes its direction according to the inclination of the surface area A constituting the target surface data.

[0125] like Fig.17 As shown, the recording point setting unit 111 of the present embodiment calculates a unit vector extending from a specified recording point Pr0 in a direction orthogonal to the surface area A set by the recording point Pr0 as the second direction vector 142, establishes a corresponding relationship with the recording point Pr0 and stores it. That is, the second direction vector 142 is a unit vector that is parallel to the normal vector of the surface area A to which the recording point belongs and is in the opposite direction from the surface area A to the underground direction (that is, the underground direction in the air, etc.). The recording point setting unit 111 calculates the normal vector for each surface area A, uses the unit vector of the normal vector as the second direction vector 142, establishes a corresponding relationship with the recording point belonging to the surface area A and stores it. As a result, when the target shape 120 includes a vertical wall and an overhanging shape, the construction history data can be properly recorded by the construction history generating unit 113. In addition, when the target shape 120 does not include a vertical wall and an overhanging shape, the ENH coordinates of the trajectory of the bucket 10 and the target surface distance can be calculated using the first direction vector 141. In this case, the calculation load can be reduced compared to the case where the ENH coordinates of the trajectory of the bucket 10 and the target surface distance are calculated using the second direction vector 142 .

[0126] Reference Fig.19 , which illustrates the direction vector of the recording point Pc set at the corner of the target shape 120. Fig.19 As shown in FIG. 1 , when a recording point Pc exists at a corner of a slope region such as a top or a foot of a slope, there are multiple surface regions A to which the recording point Pc belongs. In this case, the direction vector of any one of the surface regions A to which the recording point Pc belongs may be adopted as the direction vector of the recording point Pc at the corner, or the unit vector of the composite vector of the direction vector of at least any two of the multiple surface regions A to which the recording point Pc belongs may be adopted as the direction vector of the recording point Pc at the corner.

[0127] Here, when the unit vector of the composite vector of the direction vectors of the plurality of surface regions A is adopted as the direction vector of the recording point Pc, weighting may be performed with respect to the direction vector (unit vector of the normal vector) of each surface region A. The recording point setting unit 111 of this embodiment adopts the unit vector of the composite vector of all the direction vectors with different directions among the direction vectors of the plurality of surface regions A to which the recording point Pc belongs as the direction vector of the recording point Pc. Thus, regardless of the inclination of the target surface St (surface region A), the current terrain that gradually approaches the target surface St (surface region A) as the construction progresses can be recorded with high accuracy.

[0128] like Fig.17 As shown, when the computing power of the vehicle body controller 110 is sufficient, the position (ENH coordinate) at the shortest distance from the recording point in the trajectory of the bucket 10 passing through the area of ​​the fixed range during the fixed range period may be obtained as the position information of the trajectory of the bucket 10. In this case, the distance (shortest distance) Dmin from the position to the recording point is taken as the distance (target surface distance) from the trajectory of the bucket 10 to the target surface St. In addition, when the position at the shortest distance from the recording point is obtained as the position information of the trajectory of the bucket 10, the direction vector changes according to the trajectory of the bucket 10, and thus the direction vector cannot be determined in the recording point setting unit 111. Therefore, when the position at the shortest distance from the recording point is obtained as the position information of the trajectory of the bucket 10, the processing of determining the direction vector by the recording point setting unit 111 is omitted.

[0129] As described above, the recording point setting unit 111 sets the coordinates of multiple recording points based on the target surface data, and sets the direction vector of each recording point. In addition, the coordinates of the recording point can be the ENH coordinates of the field coordinate system, or the coordinates of other coordinate systems. Here, in the case where there are not multiple recording points with the same E coordinate and N coordinate but different H coordinates (the combination of the E coordinate and N coordinate of the recording point is unique), only the E coordinate and N coordinate of the recording point can be calculated, and the calculation of the H coordinate can be omitted. In addition, in the case where the direction vector takes a fixed value independent of the recording point, the calculation processing of the direction vector can be omitted.

[0130] That is, the recording point setting unit 111 only needs to be configured to set sufficient information for determining the recording point and the direction vector. The recording point setting unit 111 may also assign a unique ID to each recording point. In this case, the construction history generating unit 113 described later omits recording the recording point and the direction vector to the construction history data, and only records the unique ID. In this case, the output unit 154 described later needs to be configured to be able to input or export a combination of the unique ID and the recording point for each recording point, so that the capacity of the construction history data can be reduced.

[0131] The trajectory calculation unit 112 calculates the trajectory of the bucket 10 based on the pressure information from the pressure detection device 162 , the operation information from the operation detection device 163 , and the posture information (angle information) from the posture detection device 130 .

[0132] In the "digging action" of digging a mountain with the bucket 10, the trajectory of the bucket 10 is the movement trajectory of the claw tip of the bucket 10 in contact with the ground. In the "compacting action" of compacting the ground with the back of the bucket 10 by moving the bucket 10 forward, the trajectory of the bucket 10 is the movement trajectory of a specific part on the back of the bucket 10 in contact with the ground. In the "slope compacting action" of hitting the ground with the bucket 10, the trajectory of the bucket 10 is equivalent to the bottom surface of the bucket 10 at the moment when the bucket 10 hits the ground.

[0133] During the compaction operation, the "specific portion on the back of the bucket 10" that contacts the ground varies depending on the shape of the bucket 10. For example, in a bucket such as a slope bucket where the back and bottom of the bucket are not smoothly connected, it is preferable to set the end of the bottom of the bucket on the side opposite to the claw tip as the specific portion on the back. On the other hand, as in a normal bucket, the back and bottom of the bucket are smoothly connected, and the back of the bucket 10 is a curved surface, which results in a different portion that contacts the ground depending on the shape of the bucket 10. Therefore, it is preferable to experimentally perform the compaction operation before the operation, confirm the portion where the bucket 10 contacts the ground, and set the specific portion on the back of the bucket 10.

[0134] The trajectory calculation unit 112 determines whether the hydraulic excavator 100 is performing an excavation operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. During the excavation operation, the arm is pulled back and the bucket 10 is in contact with the ground.

[0135] The trajectory calculation unit 112 determines that the boom pull-back operation is being performed when the boom pull-back operation amount of the left operating lever device 22b is greater than a predetermined operation amount threshold La1, and determines that the boom pull-back operation is not being performed when the boom pull-back operation amount is less than the operation amount threshold La1. The operation amount threshold La1 is a threshold for determining whether the left operating lever device 22b is operated in the boom pull-back direction, and is pre-stored in the ROM 110b.

[0136] The trajectory calculation unit 112 determines that the bucket 10 is in contact with the ground when the pressure Pab in the oil chamber on the cylinder bottom side of the boom cylinder 6 is greater than the pressure threshold value Pab0, and determines that the bucket 10 is not in contact with the ground when the pressure Pab in the oil chamber on the cylinder bottom side of the boom cylinder 6 is less than the pressure threshold value Pab0. The pressure threshold value Pab0 is a threshold used to determine whether the bucket 10 is in contact with the ground during the excavation operation based on the boom pull-back operation, and is pre-stored in the ROM 110b. When the bucket 10 is in contact with the ground when the boom cylinder 6 moves in the direction of extension, the pressure in the oil chamber on the cylinder bottom side of the boom cylinder 6 rises. Therefore, by monitoring the pressure in the oil chamber on the cylinder bottom side of the boom cylinder 6, it is possible to determine whether the excavation operation is being performed.

[0137] The trajectory calculation unit 112 determines that the hydraulic excavator 100 is performing an excavation operation when the arm pull-back operation amount of the left operating lever device 22b is greater than the operation amount threshold La1 and the pressure Pab of the cylinder bottom side oil chamber of the arm cylinder 6 is greater than the pressure threshold Pab0. The trajectory calculation unit 112 determines that the hydraulic excavator 100 is not performing an excavation operation when the arm pull-back operation amount of the left operating lever device 22b is less than the operation amount threshold La1 or when the pressure Pab of the cylinder bottom side oil chamber of the arm cylinder 6 is less than the pressure threshold Pab0.

[0138] The trajectory calculation unit 112 determines whether the hydraulic excavator 100 is performing a compacting operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. During the compacting operation, the arm push-out operation is performed and the bucket 10 is in contact with the ground.

[0139] The trajectory calculation unit 112 determines that the boom push-out operation is being performed when the boom push-out operation amount of the left operating lever device 22b is greater than a predetermined operation amount threshold La2, and determines that the boom push-out operation is not being performed when the boom push-out operation amount is less than the operation amount threshold La2. The operation amount threshold La2 is a threshold for determining whether the left operating lever device 22b is operated in the boom push-out direction, and is pre-stored in the ROM 110b.

[0140] The trajectory calculation unit 112 determines that the bucket 10 is in contact with the ground when the pressure Par in the piston rod side oil chamber of the boom cylinder 6 is greater than the pressure threshold Par0, and determines that the bucket 10 is not in contact with the ground when the pressure Par in the piston rod side oil chamber of the boom cylinder 6 is less than the pressure threshold Par0. The pressure threshold Par0 is a threshold used to determine whether the bucket 10 is in contact with the ground during a compaction operation based on a boom push-out operation, and is pre-stored in ROM 110b. When the bucket 10 is in contact with the ground when the boom cylinder 6 moves in the direction of contraction, the pressure in the piston rod side oil chamber of the boom cylinder 6 rises. Therefore, by monitoring the pressure in the piston rod side oil chamber of the boom cylinder 6, it is possible to determine whether a compaction operation is being performed.

[0141] The trajectory calculation unit 112 determines that the hydraulic excavator 100 is performing a compacting operation when the arm push-out operation amount of the left operating lever device 22b is greater than the operation amount threshold La2 and the pressure Par of the piston rod side oil chamber of the arm cylinder 6 is greater than the pressure threshold Par0. The trajectory calculation unit 112 determines that the hydraulic excavator 100 is not performing a compacting operation when the arm push-out operation amount of the left operating lever device 22b is less than the operation amount threshold La2 or when the pressure Par of the piston rod side oil chamber of the arm cylinder 6 is less than the pressure threshold Par0.

[0142] The trajectory calculation unit 112 determines whether the hydraulic excavator 100 is performing a slope compacting operation based on the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. During the slope compacting operation, the boom is lowered and the bucket 10 contacts and presses the ground.

[0143] The trajectory calculation unit 112 determines that the boom lowering operation is being performed when the boom lowering operation amount of the right operating lever device 22a is greater than the predetermined operation amount threshold value Lb1, and determines that the boom lowering operation is not being performed when the boom lowering operation amount is less than the operation amount threshold value Lb1. The operation amount threshold value Lb1 is a threshold value for determining whether the right operating lever device 22a is operated in the boom lowering direction, and is pre-stored in the ROM 110b.

[0144] The trajectory calculation unit 112 determines that the bucket 10 is in contact with the ground and is pressing the ground when the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is greater than the pressure threshold value Pbr0, and determines that the bucket 10 is not pressing the ground when the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is less than the pressure threshold value Pbr0. The pressure threshold value Pbr0 is a threshold value used to determine whether the bucket 10 is pressing the ground in the slope compaction operation based on the boom lowering operation, and is pre-stored in the ROM 110b. When the boom cylinder 5 moves in the direction of contraction, if the bucket 10 presses (strikes) the ground, the pressure of the piston rod side oil chamber of the boom cylinder 5 rises sharply. Therefore, by monitoring the pressure of the piston rod side oil chamber of the boom cylinder 5, it is possible to determine whether the slope compaction operation is being performed.

[0145] The trajectory calculation unit 112 determines that the hydraulic excavator 100 is performing a slope compacting operation when the boom-down operation amount of the right operating lever device 22a is greater than the operation amount threshold value Lb1 and the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is greater than the pressure threshold value Pbr0. The trajectory calculation unit 112 determines that the hydraulic excavator 100 is not performing a slope compacting operation when the boom-down operation amount of the right operating lever device 22a is less than the operation amount threshold value Lb1 or when the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is less than the pressure threshold value Pbr0.

[0146] In addition, the method for judging the excavation action, compaction action, and slope compaction action is not limited to the above method. The action may also be judged based on one of the operation information from the operation detection device 163 and the pressure information from the pressure detection device 162. For example, when the time change rate of the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is greater than the threshold value, it may be judged that the slope compaction action is being performed, and when the time change rate of the pressure Pbr of the piston rod side oil chamber of the boom cylinder 5 is less than the threshold value, it may be judged that the slope compaction action is not being performed.

[0147] The trajectory calculation unit 112 executes trajectory calculation processing after determining that any one of the excavation operation, the compaction operation, and the slope compaction operation is being performed. The trajectory calculation processing will be described in detail below.

[0148] The trajectory calculation unit 112 repeatedly calculates the position coordinates (position information) of the monitoring points set on the bucket 10 according to a predetermined calculation cycle, thereby calculating the trajectory (trajectory data) of the bucket 10 composed of the position coordinates of the monitoring points at each moment. By connecting the position coordinates of the monitoring points in time series, the surface constituting the trajectory of the bucket 10 is determined.

[0149] The monitoring points are points used to determine the trajectory of the portion where the bucket 10 contacts the ground when the working device 100a is working, and are set according to the action content (work content) of the hydraulic excavator 100. When it is determined that the excavation action is to be performed, the trajectory calculation unit 112 sets two points on the left and right ends of the claw tip Pb of the bucket 10 as monitoring points. When it is determined that the compaction action is to be performed, the trajectory calculation unit 112 sets two points on the left and right ends of a specific portion of the back of the bucket 10 as monitoring points. When it is determined that the slope compaction action is to be performed, the trajectory calculation unit 112 sets the four corners of the bottom surface of the bucket 10 as monitoring points.

[0150] The trajectory calculation unit 112 calculates the position coordinates of the monitoring point in the field coordinate system at each predetermined time (calculation cycle) based on the posture information (boom angle α, arm angle β, bucket angle γ, antenna position coordinates of the first GNSS antenna 35a in the field coordinate system, and azimuth angle θy, roll angle θr, pitch angle θp of the vehicle body 100b (rotating body 12)) output by the posture detection device 130 and the size information of each part of the hydraulic excavator 100 stored in the ROM 110b. The position coordinates of the monitoring point calculated at each predetermined time are information indicating the trajectory of the bucket 10. That is, the trajectory calculation unit 112 calculates the trajectory of the bucket 10 based on the posture information and size information of the hydraulic excavator 100.

[0151] Reference Figure 6 , an example of a specific method of calculating the position coordinates of the monitoring point when performing the excavation operation is described. Figure 6 This is a diagram showing the excavator reference coordinate system. Figure 6 The excavator reference coordinate system is a coordinate system set relative to the rotating body 12. In the excavator reference coordinate system, the center of the left-right width of the boom pin 91 on the center axis of the boom pin 91 is set as the origin O. In the excavator reference coordinate system, the axis parallel to the rotation center axis of the rotating body 12 and extending from the origin O to the top of the rotating body 12 is set as the Z axis. In the excavator reference coordinate system, the axis orthogonal to the Z axis and extending from the origin O to the front of the rotating body 12 is set as the X axis. In the excavator reference coordinate system, the axis orthogonal to the Z axis and the X axis and extending from the origin O to the left direction of the rotating body 12 is set as the Y axis. That is, the center axis of the boom pin 91 extending in the left-right direction of the rotating body 12 is set as the Y axis.

[0152] The inclination angle of the boom 8 relative to the X-Y plane is the boom angle α, the inclination angle of the arm 9 relative to the boom 8 is the arm angle β, and the inclination angle of the bucket 10 relative to the arm 9 is the bucket angle γ. The boom angle α is the minimum value when the boom 8 is raised to the upper limit (the boom cylinder 5 is in the maximum extension state) and is the maximum value when the boom 8 is lowered to the lower limit (the boom cylinder 5 is in the maximum contraction state). The arm angle β is the minimum value when the arm cylinder 6 is in the maximum contraction state and is the maximum value when the arm cylinder 6 is in the maximum extension state. The bucket angle γ is the maximum contraction state of the bucket cylinder 7 ( Figure 6 The value is the smallest in the state of the bucket cylinder 7 being stretched to its maximum extent (in the state of the bucket cylinder 7 being stretched to its maximum extent). In addition, the tilt angle of the vehicle body 100b (rotating body 12) around the Y axis is the pitch angle θp, the tilt angle of the vehicle body 100b (rotating body 12) around the X axis is the roll angle θr, and the tilt angle of the vehicle body 100b (rotating body 12) around the Z axis is the azimuth angle θy.

[0153] The vehicle body coordinate system and the site coordinate system can be mutually converted using the azimuth angle θy, the pitch angle θp, and the roll angle θr, the coordinates in the excavator reference coordinate system of the first GNSS antenna 35a, and the coordinates in the site coordinate system by RTK-GNSS positioning of the first GNSS antenna 35a.

[0154] The position coordinates of the monitoring point in the on-site coordinate system can be obtained by converting the position coordinates in the excavator reference coordinate system calculated from the rotation angles α, β, γ of the boom 8, arm 9, and bucket 10 and the size information of the working device 100a.

[0155] Monitoring point in the excavator reference coordinate system ( Figure 6 In the example shown, the Z coordinate and the X coordinate of the claw tip (Pb) of the bucket 10 can be expressed by the following equations (1) and (2).

[0156]

Number 1

[0157] Z=Lbm·sinα+Lam·sin(α+β)+Lbkt·sin(α+β+y)…(1)

[0158]

Number 2

[0159] X=Lbm·cosα+Lam·cos(α+β)+Lbkt··cos(α+β+y)…(2)

[0160] In addition, the Y coordinate of the claw tip Pb of the bucket 10 as the monitoring point can be obtained from the offset (fixed value) Yo in the Y-axis direction from the origin O to the center of the width direction of the bucket 10 and the width of the claw tip of the bucket 10. For example, when the width of the claw tip Pb of the bucket 10 is bw, the Y coordinate of the monitoring point is Yo-(bw / 2) and Yo+(bw / 2). The offset Yo is pre-stored in the ROM 110b. In addition, when the Y coordinate of the center of the width direction of the bucket 10 is 0 (zero), the Y coordinate of the monitoring point is (-bw / 2) and (+bw / 2).

[0161] If the vector from the first GNSS antenna 35a in the excavator reference coordinate system toward the origin of the excavator reference coordinate system is set to (offset_X, offset_Y, offset_Z), the rotation matrix rotating around the X, Y, and Z axes in the excavator reference coordinate system is set to Rx(θr), Ry(θp), and Rz(θy), the position coordinates of the monitoring point in the excavator reference coordinate system are set to (X, Y, Z), and the position vector from the origin of the field coordinate system toward the position coordinates of the first GNSS antenna 35a is set to (E_GNSS, N_GNSS, H_GNSS), then the position coordinates (E, N, H) of the monitoring point in the field coordinate system, that is, the ENH coordinates, are calculated by the following formula (3).

[0162]

Number 3

[0163]

[0164] Figure 5 The construction history generating unit 113 shown generates construction history data based on the coordinates and direction vectors of the recording points calculated by the recording point setting unit 111 and the trajectory of the bucket 10 (the trajectory of the monitoring points) calculated by the trajectory calculating unit 112. The construction history generating unit 113 establishes a correspondence between the position coordinates (position information) of the monitoring points constituting the trajectory of the bucket 10 and each of the plurality of recording points using a predetermined method, thereby calculating the position information of the trajectory of the bucket 10 as the construction history data. The construction history generating unit 113 records the generated construction history data in the storage device 169.

[0165] Fig. 20 is a diagram showing an example of a construction history data table. Fig. 20 As shown, the construction history data table is a collection of log data recorded together with time (time stamp). Fig. 20The log data of the construction history data table shown includes ENH coordinates (also called recording point coordinates) as information of recording points, ENH coordinates (also called trajectory coordinates) as position information of the trajectory of the bucket 10 passing through the vicinity of the recording point, and action judgment results obtained based on the trajectory calculation unit 112.

[0166] Reference Fig.21 , a method for calculating the trajectory coordinates of the bucket 10 as construction history data is described. Fig.21 As shown, the construction history generating unit 113 calculates the ENH coordinates of the intersection between the straight line passing through the recording point and extending in the direction of the direction vector and the surface constituting the trajectory of the bucket 10 as the trajectory coordinates. The construction history generating unit 113 records the calculated trajectory coordinates in the construction history data table. That is, in this embodiment, a plurality of recording points are associated with the position information of the monitoring points constituting the trajectory of the bucket 10 by using the direction vector extending from the recording point, thereby calculating the construction history data.

[0167] However, Fig.21 In the example shown, as in the case of a recording point set on a vertical wall, depending on the position of the recording point and the direction vector, there is a case where a straight line passing through the recording point and extending in the direction of the direction vector intersects the track of the bucket 10 at a position far from the current terrain. Therefore, in the present embodiment, the construction history generating unit 113 establishes a correspondence relationship with the recording point and calculates the distance in the direction of the direction vector from the recording point to the track of the working device 100a (that is, the distance from the track of the bucket 10 to the recording point, i.e., the target surface distance) D. When the calculated target surface distance D is greater than the distance threshold D0, the position information of the track of the working device 100a corresponding to the recording point is not recorded as the construction history data. When the calculated target surface distance D is less than the distance threshold D0, the construction history generating unit 113 records the position information of the track of the working device 100a corresponding to the recording point, i.e., the ENH coordinates, as the construction history data. The distance threshold D0 is, for example, a fixed value of about 1m and is pre-stored in the ROM 110b.

[0168] Fig. 22 FIG. 2 is a diagram showing another example of a construction history data table. Fig. 22 As shown, the log data of the construction history data table includes the ENH coordinates of the recording point (recording point coordinates), the distance from the recording point to the direction of the direction vector of the trajectory of the bucket 10 (that is, the distance from the trajectory of the bucket 10 to the target surface St, i.e., the target surface distance) D, the direction vector used to calculate the target surface distance D, and the action judgment result obtained based on the trajectory calculation unit 112.

[0169] As described above, the target surface distance D is the straight-line distance from the intersection point between the straight line passing through the recording point and extending in the direction of the direction vector and the surface constituting the trajectory of the bucket 10 to the recording point. When the trajectory of the bucket 10 is in the direction of the direction vector (in the air or on the ground) from the target surface St, the target surface distance D takes a positive value, and when the trajectory of the bucket 10 is in the opposite direction of the direction vector (toward the underground direction) from the target surface St, the target surface distance D takes a negative value.

[0170] In this way, the construction history generating unit 113 may calculate the ENH coordinates of the trajectory of the bucket 10 and record the calculated ENH coordinates of the trajectory of the bucket 10 itself as the construction history data (see Fig. 20 ), or it may be to calculate the ENH coordinates, direction vectors, and target surface distance D of the recording points required to determine the ENH coordinates of the trajectory of the bucket 10, and record the calculation results as construction history data (refer to Fig. 22 ).

[0171] In addition, the ENH coordinates of the trajectory of the bucket 10 (see Fig. 20 ) and the direction vector (see Fig. 22 ) is a parameter that establishes a corresponding relationship with the recording point. Therefore, when a unique ID is assigned to each recording point, the ID of the recording point can be recorded instead of the ENH coordinates of the recording point, thereby seeking to reduce the capacity of the construction history data. In addition, in the case where the construction history data table contains repeated information such as the same timestamp in multiple log data, the log data can be set to a variable length to reduce the amount of data. Moreover, in the case where the direction vector always uses a fixed value such as (0, 0, 1), in the case where the direction vector can be obtained by comparing the coordinates of the recording point and the target surface data and then processing it, or in the case where the direction vector is not used, it is also possible to not record unnecessary information and information that can be derived from other parameters and use it as construction history data.

[0172] Figure 5 The transmission unit 114 shown transmits the log data of the construction history data generated by the construction history generation unit 113 and stored in the storage device 169 to the management controller 150. That is, the vehicle body controller 110 constituting the construction history calculation system 181 outputs the log data of the construction history data stored in the storage device 169 to the management controller 150 constituting the terrain data calculation system 182.

[0173] Reference Fig.23 , describing the construction history data generation process performed by the vehicle body controller 110. Fig.23The process of the flowchart shown is started, for example, when an ignition switch (not shown) is turned on. After the process of setting the recording point of the track in step S100 is performed, the processes of steps S105 to S140 are repeatedly executed in a predetermined calculation cycle.

[0174] like Fig.23 As shown, in step S100, the vehicle body controller 110 (recording point setting unit 111) sets the coordinates and direction vector of the recording point based on the target surface data input from the target surface input device 161, and proceeds to step S105. In addition, the specific processing content of step S100 is referred to Fig.13 as well as Fig.16 In step S105, the vehicle body controller 110 (trajectory calculation unit 112) obtains sensor information such as the operation information (operation direction and operation amount) detected by the operation detection device 163, the posture information (position coordinates of the hydraulic excavator 100, boom angle α, arm angle β, bucket angle γ, pitch angle θp, roll angle θr and azimuth angle θy) detected by the posture detection device 130, and the pressure information detected by the pressure detection device 162, and proceeds to step S110.

[0175] In step S110, the vehicle body controller 110 (trajectory calculation unit 112) performs an action determination process to determine whether any one of the excavation action, compaction action, and slope compaction action is being performed based on the operation information and pressure information acquired in step S105. In step S110, if it is determined that any one of the excavation action, compaction action, and slope compaction action is being performed, it is considered that the work based on the working device 100a is being performed, and the process proceeds to step S120. In step S110, if it is determined that any one of the excavation action, compaction action, and slope compaction action is not being performed, the process returns to step S105.

[0176] In step S120, the vehicle body controller 110 (trajectory calculation unit 112) calculates the trajectory of the bucket 10 (position coordinates of the monitoring point), and proceeds to step S125. In step S125, the vehicle body controller 110 (construction history generation unit 113) calculates the coordinates of the intersection point between the straight line passing through the recording point and extending in the direction of the direction vector and the surface constituting the trajectory of the bucket 10 (trajectory coordinates corresponding to the recording point) and the target surface distance D based on the trajectory of the bucket 10 calculated in step S120 and the recording point and direction vector set in step S100, and proceeds to step S130. In addition, when there is no intersection point between the straight line passing through the recording point and extending in the direction of the direction vector and the surface constituting the trajectory of the bucket 10, a predetermined invalid value is set for the target surface distance D. The invalid value is a value greater than the distance threshold D0, and is stored in advance in the ROM 110b.

[0177] In step S130, the vehicle body controller 110 (construction history generating unit 113) determines whether the bucket 10 has passed near the recording point. In step S130, when the target surface distance D calculated in step S125 is less than the distance threshold D0, the vehicle body controller 110 determines that the bucket 10 has passed near the recording point corresponding to the target surface distance D, and proceeds to step S140. In step S130, when the target surface distance D corresponding to all the recording points calculated in step S125 is greater than the distance threshold D0, the vehicle body controller 110 determines that the bucket 10 has not passed near the recording point, and returns to step S105.

[0178] In step S140, the body controller 110 records the ENH coordinates of the recording point judged by step S130 as the point where the bucket 10 passed near the recording point, the ENH coordinates of the trajectory corresponding to the recording point, the target surface distance, and the action content together with the time (timestamp) in this calculation cycle to the storage device 169 as construction history data, and then returns to step S105.

[0179] By repeatedly executing Fig.23 The log data of the construction history data is accumulated in the storage device 169 by the processing of steps S105 to S140 shown in the flowchart of FIG. 16. The log data of the construction history data accumulated in the storage device 169 is transmitted to the management server 51 in accordance with a predetermined transmission cycle.

[0180] like Figure 5 As shown, the management controller (second processing device) 150 of the management server 51 performs the following processing: receiving the construction history data sent from the body controller 110 of the hydraulic excavator 100, and generating terrain data based on the position information of the trajectory of the bucket 10 included in the received construction history data. The functions of the management controller 150 are described in detail below.

[0181] The management controller 150 functions as a receiving unit 151 , an extracting unit 152 , and an output unit 154 . The receiving unit 151 receives the construction history data transmitted from the vehicle body controller 110 of the hydraulic excavator 100 , and stores the log data of the received construction history data in the storage device 52 .

[0182] The receiving unit 151 accumulates the log data of the construction history data outputted from the specific hydraulic excavator 100 in the storage device 52. Alternatively, the receiving unit 151 may accumulate the construction history data outputted from a plurality of hydraulic excavators 100 in the storage device 52.

[0183] When log data of construction history data is accumulated in the storage device 52, there is a case where log data of duplicate construction areas is included in the log data. The extraction unit 152 estimates data in which the trajectory of the bucket 10 is close to the shape of the current terrain in the log data of the construction history data stored in the storage device 52 and extracts it. That is, when the construction history data is data obtained by excavation or compaction, the extraction unit 152 extracts log data estimated that the bucket 10 has moved along the current terrain. Hereinafter, the log data extracted by the extraction unit 152 is also referred to as extracted log data.

[0184] The extraction unit 152 determines whether the construction area is repeated with respect to the log data of the construction history data stored in the storage device 52 (that is, whether there are two or more log data with the same corresponding record point).

[0185] In this embodiment, when there are multiple timestamp log data for the same recording point, the extraction unit 152 determines that the construction area is repeated. For log data determined to be repeated, such as log data in which the combination of E coordinates and N coordinates in the ENH coordinates of the trajectory is repeated with other log data, the extraction unit 152 estimates the log data closest to the current terrain shape among these log data based on the extraction conditions and extracts it.

[0186] If there is log data about a recording point different from other recording points, the extracting unit 152 determines that the construction areas are not overlapped. The extracting unit 152 directly adopts the log data determined that the construction areas are not overlapped as extracted log data.

[0187] Reference Fig.24 , an example of a method for setting extraction conditions for log data of construction history data is described. Fig.24 As shown, in the case where there is no piled-up part on site (only the case where there is a low excavation), it is considered that the height of the current terrain is always changing in the direction of becoming lower, so it is preferred that the extraction condition of "the target surface distance is the lowest value" is adopted for the log data of the construction history data. In this case, the data with the lowest value of the target surface distance D in the log data repeated in the construction area is extracted as the extracted log data. In the case where there is a piled-up part on site, it is assumed that the height of the current terrain is high and low, so it is preferred that the condition of the height direction is not used for the log data of the construction history data, but the extraction condition of "the time is the latest value" using the time information is used. In this case, the data with the latest value at the time in the log data repeated in the construction area is extracted as the extracted log data.

[0188] Figure 5The output unit 154 shown converts the log data extracted by the extraction unit 152 into point cloud data or TIN (Triangulated Irregular Network) data, and outputs the converted data as current topographic data to the progress management system 190 .

[0189] The progress management system 190 calculates progress management information such as the existing height and existing shape based on the current topographic data generated by the management controller 150. The progress management system 190 displays the progress management information to the display device 53 (see Figure 1 , Figure 4 ) output, and display the progress management information on the display screen of the display device 53, thereby providing information to the manager. In addition, the information presentation method is not limited to this. The progress management system 190 can also output the progress management information to a printing device (not shown), and print the progress management information on a paper medium through the printing device.

[0190] The progress management system 190 may display the progress management information on the display device 164 (see FIG. 164 ) mounted on the hydraulic excavator 100. Figure 4 ) and the display screen of a portable terminal such as a smart phone, a tablet computer, a notebook PC, etc. carried by an operator working around the hydraulic excavator 100. In addition, the function of the progress management system 190 may also be possessed by the management controller 150.

[0191] Reference Fig.25 , describing the terrain data generation and output processing performed by the management controller 150. Fig.25 The processing of the flowchart shown is started in response to an execution operation of the terrain data generation and output processing by the input device 54 of the management server 51, and is executed after the initial setting (not shown) is performed.

[0192] In step S150 , the management controller 150 extracts the extracted log data from the log data of the construction history data stored in the storage device 52 based on the extraction condition, and proceeds to step S170 .

[0193] In step S170, the management controller 150 converts the log data extracted in step S150 into point group data or TIN data, outputs the converted data as current terrain data to the progress management system 190, and ends. Fig.24 The process is shown in the flowchart.

[0194] Reference Fig.26A as well as Fig.26B, describing the difference between the terrain data generated by the terrain data generating system 180 of the present embodiment and the terrain data generated by the terrain data generating system of the comparative example of the present embodiment. Fig.26A is a diagram showing terrain data generated by the terrain data generation system 180 of this embodiment. Fig.26B It is a diagram showing terrain data generated by a terrain data generation system according to a comparative example of the present embodiment.

[0195] like Figure 7 , Figure 8 as well as Fig.26B As shown, the terrain data generation system of the comparative example of the present embodiment generates terrain data based on the recording points arranged at a fixed interval di on the E-N plane. That is, in the terrain data generation system of the comparative example of the present embodiment, the surface density of the recording points in the slope surface areas 121 to 124 is smaller than that in the top surface area 125. Therefore, in the terrain data generation system of the comparative example of the present embodiment, Fig.26B As shown by the two-dot chain line in the middle, there is a situation where the terrain shape 99 of characteristic parts such as the top and foot of the slope cannot be reproduced with high accuracy.

[0196] In contrast, in the terrain data generating system 180 of this embodiment, Fig.10 as well as Fig.26A As shown in FIG. 1 , the recording points are set in the slope surface areas 121 to 124 so that the surface density of the recording points in the slope surface areas 121 to 124 is equal to the surface density of the recording points in the top surface area 125. Therefore, in this embodiment, the topographic shape 99 of the characteristic parts such as the top and the foot of the slope can be reproduced with high accuracy compared with the comparative example. Fig.15A As shown in FIG. 1 , recording points (triangular marks ▲) are arranged on the periphery of each surface area A constituting the target shape 120, thereby being able to reproduce the topographic shape 99 of characteristic parts such as the top and foot of the slope with higher accuracy. Fig. 15B As shown, recording points (see star marks ★) are arranged at the end points of the outer peripheral lines Lo of the surface areas A constituting the target shape 120, thereby enabling the corners of the topographic shape 99 to be reproduced with high accuracy.

[0197] According to the above-mentioned embodiment, the following effects are achieved.

[0198] (1) The construction history calculation system 180 has a body controller (controller) 110 that calculates construction history data based on the detection result of the posture detection device 130 that detects the posture of the hydraulic excavator (working machine) 100. The body controller 110 obtains target surface data, and based on the obtained target surface data, sets a plurality of recording points in a manner to achieve a predetermined surface density ρS relative to the surface area A constituting the target surface data. In addition, the surface area A is composed of one or more constituent surfaces S. For example, the body controller 110 sets a plurality of constituent surfaces constituting the target surface data (including a target constituent surface, and a plurality of constituent surfaces adjacent to the target constituent surface) as the surface area A. The body controller 110 calculates the trajectory of the working device 100a of the hydraulic excavator 100 based on the detection result of the posture detection device 130. The body controller 110 calculates the position information of the trajectory of the working device 100a by establishing a correspondence between the position information of the monitoring point of the working device 100a constituting the trajectory of the working device 100a and each of the plurality of recording points, and uses it as construction history data. The position information of the trajectory of the working device 100a can be as follows: Fig. 20 The coordinates of the trajectory of the monitoring point are shown as follows. Fig. 22 Shown is information for determining the coordinates of the trajectory of the monitoring point, that is, the coordinates of the recording point, the direction vector and the target surface distance.

[0199] In this configuration, the recording points can be arranged in the surface area A at an appropriate surface density. Fig.10 As shown, the surface density of the recording points set in the slope surface areas 121 to 124 can be set to the same degree as the surface density of the recording points set in the top surface area 125. That is, the construction history calculation system 181 can generate construction history data based on the recording points with appropriately set surface density and output it. Therefore, the terrain data calculation system 182 can generate high-precision terrain data. That is, according to this embodiment, it is possible to provide a construction history calculation system 181 that can calculate the construction history data required for the generation of high-precision terrain data and output the calculated construction history data to the terrain data calculation system 182.

[0200] (2) The terrain data generation system 180 includes a terrain data calculation system 182, which calculates terrain data representing the existing shape of the working device 100a obtained by the hydraulic excavator (working machine) 100 based on the construction history calculation system 181 and the position information of the trajectory of the working device 100a included in the construction history data. Therefore, according to this embodiment, it is possible to provide a terrain data generation system 180 that can generate high-precision terrain data.

[0201] (3) In Fig. 9 as well as Fig.10When the surface area A is set as shown, the vehicle body controller 110 sets the recording points to a fixed surface density for all the constituent surfaces (top surface area 125, slope surface areas 121 to 124) constituting the target surface data. Fig.11 When the surface area A (first surface area A1) is set as shown, the vehicle body controller 110 sets the recording points so as to have a fixed surface density for all the surface areas A (A1, A2, ...) constituting the target surface data. Fig.14 When the surface area A is set as shown, the vehicle body controller 110 sets the recording points for the surface areas A11, A12, A13, A14, and A15 so that the surface density ρS is the same. Thus, the construction history calculation system 181 can output the construction history data required for generating terrain data with uniform accuracy.

[0202] (4) The target surface data is data that specifies the target shape 120 by a plurality of constituent surfaces S. The vehicle body controller 110 obtains the angle between the normal lines of the target constituent surface and the adjacent constituent surfaces among the plurality of constituent surfaces S constituting the target surface data. Less than the pre-defined angle threshold In the case of , the target component face and the adjacent component face are set as the same face area (for example, Fig.11 The vehicle body controller 110 determines the angle between the normal lines of the target constituent surface and the adjacent constituent surfaces among the plurality of constituent surfaces S that constitute the target surface data acquired. is the angle threshold In the above case, the target constituting surface and the adjacent constituting surface are set as different surface areas (for example, including Fig.11 The surface area A1 of the constituent surface Sb shown in the figure, and the surface area A2 including the constituent surface Sz adjacent to the constituent surface Sb).

[0203] According to this composition, Fig.11 As shown in FIG. 1 , in the case where a flat surface or a gently curved surface is formed by a plurality of small-area constituent surfaces S, as shown in FIG. Fig. 12B As shown, the recording points can be set at an appropriate surface density for a flat surface or a curved surface.

[0204] (5) The vehicle body controller 110 sets recording points on the outer periphery of the surface area A ( Fig.15A According to this configuration, the shapes of the foot and top of the slope surface areas 121 to 124 can be expressed with high accuracy.

[0205] (6) The vehicle body controller 110 sets recording points ( Fig. 15BAccording to this configuration, the shapes of the ends of the slope regions 121 to 124 (that is, the corners of the target shape 120 ) can be expressed with high accuracy.

[0206] (7) The vehicle body controller 110 calculates the position information of the intersection between the straight line passing through the recording point and extending in the direction of the direction vector and the trajectory of the working device 100a as the construction history data. According to this configuration, compared with the case where the position (ENH coordinate) with the shortest distance from the recording point in the trajectory of the bucket 10 passing through the fixed range area during the fixed range period is obtained as the information of the trajectory of the bucket 10, the calculation burden of the vehicle body controller 110 can be reduced.

[0207] (8) The vehicle body controller 110 calculates the direction vector corresponding to the recording point based on the normal vector of the surface area A to which the recording point belongs. According to this configuration, when the target surface St (surface area A) is set perpendicularly to the reference surface (E-N plane) (when the target shape 120 includes a vertical wall surface), or when the target surface St (surface area A) is set so as to extend outward as it moves upward from the reference surface (when the target shape 120 includes an overhanging shape), the construction history calculation system 181 can appropriately output the position information of the trajectory of the bucket 10.

[0208] (9) When the direction vector is a vertically upward vector, the computational burden of the vehicle body controller 110 can be reduced. Therefore, when the target shape 120 does not include a vertical wall surface and an overhanging shape, the computational burden of the construction history data required for the generation of high-precision terrain data can be reduced by setting the direction vector to a vertically upward vector.

[0209] (10) The vehicle body controller 110 establishes a correspondence with the recording point and calculates the distance (target surface distance) D from the recording point to the trajectory of the working device 100a. When the calculated distance (target surface distance) D is greater than the distance threshold D0, the vehicle body controller 110 does not record the position information of the trajectory of the working device 100a that has established a correspondence with the recording point as construction history data. When the calculated distance (target surface distance) D is less than the distance threshold D0, the vehicle body controller 110 records the position information of the trajectory of the working device 100a that has established a correspondence with the recording point as construction history data. According to this configuration, it is possible to prevent the generation of duplicate position information regarding a specified position of the trajectory of the bucket 10. That is, the data capacity output from the construction history calculation system 181 to the terrain data calculation system 182 can be reduced.

[0210] The following modified examples also fall within the scope of the present invention, and it is possible to combine the configurations shown in the modified examples with the configurations described in the above-mentioned embodiment, or to combine the configurations described in the following different modified examples with each other.

[0211] <Variation 1>

[0212] In the above embodiment, the recording points are set so that all the multiple surface areas A constituting the target surface data have the same surface density, but the present invention is not limited thereto. The vehicle body controller 110 may set the recording points so that each surface area A has a different surface density.

[0213] Usually, the part where it is desired to confirm in detail whether the construction is carried out according to the design by the existing shape inspection or the like is mostly the slope surface areas 121 to 124. Therefore, the recording point setting unit 111 may set the recording points in such a way that the surface density of the recording points in the slope surface areas 121 to 124 is greater than the surface density of the recording points in the top surface area 125. In this case, the recording point setting unit 111 sets the interval of the recording points in the slope surface areas 121 to 124 to be shorter than the interval of the recording points in the top surface area 125.

[0214] Fig. 27 The content of the recording point setting process executed by the vehicle body controller 110 according to the first modification of the present embodiment will be described. Fig. 27 As shown, in step S201, the vehicle body controller 110 obtains the target surface data and proceeds to step S203. In step S203, the vehicle body controller 110 calculates the inclination angle θ of each surface area A relative to the reference plane (E-N plane), and proceeds to step S207. The inclination angle θ is 0° when parallel to the reference plane, increases as the inclination from the reference plane increases, and is 90° when orthogonal to the reference plane (0°≤θ≤90°).

[0215] In step S207, the vehicle body controller 110 calculates the surface density corresponding to the inclination angle θ for each surface area A, establishes a corresponding relationship between the surface density and the surface area A, and stores it in the RAM 110c. The surface density corresponding to the inclination angle θ is calculated based on, for example, a table or calculation formula that defines the relationship that the surface density increases as the inclination angle θ increases. The table or calculation formula that defines the relationship between the inclination angle θ and the surface density is pre-stored in the ROM 110b.

[0216] After the calculation process of the surface density for each surface area A (step S207) is completed, the process proceeds to step S210. In step S210, the vehicle body controller 110 arranges the recording points based on the area of ​​the surface area and the surface density set by establishing a corresponding relationship with the surface area A. In step S210, when the vehicle body controller 110 completes the arrangement of the recording points for all the surface areas A, the process ends. Fig. 27 The process is shown in the flowchart.

[0217] In this way, the vehicle body controller 110 of this modified example sets the recording points in a manner that the surface density is predetermined according to the inclination angle θ of the surface area A relative to the reference plane (E-N plane) for each surface area A. Therefore, the surface density of the slope surface areas 121 to 124 is higher than that of the top surface area 125. As a result, the shape accuracy of the slope surface areas 121 to 124 can be improved compared to the top surface area 125.

[0218] In addition, in the case where the slope surface regions 121 to 124 and the top surface region 125 are each a separate component surface S (see Fig. 9 ), the vehicle body controller 110 converts a plurality of constituent surfaces ( Fig. 9 In the example shown, five constituent surfaces S are set as a single surface area A. In this case, the vehicle body controller 110 sets a plurality of recording points with respect to the surface area A so as to achieve a predetermined surface density ρS. Furthermore, the vehicle body controller 110 sets the recording points with respect to each constituent surface S so as to achieve a predetermined surface density according to the inclination angle θ of the constituent surface S with respect to the reference plane.

[0219] <Variation 2>

[0220] In the above embodiment, the angle between the normal lines of the adjacent constituent surfaces S is described as Insufficient Angle Threshold In the case where a plurality of consecutive constituent surfaces S are set as the same surface area A, sometimes even if the angle between the normal lines of the adjacent constituent surfaces S is The smaller the surface area A, the larger the angle between the normal lines of the constituent surfaces at both ends of the same surface area A. The recording points are arranged at equal intervals along the first reference axis and the second reference axis parallel to a constituent surface S constituting the surface area A. Therefore, if the angle between the normal lines of the constituent surfaces S at both ends of a surface area A is large, there is a risk of deviation in surface density between the constituent surfaces S constituting a surface area A. Therefore, the body controller 110 of this modified example calculates the average vector Va of the normal vectors Vn of the multiple constituent surfaces S constituting a surface area A when a surface area A is constituted by multiple constituent surfaces S, and excludes the constituent surface S from a surface area A when the angle ψ formed by the average vector Va and the normal vector Vn of the constituent surface S is greater than the angle threshold ψ0. The angle threshold ψ0 is pre-stored in ROM110b.

[0221] Reference Fig.13 as well as Fig.28 , the steps of setting the plane region A executed by the vehicle body controller 110 of this modification are described. The vehicle body controller 110 executes Fig.13 When the setting of the surface area A is completed for all the constituent surfaces S (step S45 is yes), the process of the flowchart shown in FIG. Fig.28 As shown in the flowchart. Fig.28 As shown, in step S60, the vehicle body controller 110 determines one of the surface areas A composed of multiple constituent surfaces S among the multiple surface areas A as a surface area to be executed as an exclusion judgment target (hereinafter also referred to as a target surface area), and proceeds to step S63.

[0222] In step S63, the vehicle body controller 110 calculates the average vector Va of the normal vectors Vn of the plurality of constituent surfaces S constituting the target surface area, and proceeds to step S65. In step S65, the vehicle body controller 110 determines a constituent surface to be excluded from the plurality of constituent surfaces S constituting the target surface area (hereinafter also referred to as a determination target constituent surface), and proceeds to step S70.

[0223] In step S70 , the vehicle body controller 110 calculates an angle ψ formed between the normal vector Vn of the determination target constituent surface and the average vector Va calculated in step S63 , and proceeds to step S75 .

[0224] In step S75, the vehicle body controller 110 determines whether the angle ψ calculated in step S70 is greater than the angle threshold ψ0. In step S75, if it is determined that the angle ψ is greater than the angle threshold ψ0, the process proceeds to step S80. In step S75, if it is determined that the angle ψ is less than the angle threshold ψ0, the process proceeds to step S85.

[0225] In step S80, the vehicle body controller 110 excludes the judgment target constituent surface from the target surface area and proceeds to step S85. In step S85, the vehicle body controller 110 determines whether the exclusion judgment process has been completed for all constituent surfaces S in the target surface area (step S75). In step S85, if it is determined that the exclusion judgment process has not been completed for all constituent surfaces S in the target surface area, the process proceeds to step S65. In step S65, the vehicle body controller 110 determines the constituent surface S to be the object of exclusion judgment. Here, the vehicle body controller 110 determines the constituent surface S that has never been the object of exclusion judgment as the judgment target constituent surface.

[0226] In step S90, it is determined whether the exclusion judgment has been completed for all the surface areas A formed by the plurality of constituent surfaces S. In step S90, if it is determined that the exclusion judgment has not been completed for all the surface areas A formed by the plurality of constituent surfaces S, the process returns to step S60. In step S60, the vehicle body controller 110 sets the surface area A to be executed as the target of the exclusion judgment. In addition, the recording point setting unit 111 does not determine the surface area A that has been determined as the target surface area as the target surface area, but determines the surface area A that has never been determined as the target surface area as the target surface area.

[0227] In step S90, if the vehicle body controller 110 determines that the exclusion determination is completed for all the surface areas A formed by the plurality of constituent surfaces S, the process ends. Fig.28 The process is shown in the flowchart.

[0228] According to this modification, when a plurality of constituent surfaces S are continuously arranged with a slight inclination to form a target surface that is gently curved over a long distance, it is possible to suppress the occurrence of a difference in the angle between the normal lines of the constituent surfaces S at both ends of a single surface region A. Therefore, it is possible to prevent a deviation in the surface density between the constituent surfaces S that form a single surface region A.

[0229] <Variation 3>

[0230] In the above embodiment, an example in which the distance threshold D0 is a fixed value is described, but the present invention is not limited thereto. The distance threshold D0 can be set according to the surface density of the recording points, the distance between adjacent recording points, or the target shape 120, for example.

[0231] <Variation 3-1>

[0232] The body controller 110 of this modification calculates the distance threshold D0 for each recording point. The distance threshold D0 becomes a value that becomes smaller as the distance from the recording point to the recording point adjacent to the recording point becomes shorter. The distance between adjacent recording points becomes shorter as the surface density increases. Therefore, the distance threshold D0 becomes a value that becomes smaller as the surface density of the recording points increases. In addition, in this modification, similarly to the above-mentioned modification 1, the body controller 110 sets the recording points for each surface area A in a manner that achieves a predetermined surface density according to the inclination angle θ of the surface area A relative to the reference plane (E-N plane).

[0233] Fig.29A It is a diagram showing an example of a distance threshold table stored in the ROM 110 b. Fig.29A In the distance threshold table shown, the horizontal axis represents the surface density and the vertical axis represents the distance threshold D0. Fig.29A The distance threshold table shown calculates the distance threshold D0 based on the surface density of the surface area A. Thus, for example, when the surface density of the slope surface areas 121 to 124 is greater than the surface density of the top surface area 125, the distance threshold D0 corresponding to the recording points of the slope surface areas 121 to 124 is smaller than the distance threshold D0 corresponding to the recording points of the top surface area 125.

[0234] In this way, the vehicle body controller 110 of the present modification calculates the distance threshold D0 for each recording point in such a manner that the distance threshold D0 corresponding to the recording point set in the surface area A with high surface density is smaller than the distance threshold D0 corresponding to the recording point set in the surface area A with low surface density. Thus, the amount of data of the position information of the trajectory of the bucket 10 can be reduced.

[0235] <Variation 3-2>

[0236] Fig.29B 1 is a diagram showing the concave portion 120A and the convex portion 120B of the target shape 120. When the bucket 10 hardly moves near the concave portion 120A of the target shape 120, the amount of data of the position information of the trajectory of the bucket 10 tends to be larger than when the bucket 10 hardly moves near the convex portion 120B. Therefore, the vehicle body controller 110 of this modified example calculates the distance threshold D0 for each recording point in such a manner that the distance threshold D0 corresponding to the recording point set in the concave portion 120A of the target shape 120 is smaller than the distance threshold D0 corresponding to the recording point set in the convex portion 120B of the target shape 120. Thus, the amount of data of the position information of the trajectory of the bucket 10 can be reduced.

[0237] <Variation 4>

[0238] In the above embodiment, an example is described in which the construction history generating unit 113 calculates and records the trajectory coordinates of the bucket 10 by a method mainly using a direction vector, but the present invention is not limited to this. The construction history generating unit 113 may calculate and record the trajectory coordinates of the bucket 10 without using a direction vector. For example, the construction history generating unit 113 may record the coordinates of the point closest to the recording point in the trajectory of the bucket 10 that passes through an area within a fixed range (for example, within a radius of 1m from the recording point) within a fixed range (for example, within 1 minute) as the position information of the trajectory of the bucket 10.

[0239] In this way, the vehicle body controller 110 of this modification records the information of the position in the trajectory of the working device 100a that is the shortest from the recording point as the position information (trajectory coordinates) of the trajectory of the bucket 10. According to this configuration, it is possible to output the construction history data required for the generation of higher-precision terrain data. In addition, the amount of data of the position information of the trajectory of the bucket 10 can also be reduced.

[0240] <Variant 5>

[0241] Although the example using the angle sensors 30, 31, and 32 as the posture sensors has been described, the present invention is not limited thereto. Instead of the angle sensors 30, 31, and 32, stroke sensors for detecting the cylinder lengths of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be used as posture sensors. In this case, the posture detection device 130 calculates the boom angle α, the arm angle β, and the bucket angle γ based on the cylinder lengths detected by the stroke sensors.

[0242] <Variant 6>

[0243] In the above embodiment, an example is described in which the body controller 110 provided in the hydraulic excavator 100 functions as the first processing device and the management controller 150 provided in the management center 50 functions as the second processing device, wherein the first processing device performs a series of processes of generating construction history data based on the posture of the hydraulic excavator 100 detected by the posture detection device 130 and sending the generated construction history data to the management center 50 outside the hydraulic excavator 100, and the second processing device performs a process of generating terrain data based on the construction history data received from the body controller 110, but the present invention is not limited thereto. The body controller 110 of the hydraulic excavator 100 may also have the function of serving as the second processing device.

[0244] <Variant 7>

[0245] In the above embodiment, the operating devices (22a, 22b, 23a, 23b) are described as electric operating devices, but the present invention is not limited to this. Instead of electric operating devices, hydraulic pilot type operating devices may be used.

[0246] <Variant 8>

[0247] In the above embodiment, the working machine is described by taking a crawler hydraulic excavator as an example, but the present invention is not limited thereto. The working machine may be a wheeled hydraulic excavator, a bulldozer, a wheel loader, or the like.

[0248] <Variant 9>

[0249] In the above-mentioned embodiment, an example in which a hydraulic actuator such as a hydraulic motor or a hydraulic cylinder is provided as an actuator has been described, but the present invention can also be applied to a working machine having an electric actuator such as an electric motor or an electric cylinder as an actuator.

[0250] As mentioned above, although the embodiment of the present invention was described, the above embodiment merely shows a part of application examples of the present invention, and it is not intended that the technical scope of the present invention is limited to the specific configuration of the above embodiment.

[0251] Description of Reference Numerals

[0252] 1…management system for working machine, 16…target surface input device, 22a, 22b…operating device, 50…management center, 51…management server, 52…storage device, 53…display device, 54…input device, 55…communication device, 100…hydraulic excavator (working machine), 100a…working device, 100b…vehicle body (machine body), 110…vehicle body controller (controller), 111…recording point setting unit, 112…trajectory calculation unit, 113…construction history generating unit, 114…transmitting unit, 120…target shape, 120A…concave portion, 120B…convex portion, 121, 122, 123, 124…slope surface area, 125…top surface area, 125a, 125b, 125c, 125d…constituent surface, 130…posture detection device , 131…working device posture detection unit, 132…body position detection unit, 133…body angle detection unit, 141…first direction vector, 142…second direction vector, 150…management controller, 151…receiving unit, 152…extraction unit, 154…output unit, 155…communication device, 158…valve driving device, 161…target surface input device, 162…pressure detection device, 163…operation detection device, 164…display device, 169…storage device, 180…terrain data generation system, 181…construction history calculation system, 182…terrain data calculation system, 190…progress management system, A…surface area, D…target surface distance, D0…distance threshold, Dmin…shortest distance, La…constituent line, Lo…outer peripheral line, S…constituent surface.

Claims

1. A construction history calculation system comprising a controller for calculating construction history data based on a detection result of a posture detection device for detecting a posture of a working machine, wherein the construction history calculation system is characterized in that: The controller is configured as follows: Get the target surface data. Based on the acquired target surface data, a plurality of constituent surfaces including an object constituent surface constituting the target surface data and adjacent constituent surfaces adjacent to the object constituent surface are set as a surface area, and a plurality of recording points are set with respect to the surface area in a manner to achieve a predetermined surface density, Based on the detection result of the posture detection device, a trajectory of the working device of the working machine is calculated, The position information of the trajectory of the working device, which establishes a correspondence between the position information of the monitoring point of the working device constituting the trajectory of the working device and each of the plurality of recording points, is calculated as the construction history data.

2. The construction history calculation system according to claim 1, characterized in that: The controller sets the recording points so as to have a constant surface density with respect to all the constituent surfaces constituting the target surface data.

3. The construction history calculation system according to claim 1, characterized in that: The controller sets the recording points for each of the constituent surfaces constituting the target surface data so as to have a surface density predetermined according to an inclination angle of the constituent surface with respect to a reference surface.

4. The construction history calculation system according to claim 1, characterized in that: The target surface data is data that specifies the target shape by a plurality of the constituent surfaces. The controller is configured as follows: When the angle between the normal lines of the target constituent surface and the adjacent constituent surface among the plurality of constituent surfaces constituting the acquired target surface data is less than a predetermined angle threshold, the target constituent surface and the adjacent constituent surface are set as the same surface area, When the angle between the normal lines of the target constituent plane and the adjacent constituent plane among the plurality of constituent planes constituting the acquired target plane data is greater than or equal to the angle threshold, the target constituent plane and the adjacent constituent plane are set as different plane regions.

5. The construction history calculation system according to claim 4, characterized in that: The controller is configured as follows: Calculating the average vector of the normal vectors of a plurality of the constituent faces constituting a surface region, When the angle formed by the average vector and the normal vector of the constituent surface is equal to or larger than an angle threshold, the constituent surface is excluded from the one surface region.

6. The construction history calculation system according to claim 1, characterized in that: The controller sets recording points on the periphery of the surface area.

7. The construction history calculation system according to claim 1, characterized in that: The controller sets the recording point at an end point of a line constituting an outer periphery of the surface area.

8. The construction history calculation system according to claim 1, characterized in that: The controller calculates position information of an intersection point between a straight line that passes through the recording point and extends in the direction of the direction vector and a trajectory of the working device as the construction history data.

9. The construction history calculation system according to claim 8, characterized in that: The controller calculates the direction vector that establishes a corresponding relationship with the recording point based on the normal vector of the surface area to which the recording point belongs.

10. The construction history calculation system according to claim 8, characterized in that: The direction vector is a vertically upward vector.

11. The construction history calculation system according to claim 1, characterized in that: The controller is configured as follows: Establishing a correspondence with the recording point and calculating the distance from the recording point to the trajectory of the working device, When the calculated distance is greater than or equal to the distance threshold, the position information of the trajectory of the working device corresponding to the recording point is not recorded as the construction history data. When the calculated distance is less than the distance threshold, the position information of the trajectory of the working device corresponding to the recording point is recorded as the construction history data.

12. The construction history calculation system according to claim 11, characterized in that: The controller calculates a distance threshold for each recording point so that a distance threshold associated with a recording point set in a surface area with a high surface density is smaller than a distance threshold associated with a recording point set in a surface area with a low surface density.

13. The construction history calculation system according to claim 11, characterized in that: The controller calculates a distance threshold for each recording point so that a distance threshold associated with a recording point set in a concave portion of the target shape is smaller than a distance threshold associated with a recording point set in a convex portion of the target shape.

14. The construction history calculation system according to claim 1, characterized in that: The controller records information of a position in the trajectory of the working device that is shortest from the recording point as position information of the trajectory of the working device.

15. A terrain data generation system, characterized in that: have: The construction history calculation system according to claim 1; and A terrain data calculation system calculates terrain data representing a pre-existing shape obtained by the working device of the working machine based on position information of a trajectory of the working device included in the construction history data.

Images