Work machine and operation support system for work machine

Abstract

A work machine includes: a vehicle body having a cab; a front working machine attached to the vehicle body; the monitor is arranged in the cab; and a controller that displays operation support information on the monitor, the operation support information including information on the position of a predetermined portion of the front work machine. The controller receives, from an outside-vehicle measurement device provided around the vehicle body, information about coordinates of two or more specific points measured by the outside-vehicle measurement device with respect to each movable member constituting the front work machine, and controls the front work machine on the basis of the coordinates of the specific points received from the outside-vehicle measurement device. A first position is calculated as the position of the predetermined part, and first operation support information including information of the first position is displayed as the operation support information on the monitor. As a result, even if the work machine is not provided with an in-vehicle sensor of which the attachment angle has been corrected, it is possible for an operator to support the operation of the work machine.

Description

TECHNICAL FIELD

[0001] The present application relates to a working machine such as a hydraulic excavator and an operation support system that supports operation of the working machine. BACKGROUND

[0002] A working machine such as a hydraulic excavator is sometimes equipped with an operation support system such as a machine guide (hereinafter abbreviated as MG) that supports operation of an operator. The operation support system performs operation support based on the angle of a movable member such as a boom, a stick, a bucket link, or the like of the working machine, which is detected by a vehicle-mounted sensor such as an IMU mounted on the hydraulic excavator. In the case where the operation support system is installed in a working machine that does not have a vehicle-mounted sensor, it is necessary to install an IMU as a vehicle-mounted sensor on the movable member and to correct the installation angle of the vehicle-mounted sensor with respect to the movable member.

[0003] Patent Document 1 discloses an example in which the angle of a movable member of a hydraulic excavator is calculated based on the coordinates of a plurality of points of the movable member measured by a total station, and the installation angle of an IMU is calculated by comparing the calculated angle with the output angle of the IMU. In addition, Patent Document 2 discloses a technique in which a plurality of markers provided on a movable member of a hydraulic excavator are photographed by a camera, and the installation angle of the movable member with respect to the IMU is found based on the angle of the movable member calculated based on the camera image and the output angle of the IMU.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT DOCUMENTS

[0006] Patent Document 1: Japanese Patent No. 6905137

[0007] Patent Document 2: U.S. Patent No. 10943360 SUMMARY

[0008] In the case of the technique described in Patent Document 1, since a plurality of points cannot be measured simultaneously by the total station, it is necessary to measure all the points to be measured of the movable member one by one. Thus, when the operation support system is installed in a hydraulic excavator at a work site, the hydraulic excavator cannot be used for work during the period in which the installation angle of the IMU is corrected, or the accuracy of the bucket tip position is confirmed thereafter. The series of work of the coordinate measurement of the movable member, the correction of the installation angle of the IMU, the accuracy confirmation of the bucket tip position, and the like sometimes takes several hours or more, and the productivity at the work site can be reduced.

[0009] On the other hand, in the technology of Patent Literature 2, since the coordinates of a plurality of points of the movable member can be measured at the same time using the camera, the coordinate measurement time of the movable member can be shortened compared to the technology of Patent Literature 1. However, time is required until the correction work of the installation angle of the IMU and the precision confirmation of the position of the bucket claw tip are completed, and the installation angles of all the IMUs are known and the operation support system of the MG and the like can be used.

[0010] An object of the present application is to provide a work machine and a work machine operation support system capable of supporting the operation of a work machine by an operator even if the work machine does not have a vehicle-mounted sensor whose installation angle has been corrected.

[0011] To achieve the above object, the present application provides a work machine including a vehicle body having a cab, a front work machine installed to a front portion of the vehicle body, a monitor provided to the cab, and a controller that causes the monitor to display operation support information including information of a position of a prescribed portion of the front work machine, the controller receiving information of coordinates of two or more specific points measured by a vehicle-external measuring device provided around the vehicle body with respect to each movable member constituting the front work machine from the vehicle-external measuring device, calculating a first position as the position of the prescribed portion based on the coordinates of the specific points received from the vehicle-external measuring device, and causing the monitor to display first operation support information including information of the first position as the operation support information.

[0012] Effects of Invention

[0013] According to the present application, the operation of a work machine by an operator can be supported even if the work machine does not have a vehicle-mounted sensor whose installation angle has been corrected. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a side view of a hydraulic excavator as an example of a work machine to which an operation support system according to one embodiment of the present application is applied.

[0015] Figure 2 is a plan view of the hydraulic excavator shown in Figure 1

[0016] Figure 3 is a view showing the inside of the cab of the hydraulic excavator shown in Figure 1

[0017] Figure 4 is a schematic view of an operation support system according to one embodiment of the present application.

[0018] Figure 5 is a view showing a case where the operation support system according to one embodiment of the present application is applied to a work machine. Figure 1 ​​FIG. 1 is a diagram showing an example of a display screen displayed on a vehicle-mounted monitor provided in a hydraulic excavator according to the present application.

[0019] Figure 6 FIG. 1 is a diagram showing an example of a display screen displayed on a vehicle-mounted monitor provided in a hydraulic excavator according to the present application.

[0020] Figure 7 FIG. 1 is a diagram showing an example of a display screen displayed on a vehicle-mounted monitor provided in a hydraulic excavator according to the present application. DETAILED DESCRIPTION

[0021] Embodiments of the present application will be described below with reference to the drawings.

[0022] WORKING MACHINE

[0023] Figure 1 FIG. 1 is a diagram showing an example of a display screen displayed on a vehicle-mounted monitor provided in a hydraulic excavator according to the present application. Figure 2 is a plan view thereof. In Figure 2 , an infrared camera 30c to be described later is shown in addition to the hydraulic excavator 1. Hereinafter, a direction toward which an operator seated on a driver's seat faces (a right side in Figure 1 in FIG. 1) is a front side of the hydraulic excavator 1 (strictly speaking, the swing body 4). Note that other working machines such as a bulldozer can also be an application target of the present application, but in Figure 1 , the hydraulic excavator 1 is shown as a representative example of a working machine to which the present application is applied.

[0024] Figure 1 The hydraulic excavator 1 shown in FIG. 1 includes a vehicle body 2, a front working machine 5, a vehicle-mounted monitor 10f, a vehicle-mounted controller 10g, and the like. The vehicle body 2 includes a traveling body 3 and a swing body 4.

[0025] TRAVELING BODY

[0026] The traveling body 3 is a basic mechanism body of the hydraulic excavator 1 capable of self-propelling, and can be a wheeled traveling body, but in the present embodiment, a configuration using a crawler traveling body is exemplified. The traveling body 3 includes a crawler frame 3a, a swing wheel 3b, a crawler belt 3c, and a traveling motor 3d. The crawler frame 3a is a base (skeleton) of the traveling body 3, and is formed in an H shape in plan view by a central frame and left and right side frames connected to the central frame. The swing wheel 3b is provided at an upper portion of the central frame of the crawler frame 3a. At one end side of the left and right side frames in the front and rear, an idler is rotatably supported, and at the other end side, a sprocket is rotatably supported. An output shaft of the traveling motor 3d is connected to a rotation shaft of the sprocket. The traveling motor 3d is a hydraulic motor. The annular crawler belt 3c is hung between the idler and the sprocket, and the traveling body 3 is caused to travel by driving the crawler belt 3c with the sprocket. A plurality of rollers 9 supporting an inner peripheral portion of the crawler belt 3c are rotatably supported at upper and lower portions of the side frames.

[0027] - swing body -

[0028] The swing body 4 is provided at an upper portion of the traveling body 3 so as to be capable of swinging left and right, and includes a swing frame 4a, a cab 4b, a counterweight 4c, an engine room (mechanical room) 4d, and the like. The swing frame 4a is a base frame of the swing body 4, and is provided at an upper portion of the central frame of the crawler frame 3a by means of the swing wheel 3b. On the swing frame 4a, a swing motor (not shown) is mounted in the vicinity of the swing wheel 3b, and an output shaft of the swing motor is engaged with a gear provided to the swing wheel 3b, whereby the swing body 4 is caused to swing left and right with respect to the traveling body 3. The swing motor can use an electric motor or a hydraulic motor.

[0029] The cab 4b is provided at a front portion of the swing frame 4a so as to be located at one side (in this case, the left side) in the left and right directions of the front working machine 5. The engine room 4d is provided at a rear side of the cab 4b in the swing frame 4a. In the engine room 4d, a prime mover, a hydraulic pump driven by the prime mover, hydraulic equipment such as a control valve that controls hydraulic oil from the hydraulic pump to hydraulic actuators (boom hydraulic cylinder 5e and the like), a heat exchanger, an oil tank, various pipes, wiring, and the like are accommodated. The prime mover is sometimes an electric motor, and in this case, an engine (internal combustion engine) is used. The counterweight 4c is attached to a rear end of the swing frame 4a. The counterweight 4c is a weight for achieving weight balance with the front working machine 5, and is formed in a circular arc shape along a rear end swing track of the swing frame 4a.

[0030] - front working machine -

[0031] The front working machine 5 is attached to the swing body 4, and is a multi-joint type working device including a working arm 5a, a bucket 5d as an attachment, a boom hydraulic cylinder 5e as an actuator, a stick cylinder 5f, and a bucket cylinder 5g.

[0032] The working arm 5a is configured to include the boom 5b and the stick 5c. The boom 5b is connected to the front portion of the swing body 4 so as to be able to turn in the up-and-down direction. The stick 5c is connected to the front end of the boom 5b so as to be able to turn in the front-and-rear direction. The bucket 5d is rotatably attached to the front end of the stick 5c. The boom cylinder 5e has its both ends connected to the swing body 4 and the boom 5b. The stick cylinder 5f has its both ends connected to the boom 5b and the stick 5c. The bucket cylinder 5g has its base end rotatably connected to the stick 5c. The bucket cylinder 5g has its front end connected to the front end portion of the stick 5c via the bucket link 5h, and connected to the bucket 5d via the bucket link 5i. The boom cylinder 5e, the stick cylinder 5f, and the bucket cylinder 5g are hydraulic cylinders.

[0033] - Vehicle-mounted sensor -

[0034] The hydraulic excavator 1 is provided with a plurality of vehicle-mounted sensors 6a to 6d (angle sensors) for detecting the angles of the respective corresponding movable members. In the present embodiment, the vehicle-mounted sensors 6a to 6d are IMUs (Inertial Measurement Units) provided to a plurality of movable members constituting the vehicle body 2 and the front working machine 5, and output the postures of the respective corresponding movable members, in the present embodiment, output the angles to the ground (angles with respect to the horizontal plane). Specific examples of the movable members provided with the vehicle-mounted sensors 6a to 6d are the swing frame 4a, the boom 5b, the stick 5c, and the bucket link 5h. The vehicle-mounted sensor 6a is provided on the swing frame 4a, the vehicle-mounted sensor 6b is provided on the boom 5b, the vehicle-mounted sensor 6c is provided on the stick 5c, and the vehicle-mounted sensor 6d is provided on the bucket link 5h.

[0035] Note that, in the present embodiment, the case where the IMUs are used as the vehicle-mounted sensors 6a to 6d is described as an example, but an angle meter can also be used as the vehicle-mounted sensors 6a to 6d. For example, an angle meter that detects the relative angle of the swing frame 4a and the boom 5b, the relative angle of the boom 5b and the stick 5c, and the relative angle of the stick 5c and the bucket 5d or the bucket link 5h can also be considered as the vehicle-mounted sensors.

[0036] - GNSS mobile station -

[0037] The GNSS mobile station 7 is mounted on the swing body 4 of the hydraulic excavator 1 as a position measuring unit that measures the current position of the swing body 4 in the global coordinate system. Figure 4 The GNSS mobile station 7 is provided with antennas (GNSS antennas) 7a and 7b provided on the upper portion of the swing body 4, a wireless communication device, a GNSS controller 7c, and a storage unit 7d. Figure 3). The antenna 7a is a main antenna, which is disposed on the left side of the swing body 4. The antenna 7b is a slave antenna, which is disposed on the right side of the swing body 4. The GNSS mobile station 7 receives electric waves of positioning satellites using both of the antennas 7a, 7b, and calculates position coordinates of the antennas 7a, 7b and an inter-antenna vector Va based on the electric waves of the satellites received by the antennas 7a, 7b through a GNSS controller 7c. Figure 2 ). In addition, the GNSS mobile station 7 receives position correction data from a GNSS fixed station (not shown) provided at a work site via a wireless communication device. The GNSS mobile station 7 uses the position correction data received from the GNSS fixed station to perform positioning in an RTK-GNSS manner, thereby acquiring the positions of the antennas 7a, 7b and the inter-antenna vector Va with high accuracy.

[0038] - reticle -

[0039] The hydraulic excavator 1 is provided with a plurality of reticles 8a-8i marked on the plurality of movable members described above. The reticles 8a-8i are elements for easily detecting coordinates of specific points of the plurality of movable members, and are composed of a retroreflective material in the present embodiment. The specific points are points that become targets of coordinate measurement by a vehicle-external measuring device 30 (described later) provided around the hydraulic excavator 1. In order to calculate angles of the movable members based on the measured coordinates of the specific points, two or more specific points are provided for each movable member. The reticles 8a-8i can be detachable reticles that are mounted to each specific point of the movable member by a magnet, for example, or can be permanently provided on the movable member. For example, a mark marked on the movable member by sealing or painting can be provided as the reticle 8a-8i, and a portion where the shape or pattern has a feature and is easily image-recognized can also be used as the reticle if the portion is located at a desired position of the movable member.

[0040] The reticles 8a-8e among the reticles 8a-8i are mounted on the movable members of the front working machine 5. In the case of the present embodiment, regarding the front working machine 5, the boom 5b, the stick 5c, the bucket 5d, and the bucket link 5h, 5i are provided as the movable members, and specific points are provided on the boom 5b, the stick 5c, the bucket 5d, and the bucket link 5h, respectively. The reticle 8a is provided on an end surface of a pin that links the boom 5b and a base of the boom 5b (specifically, the swing frame 4a) on the side opposite to the cab 4b (the right side). The reticle 8b is provided on both end surfaces of a pin that links the stick 5c and a base of the stick 5c (specifically, the boom 5b). The reticle 8c is provided on both end surfaces of a pin that links the bucket 5d and a base of the bucket 5d (specifically, the stick 5c). The reticle 8d is provided on both end surfaces of a pin that links the bucket link 5h and a base of the bucket link 5h (specifically, the stick 5c). The reticle 8e is provided on both end surfaces of a pin that links the bucket cylinder 5g and a front end portion of the bucket link 5h (specifically, the bucket link 5h).

[0041] It should be noted that in this embodiment, a specific point of the front working machine 5 is set on the end face of the pin (rotation shaft), but it is not limited to the pin. The specific point can also be set on the side of the movable part, etc. However, in order to calculate the posture of each movable part, each movable part needs more than two specific points. By setting the specific point on the pin connecting the two movable parts, the two movable parts can share the specific point, and the number of specific points can be suppressed.

[0042] Targets 8f-8i in the target 8a-8i are mounted on movable parts of the vehicle body 2. In this embodiment, regarding the vehicle body 2, the rotating frame 4a that rotates with the rotating body 4 and the two antennas 7a and 7b are made as movable parts, and specific points are set on these rotating frames 4a and antennas 7a and 7b respectively. Targets 8f are provided on the left and right sides of the front part of the rotating frame 4a, specifically on the front of the bottom surface (the surface exposed downwards) of the rotating frame 4a, for a total of two. Figure 1 and Figure 2 The sight 8g is located at the rear of the rotating frame 4a, specifically at the rear of the bottom surface of the rotating frame 4a, with one on each side, for a total of two. Figure 1 and Figure 2 Multiple targets 8h are provided at equal intervals on the outer periphery of the mounting portion of antenna 7a, specifically, and arranged in a ring. Multiple targets 8i are provided at equal intervals on the outer periphery of the mounting portion of antenna 7b, specifically, and arranged in a ring.

[0043] -Inside the driver's cab-

[0044] Figure 3 This is a diagram showing the interior of the driver's cab 4b as viewed from the driver's seat looking forward. (See diagram below.) Figure 3 As shown, the driver's seat 10a, control lever devices 10b-10e, vehicle monitor 10f, vehicle controller 10g, GNSS controller 7c, and vehicle communication terminal 10i are configured inside the driver's cab 4b.

[0045] The driver's seat 10a is the seat for the operator. Control levers 10b and 10c are located on the left and right sides in front of the driver's seat 10a. The control levers 10b and 10c are used to operate the slewing body 4 and the front-end machine 5. Specifically, the left control lever 10b is used to indicate the movement of the boom 5c and the slewing body 4, and the right control lever 10c is used to indicate the movement of the boom 5b and the bucket 5d.

[0046] Additionally, control lever devices 10d and 10e are arranged side-by-side in front of the driver's seat 10a. Control lever devices 10d and 10e are used to operate the left and right tracks 3c of the traveling body 3. The left control lever device 10d is used to instruct the movement of the left track 3c, and the right control lever device 10e is used to instruct the movement of the right track 3c.

[0047] The onboard monitor 10f is a display device that displays various data, such as support information (operation support information), related to the operation of the hydraulic excavator 1. The cab 4b includes left and right pillars 10j supporting the front of the cab roof and a windshield 10k embedded in the left and right pillars 10j. In this embodiment, a configuration in which the onboard monitor 10f is mounted on the right pillar 10j is shown, but the configuration of the onboard monitor 10f can be adjusted appropriately.

[0048] The vehicle-mounted controller 10g, GNSS controller 7c, and vehicle-mounted communication terminal 10i Figure 3 The illustration is schematic; in this embodiment, an example is shown of a configuration positioned behind the driver's seat 10a.

[0049] -Operations Support System-

[0050] Figure 4 This is a schematic diagram of an operation support system according to one embodiment of the present invention. The operation support system calculates the current position of a predetermined part of the front work machine 5 (e.g., the front end of the bucket 5d) based on the angles of multiple movable parts of the vehicle body 2 and the front work machine 5, and displays this as operation support information in real time on the onboard monitor 10f. The operation support information and various data calculated during its display can also be used as basic information for the automatic or semi-automatic control of the front work machine 5 and the vehicle body 2, i.e., so-called machine control.

[0051] Figure 3 The operation support system shown includes an onboard system 20 and an external measuring device 30. The onboard system 20 consists of equipment mounted on the hydraulic excavator 1. The external measuring device 30 is a system located outside the vehicle, i.e., outside the hydraulic excavator 1, and is connected to the onboard system 20 via a network NW. The onboard system 20 and the external measuring device 30 will be described in turn below.

[0052] -In-vehicle system-

[0053] In this embodiment, the vehicle system 20 includes a vehicle communication terminal 10i, vehicle sensors 6a-6d, beacons 8a-8i, a GNSS mobile station 7, a vehicle controller 10g, and a vehicle monitor 10f.

[0054] The targets 8a to 8i are retroreflective (reflective) members provided on the movable members of the vehicle body 2 and the front working machine 5 of the hydraulic excavator 1. The targets 8a to 8e are provided on the movable members of the front working machine 5, specifically, the boom 5b, the stick 5c, the bucket 5d, and the bucket link 5h. The targets 8f to 8i are provided on the movable members of the vehicle body 2, specifically, the swing frame 4a and the two antennas 7a and 7b.

[0055] The on-vehicle communication terminal 10i is a communication device that connects the on-vehicle controller 10g to the network NW outside the hydraulic excavator 1. The on-vehicle communication terminal 10i is connected to the off-vehicle measuring device 30 via the network NW and receives the three-dimensional coordinates of the targets 8a to 8i from the off-vehicle measuring device 30.

[0056] The on-vehicle sensors 6a to 6d are IMUs (Inertial Measurement Units) in the present embodiment and are provided on the movable members that constitute the vehicle body 2 and the front working machine 5 to output the angles of each corresponding movable member with respect to the ground. The movable members provided with the on-vehicle sensors 6a to 6d are the swing frame 4a, the boom 5b, the stick 5c, and the bucket link 5h. The on-vehicle sensor 6a is provided on the swing frame 4a, the on-vehicle sensor 6b is provided on the boom 5b, the on-vehicle sensor 6c is provided on the stick 5c, and the on-vehicle sensor 6d is provided on the bucket link 5h.

[0057] The GNSS mobile station 7 has the GNSS controller 7c as described above. Figure 3 The GNSS controller 7c is a computer that calculates the position coordinates of the antennas 7a and 7b and the inter-antenna vector Va based on the electric waves of the satellites received by the antennas 7a and 7b. Figure 2 The GNSS controller 7c uses the position correction data from the GNSS fixed station (not shown) to perform positioning in the RTK-GNSS manner and accurately acquires the positions of the antennas 7a and 7b and the inter-antenna vector Va. The GNSS controller 7c is connected to the on-vehicle controller 10g via the on-vehicle network by wire or wirelessly, calculates the global coordinates of the GNSS antennas 7a and 7b and the inter-antenna vector Va in real time, and outputs them to the on-vehicle controller 10g. Alternatively, the on-vehicle controller 10g can be configured to have a part or all of the functions of the GNSS controller 7c.

[0058] The on-vehicle controller 10g is a computer that performs various operations and controls with respect to the state and operation of the hydraulic excavator 1, and has a function of causing the on-vehicle monitor 10f to display operation support information including information on the position of a prescribed portion of the front working machine 5. In particular, in the present embodiment, the on-vehicle controller 10g has a function of operating the operation support information based on the output of the off-vehicle measuring device 30. The on-vehicle controller 10g is connected to the on-vehicle sensors 6a-6d, the GNSS mobile station 7 (GNSS controller 7c), the on-vehicle communication terminal 10i, and the on-vehicle monitor 10f via an on-vehicle network by wire or wirelessly. The on-vehicle controller 10g includes an operation device and a storage device, and the storage device stores, in addition to a control program, dimensional data of each portion of the hydraulic excavator 1, three-dimensional design data indicating the shape of a target surface of a terrain constructed at a construction site, and the like.

[0059] The on-vehicle monitor 10f functions as a user interface that presents operation support information to an operator using display and sound via a display and a speaker, or accepts a setting operation of the operator via a touch panel.

[0060] - Off-vehicle measuring device -

[0061] The off-vehicle measuring device 30 is a measuring device that measures three-dimensional coordinates of specific points (in this case, the visual markers 8a-8i) of a plurality of movable components that constitute the vehicle body 2 and the front working machine 5, which are fixedly provided around the hydraulic excavator 1 in real time. As shown in FIG. 1, the off-vehicle measuring device 30 is provided with a plurality of infrared cameras 30c, an off-vehicle controller 30b, and an off-vehicle communication terminal 30a. Figure 4

[0062] The infrared camera 30c is a photographing device that photographs the visual markers 8a-8i of the hydraulic excavator 1, and is mounted with an infrared LED that irradiates infrared light to a photographing object. The infrared camera 30c is disposed in a plurality of ways so as to surround the periphery of the hydraulic excavator 1, and is fixedly provided to a stationary object (e.g., the ground, a structure, or the like) around the hydraulic excavator 1 in a state in which the hydraulic excavator is contained within a photographing range. Figure 2 The positional relationship of each infrared camera 30c during photographing of the visual markers 8a-8i is constant. When the hydraulic excavator 1 is photographed by the infrared camera 30c, infrared light is reflected by the visual markers 8a-8i, and the visual markers 8a-8i are captured in a photographing image of the infrared camera 30c due to the reflected light from the visual markers 8a-8i.

[0063] ​The off-board controller 30b is a computer that calculates the three-dimensional coordinates of the targets 8a-8i based on captured images of the targets 8a-8i captured from different directions by the plurality of infrared cameras 30c. The off-board controller 30b is connected to the infrared cameras 30c and the off-board communication terminal 30a via a network. The three-dimensional coordinates of the targets 8a-8i calculated by the off-board controller 30b are transmitted from the off-board measuring device 30 via the off-board communication terminal 30a and received by the on-board system 20 via the network NW.

[0064] - Display screen of on-board monitor -

[0065] Figure 5 is an example of a display screen displayed on the on-board monitor 10f. In the display screen 40 shown in Figure 5 An image 41, 42 indicating the position and angle of the bucket 5d, an image 43 indicating the position and orientation of the hydraulic excavator 1, an image 44 indicating the distance between the front end position of the bucket 5d and the target surface of the constructed terrain, and the like are displayed on the display screen 40 as operation support information. In addition, a message bar 45 is displayed on the display screen 40. When the system state becomes "correction complete", the fact that the state of calculating the attitude of the hydraulic excavator 1 using the on-board sensors 6a-6d and the GNSS mobile station 7 is switched is displayed in the message bar 45 for a certain time.

[0066] - Flowchart of on-board system -

[0067] Figure 6 and Figure 7 is a flowchart showing the steps of the operation support performed by the operation support system of the present embodiment. Figure 6 and Figure 7 The loop steps of steps S101-S129 shown in Figure 6 and Figure 7 During the execution of the flow of the present embodiment, that is, during the correction of the installation angles of the on-board sensors 6a-6d and the like, the hydraulic excavator 1 is also allowed to perform an operation. That is, it is possible to correct the installation angles of the on-board sensors 6a-6d and the like while using the hydraulic excavator 1 to perform a work such as terrain construction.

[0068] Figure 6 and Figure 7The process can be roughly divided into (a) system status judgment processing, (b) processing when calibration is not completed, (c) accuracy judgment processing, and (d) calibration completion processing. In the calibration of the installation angle of vehicle-mounted sensors 6a-6d, etc., when repeated execution... Figure 6 and Figure 7 In the typical process, the steps are performed in the following order: (a) system status judgment, (b) handling when the correction is not completed, (c) accuracy judgment, and (d) correction completion.

[0069] "(a) System Status Determination Processing" refers to the process of determining whether the data representing the current status of the on-board system 20 (hereinafter referred to as the system status) is "Not Completed for Calibration", "Accuracy Determination in Progress", or "Calibration Completed". "(a) System Status Determination Processing" is related to... Figure 6 The steps S101-S102 (and strictly speaking, also include step S106) of the process are equivalent.

[0070] "Not fully calibrated" means that the installation angles θ of the on-board sensors 6a-6d relative to the moving parts have not been calculated. Figure 7 ), antenna installation angle α ( Figure 6 The state of the system is described in this embodiment. The sensor mounting angle θ and antenna mounting angle α are collectively referred to as "parameters". If any one of these parameters is not calculated, it is equivalent to the system being in a state of "uncalibrated". "(b) Processing when uncalibrated" is the processing performed during the period when the system state is "uncalibrated". Figure 1 The steps S103-S111 of the process (strictly speaking, except for step S106) are equivalent.

[0071] "Accuracy Judgment in Progress" refers to the process of judging whether the attitude of the hydraulic excavator 1 calculated based on the outputs of the vehicle-mounted sensors 6a-6d and the GNSS mobile station 7 has achieved a certain level of accuracy after all parameters have been calculated. In this embodiment, the accuracy judgment of the attitude of the hydraulic excavator 1 is performed by checking whether the error between the calculated values ​​based on the outputs of the vehicle-mounted sensors 6a-6d and the GNSS mobile station 7 and the calculated values ​​based on the outputs of the external measuring device 30 converges to an acceptable value. "(c) Processing in Accuracy Judgment in Progress" is the processing performed during the period when the system state is "Accuracy Judgment in Progress," and is related to... Figure 2 The steps S103-S106 and S112-S119 of the process (strictly speaking, except for step S106) are equivalent.

[0072] "Correction completion" means a state in which it is confirmed that the attitude of the hydraulic excavator 1 calculated based on the outputs of the vehicle-mounted sensors 6a to 6d and the GNSS mobile station 7 is ensured with a certain degree of precision. The "(d) processing after correction completion" is processing performed during the system state is "correction completion", and corresponds to the flow of Figure 6 .

[0073] The following explains the steps in the order of (a) processing of system state determination, (b) processing when correction is not completed, (c) processing in precision determination, and (d) processing after correction completion.

[0074] (a) Processing of system state determination

[0075] Step S101

[0076] When Figure 6 and Figure 7 the flow starts, the vehicle-mounted controller 10g first reads and acquires the system state of the vehicle-mounted system 20 from its own storage device. In the storage device of the vehicle-mounted controller 10g, data indicating "correction not completed", "in precision determination", and "correction completion" are stored as the system state. In step S101, the vehicle-mounted controller 10g reads the current system state from the storage device by the arithmetic device. If the current system state is data indicating "correction not completed", "correction not completed" is read as the system state. If the current system state is data indicating "in precision determination", "in precision determination" is read as the system state, and if it is data indicating "correction completion", "correction completion" is read.

[0077] Step S102

[0078] When the processing proceeds to step S102 from step S101, the vehicle-mounted controller 10g determines whether the current system state read in step S101 is "correction completion" or not, i.e., whether it is "correction not completed" or "in precision determination". In the case where the current system state is "correction not completed" or "in precision determination", the vehicle-mounted controller 10g proceeds to step S103, and in the case of "correction completion", it proceeds to step S120 (. Figure 6 ).

[0079] (b) Processing when correction is not completed

[0080] Step S103

[0081] When the processing proceeds from step S102 to step S103, the in-vehicle controller 10g receives and acquires, from the outside measuring device 30, information of the current three-dimensional coordinates of the targets 8a-8i measured by the outside measuring device 30. In the outside measuring device 30, the three-dimensional coordinates of the centers (specific points of movable members) of the targets 8a-8i are measured in real time by calculation in the outside controller 30b on the basis of the captured images of the plurality of infrared cameras 30c. In step S102, the current three-dimensional coordinates of the targets 8a-8i calculated in this way are input to the in-vehicle controller 10g.

[0082] Note that part or all of the functions of the outside controller 30b can also be moved to the in-vehicle controller 10g. For example, it is also conceivable to configure such that the captured images of the respective infrared cameras 30c are transmitted to the in-vehicle controller 10g via the network NW and the in-vehicle communication terminal 10i, and the three-dimensional coordinates of the targets 8a-8i are sequentially calculated on the basis of the respective captured images in the in-vehicle controller 10g.

[0083] Step S104

[0084] When the processing proceeds from step S103 to step S104, the in-vehicle controller 10g calculates the current posture of the hydraulic excavator 1 on the basis of the three-dimensional coordinates of the targets 8a-8i. The current posture of the hydraulic excavator 1 is data including the current angles of the respective movable members of the vehicle body 2 and the front working machine 5, as well as the current position of a prescribed portion of the front working machine 5 (in the present embodiment, the front end of the bucket 5d). Hereinafter, the current angles of the respective movable members calculated on the basis of the output of the outside measuring device 30 will be sometimes referred to as first angles, and the current position of the prescribed portion will be sometimes referred to as a first position.

[0085] For example, the angle of the boom 5b is the angle to the ground (the angle with respect to the horizontal plane) of the boom 5b, and is calculated on the basis of the three-dimensional coordinates of the center points of the targets 8a and 8b. The angle of the stick 5c is the angle to the ground of the stick 5c, and is calculated on the basis of the three-dimensional coordinates of the center points of the targets 8b and 8c. The angle of the bucket 5d is the angle to the ground of the bucket 5d, and is calculated on the basis of the three-dimensional coordinates of the center points of the targets 8c-8e. The front end position of the bucket 5d is calculated on the basis of the dimensional data of the respective members of the hydraulic excavator 1, the center positions of the targets 8a-8e, and the angles of the boom 5b, the stick 5c, and the bucket 5d, which are stored in advance in a storage device of the in-vehicle controller 10g.

[0086] Step S105

[0087] When the processing proceeds from step S103 to step S104, the in-vehicle controller 10g calculates the current posture of the hydraulic excavator 1 on the basis of the three-dimensional coordinates of the targets 8a-8i. The current posture of the hydraulic excavator 1 is data including the current angles of the respective movable members of the vehicle body 2 and the front working machine 5, as well as the current position of a prescribed portion of the front working machine 5 (in the present embodiment, the front end of the bucket 5d). Hereinafter, the current angles of the respective movable members calculated on the basis of the output of the outside measuring device 30 will be sometimes referred to as first angles, and the current position of the prescribed portion will be sometimes referred to as a first position. Figure 7to the vehicle-mounted monitor 10f and displayed in real time on the vehicle-mounted monitor 10f. That is, the MG using the off-vehicle measuring device 30 is implemented. The operation support information includes the position and angle of the bucket 5d, the distance to the target surface, and the like, which are calculated based on the current position of the front end of the bucket 5d and the three-dimensional design data of the target surface stored in the vehicle-mounted controller 10g (screens 41-44). The operator appropriately confirms the operation support information of the display screen 40 and operates the hydraulic excavator 1 to perform the work of land formation and the like. Hereinafter, the operation support information based on the output of the off-vehicle measuring device 30 will be sometimes referred to as first operation support information.

[0088] Step S106

[0089] When the process proceeds from step S105 to step S106, the operation support using the off-vehicle measuring device 30 is executed, and on the other hand, the correction of the above-described parameters is executed. For this reason, first, the vehicle-mounted controller 10g determines whether the current system state read in step S101 is "uncorrected completion". In the case where the current system state is "uncorrected completion", the vehicle-mounted controller 10g proceeds to step S107, and in the case of "precision determination", proceeds to step S112.

[0090] Step S107

[0091] If the current system state is "uncorrected completion" and proceeds to step S107, the vehicle-mounted controller 10g acquires the current ground angles output by the vehicle-mounted sensors 6a-6d. Note that hereinafter, the current angles of each movable member output by the vehicle-mounted sensors 6a-6d will be sometimes referred to as second angles.

[0092] Step S108

[0093] When the process proceeds from step S107 to step S108, the vehicle-mounted controller 10g calculates the installation angles of the vehicle-mounted sensors with respect to the movable members 6a-6d.

[0094] The mounting angle of the vehicle-mounted sensor 6b-6d mounted on the front working machine 5 is calculated based on the respective angles to the ground (second angles) output by the vehicle-mounted sensors 6a-6d acquired in step S107 and the respective angles to the ground (first angles) of the movable members calculated in step S104. In the present embodiment, the difference between the angle to the ground (second angle) output by the vehicle-mounted sensor 6a-6d and the angle to the ground (first angle) calculated in step S104 is calculated as the mounting angle of the vehicle-mounted sensor 6a-6d. This mounting angle is a correction value used in the calibration of the vehicle-mounted sensor 6b-6d. For example, the difference between the angle to the ground of the boom 5b calculated from the center coordinates of the targets 8a, 8b and the angle to the ground output by the vehicle-mounted sensor 6b is calculated as the mounting angle θ of the vehicle-mounted sensor 6b. Figure 7 Likewise, the difference between the angle to the ground of the arm 5c calculated from the center coordinates of the targets 8b, 8c and the angle to the ground output by the vehicle-mounted sensor 6c is calculated as the mounting angle θ of the vehicle-mounted sensor 6c. The difference between the angle to the ground of the bucket link 5h calculated from the center coordinates of the targets 8d, 8e and the angle to the ground output by the vehicle-mounted sensor 6d is calculated as the mounting angle θ of the vehicle-mounted sensor 6d.

[0095] In the process of calculating the mounting angle of the vehicle-mounted sensor 6a mounted on the swing frame 4a, first, the center coordinates of the two end faces of the pin of the joint of the front working machine 5 (for example, the pin on which the target 8b is attached) are calculated from the respective center coordinates of the targets 8b-8e acquired in step S103. The normal vector N of the action plane S (see FIG. 6) that is the plane along the action locus of the front working machine 5 is calculated from the center coordinates of the two end faces of the pin. Figure 5 Figure 1 Next, the angle to the ground of the swing frame 4a in the plane of the action plane S is calculated based on the three-dimensional coordinates of the targets 8f, 8g projected onto the action plane S, and the mounting angle of the vehicle-mounted sensor 6a along the action plane S is calculated based on this angle to the ground and the angle to the ground output by the vehicle-mounted sensor 6a. Likewise, the angle to the ground of the swing frame 4a in the orthogonal plane orthogonal to the action plane S is calculated from the three-dimensional coordinates of the targets 8f, 8g projected onto the orthogonal plane, and the mounting angle of the vehicle-mounted sensor 6a along the orthogonal plane is calculated based on this angle to the ground and the angle to the ground output by the vehicle-mounted sensor 6a.

[0096] Step S109

[0097] When proceeding from step S108 to step S109, in the case where the vehicle-mounted system 20 includes the GNSS mobile station 7, the vehicle-mounted controller 10g acquires the inter-antenna vector Va from the GNSS controller 7c. Note that in the case where the hydraulic excavator 1 does not have the GNSS mobile station 7, the vehicle-mounted controller 10g skips step S109.​

[0098] Step S110

[0099] When transitioning from step S109 to step S110, the vehicle controller 10g calculates the antenna mounting angle α based on the three-dimensional coordinates of the targets 8a-8i measured by the external measuring device 30. Figure 2 For example, firstly, based on the center coordinates of each target 8a-8g obtained in step S103, the front direction vector Vm extending along the action plane S is calculated. Figure 2 Then, the angle between the antenna vector Va projected onto the rotational plane (orthogonal to the axis of rotation) of the rotating body 4 and the front direction vector Vm is calculated as the antenna mounting angle α. Figure 2 The rotational motion plane of the rotating body 4 is calculated based on the three-dimensional coordinates of the sights 8f and 8g set on the rotating frame 4a. It should be noted that if the hydraulic excavator 1 does not have a GNSS mobile station 7, the vehicle-mounted controller 10g skips step S110.

[0100] Step S111

[0101] When calculating the installation angles of the vehicle-mounted sensors 6a-6d and antennas 7a and 7b and proceeding to step S111, the vehicle-mounted controller 10g changes the system status to "accuracy assessment in progress" and records it in the storage device. The vehicle-mounted controller 10g terminates when the operator or others indicate that the calibration is complete. Figure 2 and Figure 2 The process returns to step S101 if the correction is not indicated to be complete.

[0102] It should be noted that, in this embodiment, ... Figure 6 and Figure 7 The process can calculate all parameters in one cycle, but it is also possible to calculate parameters by statistically analyzing data acquired over a specified period. In this case, the parameters are calculated using data from the period during which no rotational action is performed. Alternatively, a method can be used to calculate multiple parameters for each movable part in different orientations and then use the average value as the final parameter. Furthermore, an example of using a global coordinate system to calculate parameters such as the bucket front position each time MG is executed is given, but it is also possible to use, for example, the coordinate system used in measurements on the external measuring device 30.

[0103] (C) Processing in accuracy judgment

[0104] Step S112

[0105] When the system state becomes "accuracy judgment" in step Slll, the system state is judged to be "accuracy judgment" in the judgment of steps S102, S106. In this case, the vehicle-mounted controller 10g executes the MG based on the off-vehicle measuring device 30 of steps S103-S105, and advances the step to step S112. When the step is advanced to step S112, the vehicle-mounted controller 10g acquires the angles of each movable member to the ground (2nd angles) outputted by the vehicle-mounted sensors 6a-6d and the positions of the antennas 7a, 7b and the inter-antenna vector Va outputted by the GNSS mobile station 7.

[0106] Step S113

[0107] When the step is advanced to step S113, the vehicle-mounted controller 10g uses the installation angles of the vehicle-mounted sensors 6a-6d and the antennas 7a, 7b calculated in steps S108, S110, and calculates the current posture of the hydraulic excavator 1 based on the data acquired in step S112. That is, using the installation angles of the vehicle-mounted sensors 6a-6d and the antennas 7a, 7b calculated by the off-vehicle measuring device 30, the current angles of each movable member to the ground and the three-dimensional coordinates of the front end of the bucket (2nd position) are calculated based on the outputs of the vehicle-mounted sensors 6a-6d and the GNSS mobile station 7.

[0108] Step S114

[0109] When the step is advanced from step S113 to step S114, the vehicle-mounted controller 10g compares the three-dimensional coordinates of the front end of the bucket 5d calculated in step S113 and step S104, respectively. That is, the three-dimensional coordinates of the front end of the bucket calculated based on the outputs of the vehicle-mounted sensors 6a-6d and the GNSS mobile station 7 (2nd position) and the three-dimensional coordinates of the front end of the bucket calculated based on the three-dimensional coordinates of the targets 8a-8i measured by the off-vehicle measuring device 30 (1st position) are compared.

[0110] Step S115

[0111] As a result of the comparison of step S114, the vehicle-mounted controller 10g judges whether or not the difference between the front end position of the bucket calculated in step S104 (2nd position) and the front end position of the bucket calculated in step S113 (1st position) is less than a predetermined allowable value. At this time, in the present embodiment, for example, with respect to the front end positions of the bucket calculated in step S104 and step S113, the horizontal direction (XY plane direction) distance difference and the vertical direction (Z axis direction) distance difference are calculated. In step S115, it is judged whether or not the horizontal direction distance difference and the vertical direction distance difference of the front end position of the bucket 5d calculated in this manner are both less than the allowable value.

[0112] In a case where the distance difference in the horizontal direction and the vertical direction of the bucket front end position is less than the allowable value, the on-vehicle controller 10g causes the routine to proceed to step S116. In a case where at least one of the distance differences in the horizontal direction and the vertical direction of the bucket front end position is equal to or more than the allowable value, the on-vehicle controller 10g causes the routine to proceed to step S118.

[0113] Step S116

[0114] When the distance difference in the horizontal direction and the vertical direction of the bucket front end position is less than the allowable value and the routine proceeds to step S116, the on-vehicle controller 10g changes the system state to "correction completed" and records it in the storage device. In a case where the distance difference is less than the allowable value, the system state is changed to "correction completed", and the automatic switching is performed to the operation support information calculation based on the output of the on-vehicle sensors 6a to 6d (MG of the on-vehicle sensors 6a to 6d). Hereinafter, the operation support information based on the output of the on-vehicle sensors 6a to 6d is sometimes referred to as (second operation support information).

[0115] Step S117

[0116] In a case where the routine proceeds to step S117, that is, in a case where it is determined that the distance difference is less than the allowable value, the on-vehicle controller 10g outputs the state in which the operation support information is calculated based on the output of the on-vehicle sensors 6a to 6d to the on-vehicle monitor 10f and displays it for a certain time. Thereby, the operator can grasp the case where the MG using the off-vehicle measuring device 30 is switched to the MG using the on-vehicle sensors 6a to 6d. In the display screen 40 shown in FIG. 10 described above, an example in which a message "it has become possible to use the on-vehicle sensors" is displayed in the message field 45 is shown. After step S117 is executed, in a case where the operator or the like instructs the end of correction, the on-vehicle controller 10g ends the routine of FIG. 10, and in a case where the end of correction is not instructed, the routine is caused to return to step S101. Figure 6 Figure 7 Figure 5

[0117] Step S118

[0118] When at least one of the distance differences in the horizontal direction and the vertical direction of the bucket front end position is equal to or more than the allowable value and the routine proceeds to step S118 from step S115, the on-vehicle controller 10g compares the coordinates of each movable member. In step S118, for example, a vector from the base end portion of each movable member toward the front end portion is calculated, and compared with the output of the corresponding on-vehicle sensor. For example, in the case of the boom 5b, a vector from the center coordinate of the reticle 8a toward the center coordinate of the reticle 8b is calculated, the angle of the vector is compared with the ground angle output by the on-vehicle sensor 6b, and the difference between the two is calculated.

[0119] Step S119​​​

[0120] In the subsequent step S119, the in-vehicle controller 10g again compares the angle of the movable member based on the three-dimensional coordinates of the targets 8a-8i measured by the off-vehicle measuring device 30 with the angle of the movable member output by the in-vehicle sensors 6a-6d, and corrects the installation angle of the in-vehicle sensors 6a-6d. For example, the in-vehicle controller 10g determines the in-vehicle sensor whose difference between the angle of the vector calculated in step S118 and the output ground angle is equal to or greater than a predetermined value as the in-vehicle sensor in which the calculation of the installation angle is erroneous. Also, the in-vehicle controller 10g corrects the calculated value of the installation angle based on the difference calculated in step S118 with respect to the in-vehicle sensor in which the calculation of the installation angle is erroneous.

[0121] After executing step S119, in the case where the operator or the like instructs the end of correction, the in-vehicle controller 10g ends the flow of Figure 6 and Figure 7 , and in the case where the end of correction is not instructed, returns the step to step S101. When it is determined in step S115 that the calculated difference in at least one of the horizontal direction and the vertical direction is equal to or greater than the permissible value, the system state is maintained as "accuracy determination in progress", and the state in which the operation support information is calculated based on the output of the off-vehicle measuring device 30 (MG execution) is continued. During the repetition of steps S101-S106, S112-S115, S118, S119, the calculation accuracy of the installation angle of the in-vehicle sensors 6a-6d is improved, and the system state becomes "correction completed".

[0122] (d) Processing after correction completion

[0123] Step S120

[0124] When the system state becomes "correction completed", the in-vehicle controller 10g causes the step to proceed from step S102 to step S120 Figure 6 . When the step is caused to proceed to step S120, the in-vehicle controller 10g determines whether the position of the antennas 7a, 7b output by the GNSS mobile station 7 and the inter-antenna vector Va are high accuracy based on the positioning accuracy output by the GNSS mobile station 7. In the case where the output of the GNSS mobile station 7 is high accuracy, the in-vehicle controller 10g causes the step to proceed from step S120 to step S121, and in the case where the output of the GNSS mobile station 7 is not high accuracy, causes the step to proceed from step S120 to step S125.

[0125] In this embodiment, "high precision" determined in step S120 refers to, for example, obtaining a fixed solution using RTK-GNSS. In RTK-GNSS, interferometric positioning calculations are performed in real-time and the results are output. This interferometric positioning calculation is performed by multiplying the wavenumber by the wavelength. However, when radio waves from the satellite reach antennas 7a and 7b, while the fractional part of the wave can be determined, the integer part cannot (integer value deviation). In RTK-GNSS, the positioning solution obtained by repeatedly performing estimation calculations and calculating the deviation using integer values ​​is the fixed solution. Upon obtaining a fixed solution, the GNSS mobile station 7 notifies the vehicle controller 10g of the obtained fixed solution. The vehicle controller 10g determines whether the output of the GNSS mobile station 7 is of high precision based on the notification from the GNSS mobile station 7. The precision of the fixed solution is approximately 5mm-20mm.

[0126] Steps S121-S124

[0127] When a fixed solution is obtained at GNSS rover 7, the vehicle controller 10g calculates the attitude of the hydraulic excavator 1 based on the positions of antennas 7a and 7b and the inter-antenna vector Va output by GNSS rover 7, generates operation support information, and displays it on the vehicle monitor 10f. After executing step S124, and upon indication from the operator that the correction is complete, the vehicle controller 10g terminates. Figure 7 and Figure 7 process ( Figure 6 If no indication is given that the correction is complete, the process returns to step S101. Figure 7 ).

[0128] Steps S125-S129

[0129] When no fixed solution is obtained at GNSS rover station 7, the vehicle controller 10g determines whether to maintain the connection with the external measuring device 30 (step S125). If the connection with the external measuring device 30 is maintained, the attitude of the hydraulic excavator 1 is calculated based on the three-dimensional coordinates of the targets 8a-8i output by the external measuring device 30, and operation support information is generated and displayed on the vehicle monitor 10f (steps S126-S128). Steps S126-S128 are the same as steps S103-S105. Conversely, if the connection with the external measuring device 30 is severed, such as when the system status changes to "calibration complete" and the power supply to the external measuring device 30 is disconnected, the vehicle controller 10g displays a GNSS positioning error output on the vehicle monitor 10f (step S129). After executing step S128 or step S129, if the operator or others indicate that the calibration is complete, the vehicle controller 10g terminates. Figure 6 and Figure 6 process ( Figure 6), the step returns to step S101 (S103) without indicating the end of the correction. Figure 7 Figure 6 Figure 6 ).

[0130] -Effects-

[0131] (1) According to the present embodiment, the current posture of the hydraulic excavator 1 is sequentially calculated by the on-vehicle controller 10g on the basis of the three-dimensional coordinates of the specific points (in the present embodiment, the visual targets 8a-8i) of the hydraulic excavator 1 sequentially measured by the off-vehicle measuring device 30 arranged around the hydraulic excavator 1. The operation support information is generated on the basis of the posture of the hydraulic excavator 1 calculated in this way and is output to be displayed on the on-vehicle monitor 10f, so that the MG based on the off-vehicle measuring device 30 can be performed even in a state where the installation angles of the on-vehicle sensors 6a-6d are not corrected. Not only in a case where the hydraulic excavator 1 is equipped with the on-vehicle sensors 6a-6d but the correction of the on-vehicle sensors 6a-6d is not completed, but also in a case where the hydraulic excavator 1 is not originally equipped with the on-vehicle sensors 6a-6d, the MG based on the off-vehicle measuring device 30 can be performed. Thus, according to the present embodiment, the operation support of the hydraulic excavator 1 by the operator can be performed even if the hydraulic excavator 1 is not equipped with the on-vehicle sensors 6a-6d whose installation angles have been corrected.

[0132] (2) In addition, in a case where the hydraulic excavator 1 is equipped with the on-vehicle sensors 6a-6d, the installation angles of the on-vehicle sensors 6a-6d can be calculated on the basis of the angles of the respective movable members calculated from the three-dimensional coordinates of the specific points even in a state where the correction is not completed and the on-vehicle sensors 6a-6d cannot be used to perform the MG with high precision. Thus, as described above, the installation angles of the on-vehicle sensors 6a-6d can be calculated and the correction of the on-vehicle sensors 6a-6d can be performed in the process of performing the work in the hydraulic excavator 1 using the MG based on the off-vehicle measuring device 30. Thus, for example, in a case where the MG system including the on-vehicle sensors 6a-6d is added to the hydraulic excavator 1 in the work site, the correction of the on-vehicle sensors 6a-6d can be performed while the MG based on the off-vehicle measuring device 30 is performed. The same applies to a case where the hydraulic excavator 1 is equipped with the on-vehicle sensors 6a-6d but the accurate installation angles are not known. As such, the work in the hydraulic excavator 1 can be performed also in the correction of the on-vehicle sensors 6a-6d, and the reduction in the productivity of the site caused by the correction of the on-vehicle sensors 6a-6d can be suppressed.

[0133] (3) In executing the MG based on the vehicle exterior measuring device 30, if it is confirmed that the difference between the position of the bucket front end based on the outputs of the vehicle-mounted sensors 6a to 6d and the position of the bucket front end based on the outputs of the vehicle exterior measuring device 30 is smaller than the allowable value, the MG based on the vehicle-mounted sensors 6a to 6d is automatically switched. That is, the display of the MC is automatically switched from the first operation support information based on the outputs of the vehicle exterior measuring device 30 to the second operation support information based on the outputs of the vehicle-mounted sensors 6a to 6d. Without stopping the work of the hydraulic excavator 1, the switching from the MG using the vehicle exterior measuring device 30 to the MG using the vehicle-mounted sensors 6a to 6d can be automatically performed.

[0134] (4) In the case where the prescribed accuracy of the installation angle of the vehicle-mounted sensors 6a to 6d calculated in executing the MG based on the vehicle exterior measuring device 30 is not ensured, the installation angle of the vehicle-mounted sensors 6a to 6d is corrected in accordance with the comparison between the value based on the vehicle exterior measuring device 30 and the value based on the vehicle-mounted sensors 6a to 6d for each movable member. Thus, the correction of the installation angle of the vehicle-mounted sensors 6a to 6d is prevented from being always in an incomplete state, and the correction of the installation angle of the vehicle-mounted sensors 6a to 6d is automatically achieved.

[0135] (5) In addition, in the case where the correction of the installation angle of the vehicle-mounted sensors 6a to 6d is completed, the MG using the vehicle-mounted sensors 6a to 6d can be output to the vehicle-mounted monitor 10f, and the operator can be notified that the MG using the vehicle-mounted sensors 6a to 6d has become valid.

[0136] (6) In addition, in the present embodiment, specific points are set on the antennas 7a, 7b mounted on the vehicle body 2, and the installation angles of the antennas 7a, 7b are calculated by the vehicle-mounted controller 10g based on the three-dimensional coordinates of the specific points measured by the vehicle exterior measuring device 30. Thus, in the case where the hydraulic excavator 1 uses the position and orientation of the machine body obtained using the GNSS for the MG, even in a state where the correct installation angles of the antennas are not known, the position and orientation of the machine body can be calculated using the vehicle exterior measuring device 30 and the MG can be executed. In addition, in executing the MG using the vehicle exterior measuring device 30, the calculation of the installation angles of the antennas 7a, 7b can be performed, and further, the correction can be performed.

[0137] (7) After the installation positions of the antennas 7a, 7b are corrected, the outputs of the vehicle-mounted sensors 6a to 6d and the GNSS mobile station 7 become a state where the MG is executed. At this time, assuming that the GNSS mobile station 7 does not obtain a fixed solution, the MG can be executed based on the outputs of the vehicle exterior measuring device 30 during a period until the fixed solution is obtained.

[0138] (8) When measuring the specific points of the movable members by the off-vehicle measuring device 30, the specific points can be recognized with high precision on the captured image of the infrared camera 30c by marking the targets 8a-8i on the movable members as the specific points. The targets 8a-8i are not limited as long as they can be clearly recognized on the captured image, but for example, a retroreflective material is a preferable example of the targets 8a-8i. In addition, in order to calculate the posture of each movable member, two or more specific points are required for each movable member, and by marking the targets 8a or the like on the pins that connect two movable members, one target can be shared as a specific point on the two movable members, and the number of targets can be suppressed.

[0139] BRIEF DESCRIPTION OF DRAWINGS

[0140] 1 hydraulic excavator (work machine), 2 vehicle body, 4b cab (cab), 4a swing frame (movable member), 5 front working machine, 5b boom (movable member), 5c stick (movable member), 5d bucket (movable member), 5h, 5i bucket link (movable member), 6a-6d on-vehicle sensor (angle sensor), 7 GNSS mobile station, 7a, 7b antenna (movable member), 8a-8i target (specific point), 10f on-vehicle monitor (monitor), 10g on-vehicle controller (controller), 30 off-vehicle measuring device, 30c infrared camera, 40 display screen (operation support information), a installation angle of the antenna, θ installation angle of the on-vehicle sensor.

Claims

1. A type of operating machinery, comprising: A vehicle body with a driver's cab; A front-mounted work machine installed on the vehicle body; Monitors installed in the driver's cab; as well as The controller causes the monitor to display operational support information, which includes information about the position of a specified part of the front-end machine. The operating machinery is characterized in that... The controller receives information from an external measuring device located around the vehicle body, which measures the coordinates of two or more specific points for each movable component constituting the front work machine. Based on the coordinates of the specific point received from the external measuring device, the first position is calculated as the position of the specified part. The monitor displays first operation support information, including information about the first position, as the operation support information.

2. The operating machinery according to claim 1, characterized in that, The movable part is equipped with an angle sensor, which is disposed on the movable part for detecting the angle of the movable part. The controller calculates a first angle based on the coordinates of the specific point received from the external measuring device, where the first angle is the angle of the movable component. The calibration value of the angle sensor is calculated based on the first angle and the second angle, wherein the second angle is the angle of the movable part output by the angle sensor.

3. The operating machinery according to claim 2, characterized in that, The correction value is the installation angle of the angle sensor relative to the movable part. The controller calculates the second position based on the output of the angle sensor and the installation angle, and uses this position as the location of the specified part. Determine whether the difference between the second position and the first position is less than a preset allowable value. If the difference is greater than or equal to the allowable value, the monitor displays the first operation support information as the operation support information. If the difference is less than the allowable value, the monitor displays second operation support information, including information about the second position, as the operation support information.

4. The operating machinery according to claim 3, characterized in that, If the difference is above the allowable value, the controller compares the first angle and the second angle again to correct the installation angle of the angle sensor.

5. The operating machinery according to claim 3, characterized in that, If the difference is less than the allowable value, the controller causes the monitor to display a state where the operation support information is calculated based on the output of the angle sensor.

6. The operating machinery according to claim 1, characterized in that, Equipped with a GNSS mobile station mounted on the vehicle body and having two antennas. The controller calculates the installation angle of the two antennas relative to the vehicle body based on the three-dimensional coordinates of specific points of the vehicle body and the two antennas received from the external measuring device.

7. The operating machinery according to claim 6, characterized in that, If the GNSS rover station does not obtain a fixed solution, the controller outputs the operation support information based on the output of the external measurement device. When the GNSS mobile station obtains a fixed solution, the controller outputs the operation support information based on the output of the GNSS mobile station.

8. The operating machinery according to claim 1, characterized in that, It has a target that serves as the specific point.

9. An operation support system for construction machinery, which generates operation support information for the operator, characterized in that it comprises: Monitors mounted in the cab of the operating machinery; Controller mounted on the operating machinery; as well as An external measuring device that measures the coordinates of two or more specific points for each movable component of the front working machine installed on the machine. The external measuring device sends the coordinates of the measured specific point to the controller. The controller calculates the position of a specified part of the front work machine based on the coordinates of the specific point received from the external measuring device, and causes the monitor to display the operation support information, including information on the position of the specified part.

Images