Terrain recognition system and terrain recognition method

Abstract

The processing circuit of the terrain recognition system is configured to acquire ground height data indicating a ground height of each of a plurality of sub-areas included in a excavation target area, perform first update processing of updating the ground height of the sub-areas in the ground height data based on point cloud data acquired from the distance measuring sensor each time the excavation by the construction machine is performed a predetermined number of times, and perform second update processing of updating the ground height of the sub-areas through which the bucket passes in the ground height data based on trajectory information indicating a moving trajectory of the bucket.

Description

Technical Field

[0001] This disclosure relates to a terrain recognition system and a terrain recognition method for use in engineering machinery. Background Technology

[0002] Patent Document 1 discloses an excavator capable of recognizing the current shape of the ground around the work target. The excavator's controller includes a terrain database updating unit and a ground shape information acquisition unit. The terrain database updating unit updates the terrain database using the output of an image capture device that acquires images of the excavator's surroundings. The ground shape information acquisition unit acquires information related to the current shape of the ground around the work target based on the updated terrain information from the terrain database updating unit or past changes in the posture of the excavation attachments.

[0003] Existing technical documents: Patent documents: Patent document 1: Japanese Patent No. 7178885. Summary of the Invention

[0004] The problem the invention aims to solve: For construction machinery, the goal is to advance excavation operations while accurately identifying the terrain of the area to be excavated.

[0005] The purpose of this disclosure is to provide a terrain recognition system and method that can accurately identify the terrain of the excavation target area of ​​engineering machinery.

[0006] Solution methods: The terrain recognition system disclosed herein is a terrain recognition system for use in engineering machinery, including a bucket for excavating sand in an excavation target area and a ranging sensor, for identifying the terrain of the excavation target area. The terrain recognition system has a processing loop configured to acquire surface height data representing the surface height of each of the multiple sub-regions included in the excavation target area; each time the excavation by the engineering machinery has been performed a set number of times, based on point cloud data acquired from the ranging sensor, perform a first update process to update the surface height of the sub-regions in the surface height data; and based on trajectory information representing the movement trajectory of the bucket, perform a second update process to update the surface height of the sub-regions traversed by the bucket in the surface height data.

[0007] The terrain recognition method disclosed herein is a method for identifying the terrain of an engineering machinery comprising a bucket for excavating sand in an excavation target area and a ranging sensor. The method acquires surface height data representing the surface height of each of multiple sub-regions included in the excavation target area. Whenever the engineering machinery has excavated a set number of times, a first update process is performed based on point cloud data acquired from the ranging sensor to update the surface height of the sub-regions in the surface height data. A second update process is performed based on trajectory information representing the movement trajectory of the bucket to update the surface height of the sub-regions traversed by the bucket in the surface height data.

[0008] Invention effects: According to one aspect of this disclosure, it is possible to accurately identify the terrain of the area to which the excavation machinery is to be carried out. Attached Figure Description

[0009] Figure 1 A schematic side view of a hydraulic excavator, an example of construction machinery; Figure 2 To demonstrate integration into Figure 1 A diagram of the hydraulic circuit of the engineering machinery; Figure 3 A schematic structural diagram of a control system for engineering machinery that includes the terrain recognition system according to the first embodiment; Figure 4 A flowchart illustrating the process performed by the control system; Figure 5 An example of a surface elevation distribution map showing the surface elevation of the excavation area; Figure 6 A flowchart illustrating the process involved in a variation of the control system; Figure 7 A diagram illustrating the terrain recognition system involved in the second embodiment. Detailed Implementation

[0010] The embodiments will now be described with reference to the accompanying drawings.

[0011] <First Implementation> Figure 1 The diagram shows an engineering machine 1 employing the terrain recognition system of the first embodiment. Figure 3The diagram shows a control system 4 for a construction machine 1 that includes a terrain recognition system. The construction machine 1 performs excavation operations on a target area. The target area is the area of ​​the ground that is the target of the operation. In this embodiment, the construction machine 1 is a hydraulic excavator 10. However, the control system 4 can be used for any construction machine 1 that includes a bucket 16 for digging sand, or for construction machines other than hydraulic excavators 10, such as wheel loaders.

[0012] The construction machinery 1 includes a traveling body 11 and a plurality of movable members 12 forming a multi-jointed body rotatably supported on the traveling body 11. That is, the movable members 12 are rotatably connected to each other, and the movable member 12 closest to the traveling body 11 is rotatably connected to the traveling body 11. In this embodiment, the traveling body 11 includes a pair of tracks.

[0013] The bucket 16 is located at the tip of the multi-joint body. That is, the side of the traveling body 11, which is opposite to the bucket 16, is the base end side, and the side of the bucket 16 is the tip end side.

[0014] In addition, construction machinery 1, such as Figure 2 As shown, the system includes travel motors 31 and 32 that drive a pair of tracks respectively, and multiple hydraulic actuators 33 that rotate movable members 12 respectively. The travel motors 31 and 32, along with the hydraulic actuators 33, together with the pump assembly 21, form a hydraulic circuit 2. More specifically, the pump assembly 21 is connected to a valve unit 22 that includes multiple control valve devices 40, to which the travel motors 31 and 32, and the hydraulic actuators 33 are connected.

[0015] In this embodiment, the pump assembly 21 includes a variable-capacity pump (swashplate pump or swashplate pump) 21a with an adjustable tilt angle and an adjuster 21b for changing the tilt angle of the pump 21a. Furthermore, in this embodiment, the discharge flow rate of the pump assembly 21 is controlled by an electrical positive control method. However, the discharge flow rate of the pump assembly 21 can also be controlled by other methods such as a hydraulic negative control method.

[0016] In this embodiment, since the construction machinery 1 is a hydraulic excavator 10, the movable component 12 is as follows: Figure 1 As shown, it includes a rotating body 13, a boom 14, a stick 15, and the aforementioned bucket 16. The hydraulic actuator 33 is as follows... Figure 2 As shown, it includes a rotary motor 34, a boom cylinder 35, a stick cylinder 36, and a bucket cylinder 37.

[0017] Rotary motor 34 rotates the rotating body 13 relative to the traveling body 11 about a rotation axis Jsw extending orthogonally to the longitudinal and width directions of the traveling body 11, located at the center of the traveling body 11. Boom cylinder 35 rotates the boom 14 relative to the rotating body 13 about a rotation axis Jbm extending along the width direction of the rotating body 13, located at the base of the boom 14. Stick cylinder 36 rotates the stick 15 relative to the boom 14 about a rotation axis Jam extending along the width direction of the rotating body 13, located at the tip of the boom 14. Bucket cylinder 37 rotates the bucket 16 relative to the stick 15 about a rotation axis Jbt extending along the width direction of the rotating body 13, located at the tip of the stick 15.

[0018] The multiple control valve devices 40 include: two travel motor control valve devices 41, a slewing control valve device 42, a boom control valve device 43, a stick control valve device 44, and a bucket control valve device 45. The two travel motor control valve devices 41 control the flow of working oil supplied from the pump device 21 to the travel motors 31 and 32, respectively. The slewing control valve device 42 controls the flow of working oil supplied from the pump device 21 to the slewing motor 34. The boom control valve device 43 controls the flow of working oil supplied from the pump device 21 to the boom cylinder 35. The stick control valve device 44 controls the flow of working oil supplied from the pump device 21 to the stick cylinder 36. The bucket control valve device 45 controls the flow of working oil supplied from the pump device 21 to the bucket cylinder 37.

[0019] exist Figure 2 In the example shown, multiple control valve devices 40 are integrated into one valve unit 22, but the valve unit 22 can also be composed of multiple units, and the multiple control valve devices 40 can also be integrated into multiple independent units. Furthermore, the structure of the control valve device 40 is not particularly limited as long as it can control the flow of working oil supplied to the corresponding actuator. For example, the control valve device 40 can also be a solenoid-type spool valve. Alternatively, the control valve device 40 can also include a pilot-operated spool valve and a solenoid proportional valve that outputs pilot pressure to the pilot-operated spool valve.

[0020] like Figure 3 As shown, the control system 4 for the construction machinery 1 includes: multiple attitude angle sensors 5, a distance sensor 6, a controller 7, multiple control valve devices 40 that are controlled by the controller 7, and a pump device 21. The multiple attitude angle sensors 5, the distance sensor 6, the multiple control valve devices 40, and the pump device 21 are connected to the controller 7 via wired or wireless means.

[0021] In addition, when the pump device 21 is controlled by other means instead of by electrical positive control, the pump device 21 may not be the controlled object of the controller 7, and the pump device 21 may not be connected to the controller 7.

[0022] The posture angle sensor 5 detects the posture of the construction machinery 1 as posture information. In this embodiment, the posture angle sensor 5 includes: a vehicle posture angle sensor 51, a rotation posture angle sensor 52, a boom posture angle sensor 53, a stick posture angle sensor 54, and a bucket posture angle sensor 55. The vehicle posture angle sensor 51 detects the tilt angle of the traveling body 11 relative to the horizontal plane, i.e., the vehicle posture angle. The rotation posture angle sensor 52 detects the angle of the forward / backward direction of the rotating body 13 relative to the forward / backward direction of the traveling body 11 on a plane orthogonal to the rotation axis Jsw, i.e., the rotation posture angle. The boom posture angle sensor 53 detects the tilt angle of the boom 14 relative to the horizontal plane, i.e., the boom posture angle. The stick posture angle sensor 54 detects the tilt angle of the stick 15 relative to the horizontal plane, i.e., the stick posture angle. The bucket posture angle sensor 55 detects the tilt angle of the bucket 16 relative to the horizontal plane, i.e., the bucket posture angle.

[0023] The ranging sensor 6 is used to measure the terrain of the area to be excavated. The ranging sensor 6 measures the distance from itself to various points within the excavation area, acquiring three-dimensional point cloud data of the surface of the excavation area. The point cloud data is a collection of point data representing the three-dimensional coordinates of various locations within the measurement range (also known as the field of view) of the terrain contained within the ranging sensor 6. The ranging sensor 6 can be, for example, a LiDAR (Light Detection and Ranging) system or a stereo camera.

[0024] The ranging sensor 6 is configured to measure the terrain in front of the rotating body 13 of the construction machinery 1. In this embodiment, since the construction machinery 1 is a hydraulic excavator 10, a cabin 17, including an operator's seat, is mounted on the front left side of the rotating body 13. The ranging sensor 6 is mounted on the front side of the roof of this cabin 17. When the area to be excavated is located in front of the rotating body 13, the area to be excavated is included in the measurement range of the ranging sensor 6.

[0025] The controller 7 includes a processing loop 70. The processing loop 70 generates control commands for output to the controlled object based on attitude information received from multiple attitude angle sensors 5 and point cloud data received from the ranging sensor 6.

[0026] Processing loop 70 includes: processor 71, system memory 72, and storage memory 73. Processor 71 may include a CPU. System memory 72 may include RAM. Storage memory 73 may include a hard disk, flash memory, or a combination thereof. Storage memory 73 stores program 73a.

[0027] The controller 7 may also include at least one user interface 74. The user interface 74 may be configured on the operator's seat. For example, the user interface 74 includes input interfaces and output interfaces. For example, the input interface may be a touch panel, steering wheel, joystick, switch, etc. For example, the output interface may be a display.

[0028] The controller 7 may also include at least one communication interface 75. The communication interface 75 includes an interface for connecting external devices to the controller 7 via wired or wireless communication. The communication interface 75 may also include an interface for connecting to a communication network such as the Internet via wired or wireless communication.

[0029] In this embodiment, the program 73a stored in the storage memory 73 contains an automatic digging program. The automatic digging program is a program for enabling the construction machinery 1 to carry out digging operations on the target area through automatic driving. The processor 71 executes the automatic digging program read from the storage memory 73, thereby the processing loop 70 performs automatic digging processing.

[0030] In the automatic excavation process of this embodiment, the excavation operation of the engineering machinery 1 is carried out on the excavation target area while the terrain of the excavation target area may change due to excavation. That is, in this embodiment, the automatic excavation program includes a terrain recognition program for recognizing the terrain of the excavation target area, and the controller 7 functions as a terrain recognition device.

[0031] Figure 4 This is a flowchart illustrating the automatic excavation process performed by the control system 4. The automatic excavation process begins when the excavation target area is set, and the relative position of the excavation target area with respect to the construction machinery 1 is controlled by the processing loop 70.

[0032] For example, the excavation target area can be pre-defined using an absolute coordinate system (XY coordinate system) at the construction site. In this case, the construction machinery 1 can also be equipped with a position sensor to detect its position in the absolute coordinate system, or an orientation sensor to detect its direction in the absolute coordinate system. For example, the construction machinery 1 can also be equipped with a GNSS compass. That is, by determining the position or direction of the construction machinery 1 in the absolute coordinate system, the positional relationship of the construction machinery 1 relative to the excavation target area in the absolute coordinate system can be determined.

[0033] Alternatively, the excavation target area can be set to an area that can be excavated without the construction machinery 1 moving. That is, the excavation target area can also be set using a relative coordinate system relative to the construction machinery 1.

[0034] When the automatic excavation process begins, the first processing loop 70 determines whether the next excavation is the first excavation of the target area (step S1).

[0035] When it is determined that the next excavation is the first time (step S1: Yes), the processing loop 70 controls each controlled object (e.g., rotation control valve device 42, boom control valve device 43, stick control valve device 44, bucket control valve device 45, pump device 21) to change the posture of the construction machinery 1 to a preset distance measuring posture (step S2).

[0036] Specifically, the ranging posture is one that minimizes the entry of any part of the construction machinery 1 into the measurement range of the ranging sensor 6 (e.g., the scanning range of the LiDAR if the ranging sensor 6 is a LiDAR). That is, step S2 is a step to reduce areas in the excavation target area that become blind spots from the perspective of the ranging sensor 6 due to the boom 14, stick 15, and bucket 16. For example, the ranging posture can be predetermined by the rotation posture angle, boom posture angle, stick posture angle, and bucket posture angle. For example, when the construction machinery 1 is in the ranging posture, the bucket 16 can be positioned above the ranging sensor 6.

[0037] After changing the posture of the construction machinery 1 to a distance-measuring posture, the processing loop 70 executes the first terrain recognition process (step S3). The first terrain recognition process is the process of identifying the terrain of the excavation target area using the distance-measuring sensor 6. In this embodiment, in the first terrain recognition process and the second terrain recognition process described later, identifying the terrain of the excavation target area means storing or updating surface height data representing the surface height of each of the multiple subareas constituting the excavation target area. The surface height data is stored, for example, in the storage memory 73.

[0038] Reference Figure 5 The surface elevation of multiple sub-regions is described. Figure 5 This is an example of a surface elevation distribution map showing the surface elevation of the excavation target area R1. Figure 5 In the diagram, the excavation target area R1 is defined on the XY plane, which is parallel to the horizontal plane. The excavation target area R1 is as follows: Figure 5 As shown, the area is divided into multiple sub-regions R2. The type of shaded line in each sub-region R2 indicates the ground elevation of that sub-region R2. The ground elevation data of each sub-region R2 is stored in association with the location information of the corresponding sub-region R2.

[0039] in addition, Figure 5In the surface elevation distribution map, the excavation target area R1 is represented by a rectangular face parallel to the horizontal plane, and the sub-region R2 is defined as a square, but the shape of the excavation target area R1 or sub-region R2 is not limited to this. For example, the excavation target area R1 can be a trapezoid or a sector. The number of sub-regions R2 included in the excavation target area R1, the ratio of the size of the sub-region R2 to the size of the excavation target area R1, etc., can also be set appropriately.

[0040] In the first terrain recognition process of this embodiment, the processing loop 70 first sends a command to the ranging sensor 6 to start the measurement. After the measurement is completed by the ranging sensor 6, the processing loop 70 receives three-dimensional point cloud data from the ranging sensor 6. The processing loop 70 determines which sub-region R2 the XY coordinates of each point data in the acquired three-dimensional point cloud data are contained in. Then, the processing loop 70 calculates the ground elevation of the sub-region R2 from the Z coordinates of the point data included in the sub-region R2.

[0041] For example, if a sub-region R2 contains only one data point, processing loop 70 uses the Z-coordinate of that data point as the surface height of sub-region R2. For example, if a sub-region R2 contains multiple data points, processing loop 70 calculates a surface height from the Z-coordinates of the multiple data points using a prescribed calculation. For example, processing loop 70 can calculate the average of the Z-coordinates of the multiple data points as the surface height, or it can remove outliers from the Z-coordinates of the multiple data points and calculate the surface height from the remaining Z-coordinates.

[0042] Sometimes, sub-region R2 contains no data points at all. For example, sub-region R2 that becomes a blind spot for the ranging sensor 6 due to at least one of the boom 14, stick 15, and bucket 16 may sometimes contain no data points at all. Also, when there is a sandy uplift within the excavation target area R1, sub-region R2 that becomes a blind spot for the ranging sensor 6 due to this uplift may sometimes contain no data points at all. When such a sub-region R2 exists where the ranging sensor 6 cannot measure distance (hereinafter referred to as the unmeasurable region), the processing circuit 70 infers the surface height of the unmeasurable region from the surface height of the sub-regions R2 surrounding the unmeasurable region. For example, the surface height of the unmeasurable region can be inferred using the surface heights of the sub-regions R2 surrounding the unmeasurable region through a known interpolation method, or it can be inferred by averaging the surface heights of multiple sub-regions R2 surrounding the unmeasurable region.

[0043] Thus, the processing loop 70 acquires surface height data representing the surface height of each sub-region R2 of the excavation target region R1 and stores it in the memory 73.

[0044] Next, processing loop 70 determines whether the number of excavations since the previous first terrain identification process has reached the set number (step S4). More specifically, during the automatic excavation process, processing loop 70 counts the number of excavations k performed in steps S5 and S8 (described later). In step S4, processing loop 70 determines whether the number of excavations k has reached the set number. When the first terrain identification process is performed in step S7 (described later), processing loop 70 returns the number of excavations k to its initial value, which is zero.

[0045] When it is determined that the number of excavations since the first terrain identification process has reached a set number (step S4: Yes), the processing loop 70 controls each controlled object (e.g., rotation control valve device 42, boom control valve device 43, stick control valve device 44, bucket control valve device 45, pump device 21) to excavate the sand in the excavation target area R1 (step S5). In step S5, for example, the processing loop 70 determines, based on the surface height data, which part of the sand in the excavation target area R1 to excavate, and controls the controlled objects to excavate the sand in the determined area.

[0046] Subsequently, the processing loop 70 controls multiple control valve devices 40 and pump devices 21 to change the posture of the construction machinery 1 to a distance measuring posture (step S6). After that, the processing loop 70 performs the first terrain recognition process (step S7). Since steps S6 and S7 are the same as steps S2 and S3 respectively, their descriptions are omitted.

[0047] In step S4, if it is determined that the number of excavations since the first terrain identification process has not reached the set number (step S4: No), the processing loop 70 controls the control object to excavate the sand in the excavation object area R1 (step S8).

[0048] Additionally, at least in step S8, the processing circuit 70 stores the information needed to calculate the trajectory of the tip of the bucket 16 during operation. For example, the processing circuit 70 stores time-series data of the detection values ​​of multiple attitude angle sensors 5 during the movement of the bucket 16 for digging.

[0049] After step S8, the processing loop 70 performs a second terrain recognition process (step S9). The second terrain recognition process is a process of identifying the terrain of the excavation target area based on the trajectory of the tip of the bucket 16 during excavation in step S8.

[0050] Specifically, in the second terrain recognition process, the processing loop 70 calculates the movement trajectory of the tip of the bucket 16 from the time-series data of the detection values ​​of multiple posture angle sensors 5 during the movement of the bucket 16 during excavation, and stores it as trajectory information. For example, the movement trajectory of the tip of the bucket 16 can also be the time-series data of the position coordinates of the right and left ends of the side edge of the tip of the bucket 16 during the operation of the construction machinery 1 in step S8. Then, the processing loop 70 determines the sub-region R2 traversed by the bucket 16 during excavation in step S8 based on this trajectory information and the surface height data stored in the memory 73, and updates the surface height of the determined sub-region R2 to the height of the tip of the bucket 16 when traversing the sub-region R2.

[0051] The following describes an example of the second terrain identification process. However, the method for calculating the movement trajectory of the tip of the bucket 16, the method for determining the sub-region R2 traversed by the bucket 16, and the method for updating the surface height of the determined sub-region R2 are not limited to the second terrain identification process described below.

[0052] First, the processing loop 70 calculates the time-series coordinates of the following points as trajectory information: a first point on the right side of the bucket 16's tip, a second point on the left side of the bucket 16's tip, and a third point on the bucket 16's opening surface, based on the time-series data of the detection values ​​from multiple attitude angle sensors 5 during the movement of the bucket 16 during digging. For example, the third point is located at the center of the end edge on the base side of the bucket 16. Then, the processing loop 70 groups the first, second, and third points together and performs the following processing on each group.

[0053] Processing loop 70 sets up a virtual triangle with vertices at the first, second, and third points, and projects this virtual triangle onto the XY plane. Processing loop 70 determines a sub-region R2 that overlaps with the projected triangle on the XY plane to a certain extent. For example, processing loop 70 compares the centroid within the projected triangle with the centroid of each sub-region R2 to determine the sub-region R2 whose centroid is located within the projected triangle. Processing loop 70 extracts the height (Z coordinate) of the point on the virtual triangle with vertices at the first, second, and third points in the XY coordinates of the determined sub-region R2, and compares the extracted height with the ground elevation of the sub-region R2 stored in memory 73. When processing loop 70 determines that the extracted height is less than the stored ground elevation of the sub-region R2, it updates the stored ground elevation of the sub-region R2 to the extracted height. When processing loop 70 determines that the extracted height is above the ground height of sub-region R2 stored in memory 73, it does not update but maintains the ground height of sub-region R2 stored in memory 73.

[0054] The processing loop 70 sequentially performs the aforementioned processing on the virtual triangles extracted from the time series data corresponding to the excavation action, and then ends the second terrain recognition processing.

[0055] After steps S7 and S9, return to step S1. Thus, whenever excavation is performed, either the first terrain identification process in step S7 or the second terrain identification process in step S9 is executed to update the surface height data stored in memory 73. The first terrain identification process in step S7 corresponds to the first update process, and the second terrain identification process in step S9 corresponds to the second update process.

[0056] Furthermore, the above-mentioned automatic excavation process is one example. For instance, the processing loop 70 could also be a control object, excavating the sand in the excavation target area R1 before the determination in step S4, instead of executing steps S5 and S8 after the determination in step S4.

[0057] As explained above, in this embodiment, since the surface height of sub-region R2 in the surface height data is updated by the movement trajectory of the bucket 16 through the second terrain recognition processing, the surface height of the excavation target area R1 that changes every time excavation occurs can be identified in real time.

[0058] Furthermore, in this embodiment, whenever the excavation by the construction machinery 1 has been performed a predetermined number of times, a first terrain recognition process is executed to update the surface height of sub-region R2 based on point cloud data acquired from the ranging sensor 6. Therefore, the deviation between the surface height of sub-region R2 identified by the second terrain recognition process and the actual surface height of the sub-region can be eliminated at an appropriate time. Thus, excavation operations can proceed while accurately identifying the surface height of the excavation target area.

[0059] Furthermore, in order to perform the first terrain recognition process, the posture of the construction machinery 1 needs to be changed to a distance-measuring posture, and the measurement by the distance-measuring sensor 6 also requires time. However, in this embodiment, since the first terrain recognition process is limited to a set number of times the construction machinery 1 excavates, the excavation operation can be effectively advanced.

[0060] (The processing involved in the variations) Figure 6 A flowchart illustrating the process involved in a variation performed by control system 4. Figure 4 In the process shown, whenever excavation is performed, either the first terrain identification process or the second terrain identification process is executed, but... Figure 6 In the process shown, a second terrain recognition process is always performed whenever excavation is carried out.

[0061] Figure 6 The steps T1, T2, and T3 shown are respectively related to Figure 4 Steps S1, S2, and S3 are the same, so the explanation is omitted. After step T3, the processing loop 70 controls the controlled object to excavate the sand in the excavation object area (step T4), and then performs the second terrain recognition process (step T5). Figure 6 Steps T4 and T5 shown are respectively related to Figure 4 Steps S8 and S9 shown are the same, so the explanation is omitted.

[0062] After step T5, processing loop 70 determines whether the number of excavations since the previous first terrain identification process has reached the set number (step T6). When it is determined that the number of excavations since the previous first terrain identification process has reached the set number (step T6: Yes), processing loop 70 controls the controlled object to change the posture of the construction machinery 1 to the distance measuring posture (step T7), and then performs the first terrain identification process (step T8). After step T8, or if it is determined in step T6 that the number of excavations since the previous first terrain identification process has not reached the set number (step T6: No), it returns to step T1. Figure 6 Steps T6, T7, and T8 shown are respectively related to Figure 4 Steps S4, S6, and S7 are the same, so their descriptions are omitted. The first terrain identification process in step T8 corresponds to the first update process, and the second terrain identification process in step T5 corresponds to the second update process.

[0063] <Second Implementation> Figure 7 The figures illustrate the terrain recognition system 100 according to the second embodiment. The terrain recognition system 100 includes: a plurality of attitude angle sensors 5 and a ranging sensor 6 included in the construction machinery 1, and a terrain recognition device 8 as an external device of the construction machinery 1. Since the construction machinery 1 is the same as the construction machinery described in the first embodiment, its description is omitted. In the first embodiment, the first terrain recognition process and the second terrain recognition process are executed by the controller 7 of the construction machinery 1, but in the second embodiment, the first terrain recognition process and the second terrain recognition process are executed by the terrain recognition device 8.

[0064] The terrain recognition device 8 is disposed externally on the construction machinery 1. The terrain recognition device 8 is configured to communicate with the controller 7 of the construction machinery 1. The terrain recognition device 8 may be, for example, a cloud server.

[0065] The terrain recognition device 8 includes a processing loop 80. The processing loop 80 performs processing for recognizing the terrain of the excavation target area based on information received from the construction machinery 1.

[0066] The processing loop 80 includes a processor 81, system memory 82, and storage memory 83. The processor 81 may include a CPU. The system memory 82 may include RAM. The storage memory 83 may include a hard disk, flash memory, or a combination thereof. The storage memory 83 stores a program 83a. In this embodiment, the program 83a contains a terrain recognition program for identifying the terrain of the excavation target area.

[0067] The terrain recognition device 8 may also include at least one user interface 84. For example, the user interface 84 includes an input interface and an output interface. For example, the input interface may be a touch panel, keyboard, mouse, and microphone. For example, the output interface may be a display.

[0068] The terrain recognition device 8 includes at least one communication interface 85. The communication interface 85 is an interface that can be communicatively connected to the controller 7 of the engineering machinery 1. The communication interface 85 can be directly communicatively connected to the controller 7, or it can be communicatively connected via a communication network such as the Internet.

[0069] The terrain recognition device 8 receives from the engineering machinery 1 attitude information obtained through the attitude angle sensor 5, point cloud data obtained through the ranging sensor 6, and excavation information indicating whether the excavation target area has been excavated. The excavation information can also be information indicating the number of excavations.

[0070] Simultaneously with the commencement of excavation operations on the target area by the construction machinery 1, the processing circuit 80, as described in the first embodiment, [continues to operate]. Figure 4 Similarly, the following process is performed as shown.

[0071] For example, processing loop 80 determines whether it is the first excavation of the target area based on the excavation information received from the construction machinery 1 (step S1). When it is determined that the next excavation is the first (step S1: Yes), processing loop 80 sends an instruction to controller 7 to change the posture of construction machinery 1 to a pre-set distance measuring posture (step S2). Furthermore, processing loop 80 sends an instruction to controller 7 requesting point cloud data obtained through distance sensor 6, and then performs first terrain recognition processing based on the point cloud data received from controller 7 (step S3). Thus, processing loop 80 acquires surface height data representing the surface height of each sub-region R2 of the target area R1 and stores it in memory 83.

[0072] Next, the processing loop 80 determines whether the number of excavations since the previous first terrain recognition process has reached the set number (step S4).

[0073] When it is determined that the number of excavations since the first terrain recognition process has reached the set number (step S4: Yes), after receiving excavation information that the excavation target area has been excavated (step S5), the processing loop 80 performs the same processing as steps S2 and S3 above (steps S6 and S7).

[0074] In step S4, if it is determined that the number of excavations since the first terrain recognition process has not reached the set number (step S4: No), excavation information indicating that the excavation target area has been excavated and trajectory information indicating the movement trajectory of the tip of the bucket 16, or information required to calculate the movement trajectory (posture information, etc.) are received (step S8). Then, the processing loop 80 performs the second terrain recognition process based on the movement trajectory (step S9).

[0075] After steps S7 and S9, return to step S1. Thus, whenever excavation is performed, the surface height data stored in memory 83 is updated. When the surface height data is updated in steps S7 and S9, the surface height data before the update does not need to be deleted and can be saved as historical surface height data. That is, the changing surface height data during the excavation operation can be stored, for example, in a database on a cloud server. The terrain recognition device 8 can also send the surface height data to the controller 7 of the construction machinery 1 whenever the surface height data is updated. Furthermore, this embodiment is also applicable to variations involved in the modifications. Figure 6 The same process is shown.

[0076] According to this embodiment, since the terrain recognition processing is performed by an external device of the construction machinery 1, the computational load of the controller 7 of the construction machinery 1 can be reduced.

[0077] The terrain recognition device 8 can also consist of multiple independent devices. The terrain recognition device 8 can also include a server and user terminals that can communicate with the server.

[0078] <Other Implementation Methods> This disclosure is not limited to the aforementioned embodiments, and its structure can be modified, added to, or deleted.

[0079] For example, the traveling body 11 may also include multiple wheels instead of a pair of tracks. In this case, the hydraulic circuit 2 may not include the traveling motors 31 and 32, but instead drive the wheels via an engine or electric motor.

[0080] Furthermore, in the first and second embodiments described above, the program executed by the processing loop is an automatic excavation program that enables the construction machinery 1 to perform excavation operations on the excavation target area through automatic driving. However, the processing loop may also be a terrain recognition program that only identifies the terrain of the excavation target area, and the excavation action performed by the construction machinery 1 is based on the manual operation performed by the operator. The operator can operate the construction machinery 1 while riding in it or remotely from outside the construction machinery 1.

[0081] For example, Figure 4 Steps S2, S5, S6, S8 or Figure 6 The actions of the construction machinery 1 in steps T2, T4, and T8 can also be controlled manually by the operator. When the operator changes the posture of the construction machinery 1 to the distance measuring posture, the distance measuring posture may not be a preset posture, but may be a posture determined by the operator's judgment.

[0082] Furthermore, the processing loop can also output ground elevation data to the display included in user interface 74 or user interface 84. In this case, the display can show, for example... Figure 5 A surface elevation distribution map as shown. For example, when the operator performs the excavation operation of the construction machinery 1, the operator can obtain a detailed understanding of the terrain of the excavation area from the surface elevation data displayed on the monitor, while operating the construction machinery 1.

[0083] The set number of times can be a variable value. In this case, the processing loop can also be configured to set the set number of times based on the set number of times information input by the user through user interfaces 74, 84, etc.

[0084] Alternatively, the processing loop can be configured to acquire excavation status information representing the excavation status of the construction machinery 1, and set a set number of times based on the acquired excavation status information. The excavation status information may, for example, be soil information representing the type or state of the soil in the excavation target area. In this case, the construction machinery 1 may have a sensor for detecting soil information, and the processing loop may acquire the soil information from this sensor. Alternatively, the soil information may also be information input by the user via a user interface.

[0085] Excavation status information could also be weather information indicating the weather at the time of excavation or the weather before excavation. In this case, the construction machinery 1 could also receive weather information from a meteorological center. Alternatively, the weather information could be information input by the user through a user interface.

[0086] Furthermore, the processing loop can also be configured such that, after performing the first update process, it determines whether the deviation between the surface height represented by the surface height data before the update and the surface height represented by the updated surface height data is greater than or equal to a predetermined value. If it determines that the deviation is greater than or equal to the predetermined value, it changes the predetermined number of times in a manner less than the predetermined number of times before the update. At this time, the processing loop can also sum the deviations of all sub-regions of the excavation target area and determine whether the summed deviation is greater than or equal to a predetermined value. Alternatively, the processing loop can also determine whether the largest deviation of all sub-regions of the excavation target area is greater than or equal to a predetermined value.

[0087] As described above, the aforementioned embodiments have been illustrated as examples of the technology disclosed in this application. However, the technology disclosed herein is not limited to this and can also be applied to embodiments with appropriate modifications, substitutions, additions, omissions, etc. Furthermore, the constituent elements described in the foregoing embodiments can be combined to create new embodiments. For example, a portion of the structure or method in one embodiment can be applied to other embodiments, where a portion of the structure in one embodiment can be separated from and arbitrarily extracted from other structures in that embodiment. Moreover, the structural elements described in the accompanying drawings and detailed description include not only structural elements necessary for solving the problem but also structural elements used to illustrate the foregoing technology, rather than those necessary for solving the problem. Two blocks shown sequentially in the flowchart may, in some cases, be executed simultaneously or in reverse order.

[0088] The functions of the elements disclosed in this specification can be executed using a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), an FPGA (Field Programmable Gate Array), a conventional circuit, and / or combinations thereof, or a processing circuit, which are configured or programmed to perform the disclosed functions. A processor, because it includes transistors and other circuits, can be considered as a processing circuit or a circuit. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the listed functions. The hardware can be the hardware disclosed in this specification, or it can be other known hardware programmed or configured to perform the listed functions. When the hardware is considered a processor, a circuit, means, or unit is a combination of hardware and software, with the software used to construct the hardware and / or the processor.

[0089] The programs disclosed in this specification can be stored on a computer-readable storage medium. The aforementioned storage medium is a non-transitory and tangible medium. The aforementioned storage medium can be built into or externally connected to a computer (e.g., a portable information terminal, personal computer, server, etc.). The aforementioned storage medium includes RAM, ROM, EEPROM, memory, etc., and may be, for example, a hard disk, flash memory, optical disk, etc. The programs stored in the aforementioned storage medium can be executed on a computer directly connected to the aforementioned storage medium, or on a computer connected to the aforementioned storage medium via a communication network (e.g., the Internet).

[0090] The following are disclosures of preferred embodiments.

[0091] [Aspect 1] A terrain recognition system is a terrain recognition system for engineering machinery, comprising a bucket for excavating sand and soil in an excavation target area and a distance measuring sensor, used to identify the terrain of the excavation target area. The terrain recognition system has a processing loop. The processing loop is configured as follows: Obtain surface height data representing the surface height of each of the multiple sub-regions included in the excavation target area. Whenever the excavation by the engineering machinery has been performed a set number of times, a first update process is executed based on the point cloud data obtained from the ranging sensor to update the surface height of the sub-region in the surface height data. Based on trajectory information representing the movement trajectory of the bucket, a second update process is performed to update the surface height of the sub-region traversed by the bucket in the surface height data.

[0092] According to the structure, since the surface height of sub-regions in the surface height data is updated by the movement trajectory of the bucket through the second update process, the surface height of the excavation target area that changes each time excavation occurs can be identified in real time. Furthermore, according to the structure, a first update process is performed each time the excavation by the construction machinery has been carried out a set number of times, updating the surface height of the sub-regions based on point cloud data acquired from the ranging sensor. Therefore, the deviation between the surface height of the sub-region identified by the second update process and the actual surface height of the sub-region can be eliminated at appropriate times. Thus, excavation operations can proceed while accurately identifying the surface height of the excavation target area.

[0093] [Aspect 2] According to the terrain recognition system described in aspect 1 The processing circuit is configured as follows: Whenever the construction machinery performs excavation, it is determined whether the number of excavations performed by the construction machinery since the previous first update process has reached the set number. When it is determined that the number of mining attempts has reached the set number, the first update process is executed. If it is determined that the number of mining attempts has not reached the set number, the second update process is executed.

[0094] [Aspect 3] According to the terrain recognition system of aspect 1, the processing loop is configured to execute the second update process whenever the engineering machinery performs excavation.

[0095] [Aspect 4] According to any one of aspects 1 to 3, the terrain recognition system, the processing loop is configured to set the set number of times based on the set number of times information input by the user via a user interface.

[0096] Based on the aforementioned structure, the timing of executing the first update process can be adjusted according to the situation and the user's judgment.

[0097] [Aspect 5] According to any one of aspects 1 to 4, the terrain recognition system, the processing loop is configured to acquire excavation status information representing the excavation status of the engineering machinery, and set the set number of times based on the acquired excavation status information.

[0098] Based on the structure described, the number of excavations can be adjusted to suit the specific excavation conditions.

[0099] [Aspect 6] The terrain recognition system according to any one of aspects 1 to 5, The processing loop is configured as follows: After performing the first update process, it is determined whether the deviation between the surface height data before the update and the surface height data after the update is above a specified value. When it is determined that the deviation is above the specified value, the set number is changed in a manner that is less than the set number before the update.

[0100] According to the structure, since the deviation of the surface height data can be kept small before and after the first update process, the surface height data can be maintained at a high level of accuracy.

[0101] [Aspect 7] A terrain recognition method is a method used in engineering machinery, including a bucket for excavating sand and soil in an excavation target area and a ranging sensor, for identifying the terrain of the excavation target area. Obtain surface height data representing the surface height of each of the multiple sub-regions included in the excavation target area. Whenever the excavation by the engineering machinery has been performed a predetermined number of times, a first update process is executed based on the point cloud data obtained from the ranging sensor to update the surface height of the sub-region in the surface height data. Based on trajectory information representing the movement trajectory of the bucket, a second update process is performed to update the surface height of the sub-region traversed by the bucket in the surface height data.

[0102] According to the method, since the surface height of sub-regions in the surface height data is updated by the movement trajectory of the bucket through the second update process, the surface height of the excavation target area that changes each time excavation occurs can be identified in real time. Furthermore, according to the method, a first update process is performed each time the excavation by the construction machinery has been carried out a set number of times, updating the surface height of the sub-regions based on point cloud data acquired from the ranging sensor. Therefore, the deviation between the surface height of the sub-region identified by the second update process and the actual surface height of the sub-region can be eliminated at appropriate times. Thus, the excavation operation can be advanced while accurately identifying the surface height of the excavation target area.

[0103] Symbol explanation: 1: Construction machinery; 4: Control system; 5: Attitude angle sensor; 6: Distance sensor; 10: Hydraulic excavator; 13: Solid of revolution; 14: Boom; 15: Fighting pole; 16: Bucket; 21: Pump unit; 40: Control valve device; 70, 80: Processing loops; 74, 84: User interface; 100: Terrain recognition system.

Claims

1. A terrain recognition system, characterized in that, It is a terrain recognition system used in engineering machinery, including a bucket for excavating sand and soil in the excavation target area and a distance measuring sensor, for identifying the terrain of the excavation target area. The terrain recognition system has a processing loop. The processing loop is configured as follows: Obtain surface height data representing the surface height of each of the multiple sub-regions included in the excavation target area. Whenever the excavation by the engineering machinery has been performed a predetermined number of times, a first update process is executed based on the point cloud data obtained from the ranging sensor to update the surface height of the sub-region in the surface height data. Based on trajectory information representing the movement trajectory of the bucket, a second update process is performed to update the surface height of the sub-region traversed by the bucket in the surface height data.

2. The terrain recognition system according to claim 1, characterized in that, The processing loop is configured as follows: Whenever the construction machinery performs excavation, it is determined whether the number of excavations performed by the construction machinery since the previous first update process has reached the set number. When it is determined that the number of mining attempts has reached the set number, the first update process is executed. If it is determined that the number of mining attempts has not reached the set number, the second update process is executed.

3. The terrain recognition system according to claim 1, characterized in that, The processing loop is configured such that the second update process is executed whenever the engineering machinery performs excavation.

4. The terrain recognition system according to any one of claims 1 to 3, characterized in that, The processing loop is configured to set the set number of times based on the set number of times information input by the user via a user interface.

5. The terrain recognition system according to any one of claims 1 to 3, characterized in that, The processing loop is configured to acquire excavation status information representing the excavation status of the construction machinery, and set the set number of times based on the acquired excavation status information.

6. The terrain recognition system according to any one of claims 1 to 3, characterized in that, The processing loop is configured as follows: After performing the first update process, it is determined whether the deviation between the surface height data before the update and the surface height data after the update is above a specified value. When it is determined that the deviation is above the specified value, the set number is changed in a form that is less than the set number before the update.

7. A terrain recognition method, characterized in that, It is a terrain recognition method used in engineering machinery, including a bucket for excavating sand and soil in the excavation target area and a distance measuring sensor, for identifying the terrain of the excavation target area. Obtain surface height data representing the surface height of each of the multiple sub-regions included in the excavation target area. Whenever the excavation by the engineering machinery has been performed a predetermined number of times, a first update process is executed based on the point cloud data obtained from the ranging sensor to update the surface height of the sub-region in the surface height data. Based on trajectory information representing the movement trajectory of the bucket, a second update process is performed to update the surface height of the sub-region traversed by the bucket in the surface height data.

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