DEVICE FOR DETERMINING DIMENSIONS AND METHOD FOR DETERMINING DIMENSIONS

Abstract

Device for determining dimensions, which determines the dimensions of an attachment (135) of a work equipment (130) which includes a stick (132) and the attachment (135) and in which a first connecting section (1351) or a second connecting section (1352) which is present on the attachment (135) is connected to the stick (132), wherein the device for determining dimensions comprises: a unit (1552) for storing dimensions, which stores first dimensions that are the dimensions of the attachment (135) in a state of normal connection when the first connecting section (1351) is connected to the stem (132); a unit (1512) for determining a connection that determines whether the stem (132) is connected to the first connecting section (1351) or the second connecting section (1352); and a unit (1513) for calculating dimensions which, when the second connecting section (1352) is connected to the stem (132), calculates the second dimensions of the attachment (135) in a state of reverse connection based on the first dimensions when it is determined that the stem (132) is connected to the second connecting section (1352).

Description

Technical area

[0001] The present invention relates to a device for determining dimensions and a method for determining dimensions with which dimensions of an attachment of a work equipment are determined. Technical background

[0002] JP 2012 - 172 431 A discloses a display system that displays an image showing a positional relationship between a position of teeth of a bucket and a designed surface so that an operator can form a target surface without error.

[0003] US 9 677 251 B2 describes a control system for a construction machine equipped with a tilt bucket. This system includes an inclination sensor that detects the inclination of the bucket relative to a horizontal plane, with the goal of ensuring excavation accuracy. The system achieves this by fixing the inclination angle data to prevent deviations during bucket movements, thus enabling precise control of the bucket position relative to a specified excavation profile.

[0004] JP 2017 - 157 016 A describes an attachment recognition device that identifies work attachments (such as buckets) installed on construction machinery. The device includes a posture detection unit, a distance sensor for measuring the environment, and an attachment recognition unit that compares extracted feature data with stored attachment reference data.

[0005] JP H07 - 268 902 A describes a method for efficiently measuring the dimensions of various attachments for construction machinery, such as bucket attachments. By comparing pre-stored reference data with measured data of the attachment's critical dimensions, the method calculates precise dimensions of replacement attachments, improving automation and reducing manual input. Summary of the inventionTechnical problem

[0006] Depending on the work tasks on a construction site, a bucket of a work attachment attached to a work machine such as a hydraulic excavator can be attached in a reverse direction. For example, if the work machine is a backhoe, the bucket is usually attached with the teeth facing a vehicle body. However, depending on the work task, the bucket can be attached with the teeth facing the front. This means that the backhoe can be used as a loader excavator. Hereinafter, the normal attachment of the bucket is referred to as "normal connection," and the attachment of the bucket in the opposite direction is referred to as "reverse connection."

[0007] The bucket has a tooth-side connecting portion and a heel-side connecting portion at a rear end portion, one of which is attached to a front end of a stem, and the other of which is attached to a cylinder. Therefore, when the bucket is placed in a reverse connection state, the cylinder is attached to the connecting portion where the stem is attached in a normal connection, and the stem is attached to the connecting portion where the cylinder is attached in a normal connection.

[0008] In the display system described in JP 2012-172431 A, a bucket dimension is determined based on bucket dimension information stored in a storage device. The bucket dimension information is information indicating a bucket dimension in an assumed method of attaching the bucket to the arm. On the other hand, a length from the front end of the arm to the teeth of the bucket differs between the normal connection and the reverse connection. Therefore, the display system described in JP 2012-172431 A cannot accurately determine a bucket dimension when the bucket is attached to the arm using an attachment method different from the assumed attachment method.

[0009] An object of the present invention is to provide a device for determining dimensions and a method for determining dimensions with which a dimension of an attachment of a work equipment can be determined independently of a method for attaching the attachment. Solution to the problem

[0010] According to the present invention, this object is achieved by a device for determining dimensions having the features of independent claim 1 and by a method for determining dimensions having the features of independent claim 7. Dependent claims 2 to 6 relate to further embodiments of the device according to claim 1.

[0011] Specifically, a dimension determining device according to the present invention is a dimension determining device that determines dimensions of an attachment of a work machine including a shaft and the attachment, and in which a first connecting portion or a second connecting portion provided on the attachment is connected to the shaft, the dimension determining device comprising: a dimension storing unit that stores first dimensions, which are dimensions of the attachment in a state of normal connection when the first connecting portion is connected to the shaft; a connection determining unit that determines whether the shaft is connected to the first connecting portion or the second connecting portion;and a dimension calculation unit that, when the second connection portion is connected to the arm, calculates second dimensions of the attachment in a reverse connection state based on the first dimensions when it is determined that the arm is connected to the second connection portion; Advantageous effects of the invention

[0012] According to the invention set forth above, the dimension determining device can determine a dimension of an attachment of a work implement regardless of the method for attaching the attachment. Short description of the drawings Fig. 1 is a diagram showing an example of a position of a work equipment. Fig. 2 is a schematic diagram showing a structure of a work machine according to a first embodiment. Fig. 3 is a block diagram showing configurations of a work equipment control device and an input / output device according to the first embodiment. Fig. 4 is a diagram showing dimensions of a spoon in a state of normal connection. Fig. 5 is a diagram showing dimensions of a bucket in a reverse connection state. Fig. 6 is a diagram showing a method for calculating dimensions of a bucket in the reverse connection state. Fig. 7 is a flowchart illustrating a method of adjusting a bucket for the work machine according to the first embodiment. Fig. 8 is a flowchart illustrating a process for displaying an image of the bucket and an engagement control process using set dimensions in the first embodiment. Fig. 9 is a diagram showing an example of an image of the spoon. Fig. 10 is a flowchart illustrating a method of adjusting a bucket for a work machine according to another embodiment not belonging to the invention. Description of embodiments

[0013] In the following, embodiments will be described in detail with reference to the drawings. Coordinate system

[0014] Fig. 1 is a diagram showing an example of a position of a work equipment.

[0015] In the following description, a three-dimensional construction site coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) are defined, and a positional relationship is described based on the coordinate systems.

[0016] The construction site coordinate system is a coordinate system consisting of an Xg axis extending north and south, a Yg axis extending east and west, and a Zg axis extending vertically. The position of a GNSS reference station located at a construction site serves as a reference point. An example of a GNSS is the global positioning system (GPS).

[0017] The vehicle body coordinate system is a coordinate system consisting of an Xm axis extending forward and backward, a Ym axis extending left and right, and a Zm axis extending up and down, with a representative point O defined on a swing body 120 of a work machine 100 and described below serving as a reference. The forward direction is referred to as the +Xm direction, the backward direction is referred to as the -Xm direction, the leftward direction is referred to as the +Ym direction, the rightward direction is referred to as the -Ym direction, the upward direction is referred to as the +Zm direction, and the downward direction is referred to as the -Zm direction, with the representative point O of the swing body 120 serving as a reference.

[0018] A work equipment control device 150 of the work machine 100, described below, can convert a position in a certain coordinate system into a position in another coordinate system by calculation. For example, the work equipment control device 150 can convert a position in the vehicle body coordinate system into a position in the construction site coordinate system, and can also convert positions in the coordinate systems vice versa. First embodimentWorking machine

[0019] Fig. 2 is a schematic diagram showing a structure of the work machine according to a first embodiment.

[0020] The work machine 100 includes a chassis 110, the swivel body 120 mounted on the chassis 110, and a working attachment 130 that is actuated by hydraulic pressure and mounted on the swivel body 120. The swivel body 120 is mounted on the chassis 110 such that it can be freely pivoted about the pivot center.

[0021] The work equipment 130 includes a boom 131, an arm 132, a swing arm 133, a bucket coupler 134, a bucket 135, a boom cylinder 136, an arm cylinder 137, and a bucket cylinder 138.

[0022] A rear end portion of the boom 131 is attached to the swing body 120 via a boom pin P1.

[0023] The arm 132 connects the boom 131 to the bucket 135. A rear end portion of the arm 132 is attached to a front end portion of the boom 131 via an arm pin P2.

[0024] A first end of the swing arm 133 is attached to a side surface of the arm 132 at the front end side thereof via a swing arm pin P3. A second end of the swing arm 133 is attached to a front end portion of the bucket cylinder 138 and a first end of the bucket link 134 via a bucket cylinder pin P4.

[0025] The bucket 135 includes teeth T for excavating earth and the like, and a receiving portion for receiving the excavated earth. Two connecting portions for connecting to the arm 132 and the bucket link 134 are provided at a rear end portion of the bucket 135. Hereinafter, the connecting portion of the bucket 135 on the side of the teeth T thereof is referred to as a front connecting portion 1351, and the connecting portion of the bucket 135 on the side of the back thereof is referred to as a rear connecting portion 1352.

[0026] A connecting section (front connecting section 1351 in Fig. 2) of the bucket 135 is attached to the front end portion of the arm 132 via a bucket pin P5. The other connecting portion (the rear connecting portion 1352 in Fig. 2) The bucket 135 is attached to the second end of the bucket coupling 134 via a bucket coupling pin P6. The bucket 135 may be a leveling bucket, such as a slope bucket, or a bucket that is not provided with a receiving portion. The work equipment 130 according to another embodiment may also include other attachments instead of the bucket 135, such as a hammer for impact and crushing rocks.

[0027] Hereinafter, a state in which the arm 132 and the bucket pin P5 are attached to the front connecting portion 1351 of the bucket 135, and the bucket link 134 and the bucket link pin P6 are attached to the rear connecting portion 1352 is referred to as a normal connection state. On the other hand, a state in which the bucket link 134 and the bucket link pin P6 are attached to the front connecting portion 1351 of the bucket 135, and the arm 132 and the bucket pin P5 are attached to the rear connecting portion 1352 is referred to as a reverse connection state. The front connecting portion 1351 is an example of a first connecting portion or a second connecting portion of another embodiment, which will be described later.The rear connecting portion 1352 is an example of a second connecting portion or a first connecting portion of another embodiment described below.

[0028] The boom cylinder 136 is a hydraulic cylinder for operating the boom 131. A rear end portion of the boom cylinder 136 is attached to the swing body 120. A front end portion of the boom cylinder 136 is attached to the boom 131.

[0029] The arm cylinder 137 is a hydraulic cylinder for driving the arm 132. A rear end portion of the arm cylinder 137 is attached to the boom 131. A front end portion of the arm cylinder 137 is attached to the arm 132.

[0030] The bucket cylinder 138 is a hydraulic cylinder for driving the bucket 135. A rear end portion of the bucket cylinder 138 is attached to the arm 132. A front end portion of the bucket cylinder 138 is attached to the bucket arm 133 and the bucket link 134.

[0031] The swing body 120 includes an operating device 121, the work equipment control device 150, and an input / output device 160.

[0032] The control device 121 consists of two levers located in a driver's cab. The control device 121 receives commands from an operator for raising and lowering the boom 131, for extending and retracting the arm 132, for excavating and dumping the bucket 135, and for swinging right and left with the swing body 120. The chassis 110 receives forward and reverse commands via levers (not shown).

[0033] The work equipment control device 150 determines a position and posture of the bucket 135 in the worksite coordinate system based on measured values ​​from a variety of measuring devices provided in the work machine 100, which will be described below. The work equipment control device 150 controls the work equipment 130 based on an operation of the operating device 121. In this case, the work equipment control device 150 performs intervention control upon the operation of the operating device 121, which will be described below.

[0034] The input / output device 160 displays a screen showing a relationship between the bucket 135 of the work machine 100 and a planned area of ​​a construction site. The input / output device 160 further generates an input signal according to a user operation and outputs the input signal to the work equipment control device 150. The input / output device 160 is located in the operator's cab of the work machine 100. For example, a touchscreen can be used as the input / output device 160. In other embodiments, the work machine 100 may separately include an input device and an output device instead of the input / output device 160.

[0035] The work machine 100 includes a plurality of measuring devices. Each measuring device outputs a measured value to the work equipment control device 150. Specifically, the work machine 100 includes a boom lift sensor 141, an arm lift sensor 142, a bucket lift sensor 143, a position and azimuth direction calculation device 144, and a tilt detector 145.

[0036] The boom lift sensor 141 measures a lift amount of the boom cylinder 136.

[0037] The arm stroke sensor 142 measures a stroke amount of the arm cylinder 137.

[0038] The bucket stroke sensor 143 measures a stroke amount of the bucket cylinder 138.

[0039] Therefore, the work equipment control device 150 can detect a position and posture angle of the work equipment 130 including the bucket 135 in the vehicle body coordinate system based on the respective stroke lengths of the boom cylinder 136, the arm cylinder 137, and the bucket cylinder 138. In other embodiments, a position and posture angle of the work equipment 130 in the vehicle body coordinate system can be detected using an inclinometer, an angle sensor such as an IMU, and other sensors mounted on the work equipment 130 instead of the boom cylinder 136, the arm cylinder 137, and the bucket cylinder 138.

[0040] The position and azimuth direction calculation device 144 calculates a position of the swing body 120 in the construction site coordinate system and an azimuth direction in which the swing body 120 is directed. The position and azimuth direction calculation device 144 includes a first receiver 1441 and a second receiver 1442 that receive positioning signals from artificial satellites constituting the GNSS. The first receiver 1441 and the second receiver 1442 are each installed at different positions on the swing body 120. The position and azimuth direction calculation device 144 detects a position of the representative point O (the origin of the vehicle body coordinate system) of the swing body 120 in the construction site coordinate system based on the positioning signal received by the first receiver 1441.

[0041] The position and azimuth direction calculation device 144 calculates an azimuth direction of the swivel body 120 in the construction site coordinate system using the positioning signals received by the first receiver 1441 and the positioning signals received by the second receiver 1442.

[0042] The tilt detector 145 measures the acceleration and angular velocity of the swivel body 120 and, based on the measurement results, detects the position of the swivel body 120 (e.g., a roll movement indicating rotation around the Xm axis, a pitch movement indicating rotation around the Ym axis, and a yaw movement indicating rotation around the Zm axis). The tilt detector 145 is installed, for example, on the underside of the driver's cab. An example of the tilt detector 145 may be an inertial measurement unit (IMU). Position of work equipment

[0043] In the following, a position and a posture of the working equipment 130 are described with reference to Fig. 1. The work equipment control device 150 calculates a position and a posture of the work equipment 130 and generates a control command for the work equipment 130 based on the position and the posture. The work equipment control device 150 calculates a boom relative angle α, which is a posture angle of the boom 131 with the boom pin P1 as a reference point, an arm relative angle β, which is a posture angle of the arm 132 with the arm pin P2 as a reference point, a bucket relative angle γ, which is a posture angle of the bucket 135 with the bucket pin P5 as a reference point, and a position of the teeth T of the bucket 135 in the vehicle body coordinate system.

[0044] The relative angle α of the boom is represented by an angle formed between a ray extending from the boom pin P1 in the upward direction (+Zm direction) of the swing body 120 and a ray extending from the boom pin P1 to the arm pin P2. Depending on a posture (yaw angle) θ of the swing body 120, the upward direction (+Zm direction) of the swing body 120 and the vertical upward direction (+Zg direction) do not necessarily coincide with each other.

[0045] The relative angle β of the arm is represented by an angle formed between a ray extending from the boom pin P1 to the arm pin P2 and a ray extending from the arm pin P2 to the bucket pin P5.

[0046] The relative angle γ of the bucket is represented by an angle formed between a ray extending from the arm pin P2 to the bucket pin P5 and a ray extending from the bucket pin P5 to the teeth T of the bucket 135.

[0047] Here, an absolute angle η of the bucket, which is a posture angle of the bucket 135 around the Zm axis of the vehicle body coordinate system, is equal to the sum of the relative angle α of the boom, the relative angle β of the arm, and the relative angle γ of the bucket. The absolute angle η of the bucket is the same as an angle formed between a ray extending from the bucket pin P5 in the upward direction (+Zm direction) of the swing body 120 and a ray extending from the bucket pin P5 to the teeth T of the bucket 135.

[0048] A position of the teeth T of the bucket 135 is determined using a boom length L1, which is one dimension of the boom 131, an arm length L2, which is another dimension of the arm 132, a bucket length L3, which is another dimension of the bucket 135, the relative angle α of the boom, the relative angle β of the arm, the relative angle γ of the bucket, information about the shape of the bucket 135, a position of the representative point O of the swing body 120 in the worksite coordinate system, and a positional relationship between the representative point O and the boom pin P1. The boom length L1 is a distance from the boom pin P1 to the arm pin P2. The arm length L2 is a distance from the arm pin P2 to the bucket pin P5. The bucket length L3 is a distance from the bucket pin P5 to the teeth T of the bucket 135.The bucket pin P5 is attached to the front connecting portion 1351 in the normal connection state and is attached to the rear connecting portion 1352 in the reverse connection state, and therefore, it is possible that a distance from the front connecting portion 1351 to the teeth T does not match a distance from the rear connecting portion 1352 to the teeth T. In this case, the bucket length L3 has different values ​​depending on whether the bucket 135 is in the normal connection state or the reverse connection state. The positional relationship between the representative point O and the boom pin P1 is represented, for example, by a position of the boom pin P1 in the vehicle body coordinate system. Intervention control

[0049] The work equipment control device 150 limits the speed of the bucket 135 in a direction of approach to a construction object so that the bucket 135 does not enter a designated area on a construction site. Hereinafter, the work equipment control device 150 that limits the speed of the bucket 135 is also referred to as an intervention control.

[0050] In the engagement control, the work equipment control device 150 generates a control command for the boom cylinder 136 so that the bucket 135 does not enter the planned area when a distance between the bucket 135 and the planned area is shorter than a predetermined distance. Therefore, the boom 131 is driven so that a speed of the bucket 135 becomes a speed corresponding to the distance between the bucket 135 and the planned area. That is, the work equipment control device 150 limits the speed of the bucket 135 by raising the boom 131 according to the control command for the boom cylinder 136.

[0051] In other embodiments, during engagement control, a control command for the arm cylinder 137 or a control command for the bucket cylinder 138 may be generated. That is, in other embodiments, during engagement control, a speed of the bucket 135 may be limited by raising the arm 132, or a speed of the bucket 135 may be directly limited. Work equipment control device

[0052] Fig. Figure 3 is a block diagram showing the configurations of the work equipment control device and the input / output device according to the first embodiment. The work equipment control device 150 is an example of a dimension determining device.

[0053] The work equipment control device 150 includes a processor 151, a main memory 153, a memory 155, and an interface 157.

[0054] The memory 155 stores a program for controlling the work equipment 130. Examples of the memory 155 include a hard disk drive (HDD), a solid-state drive (SSD), and a non-volatile memory. The memory 155 may be an internal medium directly connected to a bus of the work equipment control device 150 or an external medium connected to the work equipment control device 150 via the interface 157 or a communication line.

[0055] The processor 151 reads the program from the memory 155, loads the program into the main memory 153, and executes a process according to the program. The processor 151 allocates a memory area in the main memory 153 according to the program. The interface 157 is connected to the operating device 121, the input / output device 160, the boom lift sensor 141, the arm lift sensor 142, the bucket lift sensor 143, the position and azimuth direction calculation device 144, the tilt detector 145, and other peripheral devices, thereby inputting and outputting signals.

[0056] The program can implement some functions of the work equipment control device 150. For example, the program can implement a function by combining it with another program already stored in the memory 155 or by combining it with another program installed in another device. In other embodiments, the work equipment control device 150 can include a custom large-scale integrated circuit (LSI), such as a programmable logic device (PLD), in addition to or instead of the components. Examples of the PLD include a programmable array logic (PAL), a generic array logic (GAL), a complex programmable logic device (CPLD), or a field programmable gate array (FPGA).In this case, some or all of the functions implemented by the processor can be implemented by the integrated circuit.

[0057] By executing the program, the processor 151 functions as a bucket selection unit 1511, a connection detection unit 1512, a reverse connection dimension calculation unit 1513, an operation amount detection unit 1514, a detection information detection unit 1515, a bucket position detection unit 1516, a control line detection unit 1517, a display control unit 1518, and an engagement control unit 1519.

[0058] In the memory 155, memory areas are reserved, for example a unit 1551 for storing work machine information, a unit 1552 for storing bucket information and a unit 1553 for storing target construction data.

[0059] The work machine information storage unit 1551 stores the boom length L1, the arm length L2, and a positional relationship between a position of the representative point O of the swing body 120 and the boom pin P1.

[0060] Fig. 4 is a diagram showing dimensions of the bucket in the normal connection state.

[0061] The bucket information storage unit 1552 stores a rear end portion length Lo, which is a length between the front connection portion 1351 and the rear connection portion 1352 of the bucket 135, the bucket length L3 in the normal connection state, and the relative positions of a plurality of contour points in the normal connection state in association with type information of the bucket 135.Specifically, the bucket information storage unit 1552 stores relative positions of a contour point A, which is an intersection point between a bottom straight line portion and a corner portion (back portion) of the bucket 135, a contour point E, which is an intersection point between the contour of the bucket 135 and a straight line passing through the front connecting portion 1351 and the rear connecting portion 1352, and contour points B, C, and D, which equally divide a portion between the contour point A and the contour point E. Examples of the type information of the bucket 135 include a model number, the name, and an ID of the bucket 135.

[0062] The relative positions of the plurality of contour points with the bucket pin P5 as a reference are represented by, for example, lengths La, Lb, Lc, Ld, and Le from the bucket pin P5 to the respective contour points, and angles θa, θb, θc, θd, and θe formed between a straight line passing through the bucket pin P5 and the contour point and a straight line passing through the bucket pin P5 and the teeth T. The bucket information storage unit 1552 is an example of a dimension storage unit.

[0063] Hereinafter, the bucket length L3 in the normal connection state is also referred to as a bucket length L3n. The lengths La, Lb, Lc, Ld, and Le to the respective contour points in the normal connection state are also referred to as lengths Lan, Lbn, Lcn, Ldn, and Len, respectively. The angles θa, θb, θc, θd, and θe of the respective contour points in the normal connection state are also referred to as θan, θbn, θcn, θdn, and θen, respectively. The bucket length L3n, the lengths Lan, Lbn, Lcn, Ldn, Len, and the angles θan, θbn, θcn, θdn, and θen are examples of first dimensions or second dimensions of another embodiment, which will be described below. The lengths Lan, Lbn, Lcn, Ldn, Len and the angles θan, θbn, θcn, θdn and θen are examples of first contour positions or second contour positions of another embodiment, which will be described below.

[0064] The target data storage unit 1553 stores target data that represents the planned area on the construction site. The target data are three-dimensional data represented by the construction site coordinate system, as well as stereoscopic topographical data consisting of a plurality of triangular polygons that represent the planned area. The triangular polygons that form the target data have common sides with other adjacent triangular polygons. That is, the target data represents a continuous plane consisting of a plurality of planes. The target data are read from an external storage medium or received from an external server via a network and stored in the target data storage unit 1553.

[0065] The bucket selection unit 1511 displays a bucket selection screen stored in the bucket information storage unit 1552 on the input / output device 160. The bucket selection unit 1511 also receives bucket 135 selections from an operator via the input / output device 160.

[0066] The connection determination unit 1512 receives, via the input / output device 160, connection information indicating whether the bucket 135 is in the normal connection state or in the reverse connection state.

[0067] Fig. 5 is a diagram showing dimensions of the bucket in the reverse connection state.

[0068] The reverse connection dimension calculation unit 1513 calculates dimensional information of the bucket 135 in the reverse connection state based on the dimensional information of the bucket 135 in the normal connection state stored in the bucket information storage unit 1552. That is, the reverse connection dimension calculation unit 1513 calculates the bucket length L3 in the reverse connection state, the lengths La, Lb, Lc, Ld, and Le from the bucket pin P5 to the plurality of contour points, and the angles θa, θb, θc, θd, and θe of the plurality of contour points in the reverse connection state. The reverse connection dimension calculation unit 1513 is an example of a dimension calculation unit.

[0069] Hereinafter, the bucket length L3 in the reverse connection state is also referred to as a bucket length L3i. The lengths La, Lb, Lc, Ld, and Le to the respective contour points in the reverse connection state are also referred to as lengths Lai, Lbi, Lci, Ldi, and Lei, respectively. The angles of the contour points in the reverse connection state are also indicated by θai, θbi, θci, θdi, and θei, respectively. The bucket length L3i, the lengths Lai, Lbi, Lci, Ldi, Lei, and the angles θai, θbi, θci, θdi, and θei are examples of second dimensions or first dimensions of another embodiment, which will be described below. The lengths Lai, Lbi, Lci, Ldi, Lei and the angles θai, θbi, θci, θdi and θei are examples of second contour positions or first contour positions of another embodiment, which will be described below.

[0070] Fig. 6 is a diagram showing a method for calculating dimensions of the bucket in the reverse connection state.

[0071] The reverse connection dimension calculation unit 1513 calculates the bucket length L3i in the reverse connection state according to the following equation (1). L3i2=L3n2+Lo2−2*L3n*Lo*cosθen

[0072] That is, the reverse connection dimension calculation unit 1513 can calculate the bucket length L3i in the reverse connection state according to the cosine law using the bucket length L3n, the length Lo of the rear end portion, and the angle θen in the normal connection state. Since the contour point E is an intersection point between the straight line passing through the front connection portion 1351 and the rear connection portion 1352 and the contour of the bucket 135, the angle θen is equivalent to a normal connection tooth angle, which is an angle formed in the normal connection state between the straight line passing through the front connection portion 1351 and the rear connection portion 1352 and the straight line passing through the front connection portion 1351 and the teeth T. The normal connection tooth angle, i.e.the angle θen is an example of a first tooth angle or a second tooth angle of another embodiment described below.

[0073] The reverse connection dimension calculation unit 1513 calculates the length Lai of the contour point A of the bucket pin P5 in the reverse connection state according to the following equation (2). Lai2=Lan2+Lo2−2*Lan*Lo*cos(θen−θan)

[0074] That is, the reverse connection dimension calculation unit 1513 can calculate the length Lai of the contour point A of the bucket pin P5 in the reverse connection state according to the cosine law using the length Lan of the contour point A of the bucket pin P5, the length Lo of the rear end portion, the angle θen, and the angle θan in the normal connection state. Likewise, the reverse connection dimension calculation unit 1513 calculates the lengths Lbi, Lci, Ldi, and Lei in the same way as for the other contour points B, C, D, and E.

[0075] The reverse connection dimension calculation unit 1513 calculates the angle θai of the contour point A in the reverse connection state according to the following equation (3). θai=arccos((L3i2+Lai2−AT2) / ((2*L3i*Lai)))

[0076] That is, the reverse connection dimension calculation unit 1513 can calculate the angle θai of the contour point A in the reverse connection state according to the cosine law using the bucket length L3i in the reverse connection state, the length Lai of the contour point A from the bucket pin P5 in the reverse connection state, and a distance AT between the contour point A and the teeth T. Likewise, the reverse connection dimension calculation unit 1513 calculates the angles θbi, θci, θdi, and θei in the same way as for the other contour points B, C, D, and E.The angle θei is equivalent to a reverse connection tooth angle, which is an angle formed in the reverse connection state between the straight line passing through the front connection portion 1351 and the rear connection portion 1352 and the straight line passing through the rear connection portion 1352 and the teeth T. The reverse connection tooth angle, that is, the angle θei, is an example of a second tooth angle or a first tooth angle of another embodiment, which will be described later.

[0077] The operation amount detecting unit 1514 detects an operation signal indicating an operation amount from the operating device 121. The operation amount detecting unit 1514 detects at least an operation amount related to the boom 131, an operation amount related to the arm 132, and an operation amount related to the buckets 135.

[0078] The detection information acquisition unit 1515 acquires information detected by the boom lift sensor 141, the arm lift sensor 142, the bucket lift sensor 143, the position and azimuth direction calculation device 144, and the tilt detector 145, respectively. That is, the detection information acquisition unit 1515 acquires position information of the slewing body 120 in the worksite coordinate system, an azimuth direction in which the slewing body 120 is directed, a posture of the slewing body 120, a stroke length of the boom cylinder 136, a stroke length of the arm cylinder 137, and a stroke length of the bucket cylinder 138.

[0079] The bucket position determining unit 1516 determines a position and posture of the bucket 135 based on the information acquired by the detection information acquiring unit 1515. In this case, the bucket position determining unit 1516 determines the absolute angle η of the bucket. The bucket position determining unit 1516 determines the absolute angle η of the bucket according to the following procedure. The bucket position determining unit 1516 calculates the relative angle α of the boom using the stroke length of the boom cylinder 136. The bucket position determining unit 1516 calculates the relative angle β of the arm using the stroke length of the arm cylinder 137. The bucket position determining unit 1516 calculates the relative angle γ of the bucket using the stroke length of the bucket cylinder 138.The bucket position determining unit 1516 calculates the absolute angle η of the bucket by adding the relative angle α of the boom, the relative angle β of the arm, and the relative angle γ of the bucket.

[0080] The bucket position determining unit 1516 determines a position of the teeth T of the bucket 135 in the work site coordinate system based on the information acquired by the determination information acquiring unit 1515 and the information stored in the work machine information storing unit 1551. The bucket position determining unit 1516 determines the position of the teeth T of the work equipment 130 in the work site coordinate system according to the following procedure. The bucket position determining unit 1516 determines a position of the arm pin P2 in the vehicle body coordinate system based on the boom relative angle α acquired by the determination information acquiring unit 1515 and the boom length L1 stored in the work machine information storing unit 1551.The bucket position determining unit 1516 determines a position of the bucket pin P5 in the vehicle body coordinate system based on the arm relative angle β acquired by the determination information acquiring unit 1515 and the arm length L2 stored in the work machine information storing unit 1551. The bucket position determining unit 1516 determines a position and a posture of the teeth T of the bucket 135 based on the position of the bucket pin P5, the bucket relative angle γ acquired by the determination information acquiring unit 1515, and the bucket length L3. In this case, when the bucket 135 is in the normal connection state, the bucket position determining unit 1516 determines the position and posture of the teeth T of the bucket 135 based on the bucket length L3 stored in the bucket information storing unit 1552.On the other hand, when the bucket 135 is in the reverse connection state, the bucket position determining unit 1516 determines the position and posture of the teeth T of the bucket 135 based on the bucket length L3 calculated by the reverse connection dimension calculating unit 1513. The bucket position determining unit 1516 converts the position of the teeth T of the bucket 135 in the vehicle body coordinate system into a position in the worksite coordinate system based on the position information of the swing body 120 in the worksite coordinate system, the azimuth direction in which the swing body 120 is directed, and the posture of the swing body 120 acquired by the determination information acquiring unit 1515. The bucket position determining unit 1516 is an example of an attachment position determining unit.

[0081] The control line setting unit 1517 sets a control line used for engagement control on the bucket 135. For example, the control line setting unit 1517 sets an intersection line between a vertical section of the bucket 135 and the planned surface as a control line.

[0082] The display control unit 1518 generates a diagram showing a positional relationship between the position of the bucket 135 in the worksite coordinate system determined by the bucket position determining unit 1516 and the control line determined by the control line setting unit 1517, and displays the diagram on the input / output device 160. In this case, the display control unit 1518 generates a graphic representing a shape of the bucket 135 based on the relative positions of the contour points of the bucket 135 and displays the graphic on the input / output device 160. When the bucket 135 is in the normal connection state, the display control unit 1518 generates the graphic of the bucket 135 based on the relative positions of the contour points stored in the bucket information storage unit 1552.On the other hand, when the bucket 135 is in the reverse connection state, the display control unit 1518 generates a graphic of the bucket 135 based on the relative positions of the contour points calculated by the reverse connection dimension calculation unit 1513. The display control unit 1518 is an example of a graphic display information generation unit and an attachment graphic display unit.

[0083] The engagement control unit 1519 performs engagement control on the work equipment 130 based on the amount of operation on the operation device 121 detected by the operation amount detection unit 1514 and a distance between the control line and the bucket 135 determined by the control line setting unit 1517. Procedure for adjusting a spoon

[0084] A method for controlling the work machine 100 according to the first embodiment will be described below.

[0085] First, an operator of the work machine 100 sets information related to the bucket 135 included in the work machine 100 using the input / output device 160.

[0086] Fig. 7 is a flowchart showing a method of adjusting a bucket for the work machine according to the first embodiment.

[0087] The bucket selection unit 1511 of the work equipment control device 150 reads the information related to the bucket 135 stored in the bucket information storage unit 1552 (step S01). The bucket selection unit 1511 outputs a display signal for displaying a bucket 135 selection screen to the input / output device 160 based on the read information (step S02). Therefore, the bucket 135 selection screen is displayed on the input / output device 160. The operator selects the bucket 135 attached to the work machine 100 on the selection screen displayed on the input / output device 160. The bucket selection unit 1511 determines the dimensions of the bucket 135 associated with the selected bucket 135 in the normal connection state from the bucket information storage unit 1552 (step S03).The bucket selecting unit 1511 stores the read dimensions of the bucket 135 in the main memory 153 (step S04).

[0088] Next, the connection detection unit 1512 outputs a display signal for connection state buttons for selecting whether a connection state of the bucket 135 is the normal connection state or the reverse connection state to the input / output device 160 (step S05). Examples of the connection state buttons include a checkbox that displays the reverse connection state during an ON state and the normal connection state during an OFF state, a combination of a button that displays the normal connection state and a button that displays the reverse connection state, and a list box from which state information can be selected. The operator presses a button that displays the connection state of the work machine 100 from the connection state buttons displayed on the input / output device 160.The connection detection unit 1512 receives input of the state information by pressing the button (step S06).

[0089] The connection determination unit 1512 determines whether the state information indicates the reverse connection state (step S07). If the state information indicates the reverse connection state (step S07: YES), the reverse connection dimension calculation unit 1513 calculates dimensions of the bucket 135 in the reverse connection state based on the dimensions of the bucket 135 in the normal connection state stored in the main memory in step S04. That is, the reverse connection dimension calculation unit 1513 calculates the bucket length L3 in the reverse connection state, the lengths La, Lb, Lc, Ld, and Le from the bucket pin P5 to the plurality of contour points in the reverse connection state, and the angles θa, θb, θc, θd, and θe of a plurality of contour points in the reverse connection state based on the above equations (1) to (3).In this case, the reverse connection dimension calculation unit 1513 also calculates a relative position of the bucket coupling pin P6 in the reverse connection state, that is, a relative position of the front connection portion 1351. The reverse connection dimension calculation unit 1513 overwrites the dimensions of the bucket 135 stored in the main memory 153 with the calculated dimensions of the bucket 135 in the reverse connection state (step S09).

[0090] When the state information indicates the normal connection state (step S07: NO), the reverse connection dimension calculation unit 1513 does not overwrite the dimensions of the bucket 135 stored in the main memory 153. Control procedures during operation

[0091] Fig. 8 is a flowchart showing a bucket image display process and an engagement control process using the dimensions set in the control method described above. When the operator of the work machine 100 starts operating the work machine 100, the work equipment control device 150 executes the following control in each predetermined control cycle.

[0092] The operation amount detection unit 1514 detects an operation amount related to the boom 131, an operation amount related to the arm 132, an operation amount related to the bucket 135, and an operation amount related to swing from the operation device 121 (step S31). The detection information detection unit 1515 detects information detected by the position and azimuth direction calculation device 144, the tilt detector 145, the boom cylinder 136, the arm cylinder 137, and the bucket cylinder 138, respectively (step S32).

[0093] The bucket position determining unit 1516 calculates the relative angle α of the boom, the relative angle β of the arm, and the relative angle γ of the bucket using the stroke length of each hydraulic cylinder (step S33). The bucket position determining unit 1516 calculates the absolute angle η of the bucket and a position of the teeth T of the bucket 135 in the work site coordinate system based on the calculated relative angles α, β, and γ, the boom length L1 and the arm length L2 stored in the work machine information storing unit 1551, the bucket length L3 stored in the main memory 153, and the position, azimuth direction, and posture of the swing body 120 acquired by the detection information acquiring unit 1515 (step S34).

[0094] The control line setting unit 1517 sets a control line based on the teeth T of the bucket 135 and the target construction data stored in the target construction data storage unit 1553 (step S35). The display control unit 1518 generates an image of the bucket 135 based on the dimensions of the bucket 135 stored in the main memory 153 (step S36). Fig. 9 is a diagram showing an example of a bucket image. The image of the bucket 135 can be displayed, for example, using a convex hull composed of a plurality of points representing the positions of the teeth T, the contour points A, B, C, D, E, the bucket pin P5, and the bucket coupling pin P6 of the bucket 135. An image displayed using a convex hull composed of a plurality of points is an example of display information. The display control unit 1518 rotates the generated image based on the absolute angle η of the bucket (step S37). The display control unit 1518 converts the detected position of the teeth T and the detected control line into a position in an image coordinate system and generates screen data in which a distance representing the control line and the image of the bucket 135 are displayed (step S38).The display control unit 1518 outputs the generated screen data to the input / output device 160 (step S39). Therefore, a screen representing a positional relationship between the bucket 135 and the planned area is displayed on the input / output device 160.

[0095] In parallel with the process of displaying screen data in steps S36 to S39, the engagement control unit 1519 determines whether a distance between each of the teeth T and the contour points A, B, C, D, E, and the control line is shorter than a predetermined distance (step S40). If the distance between each of the teeth T and the contour points A, B, C, D, E, and the control line is not shorter than the predetermined distance (step S40: NO), the engagement control unit 1519 does not perform engagement control and generates a control command for the work equipment 130 based on the amount of operation detected by the amount of operation detection unit 1514 (step S41).On the other hand, when the distance between at least one of the teeth T and at least one of the contour points A, B, C, D and E and the control line is shorter than the predetermined distance (step S40: YES), the engagement control unit 1519 generates a control command for the work equipment 130 based on an allowable speed of the bucket 135 determined using the distance between the teeth T and the control line and the amount of operation detected by the operation amount detection unit 1514 (step S42). Function and effect

[0096] As described above, the work equipment control device 150 according to the first embodiment calculates the bucket length L3i in the reverse connection state based on the bucket length L3n in the normal connection state. This allows the work equipment control device 150 to determine dimensions of the bucket 135 in the reverse connection state. In other embodiments, the work equipment control device 150 may calculate the bucket length L3n in the normal connection state based on the bucket length L3i in the reverse connection state. In this case, the work equipment control device 150 may determine dimensions of the bucket 135 in the normal connection state when dimensions of the bucket 135 in the reverse connection state are known. In this case, the bucket length L3i is an example of a first dimension, and the bucket length L3n is an example of a second dimension.

[0097] According to the first embodiment, the work equipment control device 150 calculates the bucket length L3i in the reverse connection state based on the bucket length L3n, the length Lo of the rear end portion, and the angle θen in the normal connection state. Therefore, the work equipment control device 150 can calculate the bucket length L3i in the reverse connection state based on the cosine law.

[0098] According to the first embodiment, the work equipment control device 150 receives input of the connection information and determines a position of the bucket 135 in the work site coordinate system based on the bucket length L3n in the normal connection state when the connection state is the normal connection state, and displays a position of the bucket 135 in the work site coordinate system based on the bucket length L3i in the reverse connection state when the connection state is the reverse connection state. Therefore, the work equipment control device 150 can accurately display a position of the bucket 135 and perform engagement control without error regardless of a connection state of the bucket 135.

[0099] According to the first embodiment, the work equipment control device 150 calculates relative positions of the contour points A, B, C, D, and E in the reverse connection state with respect to the plurality of contour points A, B, C, D, and E of the bucket 135, and displays a shape of the bucket based on the calculated relative positions. Therefore, the work equipment control device 150 can accurately display a position of the bucket 135 regardless of a connection state of the bucket 135.

[0100] According to the first embodiment, the work equipment control device 150 receives input of type information of the bucket 135 and calculates the bucket length L3i in the reverse connection state with respect to the bucket 135 based on the input type information. Therefore, even if the bucket 135 is replaced, a dimension of the bucket 135 in the reverse connection state can be determined accordingly.

[0101] Although an embodiment has been described in detail above with reference to the drawings, a concrete configuration is not limited to the configuration shown above, and various design changes and the like may be made.

[0102] The work equipment control device 150 according to the above-described embodiment performs, but is not limited to, displaying a position of the teeth T in steps S36 to S39 and engaging control in steps S40 to S42 based on the calculated bucket length L3. For example, the work equipment control device 150 according to other embodiments may perform displaying a position of the teeth T or engaging control or other processes based on the bucket length L3.

[0103] The work equipment control device 150 according to the above-described embodiment displays a graphic of the bucket 135 based on the positions of the teeth T, the contour points A, B, C, D, and E, the bucket pin P5, and the bucket coupling pin P6 of the bucket 135, but is not limited thereto. For example, the work equipment control device 150 according to other embodiments may display the graphic of the bucket 135 in the reverse connection state by rotating a previously stored image of the bucket 135 in the normal connection state.

[0104] The work equipment control device 150 according to the above-described embodiment calculates the bucket length L3i in the reverse connection state based on the cosine principle, but is not limited thereto. For example, the work equipment control device 150 according to other embodiments may calculate the bucket length L3i in the reverse connection state based on the sine or tangent principle. That is, for each triangle including a line segment connecting the front end portion of the arm 132 to the teeth T in the reverse connection state, if a parameter that satisfies the triangle determination condition is known, the work equipment control device 150 may calculate the bucket length L3i in the reverse connection state.

[0105] The work equipment control device 150 according to other embodiments may calculate the bucket length L3i in the reverse connection state using the rear end portion length Lo instead of the bucket length L3n in the normal connection state. For example, the reverse connection dimension calculation unit 1513 calculates the length Lai based on the above equation (2).

[0106] Then, the reverse connection dimension calculation unit 1513 determines an angle θap formed between a straight line passing through the front connection portion 1351 and the contour point A and a straight line passing through the rear connection portion 1352 and the contour point A based on the following equation (4). The reverse connection dimension calculation unit 1513 determines an angle θat formed between a straight line passing through the contour point A and the teeth T and a straight line passing through the front connection portion 1351 and the contour point A based on the following equation (5). θap=arccos((Lan2+Lai2−Lo2) / (2*Lan*Lai)) θat=arccos((Lan2+AT2−L3n2) / (2*Lan*AT))

[0107] The reverse connection dimension calculation unit 1513 calculates the bucket length L3i in the reverse connection state based on the following equation (6). L3i2=AE2+AT2−2*AE*AT*cos(θap+θat)

[0108] In other embodiments, if a distance between the rear connecting portion 1352 and the contour point E is sufficiently short, the length Len may be used instead of the length Lo as the length of the rear end portion. That is, the length of the rear end portion is not necessarily required to adjust a distance between the front connecting portion 1351 and the rear connecting portion 1352.

[0109] The work equipment control device 150 according to the above-described embodiment converts a position of the bucket 135 from the vehicle body coordinate system to the construction site coordinate system to display image data in which the control line and the bucket 135 are depicted, but is not limited thereto. For example, in other embodiments, the work equipment control device 150 may convert a position of a planned area indicated by target construction data from the construction site coordinate system to the vehicle body coordinate system. In other embodiments, the work equipment control device 150 may convert positions of the control line and the bucket 135 to positions in another coordinate system.

[0110] The work equipment control device 150 according to the above-described embodiment determines a connection state by pressing the connection state button, but is not limited thereto. For example, the work equipment control device 150 according to other embodiments may determine a connection state based on the cylinder pressure applied to the arm 132 or the boom 131, or by image analysis using a stereo camera or the like, or other methods, regardless of whether the connection state button is pressed or not.

[0111] The work equipment control device 150 according to the above-described embodiment calculates a dimension of the bucket 135 in the reverse connection state using a dimension of the bucket 135 in the normal connection state, but is not limited thereto. In other embodiments, the work equipment control device 150 may calculate a dimension of the bucket 135 in the normal connection state using a dimension of the bucket 135 in the reverse connection state as described above. In this case, the work equipment control device 150 includes a normal connection dimension calculation unit instead of the reverse connection dimension calculation unit 1513, and the bucket information storage unit 1552 stores dimension information of the bucket 135 in the reverse connection state.The unit for calculating dimensions for normal connection is an example of a unit for calculating dimensions.

[0112] Fig. 10 is a flowchart showing a method of adjusting a bucket for a work machine according to another embodiment not belonging to the invention.

[0113] The bucket selection unit 1511 of the work equipment control device 150 reads the information related to the bucket 135 stored in the bucket information storage unit 1552 (step S101). The bucket selection unit 1511 outputs a display signal for displaying a bucket 135 selection screen to the input / output device 160 based on the read information (step S102). Therefore, the bucket 135 selection screen is displayed on the input / output device 160. The operator selects the bucket 135 attached to the work machine 100 on the selection screen displayed on the input / output device 160. The bucket selection unit 1511 determines dimensions of the bucket 135 associated with the selected bucket 135 in the reverse connection state from the bucket information storage unit 1552 (step S103).The bucket selecting unit 1511 stores the read dimensions of the bucket 135 in the main memory 153 (step S104).

[0114] Next, the connection detection unit 1512 outputs a display signal for connection state buttons for selecting whether a connection state of the bucket 135 is the normal connection state or the reverse connection state to the input / output device 160 (step S105). The operator presses a button indicating the connection state of the work machine 100 from among the connection state buttons displayed on the input / output device 160. The connection detection unit 1512 receives input of the state information by pressing the button (step S106).

[0115] The connection determination unit 1512 determines whether the state information indicates the normal connection state (step S107). If the state information indicates the normal connection state (step S107: YES), the normal connection dimension calculation unit 1513 calculates dimensions of the bucket 135 in the normal connection state based on the dimensions of the bucket 135 in the reverse connection state stored in the main memory 153 in step S104. The normal connection dimension calculation unit overwrites the dimensions of the bucket 135 stored in the main memory 153 with the calculated dimensions of the bucket 135 in the normal connection state (step S109).

[0116] On the other hand, when the state information indicates the reverse connection state (step S107: NO), the normal connection dimension calculation unit does not overwrite the dimensions of the bucket 135 stored in the main memory 153.

[0117] Accordingly, the work equipment control device 150 can calculate a dimension of the bucket 135 in the normal connection state using a dimension of the bucket 135 in the reverse connection state. Industrial applications

[0118] According to the present invention, the dimension determining device can determine a dimension of an attachment of a work machine regardless of a method for attaching the attachment. List of reference symbols 100 work machines 110 chassis 120 swivel bodies 130 work equipment 131 booms 132 handle 133 Swingarm 134 spoon coupling 135 spoons 1351 front connecting section 1352 rear connecting section 136 boom cylinders 137 stick cylinders 138 bucket cylinders 150 Work equipment control device 1551 Unit for storing work machine information 1552 Unit for storing spoon information 1553 Unit for storing target construction data 1511 Unit for selecting a spoon 1512 Unit for determining a connection 1513 Unit for calculating dimensions for reverse connection 1514 Unit for recording a measure of actuation 1515 Unit for Collecting Investigative Information 1516 Unit for determining a bucket position 1517 Unit for defining a control line 1518 Display control unit 1519 Intervention Control Unit 160 Input / output device T Teeth P1 boom bolt P2 stem bolt P3 swing arm bolt P4 bucket cylinder bolt P5 bucket pin P6 bucket coupling pin Lo Length of the rear end section L1 boom length L2 stem length L3 spoon length

Claims

[1] A dimension determining device that determines dimensions of an attachment (135) of a work equipment (130) that includes a handle (132) and the attachment (135), and in which a first connecting portion (1351) or a second connecting portion (1352) provided on the attachment (135) is connected to the handle (132), the dimension determining device comprising: a dimension storage unit (1552) that stores first dimensions, which are dimensions of the attachment (135) in a normal connection state when the first connection portion (1351) is connected to the arm (132); a connection detection unit (1512) that detects whether the stem (132) is connected to the first connection portion (1351) or the second connection portion (1352); and a dimension calculation unit (1513) that, when the second connecting portion (1352) is connected to the arm (132), calculates second dimensions of the attachment (135) in a reverse connection state based on the first dimensions when it is determined that the arm (132) is connected to the second connecting portion (1352). [2] Device for determining dimensions according to claim 1, wherein the attachment is a bucket (135) with teeth (T), and wherein either the first dimensions or the second dimensions include a spoon length (L3) indicating a length from the handle (132) to the teeth (T). [3] Device for determining dimensions according to claim 2, wherein the dimension storage unit (1552) stores a length (Lo) of a rear end portion, which is a length between the first connecting portion (1351) and the second connecting portion (1352), and a first tooth angle (θen), which is an angle formed between a straight line passing through the first connecting portion (1351) and the second connecting portion (1352) and a straight line passing through the first connecting portion (1351) and the teeth (T), and wherein the dimension calculation unit (1513) calculates the second dimensions based on the first dimensions, the length (Lo) of the rear end portion and the first tooth angle (θen). [4] Device for determining dimensions according to one of claims 1 to 3, wherein the dimension storage unit (1552) stores, as the first dimensions, first contour positions which are positions of a plurality of contour points (A, B, C, D, E) of the attachment (135) with the arm (132) as a reference when the first connecting portion (1351) is connected to the arm (132), and wherein the dimension calculation unit (1513) calculates, as the second dimensions, second contour positions based on the first contour position, the positions of the plurality of contour points (A, B, C, D, E) with the stem (132) as a reference when the second connecting portion (1352) is connected to the stem (132). [5] Device for determining dimensions according to one of claims 1 to 4, further comprising: a representation information generation unit that generates representation information representing a shape of the attachment (135) based on the second dimensions; and an attachment display unit (135) that outputs an image indicating the shape of the attachment (135) based on the display information for displaying. [6] Device for determining dimensions according to one of claims 1 to 5, further comprising: a type input unit (1511) that receives input of type information indicating a type of the attachment (135), wherein the dimension storage unit (1552) stores, for each type information of the attachment (135), the first dimensions of the attachment (135) with respect to the type, and wherein the dimension calculation unit (1513) calculates the second dimensions based on the first dimensions with respect to the type specified by the input type information. [7] A method for determining dimensions, by which dimensions of an attachment (135) of a work equipment (130) are determined, which includes a stem (132) and the attachment (135), and in which a first connecting portion (1351) or a second connecting portion (1352) provided on the attachment (135) is connected to the stem (132), the method for determining dimensions comprising the following steps: detecting first dimensions, which are dimensions of the attachment (135) in a normal connection state when the first connection portion (1351) is connected to the stem (132); Determining whether the stem (132) is connected to the first connecting portion (1351) or the second connecting portion (1352); and Calculating second dimensions of the attachment (135) in a reverse connection state when the second connection portion (1352) is connected to the stem (132) based on the first dimensions when it is determined that the stem (132) is connected to the second connection portion (1352).

Images