Automatic operation information calculation system, and automatic operation information calculation method

Abstract

To provide an automatic operation information calculation system that performs a specified operation simply by specifying the behavior of a "working apparatus," and an automatic operation information calculation method that outputs information necessary for the automatic operation.SOLUTION: An automatic operation information calculation system obtains information for automatic operation of a construction machine, and is equipped with relay information calculation means. A working apparatus realizes a specified work purpose. The relay information calculation means calculates "mechanism operation information" of a relay mechanism based on input "apparatus behavior information" related to the working apparatus. The apparatus behavior information includes a plurality of "point behavior information" consisting of working apparatus position information, apparatus attitude information, and elapsed time.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to technology related to the automatic operation of construction machinery, and more specifically, to construction machinery that performs automatic operation using the positions and angles of equipment that realizes the work purpose of the construction machinery, such as a bucket in a hydraulic excavator, and a program that outputs information necessary for automatic operation. [Background technology]

[0002] In recent years, the problem of labor shortages in the construction industry has become more serious, and this has had a significant impact on the execution of construction projects planned by the government. On the other hand, construction work is sometimes carried out in dangerous locations such as disaster sites and accident sites, in which safety measures must be taken with extreme caution. Against this background, and with the dramatic advances in information and communication technology and positioning technology, "unmanned construction," in which construction work is carried out using unmanned construction machinery, has come into practical use.

[0003] This unmanned construction can be broadly divided into remote control and automatic operation. Remote control is a method in which a person stands away from the construction machinery and operates the machinery by operating a wireless control transmitter, while automatic operation is a method in which a computer runs a program that contains processes to command a series of tasks, causing the construction machinery to operate automatically.

[0004] Various technologies have been proposed for automating construction work using construction machinery. For example, Patent Document 1 proposes a hydraulic excavator that uses a method based on so-called teaching data and playback to automatically perform specified tasks in response to the entry of a truck. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 10-183665 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventional technologies related to automatic operation, including that of Patent Document 1, were targeted at specific construction machines. In other words, calculations were made so that the construction machine would perform a specific operation based on various conditions and parameters specific to the construction machine, and then a program for automatic operation was created. Therefore, even for the same type of construction machine, that is, construction machines that share the same equipment (hereinafter referred to as "work equipment") for achieving the work purpose, calculations had to be made and programs created for each construction machine. For example, even for the same backhoe that has a bucket (work machine) in common, if the manufacturer or specifications (bucket capacity, etc.) are different, a program for automatic operation must be created for each backhoe.

[0007] In addition, in the conventional technology, calculations were made so that the construction machine would perform a specified operation after targeting various pieces of equipment that make up the construction machine. For example, in Patent Document 1, a program was created after calculating the angles of the rotating body, boom, arm, and bucket. In this case, the calculations are complicated, and it is possible that operations that are not actually performed will be instructed, taking into account the stability and efficiency of the construction machine, or operations that are logically possible but cannot be performed in reality will be instructed.

[0008] The objective of the present invention is to solve the problems inherent in the conventional technology, namely, to provide an automatic driving information calculation system that performs a specified operation simply by specifying the behavior of "work equipment," and an automatic driving information calculation method that outputs information necessary for the automatic driving. [Means for solving the problem]

[0009] The present invention was made with a focus on the fact that by specifying the behavior of "work equipment" that is common to the same type of construction machinery, it can be used in common for the automatic operation of various types of construction machinery, and is an invention based on an unprecedented idea.

[0010] The automatic driving information calculation system of the present invention is a system for obtaining information for automatically driving a construction machine, and is equipped with a relay information calculation means. The construction machine includes a main body, a relay mechanism attached to the main body, and a work equipment attached to the relay mechanism. The work equipment has a function for realizing the work purpose of the construction machine, and the relay mechanism has a function for controlling the behavior of the work equipment. The relay information calculation means is a means for calculating "mechanism operation information" of the relay mechanism based on "equipment behavior information" related to the work equipment. The equipment behavior information includes "equipment position information" related to a specific point set in advance among the work equipment, "equipment attitude information" indicating the attitude of the work equipment, and a plurality of "point behavior information" consisting of "elapsed time". The equipment position information is three-dimensional coordinates in a coordinate system with a reference point set in advance among the main body as the origin. The relay information calculation means calculates the mechanism operation information so that the work equipment conforms to the equipment position information and equipment attitude information of the point behavior information at the elapsed time of the point behavior information.

[0011] The automatic driving information calculation system of the present invention may further include a construction machine having a mechanism control means. This mechanism control means is a means for controlling the relay mechanism based on the mechanism operation information calculated by the relay information calculation means. A hydraulic excavator may also be used as the construction machine. In this case, the work equipment is a "bucket" for excavating the ground or loading earth and sand, and the relay mechanism includes an "arm", a "boom" and a "hydraulic cylinder". The mechanism control means controls the hydraulic cylinder to control the work equipment so as to conform to the mechanism operation information.

[0012] The automatic driving information calculation system of the present invention may also calculate mechanism operation information on the condition that the turning of the relay mechanism is restrained.

[0013] The automatic driving information calculation system of the present invention may also calculate mechanism operation information on the condition that the relay mechanism is capable of turning.

[0014] The automatic operation information calculation method of the present invention is a method for obtaining "mechanism operation information" for automatically operating the construction machine of the present invention, and is a method including a behavior information setting step and a relay information calculation step. In this behavior information setting step, equipment behavior information related to the work equipment is set, and in the relay information calculation step, mechanism operation information of the relay mechanism is calculated based on the equipment behavior information.

[0015] The automatic driving information calculation method of the present invention may further include a point behavior information acquisition step. In this point behavior information acquisition step, the operator acquires point behavior information while operating the construction machine. In this case, in the behavior information setting step, the equipment behavior information is set based on the point behavior information acquired in the point behavior information acquisition step. Effect of the Invention

[0016] The automatic driving information calculation system and the automatic driving information calculation method of the present invention have the following advantages. (1) By specifying the behavior of "work equipment" common to the same type of construction machinery, the machinery can automatically carry out a specific task. In other words, even if the manufacturers or specifications of the machinery are different, the machinery can be used for various construction machinery as long as the work equipment is common. (2) By specifying the behavior of the work equipment that realizes the work application of the construction machine, such as digging up ground or loading soil with a hydraulic excavator, it is possible to command the construction machine to perform operations that are realistic, feasible, and stable. (3) Automatic operation of construction machinery is possible simply by specifying the behavior of the work equipment. There is no need to perform complicated processing such as calculating the movements of the various pieces of equipment that make up the construction machinery (rotating body, boom, arm, bucket, etc.) all at once. [Brief description of the drawings]

[0017] [Figure 1] 1 is a block diagram showing the main configuration of an automatic driving information calculation system according to the present invention. [Diagram 2] (a) is a side view showing a hydraulic excavator before excavating the ground, and (b) is a side view showing the hydraulic excavator excavating the ground. [Diagram 3] FIG. 1 is a plan view showing a schematic diagram of excavating ground into construction blocks that divide a target area. [Figure 4] FIG. 4 is a perspective view showing a schematic diagram of an equipment trajectory of a bucket during ground excavation. [Diagram 5] A model diagram showing equipment behavior information composed of 19 point behavior information. [Figure 6] FIG. 2A is a side view showing a schematic diagram of specific points related to a bucket and equipment attitude information, and FIG. 2B is a plan view showing a schematic diagram of a coordinate origin and a coordinate system set on the main body of a hydraulic excavator. [Figure 7] FIG. 2 is a plan view showing a schematic diagram of excavation along a boundary wall within a construction area. [Figure 8] 1 is a flow chart showing the main steps of the automatic driving information calculation method of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an automatic driving information calculation system and an automatic driving information calculation method according to the present invention will be described with reference to the accompanying drawings.

[0019] 1.Overview One of the technical features of the present invention is that it focuses on the "work equipment" that directly performs the work that is the main purpose of the construction machine (hereinafter referred to as the "dedicated work"), sets the behavior (or, in other words, the movement) of the work equipment, and then controls the construction machine to realize that behavior. For example, in the case of a hydraulic excavator, the behavior of the "bucket," which is the work equipment, is set first, and then the movements of the "arm," "boom," and "hydraulic cylinder" are controlled to realize that behavior. For convenience, here, a mechanism that directly controls the work equipment (in this case, the bucket), such as the arm, boom, and hydraulic cylinder of a hydraulic excavator, is referred to as a "relay mechanism."

[0020] Up until now, many construction machinery manufacturers have developed automatic driving technology for construction machinery, and it is said that automatic driving is possible for most major construction machinery. Normally, when a construction machinery is made to perform a dedicated task, information on automatic driving (hereinafter referred to as "control information") is obtained by analyzing the operation of the relay mechanism, the working equipment, and the main body, and each component is controlled according to the control information. Naturally, construction machinery manufacturers are familiar with the configuration of construction machinery, and when a "predetermined operation" is given, they can obtain the control information to realize it. However, construction machinery manufacturers are not as knowledgeable about the dedicated tasks of construction machinery as actual operators are. For example, when digging ground with a hydraulic excavator, construction machinery manufacturers may not have sufficient know-how on how the bucket should behave.

[0021] Therefore, in the present invention, information on the behavior of the work equipment (hereinafter referred to as "equipment behavior information") is set, and information on the operation of the relay mechanism (hereinafter referred to as "mechanism operation information") is calculated based on the equipment behavior information, i.e., control information is composed of the equipment behavior information and the mechanism operation information. This allows the equipment behavior information to be set by an expert who operates the construction machinery, such as an operator, and the mechanism operation information to be calculated by a person familiar with construction machinery, such as a construction machinery manufacturer.

[0022] The present invention can be applied to various construction machines as long as they are equipped with a relay mechanism and a work implement. For example, there are a bulldozer in which the work implement is a "blade" and the "cylinder" that controls the blade is the relay mechanism, a vibrating roller in which the work implement is a "roller" and the "arm" that controls the roller is the relay mechanism, and a dump truck in which the work implement is a "cargo platform" and the "cylinder" that dumps up the cargo platform is the relay mechanism.

[0023] 2.Autonomous Driving Information Calculation System Next, the automatic driving information calculation system of the present invention will be described in detail with reference to the drawings. Note that both the automatic driving information calculation system and the automatic driving information calculation method of the present invention are for obtaining information for automatically driving a construction machine, and therefore the automatic driving information calculation system of the present invention will be described first, and then the automatic driving information calculation method of the present invention will be described.

[0024] 1 is a block diagram showing the main components of an automatic driving information calculation system 100 according to the present invention. As shown in this figure, the automatic driving information calculation system 100 according to the present invention is configured to include a calculation processing device 110, and can also be configured to include a construction machine 120. This calculation processing device 110 is configured to include a relay information calculation means 111, and can also be configured to include a behavior information input means 112 and a management side transmitting / receiving means 113. The construction machine 120 is configured to include a main body 121, a relay mechanism 122, a work equipment 123, a mechanism control means 124, and can also be equipped with a measurement means 125 and a machine side transmitting / receiving means 126.

[0025] Among the elements constituting the arithmetic processing device 110, the relay information calculation means 111 can be manufactured as a dedicated one, or a general-purpose computer device can be used. That is, the computer device executes arithmetic processing according to a predetermined program, thereby performing processing specific to each means. This computer device is equipped with a processor such as a CPU, memories such as ROM and RAM, input means such as a mouse and keyboard, and a display, and executes arithmetic processing according to a predetermined program, and can be constituted by a personal computer (PC), a server, a tablet PC such as an iPad (registered trademark), a mobile terminal including a smartphone, or the like.

[0026] As shown in FIG. 1, the arithmetic processing device 110 can be placed in a place away from the work site, such as a management building or a supervisor's station. Alternatively, as in the case of "construction machine B" in FIG. 1, a computer device including a relay information calculation means 111 and a behavior information input means 112 can be mounted on a construction machine 120. As described later, the relay information calculation means 111 calculates "mechanism operation information (information on the operation of the relay mechanism)" after receiving "equipment behavior information (information on the behavior of the work equipment)" as input information. Then, the mechanism control means 124, which has acquired the mechanism operation information, controls the relay mechanism 122 according to the mechanism operation information. Therefore, when the arithmetic processing device 110 is placed in a management building or the like, it is preferable to use a specification in which the mechanism operation information is transmitted to the machine side transmission / reception means 126 by the management side transmission / reception means 113 using wireless or wired communication, and the machine side transmission / reception means 126 further transmits the mechanism operation information to the mechanism control means 124.

[0027] The automatic driving information calculation system 100 of the present invention can be implemented as controlling one type of construction machine 120, or as simultaneously controlling multiple types (two types in the figure) of construction machines 120 as shown in FIG. 1. For example, a backhoe and a dump truck are controlled simultaneously at the same construction site. In this case, naturally, mechanism operation information is obtained for each construction machine 120, and in the example of FIG. 1, mechanism operation information for construction machine A and mechanism operation information for construction machine B are obtained respectively. The automatic driving information calculation system 100 can also be implemented as controlling multiple construction machines 120 of the same type. For example, two backhoes and three dump trucks are controlled simultaneously at the same construction site.

[0028] Hereinafter, a detailed description will be given of each of the main elements constituting the automatic driving information calculation system 100 of the present invention. For convenience, the following description will be given using an example in which the construction machine 120 is a hydraulic excavator.

[0029] (Construction machinery) 2 is a side view showing a hydraulic excavator 120E as a construction machine 120, where (a) shows a state before the ground is excavated, and (b) shows a state during the excavation. As shown in this figure, the hydraulic excavator 120E includes a main body 121, a relay mechanism 122, and a bucket 123B (working equipment 123), and further includes a mechanism control means 124. Of these, the main body 121 includes a cabin (driver's seat) and crawlers for traveling. The relay mechanism 122 includes a boom 122B, an arm 122A, a boom cylinder 122C1, an arm cylinder 122C2, and a bucket cylinder 122C3. The boom 122B is attached to the main body 121 at its rear, and the arm 122A is connected to the boom 122B at its rear and connected to the bucket 123B at its front. The mechanism control means 124 controls the boom cylinder 122C1 to operate the boom 122B, controls the arm cylinder 122C2 to operate the arm 122A, and controls the bucket cylinder 122C3 to operate the bucket 123B.

[0030] The hydraulic excavator 120E can also be equipped with a measuring means 125 for measuring the area to be worked on (hereinafter referred to as the "target area"). For example, as shown in FIG. 3, the ground may be excavated for each construction block (BL01 to BL15 in the figure) into which the target area is divided. In this case, the construction blocks are set after grasping the shape and dimensions of the target area, and at this time, the measuring means 125 can be used to measure the target area. Also, by measuring with the measuring means 125, it is possible to grasp the progress of the ground excavation and the finished shape after excavation.

[0031] Examples of the measurement means 125 that can be used include a laser measuring instrument that uses a laser sensor to perform measurements, an image acquisition means (such as a camera or video camera) for performing photographic measurements (measurements using a set of two stereo pair images), and a total station.

[0032] (Processing Unit) The relay information calculation means 111 constituting the arithmetic processing device 110 is a means for calculating mechanism operation information using equipment behavior information as input information. This equipment behavior information is information indicating the behavior of the work equipment 123 when performing the "dedicated work" that is the main purpose of the construction machine. For example, in the case of the hydraulic excavator 120E, "digging the ground" and "loading earth and sand" are the dedicated works, and the equipment behavior information is information indicating the behavior of the bucket 123B (work equipment 123) from the start to the end of the dedicated work. The equipment behavior information will be explained in more detail below.

[0033] The equipment behavior information is a collection of information on the position and posture of the bucket 123B that change from moment to moment from the start to the end of the dedicated work, and is information indicating the trajectory of the bucket 123B (hereinafter referred to as the "equipment trajectory") during the dedicated work (ground excavation in the figure) as shown in FIG. 4. Therefore, the equipment behavior information includes the time that has elapsed since the start of the dedicated work (hereinafter referred to as the "elapsed time"), information indicating the position of the bucket 123B at the elapsed time (hereinafter referred to as the "equipment position information"), and information indicating the posture of the bucket 123B at the elapsed time (hereinafter referred to as the "equipment posture information"). The equipment behavior information is information consisting of the elapsed time, the equipment position information, and the equipment posture information (hereinafter referred to as the "point behavior information") collected along the equipment trajectory. For example, in FIG. 5, 19 points (point 1 to point 19) are set along the equipment trajectory from the start to the end of the work, and the equipment behavior information is composed of the point behavior information at each point.

[0034] The equipment position information in the point behavior information is the coordinates of a "specific point" that is set in advance in the work equipment 123. For example, in the case of the bucket 123B, the specific point can be set at a desired position in the bucket 123B, such as the central cutting edge as shown in FIG. 6(a) or the back center of the bucket 123B. The equipment position information is set as three-dimensional coordinates in a coordinate system with a "reference point" that is set in advance in the main body 121 as the origin. For example, in the case of the hydraulic excavator 120E, the reference point can be set at a desired position in the main body 121, such as the center of the plane of the main body 121 as the reference point (i.e., the coordinate origin) as shown in FIG. 6(b) or an arbitrary point on the upper part of the cabin as the reference point.

[0035] The equipment attitude information in the point behavior information is information indicating the attitude of the work equipment 123, and can be set as an angle related to a focused surface of the work equipment 123. For example, in the case of the bucket 123B, the angle that the back surface of the bucket 123B makes with the horizontal plane can be set as the equipment attitude information as shown in FIG. 6(a). Of course, the angle that the top surface (opening surface) of the bucket 123B makes with the horizontal plane can also be set as the equipment attitude information, and the intersection angle with the vertical plane can also be set as the equipment attitude information instead of the intersection angle with the horizontal plane. Alternatively, two points of interest can be used as the equipment attitude information instead of an angle. In this case, the angle of the work equipment 123 is obtained using the three-dimensional coordinates of the points of interest. For example, two points of interest are set on the back surface of the bucket 123B as the equipment attitude information, and the back surface angle of the bucket 123B is obtained based on the three-dimensional coordinates of the points of interest.

[0036] When setting equipment behavior information consisting of a series of point behavior information, it can be set based on the experience and knowledge of an expert who is familiar with the operation of the construction machine 120, or it can be set by operating a virtual model of the construction machine 120 using, for example, 3D CAD (Computer Aided Design) and setting the equipment behavior information through a so-called simulation. Alternatively, an experienced operator can actually operate the construction machine 120 while periodically measuring the elapsed time, equipment position information, and equipment attitude information, and set the equipment behavior information based on the measurement results.

[0037] The relay information calculation means 111 calculates the mechanism operation information so that the work equipment 123 matches the equipment position information and the equipment attitude information at each elapsed time, that is, so that the work equipment 123 (specific point) is at the position related to the equipment position information and the work equipment 123 (focused surface) is at the attitude related to the equipment attitude information. At this time, it is preferable to calculate the mechanism operation information based on parameters (such as member dimensions and capacity) specific to the construction machine 120 used. In other words, although the equipment behavior information does not depend on the type of the construction machine 120, the mechanism operation information is calculated according to the construction machine 120. Note that the equipment behavior information is a collection of point behavior information, and is, so to speak, discrete data for each elapsed time. Therefore, the relay information calculation means 111 calculates the mechanism operation information so as to complement the point behavior information. For this reason, it is preferable to set an upper limit (e.g., 0.5 seconds or less) on the time interval between the point behavior information and the point behavior information, and to set an upper limit (e.g., 300 mm or less) on the point-to-point distance between the point behavior information and the point behavior information.

[0038] The relay information calculation means 111 can calculate the mechanism operation information under the condition (hereinafter referred to as the "rotation constraint condition") that the relay mechanism 122 does not rotate (hereinafter referred to as the "horizontal rotation") around a substantially vertical axis (including the vertical axis), or can calculate the mechanism operation information under the condition (hereinafter referred to as the "rotation condition") that the relay mechanism 122 rotates horizontally. For example, in the case of a series of operations in which the bucket 123B descends from above toward the ground as shown in FIG. 2, the bucket 123B excavates the ground, and the bucket 123B scoops up the excavated soil, it is preferable to calculate the mechanism operation information under the "rotation constraint condition" that the boom 122B and the arm 122A (relay mechanism 122) do not rotate horizontally.

[0039] On the other hand, if the work also includes the boom 122B and the arm 122A rotating horizontally and the bucket 123B moving to the bed of the dump truck after the bucket 123B scoops up the excavated soil, the bucket 123B unloading the excavated soil onto the bed, and the bucket 123B leveling the excavation level on the bed, it is preferable to calculate the mechanism operation information under the "rotation condition" in which the boom 122B and the arm 122A (relay mechanism 122) rotate horizontally. Also, as shown in Fig. 7, when a boundary wall is installed within the construction area and excavation is required along the boundary wall, it is preferable to calculate the mechanism operation information under the "rotation condition".

[0040] As described above, when setting the construction block shown in FIG. 3, it is advisable to measure the target area using the measuring means 125. In this case, the coordinates indicating the position of each construction block are obtained, and the relay information calculation means 111 calculates the mechanism operation information based on the coordinates. However, it is not necessary to change the equipment behavior information for each construction block. In other words, although the operation of the boom 122B and the arm 122A differs depending on the construction block, the mechanism operation information is calculated assuming that the behavior of the bucket 123B does not change depending on the construction block. When excavating the ground for each construction block, it is advisable to calculate the mechanism operation information under the "swing constraint condition" when setting the equipment behavior information for one cycle of excavation work (lowering the bucket 123B to scooping up the excavated soil), and to calculate the mechanism operation information under the "swing condition" when setting the equipment behavior information for the work until the construction block is completed.

[0041] The behavior information input means 112 constituting the arithmetic processing device 110 is a means for inputting equipment behavior information to the relay information calculation means 111. As this behavior information input means 112, a pointing device (such as a mouse, a touch panel, a pen tablet, a touch pad, a track pad, a track ball, etc.), a keyboard, etc. can be used.

[0042] 3. Autonomous driving information calculation method Next, the automatic driving information calculation method of the present invention will be described with reference to the drawings. Note that the description will avoid overlapping with the contents described in the automatic driving information calculation system 100, and only the contents unique to the automatic driving information calculation method of the present invention will be described. In other words, the contents not described here are the same as those described in "2. Automatic driving information calculation system".

[0043] 8 is a flow diagram showing the main steps of the intrusion detection method of the present invention. In this diagram, the center column shows the steps to be performed, the left column shows the information required for each step, and the right column shows the information generated by each step.

[0044] To automatically operate the construction machine 120, a model construction is first performed as shown in FIG. 8 (Step 201 in FIG. 8). This model construction may be performed by, for example, an experienced operator performing ideal, dedicated work. While the operator is operating the construction machine 120, point behavior information is periodically acquired using a measuring device such as a laser measuring device, an image acquisition means for photographic measurement, or a total station (point behavior information acquisition process). Once the point behavior information is acquired, the equipment behavior information is set based on a series of point behavior information along the equipment trajectory (Step 202 in FIG. 8: behavior information setting process).

[0045] When actually performing a dedicated task, the measurement means 125 is used to measure the target area (Step 203 in FIG. 8). Then, based on the measurement results and the equipment behavior information, mechanism operation information is calculated (Step 204 in FIG. 8: relay information calculation process). When setting a construction block as shown in FIG. 3, it is advisable to obtain coordinates indicating the position of the construction block and calculate mechanism operation information based on the coordinates.

[0046] When the mechanism operation information is obtained, the mechanism control means 124 controls the relay mechanism 122 (Step 205 in FIG. 8), whereby the work equipment 123 executes the dedicated work (Step 206 in FIG. 8). [Industrial Applicability]

[0047] The automatic driving information calculation system and the automatic driving information calculation method of the present invention can be used for various construction machines such as hydraulic excavators, bulldozers, vibratory rollers, dump trucks, etc. Considering that the present invention solves the problem of labor shortages in the construction industry and enables construction in places where human entry is dangerous, the present invention can be said to be an invention that can be expected to not only be used industrially but also to make a great contribution to society. [Explanation of symbols]

[0048] 100 Automatic driving information calculation system of the present invention 110 (Automatic driving information calculation system) processing unit 111 Relay information calculation means 112 Behavioral information input means 113 Management side transmission / reception means 120 (Automatic Driving Information Calculation System) Construction Machinery 120E Hydraulic Excavator 121 Main body 122 Relay Mechanism 122A Arm 122B Boom 122C1 Boom cylinder 122C2 Arm cylinder 122C3 Bucket cylinder 123 Work Equipment 123B Bucket 124 Mechanism control means 125 Measurement methods 126 Machine side transmitting / receiving means

Claims

1. A system for requesting information for automatically operating a construction machine, The construction machine includes a main body, a relay mechanism attached to the main body, and a work implement attached to the relay mechanism, The work equipment has a function of realizing a work purpose of the construction machine, The relay mechanism has a function of controlling the behavior of the work equipment, a relay information calculation means for calculating mechanism operation information of the relay mechanism based on equipment behavior information related to the work equipment, the equipment behavior information includes equipment position information relating to a specific point of the work equipment that is set in advance, equipment attitude information indicating the attitude of the work equipment, and a plurality of point behavior information consisting of elapsed time, the device position information is a three-dimensional coordinate in a coordinate system having an origin at a preset reference point in the main body, the relay information calculation means calculates the mechanism operation information so that the work equipment matches the equipment position information and the equipment attitude information of the point behavior information at the elapsed time of the point behavior information. An automatic driving information calculation system characterized by the above.

2. The construction machine further includes a mechanism control means. The mechanism control means controls the relay mechanism based on the mechanism operation information calculated by the relay information calculation means.

2. The automatic driving information calculation system according to claim 1 .

3. The construction machine is a hydraulic excavator, The work equipment is a bucket for excavating the ground or loading earth and sand, The relay mechanism includes an arm, a boom, and a hydraulic cylinder, the mechanism control means controls the hydraulic cylinder to control the work equipment in accordance with the mechanism operation information.

3. The automatic driving information calculation system according to claim 2 .

4. the relay information calculation means calculates the mechanism operation information on the condition that the rotation of the relay mechanism is restricted.

2. The automatic driving information calculation system according to claim 1 .

5. the relay information calculation means calculates the mechanism operation information on the condition that the relay mechanism is capable of turning.

2. The automatic driving information calculation system according to claim 1 .

6. A method for obtaining information for automatically operating a construction machine, comprising: The construction machine includes a main body, a relay mechanism attached to the main body, and a work implement attached to the relay mechanism, The work equipment has a function of realizing a work purpose of the construction machine, The relay mechanism has a function of controlling the behavior of the work equipment, a behavior information setting step of setting equipment behavior information relating to the work equipment; and calculating mechanism operation information of the relay mechanism based on the equipment behavior information, the equipment behavior information includes equipment position information of a specific point of the work equipment that is set in advance, equipment attitude information indicating the attitude of the work equipment, and a plurality of point behavior information consisting of elapsed time, the device position information is a three-dimensional coordinate in a coordinate system having an origin at a preset reference point in the main body, In the relay information calculation step, the mechanism operation information is calculated so that the work equipment matches the equipment position information and the equipment attitude information of the point behavior information at the elapsed time of the point behavior information. An automatic driving information calculation method comprising:

7. The method further includes a point behavior information acquisition step of acquiring the point behavior information while an operator operates the construction machine, In the behavior information setting step, the equipment behavior information is set based on the point behavior information acquired in the point behavior information acquisition step. The method for calculating automatic driving information according to claim 6 .

Images