Information processing device, information support system, and program

Abstract

To provide a controller and the like capable of estimating work accuracy through taking impact of inner factors of a work machine.SOLUTION: A controller is provided with: a target construction surface acquisition section for acquiring a target construction surface for a specific work using a work machine; a posture acquisition section for acquiring posture information regarding a body posture of the work machine; a scheduled information acquisition section for acquiring scheduled motion information of the work machine upon automatic control or semiautomatic control for the specific work; and an estimation section for estimating work accuracy when the work machine operates according to the scheduled motion information on the basis of the target construction surface, the posture information, and the scheduled motion information.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, a work support system, and a program. [Background technology]

[0002] Cited document 1 discloses a work machine that uses ground instability to calculate the amount of fluctuation in the tip position of the work machine, and determines the work accuracy caused by the condition of the ground on which the vehicle body is placed, based on the calculated amount of fluctuation in the tip position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-002751 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the work accuracy is affected not only by the condition of the ground on which the vehicle body is placed, but also by factors internal to the work machine.

[0005] Therefore, in one aspect, an object of the present invention is to provide an information processing device and the like that can predict work accuracy by taking into account the influence of internal factors of a work machine. [Means for solving the problem]

[0006] On one side, a target construction surface acquisition unit for acquiring a target construction surface related to a predetermined work to be performed using a work machine; a posture acquisition unit that acquires posture information relating to a body posture of the work machine; a schedule information acquisition unit that acquires operation schedule information of the work machine when the work machine is automatically or semi-automatically controlled to perform the predetermined work; An information processing device is provided, comprising: a prediction unit that predicts work accuracy when an operation is performed according to the operation schedule information, based on the target construction surface, the attitude information, and the operation schedule information. Effect of the Invention

[0007] According to the present disclosure, it is possible to predict work accuracy taking into account the influence of internal factors of the work machine. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a driving element of a construction machine equipped with a control device of the present embodiment. [Diagram 2] FIG. 2 is a diagram illustrating a mechanism of a construction machine. [Diagram 3] FIG. 2 is a diagram functionally illustrating the configuration of a control device according to the present embodiment. [Figure 4] 10 is a flowchart showing a process when a machine control mode (an operation mode corresponding to automatic control or semi-automatic control) is selected as the operation mode. [Diagram 5] FIG. 2 is a diagram illustrating an example of a data configuration of performance data. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Each embodiment will be described below with reference to the accompanying drawings.

[0010] FIG. 1 is a diagram illustrating the driving elements of a construction machine equipped with a control device of this embodiment, FIG. 2 is a diagram illustrating the mechanism of the construction machine, and FIG. 3 is a diagram functionally showing the configuration of the control device of this embodiment.

[0011] 1, a construction machine equipped with the control device 10 of this embodiment is configured to include, as driving elements, a hydraulic oil tank 21, an engine 22, a hydraulic pump 23 driven by the engine 22, a tilt proportional valve 24 that controls the tilt of the hydraulic pump 23, a control valve 25 having a proportional valve 25a, and a cooler 27. The hydraulic oil circulates from the hydraulic oil tank 21 through the hydraulic pump 23, the control valve 25, and the cooler 27 in this order, returning to the hydraulic oil tank 21.

[0012] FIG. 2 shows an example of a hydraulic excavator as the construction machine (FIG. 1).

[0013] This hydraulic excavator includes a lower traveling body 41 capable of traveling on the ground, an upper rotating body 42 mounted on the lower traveling body 41, and a working device 50 mounted on the upper rotating body 42.

[0014] The upper rotating body 42 has a rotating frame 42a and a plurality of elements mounted thereon, including an engine room 42b that houses the engine 22 (FIG. 1) and a cab 42c that is a driver's room.

[0015] The working device 50 is capable of performing operations for excavation work and other necessary work, and includes a boom 51, an arm 52, and a bucket 53 as operating elements. The boom 51 is supported at the front end of the revolving frame 42a so that it can be raised and lowered, i.e., so that it can rotate about a horizontal axis. The arm 52 is attached to the tip of the boom 51 so that it can rotate about a horizontal axis. The bucket 53 is attached to the tip of the arm 52 so that it can rotate. In addition, a plurality of hydraulic cylinders serving as extendable and retractable driving elements (actuators), specifically at least one boom cylinder 61, arm cylinder 62, and bucket cylinder 63, are provided corresponding to each of the boom 51, arm 52, and bucket 53.

[0016] The boom cylinder 61, arm cylinder 62, and bucket cylinder 63 are contracted to perform the operations of lowering the boom, pushing the arm, and opening the bucket, respectively. On the other hand, the boom cylinder 61, arm cylinder 62, and bucket cylinder 63 are extended to perform the operations of raising the boom, retracting the arm, and closing the bucket, respectively. Note that any combination of the extension and contraction directions of the boom cylinder, arm cylinder, or bucket cylinder and the rotation directions of the boom, arm, or bucket is possible. For example, this embodiment can be applied to a working device in which the arm is pushed by extending the arm cylinder.

[0017] A sensor 42d is attached to the upper rotating body 42 to detect the inclination (angle with respect to the horizontal plane) of the upper rotating body 42. A sensor 51a is attached to the base end of the boom 51 to detect the angle of the boom 51 with respect to the lower traveling body 41. A sensor 52a is attached to the base end of the arm 52 to detect the angle of the arm 52 with respect to the boom 51, and a sensor 53a is attached to the base end of the bucket 53 to detect the angle of the bucket 53 with respect to the arm 52. The sensor 51a, the sensor 52a, or the sensor 53a may be attached at any position, and may not be attached to the base end of the boom 51, the arm 52, or the bucket 53. A sensor that detects the inclination of the lower traveling body 41 may be attached instead of or in addition to the sensor 42d attached to the upper rotating body 42.

[0018] When the machine control mode (operation mode corresponding to automatic control or semi-automatic control) is selected as the operation mode, automatic control corresponding to the target construction surface F0 is executed by simple manual operation. For example, when the arm is pulled by manual lever operation, the boom raising and lowering operation and the bucket opening and closing operation are automatically controlled based on the angle detected by the sensor 42d, the sensor 51a, the sensor 52a, and the sensor 53a. That is, the boom cylinder 61 and the bucket cylinder 63 are controlled in accordance with the extension and contraction operation of the arm cylinder 62 according to the manual operation. As a result, for example, automatic control (semi-automatic control) is executed in which the tip 53b of the bucket 53 excavates the ground along the target construction surface F0 by simply performing a manual operation to pull the arm 52. Other methods can also be applied as a method for recognizing the position (coordinates) of an attachment such as the tip 53b of the bucket 53. For example, instead of the angle detected by the sensor 51a, the sensor 52a, and the sensor 53a, the posture of the operation element may be grasped based on the cylinder stroke acquired by a cylinder with a stroke sensor. In addition, the position of the attachment can be obtained by a Global Navigation Satellite System (GNSS) or detected based on an image of the attachment. The position of the attachment can also be detected by taking into account the hydraulic pressure of the cylinder during operation.

[0019] The content of the automatic control (semi-automatic control) is arbitrary, and the type of construction machine to which the automatic control (semi-automatic control) is applied is also arbitrary.

[0020] Although only control valve 25 is shown in Fig. 1, in reality, a plurality of control valves may be provided according to the type of construction machine. For example, in the hydraulic excavator shown in Fig. 2, at least a plurality of control valves are provided for controlling the extension and retraction of boom cylinder 61, arm cylinder 62, and bucket cylinder 63, respectively.

[0021] As shown in Figure 3, the control device 10 of this embodiment includes a target construction surface acquisition unit 11 that acquires a target construction surface (for example, the target construction surface F0 in Figure 2) for a specified task performed using a construction machine (Figure 1) as a work machine, an attitude acquisition unit 12 that acquires attitude information related to the main body attitude of the construction machine, a schedule information acquisition unit 13 that acquires operation schedule information of the construction machine when it is automatically or semi-automatically controlled to perform the specified task, and a prediction unit 14 that predicts the work accuracy when it operates according to the operation schedule information based on the target construction surface, the attitude information, and the operation schedule information.

[0022] The control device 10 also includes a status acquisition unit 15 that acquires status parameters (status information representing the status of the driving elements) such as the temperature, pressure, and speed of the above-mentioned driving elements, and an information output unit 16 that outputs operation support information regarding operations on the construction machine based on the prediction results by the prediction unit 14.

[0023] Furthermore, the control device 10 is equipped with a correction processing unit 17 that corrects the operation schedule information so as to improve work accuracy based on the prediction result by the prediction unit 14, and a control unit 18 that executes automatic control or semi-automatic control of the work machine based on the operation schedule information after correction by the correction processing unit 17.

[0024] All or part of the control device 10 can be configured as a processing device mounted on the construction machine. Also, all or part of the control device 10 can be configured as a processing device such as a server or a user terminal capable of communicating with the construction machine. In the latter case, the location of the server or user terminal is arbitrary, and may be located away from the construction machine, for example.

[0025] Next, the operation of the construction machine will be described.

[0026] FIG. 4 is a flowchart showing the process when the machine control mode (operation mode corresponding to automatic control or semi-automatic control) is selected as the operation mode.

[0027] In step S102 of FIG. 4, the target construction surface acquisition unit 11 accepts an input of a target construction surface, and acquires the input target construction surface.

[0028] The method of inputting the target construction surface is arbitrary, but for example, the target construction surface can be input using a construction machine at the work site. In this case, for example, a point (coordinate) on the target construction surface can be specified using the tip 53b of the bucket 53 of a hydraulic excavator (FIG. 2), and a plane that passes through this point and has a predetermined inclination angle can be input as the target construction surface. Also, two points (coordinates) on the target construction surface can be specified using the tip 53b of the bucket 53 of the hydraulic excavator, and a plane that passes through these two points can be input as the target construction surface. Furthermore, a plane obtained by shifting the plane defined by the above method by a predetermined width in a predetermined direction (for example, vertical direction) can be input as the target construction surface.

[0029] Also, the target construction surface can be input using a 3D or 2D model of the target construction surface created in advance. For example, by specifying a point (coordinates) on the target construction surface using the tip 53b of the bucket 53 of the hydraulic excavator at the work site, the target construction surface passing through this point can be input.

[0030] In step S104, the target construction surface acquisition unit 11 acquires attributes of the work. The attributes of the work include the attributes of the target construction surface (step S102) acquired by the target construction surface acquisition unit 11. The attributes of the target construction surface may include, for example, information indicating whether the target construction surface acquired by the target construction surface acquisition unit 11 is a horizontal surface or a slope. The attributes of the target construction surface may also include other input information, such as the type and hardness of the soil to be excavated.

[0031] In step S106, the attitude acquisition unit 12 acquires the current attitude of the construction machine, that is, the attitude at the start of work. The current attitude includes angles detected by the sensors 41a, 51a, 52a, and 53a.

[0032] In step S108, the state acquisition unit 15 acquires state parameters such as the temperature, pressure, etc. of the driving elements. For example, the temperature of the hydraulic oil tank 21, the hydraulic pump 23, the tilt proportional valve 24, the proportional valve 25a, the boom cylinder 61, the arm cylinder 62, or the bucket cylinder 63, the temperature and pressure of the hydraulic oil in the hydraulic oil tank 21, the hydraulic pump 23, the tilt proportional valve 24, the proportional valve 25a, the boom cylinder 61, the arm cylinder 62, or the bucket cylinder 63, etc. can be used as the state parameters.

[0033] In step S112, the schedule information acquisition unit 13 acquires operation schedule information of the construction machine when working in the machine control mode. The operation schedule information includes either the drive mode of the drive element or the operation mode of the operating element when automatic control or semi-automatic control is executed to move the tip 53b of the bucket 53 along the target construction surface.

[0034] Examples of the driving mode of the driving element include the transition of the strength of the arm operation signal and the boom operation signal from the start to the end of the lever operation of pulling the arm, the arm control gain, and the boom control gain.

[0035] Furthermore, examples of the operating mode of the operating element include the target angles and target angular velocities of the boom 51, the arm 52, and the bucket 53 from the start to the end of the lever operation for pulling the arm.

[0036] In step S114, the prediction unit 14 accesses a database (e.g., a database in a server) that accumulates actual machine operation information (past performance data), and selects and acquires performance data that matches or is most similar (similar) to the current task (has the highest degree of match). In this case, performance data may be selected on the condition that the task attributes (corresponding to task attribute information described later) match the task attributes.

[0037] FIG. 5 is a diagram illustrating an example of a data structure of the performance data.

[0038] In the example shown in FIG. 5, the performance data includes target construction information, work attribute information, posture information, status information, planned operation information, and performance construction surface information. Here, the target construction surface information corresponds to the target construction surface F0 acquired by the target construction surface acquisition unit 11 (step S102). The work attribute information corresponds to the work attribute acquired by the target construction surface acquisition unit 11 (step S104). The posture information corresponds to the current posture of the construction machine acquired by the posture acquisition unit 12 (step S106). The status information corresponds to the status parameters acquired by the status acquisition unit 15. The planned operation information corresponds to the operation schedule information acquired by the schedule information acquisition unit 13 (step S112).

[0039] 5, the planned operation information of the result data includes driving mode information and operation mode information. Here, the driving mode information corresponds to the driving mode of the driving element acquired by the schedule information acquisition unit 13 (step S112). The operation mode information corresponds to the operation mode of the operation element acquired by the schedule information acquisition unit 13 (step S112).

[0040] Furthermore, in the example shown in Fig. 5, actual construction surface information is included. The actual construction surface information includes the shape of the construction surface corresponding to the actual construction surface F1 shown in Fig. 2. As shown in Fig. 2, the actual construction surface F1 has a vertical error ΔL with respect to the target construction surface F0. The actual construction surface information also includes information related to the error ΔL, and may include, for example, the maximum and minimum values ​​of the error ΔL. The maximum value is the error ΔL (positive value) at the position where the actual construction surface F1 is maximally shifted upward with respect to the target construction surface F0, and the minimum value is the error ΔL (negative value) at the position where the actual construction surface F1 is maximally shifted downward with respect to the target construction surface F0.

[0041] The performance data can be prepared, for example, by the manufacturer of the construction machine. In this case, various conditions corresponding to various target construction surface information, work attribute information, posture information, status information, and scheduled operation information are prepared, and actual excavation work is performed by the actual machine in the machine control mode, so that the performance data can be accumulated. As for the performance construction surface information among the performance data, for example, the trajectory of the tip 53b of the bucket 53 of the hydraulic excavator (FIG. 2) can be acquired as the performance construction surface. In this case, the trajectory of the tip 53b of the bucket 53 is calculated based on angles detected by the sensors 41a, 51a, 52a, and 53a.

[0042] In addition, each time a user performs work using a construction machine, target construction surface information, work attribute information, posture information, status information, and planned operation information are stored, and actual construction surface information is calculated and stored, so that the information can be accumulated as performance data. In this case, the prediction accuracy of work accuracy and the reliability and usefulness of operation support information, which will be described later, can be improved according to the accumulation of performance data. In addition, by accumulating performance data of individual construction machines of the same model in a server or the like, it becomes possible, for example, for the accumulated performance data to be commonly used by different users.

[0043] In step S114 above, the prediction unit 14 selects and acquires, from among the performance data shown in FIG. 5, the target construction surface information, work attribute information, posture information, status information and planned operation information that match or are most approximate (similar) to the respective information acquired in steps S102 to S112.

[0044] In step S116, the prediction unit 14 predicts the work accuracy based on the actual construction surface information of the performance data acquired in step S114. The work accuracy is, for example, information related to the error ΔL indicated in the actual construction surface information of the performance data acquired in step S114, and may be the maximum value or minimum value of the error ΔL.

[0045] In this way, in this embodiment, the work accuracy is predicted based on the actual data in which the target construction surface, posture information, and operation schedule information match or are most similar. Therefore, by reflecting the internal factors of the work machine in the prediction result, the work accuracy can be accurately predicted. For example, as a difference in posture information, the response of the boom raising is significantly different between the maximum reach posture and the minimum reach posture, and the construction accuracy changes. Also, when performing the arm pulling operation in the machine control mode, the starting speed of the arm 52 changes depending on the arm cylinder head pressure and rod pressure before the arm pulling starts, which affects the construction accuracy. Also, the response speed of the mechanism changes depending on the hydraulic oil temperature and the proportional valve temperature, which also affects the construction accuracy. In this embodiment, the construction accuracy can be predicted by reflecting such internal factors.

[0046] In step S118, the information output unit 16 outputs operation support information related to the operation of the construction machine. The operation support information is displayed, for example, on a display device provided on the construction machine or on a display unit of a user terminal.

[0047] Here, the operation support information may be, for example, information related to the error ΔL shown in the actual construction surface information of the result data, and may be the maximum value and minimum value of the error ΔL. The operation support information may also be information that displays on the screen the shape of the construction surface after the planned excavation compared with the shape of the target construction surface, such as the actual construction surface F1 and the target construction surface F0 in FIG. 2. In FIG. 2, the actual construction surface F1 having undulation (error in the height direction) is shown with respect to the target construction surface F0, which is a horizontal surface. In this case, it is also possible to display the error ΔL and the maximum and minimum values ​​of the error ΔL on the screen. By displaying the shape of the construction surface on the screen, the operator can intuitively grasp the shape of the construction surface and the construction accuracy.

[0048] In step S120, the control unit 18 receives an instruction from the user (operator) and determines whether the content of the instruction is to perform the work. If the determination is affirmative, the control unit 18 advances the process to step S122, and if the determination is negative, that is, if the content of the instruction is to stop the work, the control unit 18 ends the process.

[0049] Here, the user (operator) can determine whether or not to execute the work in the machine control mode based on the information relating to the error ΔL shown in the operation support information, and input the above instruction.

[0050] Incidentally, the control unit 18 may determine whether or not to perform work in the machine control mode based on information related to the error ΔL. In this case, for example, only when the error ΔL falls within a predetermined range, the excavation work in the machine control mode may be performed.

[0051] In step S122, the control unit 18 executes the work in the machine control mode based on the operation schedule information, and ends the process. Here, the control unit 18 executes feedback control based on the angles detected by the sensors 51a, 52a, and 53a, for example. In the feedback control, for example, the difference between the angle detected by the sensors 51a, 52a, and 53a and a predetermined target angle (boom angle, arm angle, etc.) is amplified by a predetermined control gain (arm control gain, boom control gain, etc.) to obtain an operation signal (boom operation signal, arm operation signal, etc.). Here, the target angle (boom angle, arm angle, etc.) is set to an angle at which the trajectory of the tip 53b of the bucket 53 coincides with the target construction surface F0, for example.

[0052] In step S122, the operation schedule information may be corrected by the correction processing unit 17 so as to improve work accuracy, and the control unit 18 may execute automatic or semi-automatic control of the work machine based on the corrected operation schedule information.

[0053] The operation schedule information to be corrected by the correction processing unit 17 can include either or both of the driving mode of the driving element and the operating mode of the operating element.

[0054] As the driving mode of the driving element, for example, the transition of the strength of the arm operation signal and boom operation signal from the start to the end of the lever operation of pulling the arm, the arm control gain, the boom control gain, etc. can be corrected.

[0055] In addition, as the operating mode of the operating element, for example, the target angle (boom angle, arm angle, etc.) and target angular velocity (boom angular velocity, arm angular velocity, etc.) of the boom 51, arm 52, etc. from the start to the end of the lever operation of pulling the arm can be corrected.

[0056] As described above, in this embodiment, the work accuracy when the work machine operates according to the operation schedule information when automatically or semi-automatically controlled is predicted based on the target construction surface and posture information. Therefore, by reflecting the internal factors of the work machine in the prediction result, it is possible to predict accurate work accuracy.

[0057] Although each embodiment has been described above in detail, the present invention is not limited to the specific embodiment, and various modifications and changes are possible within the scope of the claims. In addition, it is also possible to combine all or a plurality of the components of the above-described embodiments. [Explanation of symbols]

[0058] 10 Control device 11 Target construction surface acquisition department 12 Attitude acquisition section 13 Schedule Information Acquisition Department 14 Prediction Department 15 Status acquisition unit 16 Information output section 17 Correction processing section 18 Control Unit

Claims

1. a target construction surface acquisition unit for acquiring a target construction surface related to a predetermined work to be performed using a work machine; a posture acquisition unit that acquires posture information relating to a body posture of the work machine; a schedule information acquisition unit that acquires operation schedule information of the work machine when the work machine is automatically or semi-automatically controlled to perform the predetermined work; An information processing device comprising: a prediction unit that predicts work accuracy when operating according to the operation schedule information based on the target construction surface, the attitude information, and the operation schedule information.

2. The information processing device according to claim 1 , wherein the prediction unit predicts the task accuracy based on past performance data.

3. The work machine includes a driving element including an engine, a hydraulic pump, an actuator, and a valve, and an operating element that is operated by being driven by the driving element, The information processing apparatus according to claim 1 , wherein the operation schedule information relates to at least one of a drive mode of the drive element and an operation mode of the operation element.

4. A status acquisition unit that acquires status information representing a status of the driving element, The information processing device according to claim 3 , wherein the prediction unit predicts the task accuracy further based on the state information.

5. The information processing device according to claim 1 , wherein the prediction unit predicts the task accuracy further based on an attribute of the predetermined task.

6. The information processing device according to claim 5 , wherein the prediction unit predicts the task accuracy based on past performance data for each attribute of the predetermined task.

7. The information processing device according to claim 1 , further comprising an information output unit that outputs operation support information related to an operation of the work machine based on a prediction result by the prediction unit.

8. The information processing device according to claim 7 , wherein the operation support information represents a relationship between the target construction surface and a predicted construction surface when operation is performed based on the operation schedule information, or between a work trajectory when operation is performed based on the operation schedule information.

9. The information processing device according to claim 7 , wherein the information output unit outputs operation assistance information to a display device provided on the work machine or a display unit of a user terminal.

10. a correction processing unit that corrects the operation schedule information based on a prediction result by the prediction unit so as to improve the operation accuracy; The information processing device according to claim 1 , further comprising: a control unit that executes the automatic control or semi-automatic control of the work machine based on the operation schedule information corrected by the correction processing unit.

11. 2. The information processing device according to claim 1, which is realized by at least one of a processing device mounted on the work machine and a processing device located remotely from the work machine and capable of communicating with the work machine.

12. A work machine body, An information processing device, The information processing device includes: a target construction surface acquisition unit for acquiring a target construction surface relating to a predetermined work to be performed using the work machine body; a posture acquisition unit that acquires posture information relating to the posture of the work machine body; a schedule information acquisition unit that acquires operation schedule information of the work machine body when the work machine body is automatically or semi-automatically controlled to perform the predetermined work; A work support system having a prediction unit that predicts work accuracy when operating according to the operation schedule information based on the target construction surface, the posture information, and the operation schedule information.

13. A target construction surface for a predetermined work to be performed using a work machine is obtained; Acquire posture information regarding a body posture of the work machine; acquiring operation schedule information of the work machine when the work machine is automatically or semi-automatically controlled to perform the predetermined work; predicting a work accuracy when an operation is performed according to the operation schedule information based on the target construction surface, the attitude information, and the operation schedule information; A program that causes a computer to carry out processing.

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