Work Point Determination System

Abstract

To provide a work point determination system which can thoroughly perform a work by a work machine to a work object.SOLUTION: A work point determination system includes: first setting means for setting first target work points P1 included in a target work point for one end in a longitudinal direction of a loading space 56 and the other end opposite to the one end in the longitudinal direction, respectively; and second setting means for setting a second target work point P2 included in the target work point between the two first target work points P1 based on a width w in the longitudinal direction of a bucket and a distance L between the two first target work points P1. Intervals between the adjacent target work point are equal to each other.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work point determination system that determines a target work point, which is a target position at which a work machine performs work on a work object. [Background technology]

[0002] Patent Document 1 discloses a system that automatically controls a hydraulic excavator to discharge soil from a transport vehicle stopped at a loading position. In Patent Document 1, the position of the loading platform of the transport vehicle is detected from an image captured by a camera, and automatic soil discharge is performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-20155 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, loading is determined to be completed when the weight of the materials loaded onto the loading platform reaches the allowable weight. Therefore, the materials are not necessarily loaded evenly onto the loading platform.

[0005] An object of the present invention is to provide a work point determination system that enables a work machine to perform work on all work objects evenly. [Means for solving the problem]

[0006] The present invention is a work point determination system that determines a target work point, which is a target position where a work machine with an attachment will perform work on a work object, and is characterized in that it has a first setting means that sets first target work points included in the target work points at one longitudinal end of the work object and the other longitudinal end opposite the one end, and a second setting means that sets a second target work point included in the target work points between two of the first target work points based on the longitudinal width of a tip attachment, which is the tip of the attachment, and the distance between the two first target work points, and the spacing between adjacent target work points is equal to each other. Effect of the Invention

[0007] According to the present invention, a first target work point included in the target work points is set at one end and the other end in the longitudinal direction of the work object. Then, a second target work point included in the target work points is set between the two first target work points. The intervals between adjacent target work points are equal. By performing work for each of these target work points, work can be performed by the work machine evenly on the work object in the longitudinal direction of the work object. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a side view of a transport vehicle showing target operation points for a loading operation. [Diagram 3] FIG. 2 is a circuit diagram of the operation point determination system. [Figure 4] FIG. [Diagram 5] FIG. 2 is a side view of the transport vehicle showing target working points for leveling operations. [Figure 6] FIG. 1 is a side view of a transport vehicle, showing the flow of a leveling operation. [Figure 7]1 is a flowchart of an automatic driving process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0010] (Work machine configuration) A work point determination system according to an embodiment of the present invention determines a target work point which is a target position where a work machine will perform work on a work object. The work point determination system includes a work machine, a transport vehicle, and a mobile terminal.

[0011] 1, which is a side view of a work machine 2, the work machine 2 is a machine that performs work using an attachment 30, and is, for example, a hydraulic excavator. The work machine 2 has a lower traveling body 21, an upper rotating body 22, the attachment 30, and a cylinder 40.

[0012] The lower traveling structure 21 is a portion that causes the work machine 2 to travel, and is equipped with, for example, crawlers. The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front part of the upper rotating structure 22.

[0013] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is a tip attachment that is the tip of the attachment 30. The bucket 33 is attached to the arm 32 so as to be rotatable in the front-rear direction. The bucket 33 is a part that performs work such as digging, leveling, and scooping soil and sand (carried material). Note that the transported material held by the bucket 33 is not limited to soil and sand, and may be stones or waste (industrial waste, etc.).

[0014] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0015] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0016] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0017] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0018] The work machine 2 also has an angle sensor 52 and a tilt angle sensor 60 .

[0019] The angle sensor 52 detects the rotation angle of the upper rotating body 22 with respect to the lower traveling body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the rotation angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21 is set to 0°.

[0020] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0021] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0022] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0023] The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that obtains the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the bucket inclination angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0024] (Transport vehicle configuration) 2, which is a side view of the transport vehicle 3, the transport vehicle 3 is a vehicle having a loading platform 56 which is the object of work. The transport vehicle 3 is a vehicle for transporting earth and sand (cargo) loaded by the work machine 2, and may be a dump truck or a truck.

[0025] The transport vehicle 3 includes a main body 55 and a cargo bed 56. The main body 55 is capable of traveling and supports the cargo bed 56. The main body 55 includes a driver's cab 57. The cargo bed 56 is disposed rearward of the driver's cab 57 in the transport vehicle 3.

[0026] In the following, with regard to the directions related to the transport vehicle 3, the side from the driver's cab 57 toward the loading platform 56 will be referred to as the "rear side of the transport vehicle", and the side from the loading platform 56 toward the driver's cab 57 will be referred to as the "front side of the transport vehicle".

[0027] The loading platform 56 does not have a lid and is, for example, box-shaped. The loading platform 56 includes a floor surface 56a, a rear gate plate surface 56b, a side gate plate surface 56c, and a gate plate surface 56d. The floor surface 56a is the bottom surface (lower surface) of the loading platform 56. The rear gate plate surface 56b is the surface of the loading platform 56 on the rear side of the transport vehicle, and protrudes upward from the part of the floor surface 56a on the rear side of the transport vehicle. The side gate plate surface 56c is the left and right surfaces of the loading platform 56, and protrudes upward from the left and right ends of the floor surface 56a. The gate plate surface 56d is the surface of the loading platform 56 on the front side of the transport vehicle, and protrudes upward from the part of the floor surface 56a on the front side of the transport vehicle. The gate plate surface 56d protrudes upward from the side gate plate surface 56c and the rear gate plate surface 56b.

[0028] The loading platform 56 stores earth and sand (cargo). The loading platform 56 may be movable relative to the main body 55, or may be fixed to the main body 55. Note that the work target on which the work machine 2 works does not have to be the loading platform 56 of the transport vehicle 3, and may be, for example, a container placed directly on the ground.

[0029] (Mobile device configuration) 1, the mobile terminal 5 is a terminal operated by a worker at a work site, and is, for example, a tablet terminal. The mobile terminal 5 is capable of mutual communication with the work machine 2. The mobile terminal 5 may be a smartphone or the like.

[0030] (Circuit configuration of the work point determination system) As shown in FIG. 3, which is a circuit diagram of the work point determination system 1, the work machine 2 has a controller 11, a work machine side communication device 12, and a storage device 13.

[0031] The controller 11 automatically controls the work machine 2. The controller 11 causes the work machine 2 to automatically perform a series of operations from excavating earth and sand to discharging earth. In other words, the work machine 2 is automatically operated. Specifically, the controller 11 automatically operates the slewing device 25 and the attachment 30 based on the detection values ​​of the angle sensor 52 and the tilt angle sensor 60.

[0032] The work machine side communication device 12 is capable of communicating with a later-described mobile terminal side communication device 16 of the mobile terminal 5. The storage device 13 stores at least the size of the bucket 33. The storage device 13 is capable of storing a target work point and a leveling height, which will be described later.

[0033] The mobile terminal 5 includes a mobile terminal controller 15, a mobile terminal communication device 16, a display 17, and a touch panel 18.

[0034] The mobile terminal side communication device 16 is capable of communicating with the work machine side communication device 12 of the work machine 2. The mobile terminal side controller 15 receives information on the position of the tip of the bucket 33 from the work machine 2 via the mobile terminal side communication device 16.

[0035] As shown in Fig. 4, which is a top view of the work machine 2 and the transport vehicle 3, a series of operations from excavation of soil to soil discharge are performed with the transport vehicle 3 stopped, with the longitudinal direction of the transport vehicle 3 aligned with the direction of rotation of the upper rotating body 22 of the work machine 2. That is, after the soil is scooped up from the soil pile 70 with the bucket 33, the upper rotating body 22 is rotated to position the bucket 33 above the loading platform 56 of the transport vehicle 3. Then, after the soil is discharged into the loading platform 56, the upper rotating body 22 is rotated in the opposite direction to the previous rotation to position the bucket 33 above the soil pile 70. This is automatically repeated. The soil pile 70 is a soil pit or a pile of soil.

[0036] After the work of discharging the soil into the loading platform 56 (loading work) is completed, the work of leveling the soil loaded on the loading platform 56 (leveling work) is carried out.

[0037] The controller (first setting means) 11 of the work machine 2 sets a first target work point P1 included in the target work points. The target work point is a target position where the work machine 2 performs work on the platform 56. The first target work point P1 is set by so-called teaching.

[0038] The first target work point P1 is set by teaching at one end of the loading platform 56 in the longitudinal direction and at the other end opposite to the one end in the longitudinal direction. Teaching is performed as follows. First, the operator manually positions the tip of the bucket 33 at one end (rear end) in the longitudinal direction of the loading platform 56. The worker carrying the portable terminal 5 checks this position, and if there are no problems, operates the touch panel 18 to confirm the position. This information is transmitted to the controller 11 of the work machine 2, and the position of the tip of the bucket 33 at this time is set as the first target work point P1A and stored in the storage device 13.

[0039] By similar teaching, the position of the tip of the bucket 33 at the other end (front end) of the loading platform 56 in the longitudinal direction is set as a first target work point P1B and stored in the storage device 13.

[0040] The three-dimensional coordinates of the first target work point P1A and the three-dimensional coordinates of the first target work point P1B are expressed as (X1, Z1, θ1) and (X2, Z2, θ2), respectively. The X-axis extends horizontally from the center of rotation of the upper rotating body 22, and the Z-axis extends upward from the center of rotation of the upper rotating body 22. θ is the rotation angle of the upper rotating body 22.

[0041] 2, the controller (second setting means) 11 sets a second target work point P2 included in the target work points between two first target work points P1A and P1B. This setting is performed based on the width w of the bucket 33 in the longitudinal direction of the loading platform 56 and the distance L between the first target work point P1A and the first target work point P1B.

[0042] The number N of target work points including the first target work points P1A and P1B is calculated as L / W+1, where W is the unit width in the longitudinal direction of the loading platform 56. The intervals between adjacent target work points are equal to each other.

[0043] When the work is loading work in which soil held by bucket 33 is loaded onto carrier 56, W is longer than width w of bucket 33. Therefore, a gap is generated between the widths w of adjacent buckets 33. In loading work, when calculating the number N of target work points, the decimal places are rounded down. In FIG. 2, three second target work points P2 are set between two first target work points P1A, P1B.

[0044] On the other hand, as shown in FIG. 5, which is a side view of the transport vehicle 3, when the work is a leveling work in which the outer surface of the bucket 33 presses down the soil loaded on the loading platform 56 from above, W is equal to or shorter than the width w of the bucket 33. Therefore, no gap is generated between the widths w of adjacent buckets 33. Also, when W is shorter than the width w of the bucket 33, the widths w of adjacent buckets 33 overlap. In the leveling work, when calculating the number N of target work points, the decimal point is rounded up. In FIG. 5, five second target work points P2 are set between the two first target work points P1A and P1B. Also, in FIG. 5, the decimal point is rounded up, so that the interval between the first target work point P1A and the adjacent second target work point P2 is slightly narrower than the intervals between the other target work points.

[0045] The controller 11 causes the work machine 2 to work on the multiple target work points set by the controller 11 in order. When the work is loading work, as shown in Fig. 2, the loading work is performed on the five target work points in order. The order may be from the front end side to the rear end side in the longitudinal direction of the loading platform 56, or from the rear end side to the front end side in the longitudinal direction of the loading platform 56. Also, any order may be used as long as the loading work is performed evenly on all the target work points.

[0046] By performing work for each target work point, work by the work machine 2 can be performed evenly on the loading platform 56 in the longitudinal direction of the loading platform 56. Furthermore, by using automatic control, work by the work machine 2 can be automatically performed evenly on the loading platform 56 in the longitudinal direction.

[0047] Furthermore, by performing the loading operation of loading the soil held by the bucket 33 onto the loading platform 56 at each target work point, the soil can be loaded evenly in the longitudinal direction of the loading platform 56.

[0048] Furthermore, when the work is leveling work, the leveling work is performed in order for seven target work points, as shown in Fig. 5. As described above, the leveling work is a work in which the soil loaded on the loading platform 56 is pressed down from above with the outer surface of the bucket 33. As shown in Fig. 1, the outer surface 33a of the bucket 33 that presses down the soil is a flat portion of the outer surface of the entire bucket 33.

[0049] 6, which is a side view of the transport vehicle 3, the controller (height setting means) 11 sets in advance the height of the outer surface 33a of the bucket 33 during the leveling work as a leveling height P3. The leveling height P3 is set by so-called teaching.

[0050] Teaching is performed as follows. First, the operator manually aligns outer surface 33a of bucket 33 to be horizontal and positions bucket 33 above platform 56. The worker carrying portable terminal 5 checks this position, and if there are no problems, operates touch panel 18 to confirm the position. This information is transmitted to controller 11 of work machine 2, and the height of outer surface 33a of bucket 33 at this time is set as leveling height P3 and stored in storage device 13.

[0051] The controller 11 performs the leveling work by lowering the height of the outer surface 33a of the bucket 33 to the leveling height P3. The outer surface 33a of the bucket 33 is lowered from a start height obtained by adding a predetermined height (for example, 500 mm) to the leveling height P3.

[0052] As shown in FIG. 6, the leveling work is performed in sequence at seven target work points. First, the leveling work is performed at the first target work point P1A, which is the rearmost side in the longitudinal direction of the loading platform 56. After that, the bucket 33 is lifted to the starting height, and the bucket 33 is moved one target work point toward the front end side in the longitudinal direction of the loading platform 56. In other words, the bucket 33 is moved to the adjacent second target work point P2. Then, the leveling work is performed at the second target work point P2. This is performed in sequence up to the first target work point P1B, which is the frontmost side in the longitudinal direction of the loading platform 56.

[0053] By performing leveling work in which the flat outer surface 33a of the bucket 33 presses down on the soil loaded on the loading platform 56 from above at each target work point, it is possible to level the soil evenly in the longitudinal direction of the loading platform 56. By leveling the soil, it is possible to prevent the soil from collapsing and spilling out of the loading platform 56.

[0054] In addition, by lowering the height of the outer surface 33a of the bucket 33 to the leveling height P3, the height of the soil and sand can be leveled to the leveling height P3.

[0055] Here, the controller (height detection means) 11 detects the height of the soil before the leveling operation. This detection is calculated based on the pressing force when the outer surface 33a of the bucket 33 is pressed against the soil. For example, the outer surface 33a of the bucket 33 is pressed against the soil, and the height of the soil is calculated based on the position of the outer surface 33a of the bucket 33 when this pressing force reaches a specified value. The pressing force is detected from the hydraulic pressure of the cylinder 40, etc.

[0056] In addition, a camera may be mounted on the upper rotating body 22 and the height of the earth and sand may be detected by capturing an image of the loading platform 56 with the camera.

[0057] The controller 11 corrects the set leveling height P3 based on the detected height of the soil. For example, if the height of the soil is higher than expected, the leveling height P3 is corrected upward. This allows the soil to be appropriately leveled.

[0058] (Operation of the work point determination system) Next, the operation of the task point determination system will be described with reference to FIG. 7 which is a flowchart of the automatic driving process.

[0059] First, the controller 11 judges whether teaching has been completed (step S1). That is, it judges whether the first target work point P1A, the first target work point P1B, and the leveling height P3 have been set by teaching. If it is judged in step S1 that teaching has not been completed (S1: NO), the process returns to step S1.

[0060] On the other hand, when it is determined in step S1 that teaching has been completed (S1: YES), the controller 11 sets a second target operation point P2 for loading operation (step S2). As shown in Fig. 2, a gap is generated between the widths w of adjacent buckets 33.

[0061] Next, the controller 11 causes the loading operation to be performed (step S3). The number of times of loading at each target operation point is preset. Next, the controller 11 judges whether or not the loading operation has been completed (step S4). If it is judged in step S4 that the loading operation has not been completed (S4: NO), the process returns to step S3.

[0062] On the other hand, when it is determined in step S4 that the loading operation is completed (S4: YES), the controller 11 sets a second target operation point P2 for the smoothing operation (step S5). As shown in Fig. 5, no gap is generated between the widths w of the adjacent buckets 33.

[0063] Next, the controller 11 corrects the leveling height P3 (step S6). Then, the controller 11 causes the leveling work to be performed (step S7). Next, the controller 11 determines whether the leveling work has been completed (step S8). If it is determined in step S8 that the leveling work has not been completed (S8: NO), the process returns to step S7.

[0064] On the other hand, if it is determined in step S4 that the leveling work has been completed (S4: YES), the controller 11 ends this flow.

[0065] (effect) As described above, according to the work point determination system 1 of this embodiment, a first target work point P1 included in the target work points is set at one end and the other end in the longitudinal direction of the platform 56. Then, a second target work point P2 included in the target work points is set between the two first target work points P1. The intervals between adjacent target work points are equal. By performing work at each of these target work points, work by the work machine 2 can be performed evenly on the platform 56 in the longitudinal direction of the platform 56.

[0066] Furthermore, work is performed in sequence at a plurality of set target work points through automatic control. This allows the work machine 2 to automatically perform work evenly across the entire length of the platform 56.

[0067] Furthermore, by performing the loading operation of loading the soil held by the bucket 33 onto the loading platform 56 at each target work point, the soil can be loaded evenly in the longitudinal direction of the loading platform 56.

[0068] In addition, by performing leveling work in which the flat outer surface 33a of the bucket 33 presses down on the soil loaded on the loading platform 56 from above at each target work point, the soil can be leveled evenly in the longitudinal direction of the loading platform 56.

[0069] Furthermore, the leveling work is performed by lowering the height of the outer surface 33a of the bucket 33 to the leveling height P3. This allows the height of the soil and sand to be leveled to the leveling height P3.

[0070] In addition, the set leveling height P3 is corrected based on the height of the soil. For example, if the soil height is higher than expected, the leveling height P3 is corrected upward. This allows the soil to be appropriately leveled.

[0071] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0072] 1. Work point determination system 2. Work Machinery 3. Transport vehicles 5. Mobile devices 11 Controller (first setting means, second setting means, height setting means, height detection means) 12 Work machine communication device 13 Storage device 15 Mobile terminal controller 16 Mobile terminal communication device 17 Display 18 Touch Panel 21 Undercarriage 22 Upper rotating body 23 Cab 25 Swivel 30 Attachment 31 Boom 32 Arm 33 Bucket (tip attachment) 33a Exterior 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Bucket Cylinder 52 Angle Sensor 55 Main body 56 Cargo platform (work target) 57 Cab 60 Inclination Sensor 61 Boom tilt angle sensor 62 Arm inclination angle sensor 63 Bucket tilt angle sensor P2 Second target work point w width

Claims

1. A work point determination system that determines a target work point, which is a target position at which a work machine having an attachment performs work on a work object, comprising: a first setting means for setting a first target work point included in the target work points at one end of the work object in a specific direction and another end opposite to the one end in the specific direction; a second setting means for setting a second target work point included in the target work points between the two first target work points based on a width in the specific direction of a tip attachment that is a tip of the attachment and a distance between the two first target work points; having The intervals between adjacent target work points are equal to each other, The work is a loading work of loading an object held by the tip attachment onto the work target, The work point determination system is characterized in that the second setting means sets the second target work point so that a gap is created between the widths of the end attachments when the end attachments are assumed to be placed at adjacent second target work points.

2. A controller for automatically controlling the work machine, 2. The work point determination system according to claim 1, wherein the controller causes the work machine to perform the work for the plurality of target work points set by the first setting means and the second setting means in order.

3. A work point determination system that determines a target work point, which is a target position at which a work machine having an attachment performs work on a work object, comprising: a first setting means for setting a first target work point included in the target work points at one end of the work object in a specific direction and another end opposite to the one end in the specific direction; a second setting means for setting a second target work point included in the target work points between the two first target work points based on a width in the specific direction of a tip attachment that is a tip of the attachment and a distance between the two first target work points; having The intervals between adjacent target work points are equal to each other, The tip attachment has a planar outer surface; The work is a leveling work of pressing down the load loaded on the work target from above with the outer surface, The work point determination system is characterized in that the second setting means sets the second target work points so that no gap occurs between the widths of the end attachments when the end attachments are assumed to be placed at adjacent second target work points, or so that the widths overlap.

4. A controller for automatically controlling the work machine, 4. The work point determination system according to claim 3, wherein the controller causes the work machine to perform the work for the plurality of target work points set by the first setting means and the second setting means in order.

5. A height setting means for setting the height of the outer surface during the smoothing work as a smoothing height, 5. The work point determination system according to claim 4, wherein the controller causes the leveling work to be performed by lowering the height of the outer surface to the leveling height.

6. a height detection means for detecting the height of the load before the leveling operation; 6. The work point determination system according to claim 5, wherein the controller corrects the set leveling height based on the detected height of the load.

Images