Working position indication system

Abstract

To provide a work position instruction system capable of appropriately instructing a work position of a work machine.SOLUTION: This work position instruction system comprises: a working machine having a vehicle body and a working unit fitted to the vehicle body; a target topographical information storage device that stores target topographical information relating to a target topography formed by the working unit; a work range information storage device that stores work range information indicating the work range of the working machine that the working unit can cover; a work evaluation value information storage device that stores work evaluation value information relating to a work evaluation value which is an index for evaluating an operation when the working unit carries out a forming work; and a control device that determines the work position of the vehicle body where a work evaluation value relating to the operation of the working unit when forming the target topography included in the work range takes an extreme value, and instructs it to the working machine.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a work position indication system.

Background Art

[0002] A system for guiding a work machine such as a hydraulic excavator to a position suitable for a target work is known. For example, Patent Document 1 discloses a position guiding system for guiding a hydraulic excavator having a vehicle body and a work machine attached to the vehicle body to a target surface in a work area, the system including: a terrain data storage unit that stores terrain data indicating the position of the target surface; a work machine data storage unit that stores work machine data indicating a workable range around the vehicle body that the work machine can reach; a position detection unit that detects the current position of the vehicle body; an optimal work position calculation unit that calculates, based on the terrain data, the work machine data, and the current position of the vehicle body, the position of the vehicle body where the overlapping excavation range between the target surface and the workable range is maximized as the optimal work position; and a display unit that displays a guidance screen indicating the optimal work position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the case of hydraulic excavator work, if the hydraulic excavator is guided to a position of the vehicle body that maximizes the excavation range where the target surface and the workable range of the hydraulic excavator overlap, as in the above-mentioned conventional technology, the guided destination may not necessarily be the optimal work position. For example, excavation work is performed with the tip of the working machine closer to the vehicle body, which increases the construction accuracy. However, even when the target surface needs to be constructed with high accuracy, the above-mentioned conventional technology does not take into account the distance between the target surface and the vehicle body, so it is considered that the hydraulic excavator is not guided to a work position where the working machine can be controlled with high accuracy along the target surface.

[0005] The present invention has been made in view of the above, and has an object to provide a work position indication system that can more appropriately indicate the work position of a work machine. [Means for solving the problem]

[0006] The present application includes a number of means for solving the above-mentioned problems. One example is a work position instruction system that instructs a work machine having a vehicle body and a work machine attached to the vehicle body, the work position of the vehicle body, the system comprising: a target terrain information storage device that stores target terrain information, which is information on the target terrain to be formed by the work machine; a work range information storage device that stores work range information, which is the working range of the work machine that can be reached by the work machine; a work evaluation value information storage device that stores work evaluation value information, which is information on a work evaluation value that is an index for evaluating the operation of the work machine when performing forming work; and a control device that determines a work position of the vehicle body where the work evaluation value related to the operation of the work machine when forming the target terrain included in the working range takes an extreme value, based on the target terrain information, the work range information, the work evaluation value information, and information indicating the physical state of the tip of the work machine, and instructs the work machine. Effect of the Invention

[0007] According to the present invention, since the working position of the working machine can be more appropriately indicated, for example, when it is necessary to construct a target surface with high precision, the working machine can be guided to a working position where the working machine can be controlled with high precision.

Brief Description of the Drawings

[0008]

Figure 1

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Embodiments for Carrying Out the Invention

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

[0010] The work position indication system according to the embodiment of the present invention is mounted on a work machine, for example, and is for moving the work machine to an optimal work position in a manned operation state (in other words, manual operation). In the following description, a hydraulic excavator is exemplified as the work machine, but the present invention is not limited thereto, and the present invention can also be applied to other work machines such as a wheel loader and a bulldozer.

[0011] <The First Embodiment> The first embodiment of the present invention will be described with reference to FIGS. 1 to 15.

[0012] FIG. 1 is a perspective view showing the appearance of a hydraulic excavator, which is an example of a work machine according to the present embodiment. Further, FIG. 2 is a diagram showing an extracted main part of the work position indication system according to the present embodiment together with related configurations.

[0013] In FIG. 1, a hydraulic excavator 1 includes a lower traveling body 4 that travels by a power system, an upper swing body 3 that is attached to the lower traveling body 4 so as to be swingable in the left - right direction, and a working machine 2 that is attached to the upper swing body 3 and performs operations such as excavation. The lower traveling body 4 has a pair of left - and - right crawlers 44, and each crawler 44 is driven by traveling hydraulic motors 26b and 26c. Further, the lower traveling body 4 has one end in the longitudinal direction of the crawler 44 where the traveling hydraulic motors 26b and 26c are not attached as a crawler tip 441, and the direction in which the hydraulic excavator 1 moves forward indicates the direction where the crawler tip 441 exists when viewed from the position where the lower traveling body 4 and the upper swing body 3 are attached.

[0014] The upper swing body 3 is swing - driven by a swing hydraulic motor 26a. In the following description, the swing hydraulic motor 26a, the traveling hydraulic motors 26b and 26c may be collectively referred to as "hydraulic motor 26".

[0015] The working machine 2 is configured to be rotatable in the vertical direction with respect to the upper swing body 3, and includes a boom 20 connected to the upper swing body 3, an arm 21 connected to the boom 20, a bucket 22 connected to the arm 21, a boom cylinder 23a that drives the boom 20, an arm cylinder 23b that drives the arm 21, and a bucket cylinder 23c that drives the bucket 22 via a first bucket link 24 and a second bucket link 25. A bucket 22 is provided at the tip of the working machine 2 as a working tool for excavating earth and sand.

[0016] Both ends of the boom cylinder 23a are connected to the upper swing body 3 and the boom 20, respectively. The boom 20 rotates in the vertical direction with respect to the upper swing body 3 by the extension and contraction of the boom cylinder 23a. Both ends of the arm cylinder 23b are connected to the boom 20 and the arm 21, respectively. The arm 21 rotates in the vertical direction with respect to the boom 20 by the extension and contraction of the arm cylinder 23b.

[0017] Both ends of the bucket cylinder 23c are connected to the arm 21 and the first bucket link 24 respectively. One end of the first bucket link 24 is rotatably connected to the bucket cylinder 23c, and the other end is rotatably connected to the second bucket link 25. And one end of the second bucket link 25 is connected to the first bucket link 24, and the other end is rotatably connected to the bucket 22. The arm 21, the first bucket link 24, the second bucket link 25 and the bucket 22 constitute a four-bar link mechanism. When the bucket cylinder 23c expands and contracts, the first bucket link 24 rotates relative to the arm 21, and in conjunction with this, the bucket 22 that constitutes the four-bar link mechanism also rotates vertically relative to the arm 21.

[0018] The hydraulic excavator 1 configured as described above drives the boom cylinder 23a, the arm cylinder 23b, and the bucket cylinder 23c to appropriate positions, thereby driving the bucket 22 to an arbitrary position and an arbitrary posture, and performing operations such as excavation. The boom cylinder 23a, the arm cylinder 23b, and the bucket cylinder 23c are each constituted by, for example, a hydraulic cylinder. In the following description, these cylinders may be collectively referred to as the "hydraulic cylinder 23".

[0019] Two GNSS antennas 31a, 31b related to GNSS (Global Navigation Satellite System) are arranged on the upper swing body 3. GNSS is a global navigation satellite system, which refers to a satellite positioning system that receives signals from a plurality of positioning satellites and acquires its own position on the earth. The GNSS antennas 31a, 31b receive positioning signals (in other words, radio waves) from a plurality of GNSS satellites (not shown) located in the earth's atmosphere, and output the received positioning signals to the GNSS controller 32. The GNSS controller 32 calculates the positions (for example, latitude, longitude, altitude) of the respective GNSS antennas 31a, 31b on the earth based on the positioning signals received by the GNSS antennas 31a, 31b.

[0020] Note that there are various types of satellite positioning methods, and the present invention does not limit them. For example, a method called RTK-GNSS (Real Time Kinematic-GNSS) may be used, in which correction information is received from a reference station including a GNSS antenna arranged on site to obtain one's own position with higher accuracy. In this case, the hydraulic excavator 1 needs a receiver for receiving correction information from the reference station, but the self-positions of the GNSS antennas 31a and 31b can be measured more accurately.

[0021] Since the arrangement positions of the GNSS antennas 31a and 31b on the upper swing body 3 are included in advance in design information and stored in an appropriate storage function unit, the position of the upper swing body 3 on the earth can be obtained by inverse calculation from the arrangement positions of the GNSS antennas 31a and 31b. In addition, since both of the GNSS antennas 31a and 31b are mounted on the upper swing body 3, the azimuth of the upper swing body 3 (for example, in which direction the boom 20, the arm 21, and the bucket 22 are facing) can also be obtained from the relative positions of the two GNSS antennas 31a and 31b. In the following description, the GNSS antennas 31a and 31b may sometimes be collectively referred to as "GNSS antenna 31".

[0022] In addition, a vehicle body IMU (Inertial Measurement Unit) 28a for measuring the inclination of the upper swing body 3 is attached to the upper swing body 3. Similarly, a boom IMU 28b for measuring the inclination of the boom 20 is attached to the boom 20, an arm IMU 28c for measuring the inclination of the arm 21 is attached to the arm 21, and a bucket IMU 28d for measuring the inclination of the first bucket link 24 is attached to the first bucket link 24. In the following description, these IMUs 28a to 28d may sometimes be collectively referred to as "IMU 28".

[0023] The IMU28 is a sensor unit that can measure acceleration and angular velocity, and outputs the measured acceleration and angular velocity results to the information control controller 45 described below. The information control controller 45 can obtain the attitude of the IMU28 based on the measured values of acceleration and angular velocity output from the IMU28. That is, the information control controller 45 can obtain the forward / backward tilt and left / right tilt of the upper swing body 3, the rotation attitude of the boom 20, the rotation attitude of the arm 21, and the rotation attitude of the bucket 22 based on the measurement results of the vehicle body IMU28a, the boom IMU28b, the arm IMU28c, and the bucket IMU28d, respectively.

[0024] In this way, based on the GNSS antenna 31 and the vehicle body IMU28a, the position, azimuth, forward / backward tilt, and left / right tilt of the upper swing body 3 can be obtained, so that it is possible to determine the position and attitude of the upper swing body 3 on the earth. Also, if each has the dimensional information of the boom 20, the arm 21, and the bucket 22, based on these dimensional information and the respective rotation attitudes of the boom 20, the arm 21, and the bucket 22 obtained from the boom IMU28b, the arm IMU28c, and the bucket IMU28d, the position of the tip 27 of the bucket 22 with respect to the upper swing body 3 (the position of the claw tip of the bucket 22 in FIG. 1) can be obtained. That is, it is possible to determine the position and attitude of the working machine 2 including the bucket 22 on the earth. The tip 27 of the bucket 22 is the tip of the working machine 2, and hereinafter is simply referred to as the "bucket tip 27". Here, the bucket tip 27 (the position of the claw tip of the bucket 22) is set as the tip of the working machine 2, but it is not limited thereto. For example, when assuming that the compaction work is performed by the bucket 22, a specific location such as the bottom or back of the bucket 22 can be set as the position of the bucket tip and the tip of the working machine 2.

[0025] The hydraulic excavator 1 further includes a swing angle sensor 33 and laser scanners 34a to 34d. The swing angle sensor 33 is a sensor that measures the swing angle between the upper swing body 3 and the lower traveling body 4, and is configured by, for example, a rotary encoder or the like. The swing angle sensor 33 outputs the measurement result to the information control controller 45. Since the information control controller 45 can determine the position and attitude of the upper swing body 3 on the earth, based on the swing angle measured by the swing angle sensor 33, it is possible to determine the position and attitude of the lower traveling body 4 and the crawler tip 441 on the earth.

[0026] The laser scanners 34a to 34d are respectively arranged around the upper swing body 3, and measure the surrounding environment (for example, the surrounding terrain and objects) of the hydraulic excavator 1. More specifically, the laser scanners 34a to 34d measure the three-dimensional point cloud data of the terrain and objects around the vehicle body of the hydraulic excavator 1 by irradiating laser light in a certain range in the horizontal and vertical directions. Then, the laser scanners 34a to 34d output the measured three-dimensional point cloud data around the vehicle body to the information control controller 45 as position information based on the vehicle body. By providing the laser scanners 34a to 34d in this way, it is possible to measure the terrain and the shape of the objects around the hydraulic excavator 1. In the following description, the laser scanners 34a to 34d may be collectively referred to as "laser scanner 34".

[0027] In addition, in this embodiment, the case where the IMU 28 is used to measure the postures of the respective parts of the working machine 2 is illustrated, but the present invention is not limited thereto. For example, a potentiometer, a cylinder stroke sensor, or the like may be used to obtain similar information regarding the posture. Further, in this embodiment, the case where the laser scanner 34 is used to measure the terrain around the vehicle body and the shape of an object is illustrated, but the present invention is not limited thereto. For example, a stereo camera or the like may be used to obtain similar information. When a stereo camera is used, three-dimensional orthogonal coordinates are acquired by triangulation. Therefore, distance information to the object and measured distance information can be obtained by calculating a three-dimensional polar coordinate system having the measurement center of the sensor at each point as the origin from the arrangement position of the sensor and the acquired orthogonal coordinates.

[0028] As shown in FIG. 2, the hydraulic excavator 1 includes an engine 35, a pilot hydraulic pump 36, a main hydraulic pump 37, a direction control valve 38, a shut-off valve 39, control valves 40a to 40l, an arm operation lever 30a, a boom operation lever 30b, a bucket operation lever 30c, a swing operation lever 30d, and travel operation levers 30e and 30f, i.e., an operation lever 30, a GNSS controller 32, a vehicle body controller 41, a monitor 42, and an information controller 45. In the following description, the control valves 40a to 40l may be collectively referred to as "control valve 40".

[0029] The pilot hydraulic pump 36 and the main hydraulic pump 37 are each driven by the engine 35 and supply pressure oil into the hydraulic circuit. Here, the oil supplied by the pilot hydraulic pump 36 is referred to as pilot oil, and the oil supplied by the main hydraulic pump 37 is referred to as working oil for distinction. The pilot oil supplied from the pilot hydraulic pump 36 passes through the shut-off valve 39 and the control valve 40 and is sent to the direction control valve 38. The shut-off valve 39 and the control valve 40 are each electrically connected to the vehicle body controller 41, and the vehicle body controller 41 can control the opening and closing of the valve of the shut-off valve 39 and the valve opening degree of the control valve 40.

[0030] The direction control valve 38 controls the amount and direction of the hydraulic oil supplied from the main hydraulic pump 37 to each hydraulic cylinder 23 and each hydraulic motor 26. According to the pressure of the pilot oil passing through the control valve 40, it is determined how much hydraulic oil flows in which direction to which hydraulic cylinder 23 or hydraulic motor 26. Specifically, according to the pressure of the pilot oil sent to the direction control valve 38 via the control valve 40a, the amount of hydraulic oil for driving the arm cylinder 23b in one direction is determined within the direction control valve 38, and according to the pilot oil sent to the direction control valve 38 via the control valve 40b, the amount of hydraulic oil for driving the arm cylinder 23b in the other direction is determined within the direction control valve 38.

[0031] Similarly, the amount of hydraulic oil for driving the boom cylinder 23a by the pilot oil passing through the control valves 40c and 40d, the amount of hydraulic oil for driving the bucket cylinder 23c by the pressure of the pilot oil passing through the control valves 40e and 40f, the amount of hydraulic oil for driving the slewing hydraulic motor 26a by the pressure of the pilot oil passing through the control valves 40g and 40h, the amount of hydraulic oil for driving the travel hydraulic motor 26b by the pressure of the pilot oil passing through the control valves 40i and 40j, and the amount of hydraulic oil for driving the travel hydraulic motor 26c by the pilot oil passing through the control valves 40k and 40l are each determined within the direction control valve 38.

[0032] The operation levers 30a to 30f correspond to, for example, the respective operation directions (up and down directions, left and right directions) of the two operation levers and the respective operation directions (front and back directions) of the two travel operation levers, and output a voltage or current corresponding to the operation amount, and are electrically connected to the vehicle body control controller 41. And each operation amount of the operation levers 30a to 30f can be read by the vehicle body control controller 41. In the following description, the operation levers 30a to 30f may be collectively referred to as the "operation lever 30".

[0033] Here, the basic process for the vehicle body controller 41 to perform vehicle body control in the manned operation state will be described. That is, the vehicle body controller 41 receives an operation input from the operation lever 30 and first determines in which direction and at what speed (in other words, the target speed) each actuator (i.e., each hydraulic cylinder and each hydraulic motor) should operate.

[0034] Next, based on the determined direction and target speed, the vehicle body controller 41 determines the pressure of the pilot oil (in other words, the target pilot oil) supplied to each part of the direction control valve 38. At this time, the vehicle body controller 41 has a conversion map between the pilot oil and the actuator speed, such as how much speed each actuator will operate in which direction if a certain pressure of pilot oil is supplied to each part of the direction control valve 38, and by applying this map, it can be converted from the target speed to the target pilot oil.

[0035] When the target pilot oil is obtained, the vehicle body controller 41 adjusts the valve opening degree of any one of the control valves 40 corresponding to the actuator to be operated and its direction, and controls so that the pilot oil at the target pressure is supplied to the direction control valve 38. At this time, when the valve opening degree of the control valve 40 is controlled by the current output from the vehicle body controller 41, the vehicle body controller 41 has a conversion map between the current and the pilot oil pressure, such as how much current should be passed through each control valve 40 to supply a certain pressure of pilot oil, and by applying this map, the output current to the control valve 40 can be obtained from the target pilot oil, and the valve opening degree of the control valve 40 can be controlled so that the pilot oil passing through the control valve 40 has the target pressure.

[0036] By doing so, in the manned operation state, the vehicle body control controller 41 controls the valve opening degrees of the control valves 40a and 40b according to the operation amount of the operation lever 30, that is, the operation amount of the arm operation lever 30a, controls the valve opening degrees of the control valves 40c and 40d according to the operation amount of the boom operation lever 30b, controls the valve opening degrees of the control valves 40e and 40f according to the operation amount of the bucket operation lever 30c, controls the valve opening degrees of the control valves 40g and 40h according to the operation amount of the slewing operation lever 30d, controls the valve opening degrees of the control valves 40i and 40j according to the operation amount of the traveling operation lever 30e, and controls the valve opening degrees of the control valves 40k and 40l according to the operation amount of the traveling operation lever 30f. Therefore, by the operator operating each operation lever 30 respectively, the arm 21, boom 20, bucket 22, upper slewing body 3, left crawler, and right crawler can be driven, and any work such as moving the hydraulic excavator 1 by operating the operation lever 30 can be carried out.

[0037] Also, as described above, the vehicle body control controller 41 can also control the opening and closing of the valve of the shut-off valve 39. When the shut-off valve 39 closes, the pilot oil supplied to the control valve 40 and the direction control valve 38 is shut off. As a result, each actuator cannot operate, so the vehicle body control controller 41 can more reliably stop the operation of all the actuators.

[0038] The GNSS controller 32, as described above, calculates the position of the GNSS antenna 31 on the earth (for example, latitude, longitude, altitude) based on the signal of the GNSS satellite output from the GNSS antenna 31, and outputs the calculated result to the information control controller 45.

[0039] The monitor 42, which is an information display device, also has a function as an information input device that receives information input from an operator (worker). Specifically, the monitor 42 is, for example, a touch panel type input / output device and is arranged at a location where the worker can visually recognize and operate it. The monitor 42 is used when inputting the value of the weighting coefficient regarding the work evaluation function in the work evaluation value calculation unit 124. The monitor 42 is used when the worker inputs the presence or absence of work support, which will be described later, in the information control unit 16. Furthermore, the monitor 42 can edit the information stored in the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15 based on the input from the worker. The work evaluation value calculation unit 124, the work evaluation function, the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15 will be described later.

[0040] Also, the monitor 42 outputs information to the worker. The monitor 42 displays the work position determined by the work positioning unit 12, which will be described later, to the worker. In addition, the monitor 42 displays the moving distance of the crawler tip 441 with respect to the work position, facilitating the operation of the worker's control lever 30.

[0041] By having the functions of information input and information output in one monitor 42 in this way, the components of the work position indication system can be reduced, and the system can be made more compact.

[0042] The vehicle body IMU 28a, the boom IMU 28b, the arm IMU 28c, the bucket IMU 28d, the GNSS controller 32, the turning angle sensor 33, the laser scanner 34, and the monitor 42 are each connected to the information control controller 45.

[0043] The information control controller 45 is composed of, for example, a CPU (Central Processing Unit) that executes operations, a ROM (Read Only Memory) as a secondary storage device that records programs for operations, and a RAM (Random Access Memory) as a temporary storage device that stores the progress of operations and temporary control variables. It is configured by a microcomputer that combines these components, and controls the hydraulic excavator 1 by executing the stored program. In this embodiment, it is assumed that the information control controller 45 is mounted on the hydraulic excavator 1. However, the information control controller 45 may be arranged outside the hydraulic excavator 1 and configured to have the same function by being communicable with the hydraulic excavator 1 via wireless communication or the like.

[0044] In this embodiment, in the work site 5 (see FIG. 3 later) where the hydraulic excavator 1 performs work in the manned operation state, the information control controller 45 guides the hydraulic excavator 1 to an appropriate work position by giving an operator a work instruction to guide the hydraulic excavator 1 to an appropriate work position through the monitor 42.

[0045] FIG. 3 is a diagram showing an example of a work site related to civil engineering work.

[0046] As shown in FIG. 3, at the work site 5, there is an excavation target 6 for which the hydraulic excavator 1 performs excavation. At the work site 5, the three-dimensional shape data of the excavation target 6 is calculated by the excavation target calculation unit 122 of the work positioning unit 12 of the information control controller 45 described later. At the work site 5, the hydraulic excavator 1 is in a manned operation state and operates when the operator operates the operation lever 30. The operator only needs to be a person who has acquired the usage method of the monitor 42 and the operation method of the hydraulic excavator 1. At the work site 5, the hydraulic excavator 1 drives the boom cylinder 23a, the arm cylinder 23b, and the bucket cylinder 23c to store the soil of the excavation target 6 in the bucket 22, thereby excavating the excavation target 6 and performing the shaping work of the target terrain 7. The hydraulic excavator 1 performs the shaping work of the target terrain 7 by operating the bucket tip 27 with high precision along the three-dimensional shape of the target terrain 7 described in the target terrain information described later. When operating the bucket tip 27 for the shaping work of the target terrain 7, it is assumed that the hydraulic excavator 1 always operates the bucket tip 27 in the direction where the hydraulic excavator 1 exists. In addition, the hydraulic excavator 1 may provide work support to the operator. Work support means a control operation for controlling the position of the bucket tip 27 so that the bucket tip 27 moves along the target terrain 7 when performing the shaping work of the target terrain 7.

[0047] FIG. 4 is a functional block diagram showing the overall configuration of the work position indication system according to the present embodiment.

[0048] As shown in FIG. 4, the work position indication system 10 is composed of the above-described IMU 28, GNSS controller 32, turning angle sensor 33, laser scanner 34, vehicle body controller 41, monitor 42, and information control controller 45. Further, the information control controller 45 includes a measurement data processing unit 11, a work positioning unit 12, a target terrain information storage unit 13, a work range information storage unit 14, a work evaluation value information storage unit 15, and an information control unit 16. Further, the vehicle body controller 41 includes an operation planning unit 17 and a vehicle body control unit 411.

[0049] (Measurement data processing unit 11) The measurement data processing unit 11 is electrically connected to the IMU 28, the GNSS controller 32, the turning angle sensor 33, and the laser scanner 34, respectively, and based on the information from the IMU 28, the GNSS controller 32, the turning angle sensor 33, and the laser scanner 34, it calculates the tilt angle, position, orientation, turning angle of the upper swing body 3, the rotation posture of each part of the working machine 2, the position of the crawler tip 441, and the current terrain around the vehicle body.

[0050] Specifically, the information control controller 45 calculates the forward / backward tilt and left / right tilt of the upper swing body 3, the rotation posture of the boom 20, the rotation posture of the arm 21, and the rotation posture of the bucket 22 based on the measurement results of acceleration and angular velocity from each IMU 28. For example, for the measurement results from the IMU 28, the information control controller 45 uses a complementary filter or a Kalman filter that utilizes information such as the angle obtained by integrating the angular velocity and the angle formed with the gravitational direction obtained by acquiring the gravitational acceleration, to obtain the three-dimensional angle of the IMU 28 itself with respect to the gravitational direction. By pre-calibrating the mounting posture of each IMU 28 with respect to each mounting part of the hydraulic excavator 1, the rotation postures of the upper swing body 3, the boom 20, the arm 21, and the bucket 22 are obtained from the tilt angle of each IMU 28 itself.

[0051] In addition, the information control controller 45 acquires the positions on the earth (for example, latitude, longitude, altitude) of the GNSS antennas 31a, 31b calculated by the GNSS controller 32.

[0052] Furthermore, the information control controller 45 integrates the information obtained from the plurality of laser scanners 34 based on the three-dimensional point cloud data around the vehicle body measured by the laser scanner 34 and the arrangement location and arrangement posture information of the laser scanner 34 with respect to the upper swing body 3 into one three-dimensional point cloud data based on the vehicle body reference. In the present embodiment, four laser scanners 34a to 34d are arranged on the upper swing body 3, and the three-dimensional point cloud data of the entire periphery of the vehicle body is measured by integrating the information obtained from these laser scanners 34. When using a sensor with a sufficient measurement range, it is possible to reduce the number of laser scanners 34, or the number may be increased for reasons such as providing redundancy.

[0053] In addition, the measurement data processing unit 11 calculates the vehicle body arrangement positions of the GNSS antennas 31a and 31b and the laser scanner 34 in the vehicle body coordinate system. Further, the measurement data processing unit 11 uses the vehicle body arrangement positions of the GNSS antennas 31a and 31b in the vehicle body coordinate system, the positions on the earth, and the vehicle body arrangement position of the laser scanner 34 in the vehicle body coordinate system to convert the position information of the three-dimensional point cloud data around the vehicle body acquired from the laser scanner 34 into the global coordinate system, which is the position information on the earth. Furthermore, the measurement data processing unit 11 calculates the three-dimensional shape data of the current terrain, which is the terrain shape data around the hydraulic excavator 1, based on the three-dimensional point cloud data around the vehicle body acquired from the laser scanner 34. Then, the measurement data processing unit 11 outputs the tilt angle, position, orientation, turning angle of the upper swing body 3, the turning postures of each part of the working machine, and the calculation results of the current terrain around the vehicle body to the work determination unit 12 and the information control unit 16.

[0054] (Target terrain information storage unit 13) The target terrain information storage unit 13 stores the target terrain information, which is the information of the target terrain 7 to be formed by the working machine 2 of the hydraulic excavator 1. In the present embodiment, the three-dimensional shape data of the target terrain 7 defined in the global coordinate system is stored as the target terrain information in the target terrain information storage unit 13. Also, the allowable accuracy such as forming the target terrain 7 within a certain number of meters of dimensional error is stored as the target terrain information in the target terrain information storage unit 13.

[0055] (Working range information storage unit 14) The working range information storage unit 14 stores working range information 141 which is the range reachable by the working machine 2 of the hydraulic excavator 1.

[0056] FIG. 5 is a diagram showing the range reachable by the bucket tip in the vehicle body coordinate system.

[0057] As shown in FIG. 5, the working range information storage unit 14 records, as the working range information 141, the range reachable by the bucket tip 27 in the vehicle body coordinate system when the hydraulic excavator 1 drives the boom cylinder 23a, the arm cylinder 23b, and the bucket cylinder 23c. The vehicle body coordinate system has the intersection of the bottom surface of the lower traveling body 4 and the turning center axis of the upper slewing body 3 as the origin, the normal direction from the bottom surface of the lower traveling body 4 as the Z1 axis, and the direction parallel to the bottom surface of the lower traveling body 4 and in the direction of the crawler tip 441 as the X1 axis.

[0058] (Working evaluation value information storage unit 15) The working evaluation value information storage unit 15 stores a working evaluation function which is an index for evaluating the operation when the hydraulic excavator 1 performs a shaping operation. The working evaluation function is a function that outputs a working evaluation quantitative value 153 of the shaping operation of the target terrain 7 performed by the hydraulic excavator 1 by inputting the bucket tip trajectory 152.

[0059] FIG. 6 is a diagram showing the bucket tip trajectory in the vehicle body coordinate system.

[0060] The bucket tip trajectory 152 is the position and direction for following the bucket tip 27 when the hydraulic excavator 1 performs the shaping operation of the target terrain 7 and is expressed in the vehicle body coordinate system. The bucket tip trajectory 152 is determined from the shape of the target terrain 7 in the working position determination unit 12.

[0061] (Working evaluation function) The operation evaluation function is a function that outputs the operation evaluation quantitative value 153 of the shaping operation of the target terrain 7 by inputting the bucket tip trajectory 152. The operation evaluation function is created, for example, in the form of a database, a model, etc. Hereinafter, each case will be described.

[0062] (Database format) In the operation evaluation function in the database format, the operation evaluation function is created by measuring and storing in advance the operation evaluation quantitative value 153 at each position of the bucket tip 27 in the vehicle body coordinate system. The database format measures and stores in advance the operation evaluation quantitative value 153 at each position of the bucket tip 27 in the vehicle body coordinate system when the bucket tip 27 is operated at a predetermined operating speed. The database format measures and stores in advance the operation evaluation quantitative value 153 at one or more stored operating speeds 160. The stored operating speed 160 is the operating speed of the bucket tip 27 when creating the operation evaluation function recorded in the operation evaluation value information storage unit 15. Here, the operation evaluation quantitative value 153 is a quantification for each piece of information such as "construction error" and "excavation force" related to the evaluation of the quality of the operation (hereinafter referred to as operation evaluation), and is obtained for each position of the bucket tip 27 (for each unit cell described later). For example, when looking at the operation evaluation quantitative value related to "construction error" alone, the smaller the error, the higher the construction quality, so the smaller the operation evaluation quantitative value, the better. Also, when looking at the operation evaluation quantitative value related to "excavation force" alone, the greater the excavation force, the faster the operation speed, so the larger the operation evaluation quantitative value, the better.

[0063] FIG. 7 is a diagram showing the concept of operation evaluation information created in cell units in the vehicle body coordinate system.

[0064] As shown in FIG. 7, the work evaluation function divides the position in the vehicle body coordinate system into cell units, calculates the work evaluation quantitative value 153 for each cell (unit cell), and outputs the sum of the work evaluation quantitative values 153 of all cells as the work evaluation value information of the shaping work of the target terrain 7. The work evaluation function divides into cell units so as to include at least the range defined by the work range information 141, and calculates the work evaluation quantitative value 153 for each cell. The work evaluation function calculates the work evaluation quantitative value 153 in the cell through which the bucket tip trajectory 152 passes in each cell, and outputs the sum thereof as the work evaluation value information of the shaping work of the target terrain 7. For example, when the work evaluation function relates to the work evaluation quantitative value of "construction error", the work evaluation function is the sum of the work evaluation values of the cells through which the bucket tip passes in the planned excavation operation (the "construction error" obtained for each cell), that is, the information for the work evaluation regarding the "construction error" in the entire excavation operation is output as the work evaluation value information. It can be said that the smaller the work evaluation value information regarding the "construction error", the smaller the error in the entire excavation operation. Also, for example, when the work evaluation function relates to the work evaluation quantitative value of "excavation force", the work evaluation function is the sum of the work evaluation values of the cells through which the bucket tip passes in the planned excavation operation (the "excavation force" obtained for each cell), that is, the information for the work evaluation regarding the "excavation force" in the entire excavation operation is output as the work evaluation value information. It can be said that the larger the work evaluation value information regarding the "excavation force", the faster the work speed in the entire excavation operation.

[0065] FIG. 8 is a diagram for explaining a method in which the work evaluation function outputs the work evaluation quantitative value within a cell.

[0066] As shown in FIG. 8, the work evaluation function calculates the passing direction θ of the bucket tip trajectory 152 in each cell. First, a line parallel to the X1 axis is drawn at the center position of the cell through which the bucket tip trajectory 152 passes. Next, the angle formed with the parallel line drawn at the cell center position in the counterclockwise direction from the movement direction of the bucket tip trajectory 152 passing through the cell is defined as the passing direction θ. Since, as shown in FIG. 8, the work evaluation function records a data map for calculating the work evaluation quantitative value 153 when the bucket tip 27 is moved from the center position of each cell in a specific direction, the work evaluation quantitative value 153 can be calculated for each cell based on the passing direction θ. The data map for calculating the work evaluation quantitative value 153 is pre-measured at each position of the bucket tip 27 in the vehicle body coordinate system. The work evaluation function calculates the work evaluation quantitative value 153 for all cells through which the bucket tip trajectory 152 passes, and outputs the sum thereof as the work evaluation value information for the shaping work of the target terrain 7.

[0067] (Model format) In the operation evaluation function in model form, a simulation is performed to make the bucket tip 27 follow the bucket tip trajectory 152 at one or more stored operating speeds 160, and operation evaluation value information is output. Specifically, in model form, a simulation is performed to make the bucket tip 27 follow the bucket tip trajectory 152 at one or more stored operating speeds 160, and operation evaluation value information is output. The operation evaluation function created in model form includes a model that can calculate physical values such as the position, speed, and acceleration of the bucket tip 27 in the vehicle body coordinate system when the bucket tip 27 follows the bucket tip trajectory 152, with the bucket tip trajectory 152 as the input. As a method for calculating physical values such as position, speed, and acceleration, the hydraulic excavator 1 drives the boom cylinder 23a, arm cylinder 23b, and bucket cylinder 23c to simulate the situation where the bucket tip 27 follows the bucket tip trajectory 152 at the stored operating speed 160 in the vehicle body coordinate system using a plant model and a tracking control controller model, and calculates the physical values. The operation evaluation function created in model form uses the calculated physical values to output operation evaluation value information when the bucket tip 27 follows the bucket tip trajectory 152. Here, the operation evaluation information is "construction error", "excavation force", etc., similar to the database form.

[0068] That is, in the present embodiment, the operation evaluation value information storage unit 15 records an operation evaluation function for evaluating the shaping operation of the hydraulic excavator that outputs operation evaluation value information such as the "construction error" and "excavation force" of the bucket tip 27 shown below.

[0069] (Construction error) In the shaping operation of the target terrain 7 targeted in this embodiment, it is required to accurately shape the shape of the target terrain 7 described in the target terrain information using the working machine 2 of the hydraulic excavator 1. In order to realize the accurate shaping operation of the target terrain 7, the hydraulic excavator 1 needs to accurately operate the bucket tip 27 along the shape of the target terrain 7. Therefore, the shape of the target terrain 7 is set as the bucket tip trajectory 152, and when the bucket tip 27 is operated along the bucket tip trajectory 152, the position error of the bucket tip 27 occurring in the normal direction with respect to the operating direction is defined as the construction error. The smaller the construction error, the more desirable it is.

[0070] In the database-form work evaluation function, when the bucket tip 27 is moved in the specified direction (the same as the excavation direction) in each cell at one or more saved operating speeds 160, the actually measured value of the position error in the normal direction with respect to the specified direction is recorded as the work evaluation quantitative value 153. In the database-form work evaluation function, at least the actually measured value of the position error in the normal direction with respect to the specified direction when the hydraulic excavator 1 operates the bucket tip 27 in the air is recorded as the work evaluation quantitative value 153. In the database-form work evaluation function, when the bucket tip trajectory 152 is input at an angle θ that has not been measured, the work evaluation quantitative value 153 recorded at the closest angle may be output, or the work evaluation quantitative value 153 may be output by interpolation or extrapolation. The database-form work evaluation function calculates the sum of the absolute values or squared values of the construction errors occurring in each cell and outputs it as the work evaluation value information for the shaping operation of the target terrain 7.

[0071] The model-form work evaluation function includes a model capable of predicting the trajectory of the bucket tip 27 when the bucket tip 27 is operated along the shape of the target terrain 7 at one or more saved operating speeds 160. The work evaluation function includes a model capable of predicting the trajectory of the bucket tip 27 when the bucket tip 27 is operated along the shape of the target terrain 7 at one or more saved operating speeds 160. The model-form work evaluation function measures the difference in area between the predicted trajectory and the bucket tip trajectory 152 and outputs it as the work evaluation value information for the shaping operation of the target terrain 7.

[0072] (Excavation force) At the work site 5, it is considered that the hardness and viscosity of the earth and sand excavated by the hydraulic excavator 1 using the working machine 2 vary. Depending on the hardness and viscosity of the earth and sand, the follow-up accuracy of the bucket tip 27 of the hydraulic excavator 1 may change. Therefore, in order to perform stable excavation, it is desirable for the bucket tip 27 to exert a strong force. Thus, the force that can be generated at the bucket tip 27 of the hydraulic excavator 1 is defined as the excavation force. The direction of the excavation force is the tangential direction of the bucket tip trajectory 152. The greater the excavation force, the more desirable it is.

[0073] In the database-type operation evaluation function, the excavation force when moving the bucket tip 27 in the specified direction in each cell at one or more saved operating speeds 160 is recorded as the operation evaluation quantitative value 153. The database-form operation evaluation function calculates the sum of the excavation forces generated in each cell and outputs it as the operation evaluation value information for the shaping operation of the target terrain 7.

[0074] The model-form operation evaluation function calculates the driving force of each hydraulic cylinder 23 at each time history when the bucket tip 27 follows the bucket tip trajectory 152 in the aerial operation at one or more saved operating speeds 160. The operation evaluation function calculates the acceleration of the bucket tip 27 from the calculated driving force of each hydraulic cylinder 23. The operation evaluation function predicts the excavation force from the acceleration of the bucket tip 27. The model-form operation evaluation function calculates the sum of the excavation forces of the bucket tip 27 at each time and outputs it as the operation evaluation value information for the shaping operation of the target terrain 7.

[0075] (Operation positioning unit 12) FIG. 9 is a functional block diagram showing the configuration of the operation positioning unit.

[0076] In FIG. 9, the operation positioning unit 12 is composed of an excavation target calculation unit 122, an excavation range calculation unit 123, an operation evaluation value calculation unit 124, and an operation position calculation unit 125.

[0077] The working position determination unit 12 determines working position information, which is information regarding an appropriate working position of the hydraulic excavator 1, based on information from the measurement data processing unit 11, the monitor 42, the target terrain information storage unit 13, the working range information storage unit 14, and the working evaluation value information storage unit 15. In the present embodiment, the working position information is the position in the global coordinate system where the crawler tip 441 of the hydraulic excavator 1 should be located. Although the working position information is described as the crawler tip 441 for the sake of explanation, it may also be the crawler rear end. The working position determination unit 12 outputs the determined working position information to the information control unit 16.

[0078] (Excavation target calculation unit 122) The excavation target calculation unit 122 calculates three-dimensional shape data of an excavation target 6, which is the target of excavation by the hydraulic excavator 1 at the work site 5, based on information from the measurement data processing unit 11 and the target terrain information storage unit 13. The excavation target calculation unit 122 acquires three-dimensional shape data of the current terrain around the vehicle body from the measurement data processing unit 11, and acquires three-dimensional shape data of the target terrain 7 from the target terrain information storage unit 13 as target terrain information. The excavation target calculation unit 122 calculates the three-dimensional shape data of the excavation target 6 from the difference between the three-dimensional shape data of the current terrain around the vehicle body and the target terrain information. The excavation target calculation unit 122 outputs the calculated three-dimensional shape data of the excavation target 6 to the working position calculation unit 125 and the working evaluation value calculation unit 124.

[0079] (Excavation range calculation unit 123) The excavation range calculation unit 123 determines the excavation range information 155 and the construction speed based on the information from the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15. The excavation range information 155 (see FIG. 11 later) is the range in which the excavation operation by the bucket tip 27 is possible in the vehicle body coordinate system. The construction speed is the speed of the bucket tip 27 when the bucket tip 27 is operated at a predetermined operation speed to create the target terrain 7 in the excavation range information 155. When the speed recorded in the work evaluation function of the construction error stored in the work evaluation value information storage unit 15 is only one type of stored operation speed 160, the excavation range information 155 is assumed to be equal to the work range information 141. At that time, the stored operation speed 160 recorded as the work evaluation function of the construction error is determined as the construction speed of the bucket tip 27.

[0080] When the work evaluation function of the construction error is recorded for two or more types of stored operation speeds 160, the excavation range calculation unit 123 determines the excavation range information 155 and the construction speed of the bucket tip 27 based on the information from the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15.

[0081] FIG. 10 is a diagram showing how the excavation range calculation unit determines the construction speed of the bucket tip and the excavation range information.

[0082] As shown in FIG. 10, the excavation range calculation unit 123 determines, based on the target terrain information, the work range information 141, and the work evaluation function regarding the construction error, a range within the work range where the bucket tip 27 can operate with an accuracy that satisfies the allowable error of the target terrain 7 as the accuracy guarantee range 157. In the present embodiment, work evaluation functions regarding construction errors at three stored operating speeds 160 of small, medium, and large are stored in the work evaluation value information storage unit 15. The excavation range calculation unit 123 calculates the accuracy guarantee range 157 where the bucket tip 27 can operate within the allowable accuracy of the target terrain 7 stored in the target terrain information storage unit 13 for each of the small, medium, and large stored operating speeds 160. In the present embodiment, the closer the position of the bucket tip 27 is to the vehicle body of the hydraulic excavator 1, the more accurately the bucket tip 27 can operate.

[0083] Note that in FIG. 10, the accuracy guarantee range 157a when the stored operating speed 160 is small, the accuracy guarantee range 157b when the stored operating speed 160 is medium, and the accuracy guarantee range 157c when the stored operating speed 160 is large are shown. The excavation range calculation unit 123 determines whether the target terrain 7 fits within the calculated accuracy guarantee ranges 157a to 157c. In FIG. 10, when the stored operating speed 160 is large, the target terrain 7 does not fit within the accuracy guarantee range 157c, and when the stored operating speed 160 is small or medium, the target terrain 7 fits within the accuracy guarantee range 157a or the accuracy guarantee range 157b, indicating that it can be arranged. The excavation range calculation unit 123 selects the maximum stored operating speed 160 from among the accuracy guarantee ranges 157 where the target terrain 7 can be arranged and determines the construction speed. In FIG. 10, since the maximum stored operating speed 160 is medium, the accuracy guarantee range 157b when the stored operating speed 160 is medium is determined as the excavation range information 155, and the construction speed is determined as medium. The excavation range calculation unit 123 outputs the determined excavation range information 155 and construction speed to the work evaluation value calculation unit 124 and the information control unit 16.

[0084] (Work evaluation value calculation unit 124) The operation evaluation value calculation unit 124 determines an integrated operation evaluation function (integrated operation evaluation function) 154 based on the information from the operation evaluation value information storage unit 15, the excavation target calculation unit 122, the excavation range calculation unit 123, and the monitor 42. The integrated operation evaluation function 154 is a function that outputs an integrated operation evaluation function 154 considering a plurality of operation evaluation value information for the input bucket tip trajectory 152 by integrating a plurality of types of operation evaluation functions recorded in the operation evaluation value information storage unit 15, and is represented by, for example, the following (Equation 1).

[0085] [Number]

[0086] In the above (Equation 1), (X, Z) is the bucket tip trajectory 152 in the vehicle body coordinate system. X and Z are vectors respectively, and the coordinates from the tip to the end point of the bucket tip trajectory 152 are stored. V is the construction speed determined by the excavation range calculation unit 123. f(X, Z, V) is the construction error, and g(X, Z, V) is the operation evaluation function corresponding to the excavation force. α is the weight coefficient for integrating the operation evaluation function corresponding to the construction error, and β is the weight coefficient for integrating the operation evaluation function corresponding to the excavation force into the integrated operation evaluation function 154.

[0087] Generally, it is desirable that the construction error be smaller, and it is desirable that the excavation force be larger. Therefore, the integrated operation evaluation function 154 for determining the bucket tip trajectory 152 is designed in the form of the above (Equation 1) such that the smaller the construction error or the larger the excavation force, the smaller the output operation evaluation value information J(X, Z). That is, it can be said that the bucket tip trajectory 152 is more desirable when the operation evaluation value information J(X, Z) takes a smaller extreme value (minimum value). In the present embodiment, an example is shown in which it is designed such that it can be said that the bucket tip trajectory 152 is more desirable when the operation evaluation value information J(X, Z) is smaller (minimum value), but it is not limited thereto, and it may be designed such that it can be said that the bucket tip trajectory 152 is more desirable when the operation evaluation value information J(X, Z) takes a larger extreme value (maximum value).

[0088] The weight coefficients α and β are for normalizing the work evaluation value information output by each work evaluation function and integrating it into the integrated work evaluation function 154. Also, by changing the values of the weight coefficients α and β, it is possible to select and set the work evaluation function to be emphasized when determining the work position. The work evaluation value calculation unit 124 changes the values of the weight coefficients α and β based on the input from the monitor 42. The monitor 42 changes the value of the weight coefficient according to the input of the operator.

[0089] For example, when the operator determines the work position without using the work evaluation function for construction error, the value of the weight coefficient α is set to 0 (zero), and the value of the weight coefficient β is set to a value other than 0 (zero) to determine the integrated work evaluation function 154.

[0090] Note that multiple types of patterns may be prepared for the weight coefficients and presented to the operator, and the operator may be configured to select them using the monitor 42. The operator selects a pattern according to the work evaluation function to be emphasized from among the patterns of the weight coefficients and determines the integrated work evaluation function 154. For example, a plurality of setting patterns in which combinations of the weight coefficients α and β are determined are prepared in advance, and the monitor 42 displays "excavation force emphasis mode" and "construction error emphasis mode" and is configured to selectively determine the mode by selecting these. When the operator selects the "excavation force emphasis mode", a setting pattern in which the value of the weight coefficient β related to the excavation force is set larger and the value of the weight coefficient α related to the construction error is set smaller is adopted. When the operator selects the "construction error emphasis mode", a setting pattern in which the value of the weight coefficient β related to the excavation force is set smaller and the value of the weight coefficient α related to the construction error is set larger is adopted.

[0091] Here, in this embodiment, an example is given and explained where the integrated work evaluation function for obtaining the work evaluation value information J(X, Z) is created by integrating two work evaluation functions, namely the work evaluation function f(X, Z, V) related to construction error and the work evaluation function g(X, Z, V) related to excavation force, using the weight coefficients α and β. However, it is not limited to this. For example, in addition to the work evaluation function f(X, Z, V) related to construction error and the work evaluation function g(X, Z, V) related to excavation force, work evaluation functions related to fuel consumption, workability, productivity, etc. are preset, and an integrated work evaluation function can be obtained by selecting and integrating any two of these work evaluation functions. Also, it may be configured to obtain an integrated work evaluation function by selecting and integrating three or more work evaluation functions. By configuring in this way, it is possible to determine the work position when emphasizing elements other than construction error and excavation force, or to determine the work position considering more elements, so that the work position of the work machine can be more appropriately instructed.

[0092] Based on the three-dimensional shape data of the excavation target 6 calculated by the excavation target calculation unit 122, the work evaluation value calculation unit 124 determines the integrated work evaluation function 154. The work evaluation value calculation unit 124 determines whether the excavation target 6 has a thickness of a certain level or more. The work evaluation value calculation unit 124 calculates the maximum thickness of the excavation target 6 in the normal direction of the target terrain 7. When the maximum thickness is a certain level or more, since the bucket tip 27 cannot reach the target terrain 7 in a single excavation operation, the work evaluation value calculation unit 124 determines that it is not necessary to consider the construction error as a work evaluation function at the work site 5. The work evaluation value calculation unit 124 determines the integrated work evaluation function 154 with the value of the weight coefficient α corresponding to the construction error set to 0 (zero) and outputs it to the information control unit 16. The work evaluation value calculation unit 124 outputs the determined integrated work evaluation function 154 to the information control unit 16.

[0093] (Work position calculation unit 125) The working position calculation unit 125 determines working position information based on information from the excavation target calculation unit 122, the excavation range calculation unit 123, and the work evaluation value calculation unit 124. The working position calculation unit 125 acquires the three-dimensional shape of the target terrain 7 in the global coordinate system from the excavation target calculation unit 122. The working position calculation unit 125 determines working position information for construction within the excavation range information 155 determined by the excavation target calculation unit 122 at the construction speed. When the bucket tip trajectory 152 is virtually arranged within the excavation range in the vehicle body coordinate system acquired from the excavation range calculation unit 123, the working position calculation unit 125 calculates the position where the work evaluation value information becomes the largest.

[0094] FIG. 11 is a diagram showing a target terrain virtually arranged within the excavation range.

[0095] In FIG. 11, there are three virtually arranged target terrains 7, but the number of target terrains 7 to be virtually arranged is not limited, and it is at least two or more, and it is only necessary that the virtual arrangement positions are different. The working position calculation unit 125 inputs each virtually arranged target terrain 7 into the integrated work evaluation function 154 with the virtually arranged target terrain 7 as the bucket tip trajectory 152, and calculates the work evaluation value information. The working position calculation unit 125 determines the virtual arrangement position on the vehicle body coordinate system of the target terrain 7 with the largest work evaluation value information based on the calculated work evaluation value information. The working position calculation unit 125 determines the position of the crawler tip 441 of the hydraulic excavator 1 by comparing the position of the bucket tip trajectory 152 virtually arranged in the vehicle body coordinate system with the actual bucket tip trajectory 152 in the global coordinate system. The working position calculation unit 125 outputs the determined position of the crawler tip 441 as the working position information to the information control unit 16. Although the working position information is described as the crawler tip 441, it may be the crawler rear end as described above.

[0096] (Information control unit 16) The information control unit 16 performs information presentation to the operator on the monitor 42 and issues a control command to the vehicle body control controller 41 based on the information from the measurement data processing unit 11 and the work position determination unit 12. The information control unit 16 calculates the moving distance of the crawler tip 441 from the work position information determined in the global coordinate system and the position of the crawler tip 441 in the global coordinate system.

[0097] Figures 12 and 13 are diagrams showing an example of information presentation to the operator on the monitor performed by the information control unit.

[0098] As shown in Figure 12, the monitor 42 presents information that enables the operator to determine how much the operation lever 30 should be operated to guide the crawler tip 441 to the work position. The information displayed on the monitor 42 is updated in real time according to the change of the crawler tip 441.

[0099] When the crawler tip 441 moves to the work position and the information control unit 16 receives a control start command from the monitor 42, it instructs the vehicle body control controller 41 to start work support.

[0100] As shown in Figure 13, the monitor 42 checks whether work support is available for the operator. When the operator instructs the start of work support on the monitor 42, the information control unit 16 instructs the vehicle body control controller 41 to perform work support. When the operator does not instruct the start of work support on the monitor 42, the information control unit 16 does not issue a control start command to the vehicle body control controller 41.

[0101] (Vehicle body control controller 41) The vehicle body control controller 41 performs work support for the operator by controlling the work implement 2 of the hydraulic excavator 1 based on the information from the information control controller 45. The vehicle body control controller 41 performs work support for the operator when it receives a work start command from the information control controller 45. The vehicle body control controller 41 is configured to include an operation planning unit 17 and a vehicle body control unit 411.

[0102] (Operation Planning Unit 17) The operation planning unit 17 acquires the inclination angle, position, orientation, slewing angle of the upper slewing body 3, the rotational postures of each part of the working machine 2, the position of the crawler tip 441, and the current terrain around the vehicle body calculated by the measurement data processing unit 11 from the information control unit 16. The operation planning unit 17 acquires the target terrain information, which is the three-dimensional shape data of the target terrain 7 defined in the global coordinate system and stored in the target terrain information storage unit 13, from the information control unit 16. The operation planning unit 17 acquires the construction speed determined by the excavation range calculation unit 123 from the information control unit 16. Based on the position and speed of the bucket tip 27 and the target terrain information, the operation planning unit 17 determines the operation planning information for providing operation support for the shaping operation of the target terrain 7 that the operator performs using the operation lever 30. The operator uses the operation lever 30 to move the bucket tip 27 along the three-dimensional shape of the target terrain 7 described in the target terrain information to perform the shaping operation of the target terrain 7. The operation planning unit 17 determines the operation planning information for the bucket tip 27 to follow the target bucket tip trajectory 159. The operation planning unit 17 determines the target bucket tip trajectory 159 along the shape of the target terrain 7.

[0103] FIG. 14 is a diagram showing the operation planning information determined by the operation planning unit.

[0104] As shown in FIG. 14, based on the position and speed of the bucket tip 27 and the target bucket tip trajectory 159, when a difference occurs in the normal direction between the position of the bucket tip 27 and the target bucket tip trajectory 159, the operation planning unit 17 determines the operation planning information for controlling the position of the bucket tip 27 so that the difference becomes zero. The operation planning unit 17 determines the operation planning information for controlling the position of the bucket tip 27 in the normal direction with respect to the target bucket tip trajectory 159.

[0105] Furthermore, when the speed of bucket tip 27 in a direction parallel to target bucket tip trajectory 159 exceeds the construction speed, the motion planning unit 17 determines motion planning information for setting the speed of bucket tip 27 in a direction parallel to target bucket tip trajectory 159 to the construction speed. The motion planning unit 17 determines motion planning information for controlling the position of bucket tip 27 in a direction parallel to target bucket tip trajectory 159. The motion planning unit 17 calculates target motion speeds for calculating target motion speeds of each actuator (each hydraulic cylinder 23) for controlling the position of bucket tip 27, and determines motion planning information. The motion planning unit 17 outputs the motion planning information to the vehicle body control unit 411.

[0106] (Vehicle control unit 411) The vehicle body control unit 411 controls the hydraulic excavator 1 based on information from the motion planning unit 17 and the operation lever 30. The vehicle body control unit 411 drives the control valve 55 to operate each actuator according to the operation amount of the operation lever 30. The vehicle body control unit 411 drives the control valve 55 to operate each actuator according to the operation plan information. By operating each actuator according to the operation amount of the operation lever 30 and the operation plan information, even if the bucket tip 27 cannot follow the target bucket tip trajectory 159 as a result of the operator's erroneous operation of the operation lever 30, the vehicle body control unit 411 can position the bucket tip 27 on the target bucket tip trajectory 159 and accurately complete the formation work of the target terrain 7. In addition, by operating each actuator according to the operation amount of the operation lever 30 and the operation plan information, even if the bucket tip 27 exceeds the construction speed as a result of the operator's erroneous operation of the operation lever 30, the vehicle body control unit 411 controls the bucket tip 27 to be at the construction speed, thereby preventing an increase in construction errors.

[0107] FIG. 15 is a flowchart showing the process of the work position indication system.

[0108] In FIG. 15, in the work position indication system, first, the operator uses the monitor 42 to input the target terrain information into the target terrain information storage unit 13, the work range information 141 into the work range information storage unit 14, and the work evaluation function into the work evaluation value information storage unit 15 (step S1).

[0109] The operator may use the monitor 42 to input the target terrain information, the work range information 141, and the work evaluation function created on an external PC. Also, the operator may select the information recorded by default in the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15.

[0110] Subsequently, based on the information from the measurement data processing unit 11 and the target terrain information storage unit 13, the excavation target calculation unit 122 calculates the three-dimensional shape of the excavation target in the global coordinate system (step S2).

[0111] Based on the information from the target terrain information storage unit 13, the work range information storage unit 14, and the work evaluation value information storage unit 15, the excavation range calculation unit 123 calculates the excavation range information 155 and the construction speed (step S3).

[0112] Subsequently, the operator uses the monitor 42 to input the weighting factors α and β for creating the integrated work evaluation function 154 (step S4).

[0113] Subsequently, based on the information from the excavation target calculation unit 122, the excavation range calculation unit 123, the work evaluation value information storage unit 15, and the monitor 42, the work evaluation value calculation unit 124 calculates the integrated work evaluation function 154 (step S5).

[0114] Subsequently, the excavation range calculation unit 123 determines whether there is a thickness of the excavation target that is equal to or greater than a certain value (step S6).

[0115] If the determination result in step S6 is YES, that is, if there is a thickness of the excavation target that is equal to or greater than a certain value, the work evaluation value calculation unit 124 sets the weighting factor α of the construction error of the integrated work evaluation function 154 to 0 (zero) (step S7).

[0116] Also, when the determination result in step S6 is NO, that is, when the thickness of the excavation target does not exist at a certain level or more, or when the process of step S7 is completed, subsequently, the working position calculation unit 125 calculates the working position information (step S8).

[0117] Subsequently, the information control unit 16 calculates the distance from the crawler tip 441 to the working position based on the information from the measurement data processing unit 11 and the working position calculation unit 125 (step S9).

[0118] Subsequently, the information control unit 16 displays the distance from the crawler tip 441 to the working position on the monitor 42 (step S10).

[0119] Subsequently, the information control unit 16 determines whether the crawler tip 441 has reached the working position based on the information from the measurement data processing unit 11 and the working position calculation unit 125 (step S11).

[0120] If the determination result in step S11 is NO, that is, when the crawler tip 441 has not reached the working position, the process returns to the process of step S9.

[0121] Also, if the determination result in step S11 is YES, that is, when the crawler tip 441 has reached the working position, the operator uses the monitor 42 to select whether to perform work support (step S12), and the information control unit 16 determines whether to perform work support based on the information from the monitor 42 (step S13).

[0122] If the determination result in step S13 is NO, that is, when work support is not performed, the process ends.

[0123] Also, if the determination result in step S13 is YES, that is, when work support is performed, subsequently, the motion planning unit 17 determines a motion plan based on the information from the information control unit 16 (step S14).

[0124] Subsequently, based on the information from the operation planning unit 17, the vehicle control unit 411 controls the hydraulic excavator 1 according to the operation plan (step S15), and ends the process.

[0125] As described above, in the work position instruction system 10 of the present embodiment, the operator uses the monitor 42 to input to the work position determination unit 12 which information among the plurality of types of work evaluation functions stored in the work evaluation value information storage unit 15 is important. Then, using the work evaluation value calculation unit 124, an integrated work evaluation function 154 corresponding to the input information of the operator is created. And based on the integrated work evaluation function 154, an appropriate work position is determined. By configuring in this way, it is possible to guide the hydraulic excavator 1 to the optimal work position according to the request input by the operator to the monitor 42. In addition, based on the crawler tip 441, by showing the work position to the operator, the crawler tip 441 can be visually recognized by the operator inside the upper swing body 3, so that the operation using the operation lever 30 becomes easy. That is, the work position instruction system 10 of the present embodiment can more appropriately instruct the work position of the work machine.

[0126] <Second Embodiment> A second embodiment of the present invention will be described.

[0127] In the work position instruction system of the present embodiment, in the processing of the information control unit 16, the operation planning unit 17, and the vehicle control unit 411, when the hydraulic excavator 1 performs work unmanned at the work site 5 (in other words, in the case of automatic operation), corresponding processing is performed.

[0128] In the present embodiment, the description of the configuration similar to that of the first embodiment is omitted.

[0129] In the present embodiment, the operator edits the target terrain information stored in the target terrain information storage unit 13 using the monitor 42, and thereby performs the shaping work of the target terrain 7 using the hydraulic excavator 1 in the unmanned operation state.

[0130] The operator only needs to be a person who has learned how to use the monitor 42. The operator only needs to be present at a location where the operation of the hydraulic excavator 1 can be monitored, either inside the cab of the upper swing body 3 or inside or outside the work site 5. Furthermore, the monitor 42 only needs to be arranged at a location where the operator can visually recognize and operate it.

[0131] (Information control unit 16) The information control unit 16 acquires the inclination angle, position, azimuth, turning angle of the upper swing body 3, the turning postures of each part of the working machine 2, the position of the crawler tip 441, and the current terrain around the vehicle body from the measurement data processing unit 11, and outputs them to the motion planning unit 17. The information control unit 16 acquires the target terrain information and the work position information from the work position determination unit 12, and outputs them to the motion planning unit 17.

[0132] (Motion planning unit 17) The motion planning unit 17 acquires the inclination angle, position, azimuth, turning angle of the upper swing body 3, the turning postures of each part of the working machine 2, the position of the crawler tip 441, and the current terrain around the vehicle body calculated by the measurement data processing unit 11 from the information control unit 16. The motion planning unit 17 acquires the target terrain information, which is the three-dimensional shape data of the target terrain 7 defined in the global coordinate system and stored in the target terrain information storage unit 13, from the information control unit 16. The motion planning unit 17 acquires the work position information from the information control unit 16.

[0133] The motion planning unit 17 creates a motion plan including at least the position of the crawler tip 441 from the current position to the work position determined as the work position information. The motion planning unit 17 calculates the target trajectory of the crawler tip 441 for guiding at least the crawler tip 441 to the work position, and creates a motion plan. The motion planning unit 17 calculates the target operating speed of each actuator (each hydraulic motor 26) based on the determined motion plan, and outputs it to the vehicle control unit 411. By outputting the target operating speed of each actuator to the vehicle control unit 411, the motion planning unit 17 guides the crawler tip 441 to the work position.

[0134] When the crawler tip 441 reaches the working position determined as the working position information, the motion planning unit 17 creates a motion plan including at least the target bucket tip trajectory 159 at the working position determined as the working position information. The motion planning unit 17 converts the target terrain shape recorded in the target terrain information into the vehicle body coordinate system and creates a motion plan with its surface as the target bucket tip trajectory 159. The motion planning unit 17 sets the construction speed determined by the excavation range calculation unit 123 as the limit speed of the bucket tip 27, calculates the target motion speed of each actuator, and outputs it to the vehicle body control unit 411. By outputting the target motion speed of each actuator to the vehicle body control unit 411, the motion planning unit 17 causes the bucket tip 27 to follow the target bucket tip trajectory 159 and completes the shaping operation of the target terrain 7.

[0135] When the motion planning unit 17 determines that the follow-up of the bucket tip 27 to the target bucket tip trajectory 159 has ended based on the rotation postures of the respective parts of the working machine 2, it gives an operation end instruction to the vehicle body control unit 411.

[0136] (Vehicle body control unit 411) The vehicle body control unit 411 controls the operation of the hydraulic excavator 1 based on the motion plan created by the motion planning unit 17. The vehicle body control unit 411 drives the control valve 55 to operate each actuator according to the target motion speed of each actuator acquired from the motion planning unit 17. Then, when the vehicle body control unit 411 receives an operation end instruction from the motion planning unit 17, it immediately stops the operation of the hydraulic excavator 1, or moves the hydraulic excavator 1 to a previously specified position and then stops the operation. Note that when the vehicle body control unit 411 receives an output indicating the end of all operations from the motion planning unit 17, it may output to the operator via the monitor 42 that the work plan has ended.

[0137] Other configurations are the same as those in the first embodiment.

[0138] In the working position instruction system 10 of the present embodiment configured as described above, the operator operates the monitor 42 to input target terrain information. Then, the motion planning unit 17 determines a motion plan until the target terrain 7 is shaped, and calculates the target speed of each actuator. Then, in the vehicle body control unit 411, by driving the control valve 55 to operate each actuator according to the target operating speed of each actuator, the shaping work of the target terrain 7 is completed. In this way, just by the operator operating the monitor 42 to input the target terrain information, the work of shaping the target terrain 7 can be carried out by the hydraulic excavator 1 in an unmanned driving state, and the labor saving and productivity improvement of the work site 5 can be expected. Also, the same effects as those of the first embodiment can be obtained.

[0139] <Third Embodiment> The third embodiment of the present invention will be described with reference to FIG. 16.

[0140] This embodiment shows a case where the target terrain information storage unit, the work range information storage unit, and the work evaluation value information storage unit are provided in the server 46 outside the hydraulic excavator 1 (working machine).

[0141] FIG. 16 is a functional block diagram showing the overall configuration of the working position instruction system according to this embodiment. In the figure, the same members as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

[0142] As shown in FIG. 16, in the working position instruction system 10A of the present embodiment, a target terrain information storage unit 513, a working range information storage unit 514, and a working evaluation value information storage unit 515 are provided in a server 46 provided outside the hydraulic excavator 1 (working machine) independently of the information control controller 45A. The server 46 is arranged, for example, in a management center and is configured to be communicable with the information control controller 45A. The target terrain information storage unit 513, the working range information storage unit 514, and the working evaluation value information storage unit 515 each have the same structure as the target terrain information storage unit 13, the working range information storage unit 14, and the working evaluation value information storage unit 15 of the first embodiment. Further, the information control controller 45A has a communication interface for communicating with the server 46.

[0143] Other configurations are the same as those in the first embodiment.

[0144] According to the working position instruction system 10A of the present embodiment configured as described above, in addition to obtaining the same operational effects as those in the above-described first embodiment, since the target terrain information storage unit 513, the working range information storage unit 514, and the working evaluation value information storage unit 515 are provided in the server 46, the working position instruction system 10A can be made more compact.

[0145] <Supplementary Note> Note that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope not departing from the gist thereof. Further, the present invention is not limited to those having all the configurations described in the above embodiments, and also includes those in which a part of the configurations is deleted.

[0146] For example, in the above-described first to third embodiments, a hydraulic excavator with an operation lever mounted inside the working machine has been exemplified and described, but the present invention is not limited thereto, and the present invention can also be applied to a hydraulic excavator in which an operation lever is arranged in a remote operation room provided outside the hydraulic excavator to enable remote operation.

[0147] Further, each of the above-described configurations, functions, etc. may be realized by designing a part or all of them, for example, by means of an integrated circuit. Further, each of the above-described configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

Description of Reference Numerals

[0148] 1…Hydraulic excavator, 2…Work implement, 3…Upper slewing body, 4…Lower traveling body, 5…Work site, 6…Excavation target, 7…Target terrain, 10…Work position indication system, 10A…Work position indication system, 11…Measurement data processing unit, 12…Work position determination unit, 13…Target terrain information storage unit, 14…Work range information storage unit, 15…Work evaluation value information storage unit, 16…Information control unit, 17…Motion planning unit, 20…Boom, 21…Arm, 22…Bucket, 23a…Boom cylinder, 23b…Arm cylinder, 23c…Bucket cylinder, 24…First bucket link, 25…Second bucket link, 26a…Slewing hydraulic motor, 26b…Traveling hydraulic motor, 26c…Traveling hydraulic motor, 27…Bucket tip, 28…IMU, 30…Control lever, 31…GNSS antenna, 32…GNSS controller, 33…Slewing angle sensor, 34…Laser scanner, 35…Engine, 36…Pilot hydraulic pump, 37…Main hydraulic pump, 38…Direction control valve, 39…Shut-off valve, 40…Control valve, 41…Vehicle body control controller, 42…Monitor, 44…Crawler, 45, 45A…Information control controller, 46…Server, 55…Control valve, 122…Excavation target calculation unit, 123…Excavation range calculation unit, 124…Work evaluation value calculation unit, 125…Work position calculation unit, 141…Work range information, 152…Bucket tip trajectory, 153…Work evaluation quantitative value, 154…Work evaluation function (integrated work evaluation function), 155…Excavation range information, 157…Accuracy guarantee range, 159…Target bucket tip trajectory, 160…Operating speed, 411…Vehicle body control unit, 441…Crawler tip, 513…Target terrain information storage unit, 514…Work range information storage unit, 515…Work evaluation value information storage unit

Claims

1. A working position indication system for indicating the working position of a vehicle body with respect to a working machine having a vehicle body and a working machine attached to the vehicle body, a target terrain information storage unit that stores target terrain information, which is information on a target terrain to be formed by the working machine, a working range information storage unit that stores working range information, which is the working range of the working machine that can be reached by the working machine, a working evaluation value information storage unit that stores information on a working evaluation value, which is an index for evaluating the operation when the working machine performs a forming operation and is a function of the tip trajectory of the working machine, and a control device that determines, based on the target terrain information, the working range information, the working evaluation value information, and the tip trajectory of the working machine, the working position of the vehicle body at which the working evaluation value information regarding the operation of the working machine when forming the target terrain included in the working range takes an extreme value, and instructs the working machine. A working position indication system characterized by comprising the above.

2. In the working position indication system according to Claim 1, the working evaluation value information storage unit stores, as the working evaluation value information, the working evaluation value determined based on at least the target terrain information included within the working range of the working machine. A working position indication system characterized by this.

3. In the working position indication system according to Claim 1, the working evaluation value information storage unit stores, as the working evaluation value information, the working evaluation value determined based on at least the position and the operation direction of the working machine within the working range of the working machine. A working position indication system characterized by this.

4. In the working position indication system according to Claim 1, when at least two types of the working evaluation value information are stored in the working evaluation value information storage unit, the control device determines the working position of the vehicle body at which the integrated working evaluation value information obtained by combining a plurality of the working evaluation value information takes an extreme value. A working position indication system characterized by this.

5. In the working position indication system according to Claim 1, the target terrain information storage unit further stores information regarding the allowable accuracy of the target terrain information as allowable accuracy information, and the control device determines, based on the allowable accuracy information and the working evaluation value information, the working position of the vehicle body with the working range information being the range in which the working machine can operate within the allowable accuracy of the target terrain information. A working position indication system characterized by this.

6. In the working position indication system according to claim 1, further comprising a surrounding environment measurement device for measuring the surrounding environment of the working machine, the control device determines an excavation target, which is the target to be excavated by the working machine using the working implement, based on the measurement result of the surrounding environment measurement device and the target terrain information in the target terrain information storage unit. A working position indication system characterized by this.

7. In the working position indication system according to claim 1, further comprising a surrounding environment measurement device for measuring the surrounding environment of the working machine, the control device, when at least two types of the work evaluation value information are stored in the work evaluation value information storage unit, determines an excavation target, which is the target to be excavated by the working machine using the working implement, based on the measurement result of the surrounding environment measurement device and the target terrain information in the target terrain information storage unit, and selects a weighting for each of the plurality of work evaluation value information for work position determination according to at least the shape or size of the determined excavation target, and determines the working position of the vehicle body at which the integrated work evaluation value information obtained by combining the plurality of work evaluation value information according to the weighting takes an extreme value. A working position indication system characterized by this.

8. In the working position indication system according to claim 1, further comprising an information display device, the information display device displays information on the working position of the vehicle body determined by the control device. A working position indication system characterized by this.

9. In the working position indication system according to claim 4, further comprising an information input device for receiving an input from an operator, the control device determines the working position according to the weighting for each of the plurality of work evaluation value information selected by the operator using the information input device. A working position indication system characterized by this.

10. In the working position indication system according to claim 1, the control device creates an operation plan for the working machine to move to the working position of the vehicle body and an operation plan for the shaping operation by the working implement based on the target terrain information recorded in the target terrain information storage unit at the determined position of the vehicle body. A working position indication system characterized by this.

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