Construction accuracy prediction calculation device for industrial machinery

Abstract

To provide a construction accuracy prediction calculation device for a work machine capable of predicting the construction accuracy of the work machine over the entire surface to be constructed by taking into consideration the influence peculiar to the work machine.SOLUTION: If a construction target surface set in a construction target shape of 3D information and a machine body ground contact area are different, a prediction calculation device sets the position of the machine body when a shielding area above an antenna of a work device is maximum in a cross section of the construction target shape as a first work position, sets the direction from the first work position to the construction target surface as the work direction, calculates the shielding area above the antenna of the work device when the work device performs construction on the construction target surface in a first setting state where the work machine is in the first work position and work direction, calculates the predicted positioning accuracy, which is the positioning accuracy when the antenna of the work machine in the first setting state receives a positioning signal of positioning satellite group selected based on the shielding area above the antenna as a result of the calculation and performs the positioning calculation, and assigns positioning accuracy as the construction accuracy of the area of the construction target surface that can be constructed by the work machine in the first setting state.SELECTED DRAWING: Figure 24

Description

Technical Field

[0001] The present invention relates to a construction accuracy prediction calculation device for a working machine that predicts construction accuracy when assuming construction by a working device of the working machine. More specifically, it relates to a prediction calculation device that calculates the construction prediction accuracy of a working machine capable of controlling during construction based on its own position acquired using a satellite positioning system.

Background Art

[0002] In the field of working machines such as hydraulic excavators, in recent years, the introduction of information-based construction that rationalizes construction by applying information and communication technology to construction work has been promoted. Among hydraulic excavators, for example, there are those with functions to assist an operator's operations such as machine guidance that displays the position and orientation of a multi-articulated working device connecting a plurality of link members such as a boom, an arm, and a bucket on a display device, and machine control that semi-automatically controls the working device to move along a construction target surface.

[0003] When performing operation support such as machine guidance and machine control, the position and orientation of the working device are estimated using the position information of the working machine itself. Some working machines acquire the position information of the working machine itself using a satellite positioning system (Global Navigation Satellite System: GNSS). GNSS measures its own three-dimensional coordinates (latitude, longitude, altitude) by receiving positioning signals (radio waves) from a plurality of positioning satellites with an antenna.

[0004] Positioning using GNSS (sometimes referred to as satellite positioning) faces the following challenges. Firstly, if there is an obstacle between the positioning satellite and the antenna, the positioning signal (radio waves) from the positioning satellite may diffract through the obstacle before reaching the antenna, causing the distance between the positioning satellite and the antenna to be measured as longer than the true distance. Performing positioning calculations using such a positioning signal may lead to a decrease in positioning accuracy. Secondly, even when satellite positioning using GNSS is feasible, positioning accuracy may decrease if there are few positioning satellites available for positioning calculations or if their arrangement is uneven.

[0005] To address these challenges in satellite positioning, for example, the technology described in Patent Document 1 has been proposed. The technology described in Patent Document 1 involves conducting a preliminary investigation into the applicability (whether or not it is possible to obtain highly accurate position coordinates) of a system for managing the operation of construction machinery by detecting the position of the construction machinery using GPS (a GPS-based operation management system). In the technology described in Patent Document 1, the sky is photographed at multiple points on the construction site that are assumed to be the reception locations of signals from GPS satellites, the proportion of obstacles relative to the sky at each point on the construction site is calculated based on the photographed images of the sky, the suitability of a GPS-based operation management system is determined for each point based on the calculation results, and the determination results (suitability of a GPS-based operation management system) for each point on the construction site are output. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2001-159137 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] When using satellite positioning results (the machine's own position) to provide operational support during the construction of construction machinery, there is a concern that a decrease in the accuracy of satellite positioning will lead to a corresponding decrease in the accuracy of the construction machinery's operation. Therefore, evaluating in advance the feasibility of performing high-precision satellite positioning across the entire construction site, as described in Patent Document 1, is important for formulating a construction plan. By using the technology described in Patent Document 1 to determine the area of ​​the sky obscured by obstacles at each point in the construction site (sky occlusion area), and by utilizing the sky occlusion areas at each determined point and external information on the arrangement of positioning satellites, it is possible to predict the accuracy of satellite positioning across the entire construction site.

[0008] However, the technology described in Patent Document 1 does not take into account the effects specific to the construction of work machines equipped with multi-jointed work devices.

[0009] Firstly, during the construction of construction machinery, the position of the antenna that receives the positioning signal and the position of the tip of the work device (e.g., the bucket) that directly contacts the construction target can be several meters or more apart depending on the orientation of the work device. In other words, there may be a discrepancy between the position of the construction target and the position of the positioning target. Therefore, the positioning accuracy must be calculated considering the occlusion area of ​​the sky at the antenna's position (the antenna's line of sight above the antenna), rather than the occlusion area of ​​the sky at the construction target surface.

[0010] Secondly, since the working equipment of the work machine can move vertically, the working equipment itself can become an obstacle that obstructs the view of the antenna above during construction. In other words, depending on the orientation of the working equipment itself, an obstructed area (a sky obstruction area) may be created in the view of the antenna above.

[0011] Thirdly, the work equipment can operate from different positions and orientations on the same construction site by changing the orientation of the work device. Differences in the position and orientation of the work equipment relative to the construction target surface result in differences in the position of the antenna and the orientation of the work device during construction. Differences in the position of the antenna and the orientation of the work device can also change the position and size of the shielding area of ​​the work device in the antenna's view of the sky. Differences in the position and size of the shielding area in the antenna's view of the sky can result in differences in the accuracy of satellite positioning.

[0012] The present invention is based on the above-mentioned matters, and its objective is to provide a machine construction accuracy prediction calculation device that can predict the construction accuracy of a machine over the entire area to be constructed, taking into account the influences specific to the machine. [Means for solving the problem]

[0013] The present invention includes multiple means for solving the above problems, but to give one example, a construction accuracy prediction calculation device for a work machine that predicts the construction accuracy of a work machine equipped with a multi-jointed work device mounted on the machine so as to be movable in the vertical direction and an antenna mounted on the machine to receive positioning signals from multiple positioning satellites, and outputs the prediction result of the construction accuracy, the device holds three-dimensional information of a construction target shape that indicates the terrain shape of the target to be constructed, sets a construction target surface which is the target area for predicting the construction accuracy and a machine ground area which is the area where the machine is grounded when the construction target surface is constructed, sets multiple cross-sections so as to divide the construction target surface and the machine ground area into multiple sections, and when the construction target surface and the machine ground area are set to be different areas, for each of the set multiple cross-sections, when the machine is located in the machine ground area and the work device performs construction on the construction target surface, the work device shields the section that is shielded The method is characterized by setting the position of the machine where the area of ​​the antenna's overhead view is maximized as the first working position, setting the direction from the first working position to the construction target surface as the working direction, calculating the first antenna overhead occlusion area, which is the area in which the antenna's overhead view is obscured by the working device when the work device performs construction on the construction target surface in a first setting state in which the work machine is at the first working position and facing the working direction, calculating the first predicted positioning accuracy, which is the positioning accuracy when the antenna of the work machine in the first setting state receives positioning signals from a group of positioning satellites selected from among the multiple positioning satellites and performs positioning calculations, based on satellite orbit information indicating the predicted orbits of the multiple positioning satellites and the first antenna overhead occlusion area, and assigning the first predicted positioning accuracy as the construction accuracy for a section of the construction target surface that the work device of the work machine in the first setting state can perform construction on, thereby generating a predicted distribution map of the construction accuracy. [Effects of the Invention]

[0014] According to the present invention, by relating the predicted positioning accuracy for a work machine when it is in a first setting state, which is a position and orientation set by predetermined conditions, with the construction accuracy for the area of ​​the construction target surface that the work machine in the first setting state can work on, it becomes possible to predict the construction accuracy while taking into account the discrepancy between the positions of the construction target and the positioning target, as well as the changes in positioning accuracy due to differences in the position and orientation of the work machine. In other words, it is possible to predict the construction accuracy of the work machine over the entire area of ​​the construction target, taking into account the influences specific to the work machine. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0015] [Figure 1] This is an external view of a hydraulic excavator, which is an example of a work machine assumed to be the main work machine in one embodiment of the work machine construction accuracy prediction calculation device of the present invention. [Figure 2] This is a block diagram showing the hardware configuration and functional configuration of one embodiment of the construction accuracy prediction calculation device for work machinery of the present invention. [Figure 3] Figure 2 shows a combination of a plan view and a cross-sectional view illustrating the three-dimensional information of the construction target shape used in the calculation process of the prediction calculation device. [Figure 4] Figure 2 is an explanatory diagram showing an example of setting the construction target surface and the machine ground contact area in the construction information processing unit, which is one of the functional units of the prediction calculation device shown. [Figure 5A] Figure 2 is an explanatory diagram showing a first example of a method for classifying the construction target surface and the machine ground contact area in the construction information processing unit of the prediction calculation device shown in Figure 2 (a method for setting multiple cross-sections for the construction target shape). [Figure 5B] Figure 2 is an explanatory diagram showing a second example of the method for dividing the construction target surface and the machine ground contact area in the construction information processing unit of the prediction calculation device shown in Figure 2 (a method for setting multiple cross-sections for the construction target shape). [Figure 6] Figure 1 is an explanatory diagram showing how to define the posture of the front working device of a hydraulic excavator. [Figure 7]It is an explanatory diagram showing the shielding area of the front working device and the visible area other than that in the overhead view of the GNSS antenna. [Figure 8] It is an explanatory diagram showing a method for calculating the posture of the boom at which the shielding area above the antenna is maximized in the operation area calculation unit, which is one of the functional units of the prediction calculation device shown in FIG. 2. [Figure 9] It is an explanatory diagram showing the maximum overhead shielding operation area of the front working device, which is the calculation result of the operation area calculation unit of the prediction calculation device shown in FIG. 2. [Figure 10] It is an explanatory diagram showing an example of a calculation method for the working position of the working position determination unit, which is one of the functional units of the prediction calculation device shown in FIG. 2 (an example when the construction target surface and the airframe grounding area are different). [Figure 11] It is a diagram showing the working position, which is the calculation result of the working position determination unit of the prediction calculation device shown in FIG. 2, in a plan view of the construction target shape. [Figure 12] It is an explanatory diagram showing another example of a calculation method for the working position of the working position determination unit of the prediction calculation device shown in FIG. 2 (an example when the construction target surface and the airframe grounding area are the same). [Figure 13] It is an explanatory diagram showing an example of a calculation method of the overhead shielding area calculation unit, which is one of the functional units of the prediction calculation device shown in FIG. 2 (an example when the construction target surface and the airframe grounding area are different). [Figure 14] It is an explanatory diagram showing another example of the calculation method of the overhead shielding area calculation unit of the prediction calculation device shown in FIG. 2 (an example when the construction target surface and the airframe grounding area are the same). [Figure 15] It is a diagram showing an example of the arrangement of positioning satellites in the overhead view of the GNSS antenna, which is the calculation result of the satellite arrangement prediction unit, which is one of the functional units of the prediction calculation device shown in FIG. 2. [Figure 16] It is a diagram showing an example of the shielding area and the visible area of the overhead view of the GNSS antenna used in the satellite determination unit, which is one of the functional units of the prediction calculation device shown in FIG. 2. [Figure 17] It is an explanatory diagram showing an example of a method for determining positioning satellites in the satellite determination unit of the prediction calculation device shown in FIG. 2. [Figure 18]Figure 2 is an explanatory diagram showing an example of the association of predicted positioning accuracy with a plan view of the construction target shape in the accuracy distribution map generation unit, which is one of the functional units of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are different). [Figure 19] Figure 2 is an explanatory diagram showing an example of the generation of distribution data for construction prediction accuracy in the accuracy distribution map generation unit of the prediction calculation device shown (an example where the construction target surface and the machine ground contact area are different). [Figure 20] Figure 2 is an explanatory diagram showing another example of how the predicted positioning accuracy is associated with the plan view of the construction target shape in the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are the same). [Figure 21] Figure 2 is an explanatory diagram showing another example of the generation of distribution data for construction prediction accuracy in the accuracy distribution map generation unit of the prediction calculation device shown (an example where the construction target surface and the machine ground contact area are the same). [Figure 22] This figure shows a first example of an accuracy distribution map generated by the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2. [Figure 23] This figure shows a second example of the accuracy distribution map generated by the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2. [Figure 24] Figure 2 shows an example flowchart illustrating a series of processing steps in the accuracy distribution map generation unit of the prediction calculation device. [Figure 25] Figure 2 shows the accuracy distribution map, which is the result of a series of processes performed by the prediction computing device, for each different prediction date and time. [Modes for carrying out the invention]

[0016] The embodiments of the construction accuracy prediction calculation device for work machinery of the present invention will be described below with reference to the drawings. In this embodiment, a hydraulic excavator will be used as an example of a work machine assumed to be the main work machine.

[0017] [First Embodiment] First, the configuration of a hydraulic excavator, which is an example of a work machine that is the main body of the construction calculation performed by one embodiment of the construction accuracy prediction calculation device for work machines of the present invention, will be explained using Figure 1. Figure 1 is an external view of a hydraulic excavator, which is an example of a work machine assumed to be the main body of the construction in one embodiment of the construction accuracy prediction calculation device for work machines of the present invention. In this explanation, the direction when the operator is seated is used. In Figure 1, the symbol G represents the ground (the contact surface of the hydraulic excavator).

[0018] In Figure 1, the hydraulic excavator 100, as a work machine, comprises a self-propelled lower traveling body 101, an upper rotating body 102 rotatably mounted on the lower traveling body 101, and a front working device 103 mounted on the front side of the upper rotating body 102 so as to be movable in the vertical direction. The lower traveling body 101 and the upper rotating body 102 constitute the body of the hydraulic excavator 100. The lower traveling body 101 has a crawler-type traveling device 111 driven by a traveling motor (not shown). The upper rotating body 102 is configured to rotate around the rotation axis Z relative to the lower traveling body 101 by a rotating motor (not shown). The hydraulic excavator 100 is configured to acquire its own position information using GNSS.

[0019] The upper rotating body 102 includes a cockpit 113 where the operator sits, a first GNSS antenna (hereinafter referred to as the first antenna) 114 and a second GNSS antenna (hereinafter referred to as the second antenna) 115 that receive positioning signals (radio waves) from multiple positioning satellites (hereinafter sometimes referred to as a GNSS satellite constellation), and a GNSS receiver 116 that performs positioning calculations such as the position of a specific part of the upper rotating body 102 in a geographic coordinate system (antenna position) and the azimuth angle of the upper rotating body 102 based on the positioning signals received by the first antenna 114 and the second antenna 115. Of the first antenna 114 and the second antenna 115, one is for measuring the three-dimensional position of the upper rotating body 102 itself, and the other is for calculating the azimuth angle of the upper rotating body 102 (aircraft) by defining a baseline vector from the other antenna. The two antennas 114 and 115 can be installed in any location as long as it is possible to measure the position and orientation of the upper rotating body 102. The operator's cab 113 is equipped with an operating device (not shown) for operating the hydraulic excavator 100 and a monitor 117 that can display and input various information. The upper rotating body 102 is equipped with a controller 118 that controls the operation of the hydraulic excavator 100 in response to operations input to an operating device (not shown).

[0020] The front working device 103 is a multi-joint working device composed of multiple link members connected so as to be rotatable perpendicular to each other. The multiple link members consist of, for example, a boom 121, an arm 122, and a bucket 123 as a working tool. The bucket 123 has a toe 123a. The base end of the boom 121 is connected to the front of the upper slewing body 102 so as to be rotatable vertically via a first pivot axis 124. The base end of the arm 122 is connected to the tip of the boom 121 so as to be rotatable via a second pivot axis 125. The bucket 123 is connected to the tip of the arm 122 so as to be rotatable via a third pivot axis 126. The three pivot axes 124, 125, and 126 of the front working device 103 are configured so as to be parallel to each other. The boom 121, arm 122, and bucket 123 are driven by hydraulic actuators, the boom cylinder 127, arm cylinder 128, and bucket cylinder 129, respectively.

[0021] The hydraulic excavator 100 is equipped with a first attitude sensor 131, which is a first attitude detection device that detects physical quantities (attitude information) related to the attitude of the upper slewing body 102 (machine body). The first attitude sensor 131 detects, for example, the tilt of the upper slewing body 102 in the front-rear direction (pitch angle), the tilt of the upper slewing body 102 in the left-right direction (width direction) (roll angle), and the rotation angle of the upper slewing body 102 as information related to the attitude of the upper slewing body 102 (machine body). The first attitude sensor 131 is composed of, for example, an inertial measurement unit (IMU) and is capable of measuring the angle, angular velocity, and acceleration of the upper slewing body 102 (machine body). The first attitude sensor 131 outputs a detection signal to the controller 118 according to the detected information.

[0022] The hydraulic excavator 100 is equipped with a second posture detection device that detects physical quantities (posture information) related to the posture of the front work device 103. The second posture detection device consists of multiple second posture sensors 132, 133, and 134 that detect physical quantities (posture information) related to the posture of each component of the front work device 103: the boom 121, the arm 122, and the bucket 123. Each second posture sensor 132, 133, and 134 is, for example, an inertial measurement unit (IMU) capable of measuring the angle, angular velocity, and acceleration of each component 121, 122, and 123. The second posture sensors 132, 133, and 134 output a detection signal to the controller 118 according to the detected information. Note that the second posture sensors 132, 133, and 134 only need to be capable of detecting the posture information of the front work device 103, and can also be composed of angle sensors or stroke sensors.

[0023] Next, the hardware and functional configurations of one embodiment of the construction accuracy prediction calculation device for work machinery of the present invention will be described using Figures 2 and 3. Figure 2 is a block diagram showing the hardware and functional configurations of one embodiment of the construction accuracy prediction calculation device for work machinery of the present invention. Figure 3 is a diagram showing a combination of a plan view and a cross-sectional view indicating the three-dimensional information of the construction target shape used in the calculation processing of the prediction calculation device shown in Figure 2. The following description of the prediction calculation device will be based on the assumption of construction by a hydraulic excavator as shown in Figure 1.

[0024] In Figure 2, the construction accuracy prediction calculation device 1 (hereinafter referred to as the prediction calculation device) predicts the construction accuracy of construction performed by the hydraulic excavator 100 (see Figure 1) and outputs the prediction result of the construction accuracy. The prediction calculation device 1 is connected via a network to an external input device 51 and an external server 52 located outside the prediction calculation device 1. The prediction calculation device 1 can also be connected to a recording medium 53 via an interface. Furthermore, the prediction calculation device 1 can also be connected to a display device 54 via an interface.

[0025] The external input device 51 allows the user to input the accuracy prediction date and time, which is the date and time for which they wish to predict the construction accuracy of the hydraulic excavator 100, and transmits the input accuracy prediction date and time information to the prediction calculation device 1. The external input device 51 can also be configured to perform the necessary input operations on the prediction calculation device 1 when the prediction calculation device 1 is executing its calculation process.

[0026] The external server 52 stores satellite orbit information indicating the predicted orbits of multiple positioning satellites, and transmits the stored satellite orbit information to the prediction calculation device 1 upon request from the prediction calculation device 1.

[0027] The recording medium 53 stores three-dimensional information (3D information) of the target terrain shape resulting from construction by the hydraulic excavator 100, as well as specifications of the hydraulic excavator 100. The various types of information stored can be output to the prediction calculation device 1. The recording medium 53 can also be configured to store satellite orbit information stored by the external server 52 in place of the external server 52 (shown by the dashed line in Figure 2).

[0028] The three-dimensional information of the target construction shape (hereinafter sometimes referred to as construction information) is defined as a position on a geographic coordinate system consisting of longitude, latitude, and ellipsoidal height. The three-dimensional information of the target construction shape is given as a combination of a plan view 531 and a cross-sectional view 532 of the target construction shape, for example, as shown in Figure 3. The plan view 531 of the target construction shape (hereinafter sometimes referred to as the target plan view) includes, for example, information on a pre-set centerline 531c. The cross-sectional view 532 of the target construction shape (hereinafter sometimes referred to as the target cross-sectional view) is, for example, a cross-sectional view obtained by cutting the target plan view 531 with a plane perpendicular to the target plan view 531, including the normal to the centerline 531c of the target plan view 531.

[0029] The specifications of the hydraulic excavator 100 include various structural information (e.g., design information) of the hydraulic excavator 100, such as the dimensions of each component of the front working device 103 (boom 121, arm 122, bucket 123), the relative positions of the pivot axes 124, 125, and 126 of the front working device 103, and the dimensions and relative positions of the first antenna 114 and the second antenna 115. It also includes information such as the intersection point O between the pivot axis Z of the upper slewing body 102 and the assumed surface G on the ground where the lower traveling body 101 makes contact (see Figure 1).

[0030] The prediction calculation device 1 predicts the accuracy of the satellite positioning of the hydraulic excavator 100 when the hydraulic excavator 100 is assumed to be performing construction on a certain area of ​​the construction target shape, based on various information such as the accuracy prediction date and time transmitted from the external input device 51, satellite orbit information transmitted from the external server 52, 3D information of the construction target shape read from the recording medium 53, and specifications information of the hydraulic excavator 100. Using the prediction result of the positioning accuracy, it generates a distribution map of the construction accuracy of the hydraulic excavator 100 across the entire area to be constructed. A feature of the prediction calculation device 1 is that it generates a predicted distribution map of the construction accuracy of the hydraulic excavator 100 that takes into account the effects specific to construction by the front work device 103 of the hydraulic excavator 100.

[0031] The prediction calculation device 1 comprises, for example, a storage device 2 consisting of RAM or ROM, and a processing device 3 consisting of a CPU or MPU. The storage device 2 pre-stores programs and various information necessary for generating a prediction distribution map of the construction accuracy of the hydraulic excavator 100. The storage device 2 also stores various information from an external input device 51, an external server 52, and a recording medium 53. The processing device 3 reads programs and various information from the storage device 2 as appropriate and performs various functions by executing processing according to the programs.

[0032] The prediction calculation device 1 includes, as functions of the storage device 2, a first construction information storage unit 11 and a second construction information storage unit 12, a specifications information storage unit 13, an orbit information storage unit 14, and a prediction date and time storage unit 15. The prediction calculation device 1 also includes, as functions executed by the processing device 3, a construction information processing unit 21, an operation area calculation unit 22, a work direction determination unit 23, a work position determination unit 24, an antenna position calculation unit 25, an upper-air occlusion area calculation unit 26, a satellite placement prediction unit 27, a satellite utilization determination unit 28, a positioning accuracy prediction unit 29, and an accuracy distribution map generation unit 30.

[0033] The first construction information storage unit 11 stores a plan view 531 of the construction target shape from the three-dimensional information of the construction target shape acquired from the recording medium 53. The second construction information storage unit 12 stores a cross-sectional view 532 of the construction target shape from the three-dimensional information of the construction target shape acquired from the recording medium 53. The specifications information storage unit 13 stores the specifications information of the hydraulic excavator 100 acquired from the recording medium 53. The orbit information storage unit 14 stores satellite orbit information received from the external server 52. The predicted date and time storage unit 15 stores accurate predicted date and time information received from the external input device 51.

[0034] Some of the satellite orbit information stored in the orbit information storage unit 14 may be unsuitable for use in calculating the accuracy of satellite positioning due to reasons such as the information being outdated. Therefore, the prediction calculation device 1 is configured to request the external server 52 to transmit appropriate satellite orbit information if the received satellite orbit information is unsuitable. It is also possible to configure the prediction calculation device 1 to output a warning to the display device 54 or the like if the satellite orbit information stored in the orbit information storage unit 14 is unsuitable for calculating the accuracy of the prediction.

[0035] In general terms, the processing of the processing device 3 having the above-described functional units 21 to 30 involves setting the position and orientation of the hydraulic excavator 100 as the predicted work position and working orientation when predetermined conditions are assumed for each of the multiple cross-sections set to divide the construction target shape of the 3D information into multiple sections, calculating the area in which the aerial view of the antennas 114 and 115 is obscured by the front work device 103 when the hydraulic excavator 100 is working at the said work position and working orientation (hereinafter sometimes referred to as the antenna overhead obscuration area), predicting the positioning accuracy when a positioning satellite selected based on the calculated antenna overhead obscuration area is used, and finally generating a predicted distribution map of construction accuracy across the entire surface to be constructed by correlating the predicted positioning accuracy with the construction accuracy of the area in which the hydraulic excavator 100 can work at the said work position and working orientation. These processes take into account the influences specific to the construction of the hydraulic excavator 100, such as the discrepancy between the position of the object to be positioned and the position of the construction surface, and changes in positioning accuracy due to differences in the working position and direction of the hydraulic excavator 100.

[0036] In this embodiment, the setting conditions for the working position of the hydraulic excavator 100 are, for example, those that have the most adverse effect on the accuracy of satellite positioning. This is to avoid the construction accuracy of the hydraulic excavator 100 during actual construction being lower than the construction prediction accuracy calculated by the prediction calculation device 1. In other words, the calculations of the prediction calculation device 1 are intended to provide the construction accuracy that can be ensured during the actual construction of the hydraulic excavator 100.

[0037] Next, the details of each functional part of the processing unit in one embodiment of the construction accuracy prediction calculation device for work machinery of the present invention will be described. First, the functions of the construction information processing unit of the prediction calculation device will be explained using Figures 3 to 5B. Figure 4 is an explanatory diagram showing an example of setting the construction target surface and the machine ground contact area in the construction information processing unit of the prediction calculation device shown in Figure 2. Figure 5A is an explanatory diagram showing a first example of the method for dividing the construction target surface and the machine ground contact area (method for setting multiple cross-sections for the construction target shape) in the construction information processing unit of the prediction calculation device shown in Figure 2. Figure 5B is an explanatory diagram showing a second example of the method for dividing the construction target surface and the machine ground contact area (method for setting multiple cross-sections for the construction target shape) in the construction information processing unit of the prediction calculation device shown in Figure 2.

[0038] The construction information processing unit 21 sets the construction target surface and the machine ground contact area for the cross-sectional view 532 (target cross-sectional view) of the construction target shape, which is stored in the second construction information storage unit 12, in accordance with the input from the user of the prediction calculation device 1. The construction target surface is a part of the construction target shape and is the area for which the construction accuracy of the hydraulic excavator 100 is predicted. The machine ground contact area is the area where the machine body (lower traveling body 101) of the hydraulic excavator 100 is expected to make contact with the ground when the hydraulic excavator 100 is working on the construction target surface. The construction information processing unit 21 further sets the construction target surface and the machine ground contact area set in the target cross-sectional view 532 for the plan view 531 (target plan view) of the construction target shape.

[0039] For example, in the cross-sectional view 532 of the target construction shape shown in the lower part of Figure 3, surface A (inclined surface) is set as the surface to be constructed and surface B is set as the machine ground contact area, according to the user's input. Furthermore, in the plan view 531 of the target construction shape shown in the upper part of Figure 3, surface A corresponding to surface A in the cross-sectional view 532 is set as the surface to be constructed, and surface B corresponding to surface B in the cross-sectional view 532 is set as the machine ground contact area. The construction information processing unit 21 stores the information of the set surface to be constructed and the machine ground contact area in the first construction information storage unit 11 and the second construction information storage unit 12. Input to the prediction calculation device 1 can be made via the external input device 51.

[0040] In the example described above, surface B of the target construction shape in the cross-sectional view 532 shown in Figure 3 is set as the aircraft ground contact area. However, it is possible to set any surface different from the target construction shape as the aircraft ground contact area, such as the surface before construction or the current surface formed during construction. For example, as shown in Figure 4, it is possible to set a first virtual surface B1 as the aircraft ground contact area by offsetting surface B of the target construction shape vertically upward and extending it in a direction parallel to surface B to surface A of the target construction shape. It is also possible to set a second virtual surface B2 as the aircraft ground contact area by offsetting surface B of the target construction shape vertically downward and extending it in a direction parallel to surface B to the extended surface of surface A.

[0041] Furthermore, in the example described above, the surface to be constructed and the machine ground contact area are set to different areas of surface A and surface B in the target plan view 531 and target cross-sectional view 532 shown in Figure 3. However, it is also possible to set the surface to be constructed and the machine ground contact area to the same surface B in the target plan view 531 and target cross-sectional view 532 shown in Figure 3.

[0042] The construction information processing unit 21 further sets multiple cross-sections F to divide the construction target surface and machine ground contact area set in the target plan 531 into multiple sections, in response to input from the user of the prediction calculation device 1. The construction information processing unit 21 stores the information of the set multiple cross-sections F in the first construction information storage unit 11. Input to the prediction calculation device 1 can be made via the external input device 51.

[0043] Specifically, for example, a configuration is possible in which the number of divisions N of the construction target surface or the machine ground contact area is input. In this case, multiple cross-sections F(x) that divide surface A, which is the construction target surface, or surface B, which is the machine ground contact area, in the target plan view 531 into N parts are arranged along the center line 531c. N is a natural number, and x = 1 to N+1. For example, as shown in Figure 5A, N+1 cross-sections F(x) are arranged perpendicular to the center line 531c and at equal intervals I along the center line 531c. That is, each cross-section F(x) is a cross-section of the target shape of construction that crosses surface A of the construction target surface or surface B of the machine ground contact area. In this case, the distance I between adjacent cross-sections F(x) is obtained by dividing the length Lc of the center line 531c into N parts.

[0044] Furthermore, it is possible to configure the system to input the distance D between sections F that divide the construction target surface or the machine ground contact area into multiple sections. As a reference point to define the distance D between adjacent sections F, one of three points can be selected: point α on the crest and point β on the toe of the slope of surface A of the construction target surface in the target section diagram 532 (see the lower diagram in Figure 5B), and the intersection point of the center line 531c on surface B of the machine ground contact area in the target plan diagram 531 and section F(x). For example, as shown in the upper diagram in Figure 5B, the position of section F(x) is set such that the distance between point β(x) and point β(x+1) on the toe of surface A in the target plan diagram 531 is D. In this case, the number of divisions N of the construction target surface and the number of sections F (N+1) will be determined according to the input distance D between sections F.

[0045] Next, the functions of the operating area calculation unit of the prediction calculation device will be explained using Figures 6 to 9. Figure 6 is an explanatory diagram showing how the attitude of the front working device of the hydraulic excavator shown in Figure 1 is defined. Figure 7 is an explanatory diagram showing the occlusion area of ​​the front working device and the other visible area in the view above the GNSS antenna. Figure 8 is an explanatory diagram showing how the operating area calculation unit of the prediction calculation device shown in Figure 2 calculates the boom attitude at which the occlusion area above the antenna is maximized. Figure 9 is an explanatory diagram showing the operating area of ​​the front working device at maximum occlusion above the antenna, which is the calculation result of the operating area calculation unit of the prediction calculation device shown in Figure 2.

[0046] The operating area calculation unit 22 uses the specification information of the hydraulic excavator 100 held by the specification information storage unit 13 to calculate the operating area 103f of the front working device 103 when it is at maximum overhead obstruction. The operating area 103f when it is at maximum overhead obstruction is the area located on the boom 121 side of the trajectory of the limit reach of the tip 123a of the bucket 123, which is the tip of the front working device 103, when the posture of the boom 121 is maintained while operating the arm 122 and bucket 123, which are components other than the boom 121, from the posture of the front working device 103 when the area of ​​the overhead view of the antennas 114 and 115 that are obstructed by the front working device 103 is at its maximum (see Figure 9).

[0047] The operating area at maximum overhead occlusion is calculated by considering, for example, the following: In the hydraulic excavator 100 shown in Figure 1, among the components of the front working device 103, the boom 121 has the greatest influence on the area projected onto the overhead view of antennas 114 and 115. On the other hand, the influence of the arm 122 and bucket 123 on the area projected onto the overhead view of antennas 114 and 115 is small compared to that of the boom 121. Therefore, as a method for calculating the posture of the front working device 103 at which the overhead occlusion area of ​​antennas 114 and 115 is maximized, in order to simplify the calculation, the postures of the arm and bucket, which have little influence, are kept fixed, while the posture of the boom, which has a large influence, is changed to obtain the posture at which the occlusion area is maximized.

[0048] Specifically, the operating area calculation unit 22 calculates the operating area when the sky is at maximum shielding, for example, as follows.

[0049] As a prerequisite, the posture of the front working device 103 is defined as the relative angles of each component (boom 121, arm 122, bucket 123). Specifically, as shown in Figure 6, the boom angle ∠Bm, representing the posture of the boom 121, is defined as the angle formed by the line segment S1 connecting the first rotation axis 124 and the second rotation axis 125 with respect to the reference plane 102a of the upper slewing body 102. The arm angle ∠Am, representing the posture of the arm 122, is defined as the angle formed by the line segment S2 connecting the second rotation axis 125 and the third rotation axis 126 with respect to the line segment S1. The bucket angle ∠Bk, representing the posture of the bucket 123, is defined as the angle formed by the line segment S3 connecting the third rotation axis 126 and the tip 123a of the bucket 123 with respect to the line segment S2.

[0050] When the posture of the front working device 103 is defined as described above, the boom angle ∠Bm is determined when the line segment S1 of the boom 121 is brought closest to the antennas 114 and 115. Let this boom angle be ∠Bm(α). That is, ∠Bm(α) is the boom angle at which the shielding area (area) above the antennas by the boom 121 is maximized.

[0051] Next, we determine the arm angle ∠Am when the third moving axis 126 is brought closest to antennas 114 and 115 while maintaining the boom angle at ∠Bm(α). Let this arm angle be ∠Am(α). ∠Am(α) is the arm angle that maximizes the shielding area (area) above the antennas by arm 122 when the boom angle is ∠Bm(α).

[0052] Next, while maintaining the boom angle and arm angle at ∠Bm(α) and ∠Am(α), respectively, the bucket angle ∠Bk is determined when the tip 123a of the bucket 123 is brought as close as possible to the antennas 114 and 115. This bucket angle is denoted as ∠Bk(α). ∠Bk(α) is the bucket angle that maximizes the shielding area (area) above the antennas by the bucket 123 when the boom angle and arm angle are ∠Bm(α) and ∠Am(α), respectively.

[0053] Here, using the calculation results of the boom angle ∠Bm(α), arm angle ∠Am(α), bucket angle ∠Bk(α), and the specifications information of the hydraulic excavator 100 stored in the storage device 2, the visible area is determined, which is the region where the view above the antennas 114 and 115 is obscured by the front working device 103 and the region where the view above the antennas 114 and 115 is not obscured by the front working device 103. For example, as shown in Figure 7, for the view above the antennas 114 (115) Rb (region within the circle), the obscured region Mf (shaded region) and the other visible region V (dotted region) of the front working device 103 are obtained. The view above the antennas 114 and 115 Rb is expressed as polar coordinates, where the elevation angle in the machine reference coordinate system of the hydraulic excavator 100 is set to radial coordinates and the azimuth angle in the machine reference coordinate system is set to angular coordinates. Regarding the azimuth angle, the forward direction (front), right direction (right), rear direction (rear), and left direction (left) of the aircraft (upper rotating body 102) are set as shown in Figure 7, for example.

[0054] Next, as shown in Figure 8, the boom angle ∠Bm is changed while the arm angle and bucket angle are maintained at ∠Am(α) and ∠Bk(α), respectively, to determine the boom angle ∠Bm(β) at which the shielding area Mf of the front work device 103 is maximized. This boom angle ∠Bm(β) is set as the attitude of the boom 121 that maximizes the shielding area Mf (area) above the antenna by the front work device 103. In other words, the boom angle ∠Bm(β) is considered to be the attitude that has the most adverse effect on the accuracy of satellite positioning when the front work device 103 is in operation.

[0055] Furthermore, when the boom 121 maintains its boom angle ∠Bm(β) and the arms 122 and bucket 123 other than the boom 121 are operated, the region located on the boom 121 side of the trajectory of the limit reach of the tip 123a of the bucket 123, which is the tip of the front working device 103, is calculated as the operating region 103f of the front working device 103 when it is at maximum overhead occupancy. In other words, the operating region 103f when it is at maximum overhead occupancy is the operating region occupied by the front working device 103 when the arms 122 and bucket 123 are operated while the attitude of the boom 121 is maintained.

[0056] The operating region 103f when the upper body is at maximum shielding is set on a coordinate system that gives the sagittal plane of the hydraulic excavator 101 (upper body 102), with the intersection point O of the pivot axis Z of the upper slewing body 102 and the ground contact surface G of the lower traveling body 101 (machine body) as the origin, as shown in Figure 9. In other words, the operating region 103f when the upper body is at maximum shielding is the region (shaded area shown in Figure 9) in the sagittal plane of the upper slewing body 102 that is located on the boom 121 side of the trajectory (dashed line shown in Figure 9) of the limit reach of the tip of the front working device 103 (the tip 123a of the bucket 123) when the boom angle ∠Bm of the boom 121 is uniquely determined (here, ∠Bm(β)).

[0057] The calculation of the operating region 103f at maximum overhead obstruction as described above requires at least the dimensions and relative positions of each component 121, 122, 123 of the front work device 103 and each pivot axis 124, 125, 126 (see Figure 6), the dimensions and relative position of the antenna 114 (see Figure 6), and the position of intersection O (the origin of the coordinate system) (see Figure 9) as specification information for the hydraulic excavator 100. The calculated operating region 103f at maximum overhead obstruction is stored, for example, in the specification information storage unit 13.

[0058] Next, the functions of the work direction determination unit, work position determination unit, and antenna position calculation unit of the prediction calculation device will be explained using Figures 5A, 5B, and 10 to 12. Figure 10 is an explanatory diagram showing an example of the work position calculation method of the work position determination unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the machine ground contact area are different). Figure 11 is a diagram showing the work position, which is the calculation result of the work position determination unit of the prediction calculation device shown in Figure 2, in a plan view of the construction target shape. Figure 12 is an explanatory diagram showing another example of the work position calculation method of the work position determination unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the machine ground contact area are the same). Furthermore, each component of the hydraulic excavator that appears in the cross-sectional views in Figure 10 and subsequent figures will be denoted by the same reference numerals as the components of the hydraulic excavator shown in Figure 1.

[0059] The work direction determination unit 23 and the work position determination unit 24 set the work direction and work position of the hydraulic excavator 100 in three-dimensional space using the plan view 531 and cross-sectional view 532 of the construction target shape, which are the processing results of the construction information processing unit 21, and the operating area 103f when the sky is at maximum shielding, which is the calculation result of the operating area calculation unit 22. The antenna position calculation unit 25 calculates the positions of the antennas 114 and 115 that are expected to be used when the hydraulic excavator 100 is constructed in three-dimensional space, using the work direction set by the work direction determination unit 23, the work position set by the work position determination unit 24, and the specifications information of the hydraulic excavator 100, including the antennas 114 and 115, which are stored in the specifications information storage unit 13. In other words, the processing of the three functional units, the work direction determination unit, the work position determination unit, and the antenna position calculation unit, uniquely determines the positions of the antennas 114 and 115 when predicting the construction accuracy of the hydraulic excavator 100. The specific processing of the work direction determination unit 23, the work position determination unit 24, and the antenna position calculation unit 25 is as follows.

[0060] The method for setting the working direction of the hydraulic excavator 100 differs depending on whether the working surface of the hydraulic excavator 100 and the machine ground contact area are set to different areas or to the same area.

[0061] If the construction target surface and the machine ground contact area are set to different areas, for example, if surface A and surface B shown in Figure 3 are set as the construction target surface and the machine ground contact area, respectively, the work direction determination unit 23 sets the direction parallel to each cross section F(x) and along surface B, from surface B toward surface A, on each cross section F(x) of the plan view 531 of the construction target shape shown in Figure 5A or Figure 5B, which is the processing result of the construction information processing unit 21, as the work direction of the upper slewing body 102 (hydraulic excavator 100). In other words, for each cross section F(x) of the cross section 532 of the construction target shape (see the lower diagram in Figure 5B), the direction assumed to be when the upper slewing body 102 is facing surface A during construction is set as the work direction of the upper slewing body 102 (hydraulic excavator 100).

[0062] Furthermore, if the construction target surface and the machine ground contact area are set to the same area, for example, if surface B shown in Figure 3 is set as both the construction target surface and the machine ground contact area, the work direction determination unit 23 does not uniquely set the work direction of the hydraulic excavator 100. That is, the work direction determination unit 23 does not perform calculations for the work direction of the hydraulic excavator 100. When the construction target surface and the machine ground contact area of ​​the hydraulic excavator 100 are the same area, even if the position of the hydraulic excavator 100 is determined, the hydraulic excavator 100 can work (work in any direction) over the entire 360° range. Therefore, even without uniquely determining the work direction of the hydraulic excavator 100, the position of the antenna 114 (115) can be set by the work position determination unit 24 and the antenna position calculation unit 25, as described later.

[0063] The method for setting the working position of the hydraulic excavator 100 differs depending on whether the working surface of the hydraulic excavator 100 and the machine ground contact area are set to different areas or to the same area.

[0064] If the construction target surface and the machine grounding area are set to different areas, for example, if surface A and surface B shown in Figure 3 are set as the construction target surface and machine grounding area, respectively, the work position determination unit 24 sets the work position of the hydraulic excavator 100 in three-dimensional space using the operating area 103f when the sky is at maximum shielding, which is the calculation result of the operating area calculation unit 22, and each cross section F(x) of the cross-sectional view 532 of the construction target shape, which is the processing result of the construction information processing unit 21.

[0065] For example, by applying the operating area 103f of the work front work device 103 shown in Figure 9 when the sky is at maximum shielding to each cross section F(x) of the cross-sectional diagram 532 shown in the lower part of Figure 5B, the positional relationship (distance Df) between the operating area 103f when the sky is at maximum shielding and surface A, which is the surface to be constructed, as shown in Figure 10, is defined. Specifically, it is assumed that the lower traveling body 101 (machine) works in a position facing surface A (surface to be constructed) under the constraint that it is located on surface B (machine ground contact area) within the cross section F(x) shown in Figure 10. The work position determination unit 24 calculates the position of the lower traveling body 101 (machine) where the distance Df between the operating area 103f when the sky is at maximum shielding and surface A (surface to be constructed) is minimized without the operating area 103f overlapping with surface A (surface to be constructed) as the working position C(x) of the hydraulic excavator 100. The working position C(x) of the hydraulic excavator 100 is, for example, the position O of the intersection of the rotation axis Z of the upper rotating body 102 and the ground contact area (surface B) of the lower traveling body 101.

[0066] The minimum value of the distance Df that determines the working position C(x) of the hydraulic excavator 100 is usually 0. However, if there is an obstacle (for example, a ditch) between the surface A of the construction target and the hydraulic excavator 100, the minimum value of the distance Df that determines the working position C(x) of the hydraulic excavator 100 may not be 0.

[0067] The work position determination unit 24 sets the work position C(x) of the hydraulic excavator 100 for each section F(x) from section F(1) to section F(N+1), which is the cross-sectional view 532 of the target construction shape. The work position determination unit 24 uses each work position C(x) set on each section F(x) in the cross-sectional view 532 to set the work position C(x) in the plan view 531 of the target construction shape, which is the processing result of the construction information processing unit 21. That is, as shown in Figure 11, in the plan view 531, the work position C(x) on all sections F(x) from section F(1) to section F(N+1) is determined according to each work position C(x) set on each section F(x) in the cross-sectional view 532.

[0068] Thus, the working position C(x) of the hydraulic excavator 100 is set as the position of the hydraulic excavator 100 where, when the hydraulic excavator 100 is positioned on surface B (machine ground contact area) and facing surface A (construction target surface), the operating area 103f when the hydraulic excavator 100 is at maximum overhead shielding does not overlap with surface A (construction target surface), and the distance Df between the operating area 103f when the hydraulic excavator 100 is at maximum overhead shielding does not overlap with surface A (construction target surface). Setting the working position of the hydraulic excavator 101 in this way is equivalent to setting the position of the lower traveling body 101 when the area of ​​the overhead view of the antenna 114 (115) shielded by the front working device 103 is at maximum, assuming that the lower traveling body 101 is positioned on the machine ground contact area (surface B) and the front working device 103 does not penetrate downwards relative to surface A (construction target surface). Therefore, the work position C(x) is the position of the lower vehicle 101 (aircraft) when construction is carried out under conditions where there is a concern that the accuracy of satellite positioning will be most reduced.

[0069] Furthermore, when the construction target surface and the machine grounding area are set to the same area, for example, when surface B shown in Figure 3 is set as both the construction target surface and the machine grounding area, the work position determination unit 24 sets the intersection point of the center line 531c in the plan view 531 of the construction target shape, which is the processing result of the construction information processing unit 21, and each cross section F(x) as the work position C(x) of the hydraulic excavator 100 (machine), as shown in Figure 12. When the construction target surface and the machine grounding area are the same surface B, the operating area 103f when the sky is at maximum shielding does not overlap with surface B (construction target surface). Also, the minimum distance between the operating area 103f when the sky is at maximum shielding and surface B (construction target surface) is approximately the same in any direction of the hydraulic excavator 100. Therefore, it is not possible to set the work position C(x) of the hydraulic excavator 100 using the operating area 103f when the sky is at maximum shielding. Furthermore, since the orientation of the hydraulic excavator 100 (machine) can be set within the entire 360° range, the work orientation determination unit 23 does not uniquely determine the work orientation of the hydraulic excavator 100 (machine). Therefore, the work position C(x) of the hydraulic excavator 100 is set by selecting a point on the centerline 531c as the position of the hydraulic excavator 100 that enables construction of surface B (construction target surface) by the front work device 103, regardless of the direction of the hydraulic excavator 100's work orientation in each cross-section F(x) of the construction target shape.

[0070] The antenna position calculation 25 calculates the position of the antenna 114(115) of the hydraulic excavator 100 in three-dimensional space using the work direction set by the work direction determination unit 23, the work position C(x) set by the work position determination unit 24, and the specification information of the hydraulic excavator 100 stored in the specification information storage unit 13, when the work direction and position of the hydraulic excavator 100 are set to different areas. Once the direction and position of the hydraulic excavator 100 are determined, it is possible to calculate the position of the antenna 114(115) in three-dimensional space from the relative positional relationship of each structure of the hydraulic excavator 100 (information from the specification information storage unit 13).

[0071] Furthermore, the antenna position calculation 25 calculates the average position Ap(x) of the antenna 114(115) during construction in three-dimensional space, using the work position C(x) set by the work position determination unit 24 and the information of the hydraulic excavator 100 held in the specifications information storage unit 13, when the construction target surface of the hydraulic excavator 100 and the machine body ground contact area are set to the same area. Specifically, the average position Ap(x) of the antenna 114(115) is calculated as the average of the points where the antenna 114(115) is located, assuming that the hydraulic excavator 100 is at work position C(x) and that the orientation of the hydraulic excavator 100 is possible in the entire range (360°). In other words, the average position Ap(x) of the antenna 114(115) is such that, based on the working position C(x) of the hydraulic excavator 100 in the cross-sectional view 532 of the target construction shape, the height from surface B (the surface to be constructed and the machine's ground contact area) in the cross-sectional view 532 is the same as the height of the antenna 114(115) (see Figure 14 below).

[0072] Next, the function of the upper-air occlusion area calculation unit of the prediction calculation device will be explained using Figures 13 and 14. Figure 13 is an explanatory diagram showing an example of the calculation method of the upper-air occlusion area calculation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are different). Figure 14 is an explanatory diagram showing another example of the calculation method of the upper-air occlusion area calculation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are the same).

[0073] The upper-air occlusion area calculation unit 26 uses the cross-sectional view 532 of the construction target shape, which is the processing result of the construction information processing unit 21, the working position C(x) of the hydraulic excavator 100 (machine body), which is the calculation result of the work position determination unit 24, and the specifications information of the hydraulic excavator 100 stored in the specifications information storage unit 13 to calculate the area in which the upper-air view of the antennas 114 and 115 is obstructed by the front work device 103 when it is assumed that the front work device 103 is working on the construction target surface (hereinafter sometimes referred to as the antenna-above-air occlusion area). The antenna-above-air occlusion area affects the accuracy of satellite positioning when the hydraulic excavator 100 is working. Specifically, the upper-air occlusion area calculation unit 26 performs the following processing.

[0074] The upper-air occlusion area calculation unit 26 calculates a number of or all possible attitudes (hereinafter sometimes referred to as the front attitude group) of the front working device 103 of the hydraulic excavator 100, under the condition that the lower traveling body 101 (machine) is positioned at the working position C(x) in each cross section F(x) of the cross-sectional diagram 532 of the construction target shape, and the tip of the front working device 103 (the claw 123a of the bucket 123) is moved along the construction target surface (moving while maintaining the position that is on the construction target surface). Furthermore, when the front working device 103 takes one of the calculated front attitude group attitudes, the unit calculates the area in which the upper-air view of the antennas 114 and 115 can be obstructed by the front working device 103 as the upper-air occlusion area Sb(x).

[0075] If the construction target surface and the machine ground contact area are set to different areas, for example, if surfaces A and B shown in Figure 3 are set as the construction target surface and the machine ground contact area, then, as shown in Figure 13, a group of front attitudes (only two attitudes are shown in Figure 13) is calculated that satisfies the condition that the tip 123a of the bucket 123 is in contact with surface A, which is the construction target surface, when the hydraulic excavator 100 is positioned at the working position C(x) in cross section F(x) of the cross section 532 of the target shape of construction. The group of front attitudes is calculated, for example, as the range of the boom angle of the boom 121, the arm angle of the arm 122, and the bucket angle of the bucket 123. Furthermore, the area that can be shielded by the front working device 103 when the view above the antenna 114 (115) is in the group of front attitudes is calculated as the shielding area Sb(x) above the antenna.

[0076] Furthermore, if the construction target surface and the machine ground area of ​​the hydraulic excavator 100 are set to surface B in the same area, then, as shown in Figure 14, a group of front attitudes (only one attitude is shown in Figure 14) is calculated that satisfies the condition that the tip 123a of the bucket 123 is in contact with surface B, which is the construction target surface, when the hydraulic excavator 100 is positioned at work C(x) in cross section F(x) of the cross section 532 of the target shape of construction. In addition, the area that can be shielded by the front working device 103 when the overhead view of the antennas 114 and 115 is in the group of front attitudes is calculated as the shielding area Sb(x) above the antennas. Note that if the construction target surface is in the same area as the machine ground area, the area that can be shielded when the group of front attitudes is in the same area may be assumed to be extremely narrow. In this case, it is possible to omit the calculation of the shielding area Sb above the antennas.

[0077] Next, the functions of the satellite placement prediction unit and the satellite utilization determination unit of the prediction calculation device will be explained using Figures 15 to 17. Figure 15 is a diagram showing an example of the placement of positioning satellites in the field of view above the GNSS antenna, which is the calculation result of the satellite placement prediction unit of the prediction calculation device shown in Figure 2. Figure 16 is a diagram showing an example of the obstructed area and visible area of ​​the field of view above the GNSS antenna used in the satellite utilization determination unit, which is one of the functional units of the prediction calculation device shown in Figure 2. Figure 17 is an explanatory diagram showing an example of the method for determining positioning satellites in the satellite utilization determination unit of the prediction calculation device shown in Figure 2.

[0078] The satellite placement prediction unit 27 uses satellite orbit information from the orbit information storage unit 14, predicted date and time information from the predicted date and time storage unit 15, and 3D position information of antennas 114 and 115, which is the calculation result of the antenna position calculation unit 25, to calculate the placement information of multiple positioning satellites in the field of view above antennas 114 and 115. Specifically, the satellite placement prediction unit 27 calculates the positions of multiple positioning satellites (hereinafter sometimes referred to as GNSS satellite constellation) at the predicted date and time based on the satellite orbit information and predicted date and time information, determines the field of view above antennas 114 and 115 based on the 3D position information of antennas 114 and 115, and predicts the placement of the GNSS satellite constellation in that field of view. The prediction of the satellite placement prediction unit 27 can be expressed, for example, as the placement of the GNSS satellite constellation within the field of view Rg1(x) shown in Figure 15. The field of view Rg1(x) shown in Figure 15 is represented, for example, as polar coordinates where the elevation angle in the horizon reference coordinate is set to radial coordinates and the azimuth angle is set to angular coordinates.

[0079] The satellite selection unit 28 determines the GNSS satellites to be used for satellite positioning calculations of the hydraulic excavator 100 based on the settings of the work direction determination unit 24, the calculation results of the upper-air occlusion area calculation unit 26, and the prediction results of the satellite placement prediction unit 27. Specifically, the satellite selection unit 28 performs the following processes.

[0080] Firstly, the satellite utilization determination unit 28 calculates the antenna overhead shielding area S(x) in the overhead view Rg2(x) of antennas 114 and 115 on the horizon reference coordinate system, based on the overhead shielding area calculation unit 26's calculation result, the overhead shielding area Sb(x) in each cross-section F(x) of the cross-sectional diagram 532 of the construction target shape, and the working direction of the hydraulic excavator 100 set by the working direction determination unit 24. This antenna overhead shielding area S(x) is equivalent to the area in which the overhead view Rg2(x) of antennas 114 and 115 is shielded by the front working device 103 when the hydraulic excavator 100, with its upper rotating body 102 (machine) at the set working position C(x) and facing the set working direction, is assumed to be constructing the construction target surface with the front working device 103. Furthermore, in the overhead view Rg2(x) of the horizon reference coordinate system, the visible area V(x) other than the antenna overhead shielding area that is not obstructed by the front work device 103 is calculated. If the construction target surface of the hydraulic excavator 100 and the machine grounding area are set to different regions, for example, an overhead view Rg2(x) with an overhead shielding area S(x) and a visible area V(x) as shown in Figure 16 can be obtained. The overhead view Rg2(x) shown in Figure 16 is expressed as polar coordinates where the elevation angle in the horizon reference coordinate is set to radial coordinates and the azimuth angle in the horizon reference coordinate is set to angular coordinates.

[0081] Secondly, the satellite selection unit 28 calculates the GNSS satellite constellation G(x) that is predicted to be located within the visible region V(x) at the predicted date and time by superimposing the arrangement of the GNSS satellite constellation in the upper field of view Rg1(x) predicted by the satellite placement prediction unit 27 onto the upper field of view Rg2(x) which includes the antenna occlusion region S(x) and the visible region V(x) as calculated results. For example, by superimposing the arrangement of the positioning satellite constellation in the upper field of view Rg1(x) shown in Figure 15 onto the upper field of view Rg2(x) which includes the antenna occlusion region S(x) and the visible region V(x) shown in Figure 16, it becomes possible to select only the GNSS satellite constellation G(x) located in the visible region V(x) from among the GNSS satellite constellations located within the upper field of view R(x) as positioning satellites to be used for calculating positioning accuracy, as shown in Figure 17.

[0082] Next, the functions of the positioning accuracy prediction unit and the accuracy distribution map generation unit of the prediction calculation device will be explained using Figures 18 to 23. Figure 18 is an explanatory diagram showing an example of the first step in generating prediction accuracy distribution data in the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are different). Figure 19 is an explanatory diagram showing an example of the second step in generating prediction accuracy distribution data in the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are different). Figure 20 is an explanatory diagram showing another example of the first step in generating prediction accuracy distribution data in the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are the same). Figure 21 is an explanatory diagram showing another example of the second step in generating prediction accuracy distribution data in the accuracy distribution map generation unit of the prediction calculation device shown in Figure 2 (an example where the construction target surface and the aircraft ground contact area are the same).

[0083] The positioning accuracy prediction unit 29 predicts the positioning accuracy when the positioning satellite group G(x) determined by the satellite utilization determination unit 28 is used. The prediction result of this positioning accuracy prediction unit 29 is the predicted positioning accuracy Q(x) obtained when the construction target surface of the hydraulic excavator 100 and the machine ground contact area are different, and the antennas 114 and 115 of the hydraulic excavator 100 are in a state where the upper rotating body 102 (machine) is at a set work position C(x) and facing a set work direction, and the antennas receive positioning signals from the positioning satellite group G(x) determined by the satellite utilization determination unit 28 and perform positioning calculations. Furthermore, if the construction target surface and the machine ground contact area are the same, the predicted positioning accuracy Q(x) is obtained when it is assumed that the antennas 114 and 115 of the hydraulic excavator 100, in a state where the upper rotating body 102 (machine) is at the set work position C(x) and the antennas 114 and 115 are at the average position Ap(x), receive positioning signals from the positioning satellite constellation G(x) determined by the satellite utilization determination unit 28 and perform positioning calculations. The positioning accuracy prediction unit 29 calculates the predicted positioning accuracy for all (x=1,2,...,N+1) of the set work position C(x).

[0084] The accuracy distribution map generation unit 30 generates a distribution map showing the predicted construction accuracy across the entire construction area by associating the predicted positioning accuracy Q(x), which is the prediction result of the positioning accuracy prediction unit 29, with the construction accuracy in one area of ​​the construction target surface that the hydraulic excavator 100 can work on at the work position and work direction. Specifically, the accuracy distribution map generation unit 30 performs the following processing.

[0085] Firstly, the accuracy distribution map generation unit 30 generates distribution data of construction prediction accuracy across the entire construction target surface by associating all of the calculation results of the positioning accuracy prediction unit 29 with the plan view 531 of the construction target shape. Specifically, it associates the predicted positioning accuracy Q(x) calculated by the positioning accuracy prediction unit 29 with the work position C(x) on each cross section F(x) of the plan view 531 of the construction target shape. Furthermore, it divides the construction target surface in the plan view 531 of the construction target shape into multiple sections and associates the predicted positioning accuracy Q(x) corresponding to the work position C(x) where construction is possible in each area of ​​the construction target surface as the construction prediction accuracy for that area.

[0086] For example, in the plan view 531 of the target construction shape, if the construction target surface of the hydraulic excavator 100 and the machine ground contact area are different, as shown in Figure 18, the cross section F(k) including the shoulder α(k), toe β(k), and working position C(k), and the cross section F(k+1) including the shoulder α(k+1), toe β(k+1), and working position C(k+1) are associated with the predicted positioning accuracy Q(k) and predicted positioning accuracy Q(k+1) calculated by the positioning accuracy prediction unit 29. Here, k is any one of 1, 2, ..., N. Furthermore, the cross section F(k)m is determined by connecting two points from the midpoint of the shoulder α(k) and shoulder α(k+1), the midpoint of the toe β(k) and toe β(k+1), and the midpoint of the working position C(k) and working position C(k+1). Furthermore, in the plan view 531 of the target construction shape, as shown in Figure 19, an area A(k) is set on surface A of the construction target surface, enclosed by section F(k) and section F(k)m, and the predicted positioning accuracy Q(k) of the work position C(k) is associated with the construction prediction accuracy of the set area A(k). In addition, an area A(k+1) is set on surface A of the construction target surface, enclosed by section F(k+1) and section F(k)m, and the predicted positioning accuracy Q(k+1) of the work position C(k+1) is associated with the construction prediction accuracy of the set area A(k+1). By performing the above process for all of the section F(x) in the plan view 531 of the target construction shape, the construction prediction accuracy is associated with all of the areas A(x) obtained by dividing surface A of the construction target surface into multiple parts. This generates distribution data of construction prediction accuracy across the entire surface A of the construction target surface. This is equivalent to assigning the predicted positioning accuracy Q(k), calculated by the positioning accuracy prediction unit 29, as the construction accuracy for a section A(x) of the construction target surface that can be worked on by the front working device 103 of the hydraulic excavator 100, which is in a state where the upper rotating body 102 (machine body) is at a set working position C(x) and facing a set working direction.

[0087] Furthermore, in the plan view 531 of the construction target shape, if the construction target surface of the hydraulic excavator 100 and the machine ground contact area are the same, as shown in Figure 20, the cross section F(k-1) including the work position C(k), the cross section F(k) including the work position C(k), and the cross section F(k+1) including the work position C(k+1) are associated with the predicted positioning accuracy Q(k-1), predicted positioning accuracy Q(k), and predicted positioning accuracy Q(k+1) calculated by the positioning accuracy prediction unit 29, respectively. In addition, the cross section F(k-1)m including the midpoint between the work position C(k-1) and the work position C(k), and the cross section F(k)m including the midpoint between the work position C(k) and the work position C(k+1) are determined. Furthermore, in the plan view 531 of the target construction shape, as shown in Figure 21, an area B(k) is defined on surface B of the construction target surface enclosed by sections F(k-1)m and F(k)m, and work positions C(w) where construction is possible in the defined area B(k) are extracted. If there are multiple extracted work positions C(w), the work position with the lowest predictive positioning accuracy is selected, and the predictive positioning accuracy of the selected work position C is associated with the construction prediction accuracy of area B(k) on the construction target surface. For example, if the work positions where construction is possible in area B(k) are C(w), C(w-1), and C(w+1), and the relationship between the quality of the predictive positioning accuracy of these work positions is as follows, then the worst predictive positioning accuracy Q(w-1) will be used as the construction prediction accuracy of area B(k). Note that the variance value of the positioning calculation can be used as the predictive positioning accuracy Q, which has the following magnitude relationship.

[0088] Q(w-1)>Q(w)>Q(w+1) By performing the above processing on all of the cross-sections F(x) in the plan view 531 of the target construction shape, the construction prediction accuracy is associated with all of the areas B(x) that divide the surface B of the construction target surface into multiple parts. This generates distribution data of construction prediction accuracy across the entire surface B of the construction target surface. This is equivalent to assigning the predicted positioning accuracy Q(x) calculated by the positioning accuracy prediction unit 29 as the construction accuracy for one area B(x) of the construction target surface that can be constructed by the front working device 103 of the hydraulic excavator 100, which is in a state where the upper rotating body 102 (machine) is at the working position C(x) and the antennas 114 and 115 are at the average position Ap(x).

[0089] Secondly, a distribution map is generated that is associated with the plan view 531 of the construction target shape, so that the distribution data of the construction prediction accuracy across the entire construction target surface (surface A or surface B) in the plan view 531 of the construction target shape can be visually identified, and the generated distribution map is output to the display device 54 for display.

[0090] For example, as shown in Figure 22, a distribution map is generated that assigns different colors O1 and O2 to each area A(x) of the construction target surface in the plan view 531 of the construction target shape, depending on whether the construction prediction accuracy Q(x) exceeds the minimum acceptable accuracy QL set in advance by the user. In other words, the construction accuracy distribution map is a map in which each area A(x) of the construction target surface in the plan view 531 of the construction target shape is color-coded in two colors according to the quality of the construction prediction accuracy.

[0091] Furthermore, as shown in Figure 23, different colors OS and OL are assigned to the positioning accuracy QS and the minimum acceptable accuracy QL, respectively, based on the performance of the GNSS receiver 116 mounted on the hydraulic excavator 100. A gradient color scheme that changes continuously between the color OS for accuracy QS and the color OL for accuracy QL is used, and a color O(x) corresponding to the position where the construction prediction accuracy Q(x) divides internally between accuracy QS and accuracy QL is assigned to each area A(x) of the construction target surface to generate an accuracy distribution map. In other words, the construction accuracy distribution map is a map in which each area A(x) of the construction target surface in the plan view 531 of the construction target shape is colored with the gradient color O(x) corresponding to the construction prediction accuracy. This map more clearly shows the differences in construction prediction accuracy than the distribution map shown in Figure 22.

[0092] Next, an example of a series of processing steps for generating a distribution map in one embodiment of the prediction calculation device for construction accuracy of the work machine of the present invention will be described with reference to Figure 24. Figure 24 is an example of a flowchart showing a series of processing steps for generating an accuracy distribution map of the prediction calculation device shown in Figure 2. In the following description, the main unit of the calculation processing is the prediction calculation device 1.

[0093] The prediction calculation device 1 sets the construction target surface and machine ground contact area of ​​the work machine in the cross-sectional view 532 of the construction target shape according to the input from the external input device 53 (step S10 shown in Figure 24). For example, in the cross-sectional view 532 of the construction target shape shown in the lower part of Figure 3, surface A is set as the construction target surface, and surface B is set as the machine ground contact area. As shown in Figure 4, the machine ground contact area can also be selected from a first virtual surface B1 or a second virtual surface B2 according to the input from the external input device 53. It is also possible to set the same surface B in the cross-sectional view 532 of the construction target shape shown in the lower part of Figure 3 as both the construction target surface and the machine ground contact area.

[0094] The prediction calculation device 1 further sets multiple cross-sections in response to input from the external input device 53 so as to divide the construction target surface and the machine ground contact area into multiple parts with respect to the construction target shape of the 3D information (step S10 shown in Figure 24). For example, as shown in Figure 5A or Figure 5B, N+1 cross-sections F(x) are set that are perpendicular to the center line 532c of the plan view 531 of the construction target shape and divide the construction target surface and the machine ground contact area into N parts.

[0095] Next, the prediction calculation device 1 uses the positional relationship between the set construction target surface and the machine ground area and the specifications information of the hydraulic excavator 100 to determine whether the front working device 103 can work on the construction target surface (the tip 123a of the bucket 123 reaching the construction target surface) when the hydraulic excavator 100 is located in the machine ground area (step S20 shown in Figure 24). If the result in step S20 is NO, the device proceeds to step S30, outputs a notification to the display device 54 or the like indicating that the hydraulic excavator 100 cannot work, and terminates the calculation process. Situations in which the determination is NO include, for example, when there is a groove or flow path between the set construction target surface and the machine ground area.

[0096] On the other hand, if the answer in step S20 is YES, the process proceeds to step S40 to determine whether the set construction target surface and the machine grounding area are in different areas. In step S40, if the answer is YES, the process proceeds to step S100, while if the answer is NO, the process proceeds to step S310.

[0097] If the answer in step S40 is YES, that is, if the construction target surface and the machine ground contact area are different, the prediction calculation device 1 calculates the operating area 103f of the front work device 103 when it is at maximum overhead shielding (step S100). Specifically, it calculates the attitude of the boom 121 in which the shielding area Mf (see Figure 7) of the overhead view of the antenna 114 (115) by the front work device 103 is maximized (see Figure 8). Furthermore, as shown in Figure 9, while maintaining the attitude of the boom 121 in which the calculated shielding area Mf is maximized, the area on the boom 121 side of the trajectory of the limit reach of the tip 123a of the bucket 123 (the operating area of ​​the front work device 103) is set as the operating area 103f when it is at maximum overhead shielding.

[0098] Next, the prediction calculation device 1 sets the variable x defined for the cross-section F(x) to x=1 (step S110), and sets the working position C(x) and working orientation of the hydraulic excavator 100 in three-dimensional space (step S120). However, here, the variable x is not defined, rather than set to 1.

[0099] For example, in the plan view 531 of the target construction shape shown in Figure 5A or Figure 5B, when surfaces A and B are set as the construction target surface and the machine ground contact area, respectively, and multiple (e.g., N+1) cross-sections F are set, the working direction of the hydraulic excavator 100 located on cross-section F(x) is set as a direction parallel to cross-section F(x) and along surface B, moving from surface B toward surface A. Also, as shown in Figure 10, the working position C(x) of the hydraulic excavator 100 is set using cross-section F(x) in the cross-sectional view 532 of the target construction shape and the operating area 103f at maximum overhead shielding shown in Figure 9 of the calculation results. Specifically, within section F(x), when the hydraulic excavator 100 is positioned on surface B of the machine ground contact area and facing surface A of the construction target, the position of the hydraulic excavator 100 where the maximum overhead shielding operating area 103f of the front working device 103 does not intrude below surface A and the distance Df between the maximum overhead shielding operating area 103f and surface A is minimized is set as the working position C(x). The working positions C(x) set in each section F(x) of section 532 are the same as those set on multiple sections F(x) in the plan view 531 shown in Figure 11.

[0100] Next, based on the set working position C(x), working orientation, and specifications of the hydraulic excavator, the positions of the antennas 114 and 115 of the hydraulic excavator 100 in three-dimensional space are calculated (step S130).

[0101] Next, the prediction calculation device 1 calculates the antenna overhead shielding region S(x), which is the area in which the overhead view of antennas 114 and 115 is shielded by the front working device 103, assuming that the hydraulic excavator 100, which is in a first setting state in which the upper rotating body 102 (machine body) is at a set working position C(x) and facing a set working direction, is performing work on surface A of the surface to be constructed using the front working device 103 (step S140). Specifically, as shown in Figure 13, the device calculates the possible attitudes (front attitude group) of the front working device 103 when it is assumed that the hydraulic excavator 100, located at working position C(x) within the cross section (x) of the cross section 532, moves the tip 123a of the bucket 123 along surface A. The area in which the overhead view of antennas 114 and 115 may be shielded when the front working device 103 is in the calculated front attitude group is calculated as the antenna overhead shielding region S(x).

[0102] Furthermore, the prediction calculation device 1 calculates the visible area V(x) which is the area in which the view above the antennas 114 and 115 is not obstructed by the front work device 103, assuming that the hydraulic excavator 100 in the first set state (set work position C(x) and work direction) is working on surface A of the surface to be constructed using the front work device 103 (step S150). Specifically, as shown in Figure 16, the visible area V(x) is calculated as the area in the view above the antennas 114 and 115 Rg2(x) of the hydraulic excavator 100 in the first set state (set work position C(x) and work direction) that is not obstructed by the front work device 103 above the antennas.

[0103] Next, the prediction calculation device 1 predicts the GNSS satellite constellation G(x) located within the visible area V(x) of the sky view R(x) of the hydraulic excavator 10 in the first set state (set working position C(x) and working direction) at the input prediction date and time (step S160). Specifically, as shown in Figure 15, it calculates the arrangement of positioning satellites that are predicted to be located within the sky view Rg1(x) of the antennas 114 and 115 at the prediction date and time. Furthermore, as shown in Figure 17, by superimposing the sky view Rg1(x) of the antennas 114 and 115, which includes the arrangement of positioning satellites at the prediction date and time, with the sky view Rg2(x), which includes the sky occlusion area S(x) and the visible area V(x), it predicts the positioning satellite constellation G(x) located within the visible area V(x) of the sky view R(x) of the antennas 114 and 115 at the prediction date and time.

[0104] Next, the prediction calculation device 1 calculates the positioning accuracy that can be obtained when performing positioning calculations using the positioning signals of the calculated positioning satellite constellation G(x) as the predicted positioning accuracy Q(x) at the work position C(x) (step S170). Through this series of processes from steps S120 to S170, the predicted positioning accuracy Q(x) for the work position C(x) of the hydraulic excavator 100 is calculated at a certain cross section F(x) of the construction target shape.

[0105] Next, the prediction calculation device 1 determines whether the variable x is N+1 (the total number of cross-sections F) (step S180). In step S180, if the answer is YES, the device proceeds to step S200; otherwise, it proceeds to step S190.

[0106] If the answer in step S180 is NO, the prediction calculation device 1 increments the variable x by one (step S190), returns to step S120, and performs the series of processes from steps S120 to S170. That is, it changes from calculating the predicted positioning accuracy Q(x) at cross-section F(x) to calculating the predicted positioning accuracy Q(x+1) at cross-section F(x+1). In this way, each time the series of processes from steps S120 to S170 are performed, the variable x is incremented by one, from 1, 2, 3, ..., N, N+1, thereby performing the calculation of the predicted positioning accuracy Q(1) at cross-section F(1), the calculation of the predicted positioning accuracy Q(2) at cross-section F(2), the calculation of the predicted positioning accuracy Q(3) at cross-section F(3), ..., the calculation of the predicted positioning accuracy Q(N) at cross-section F(N), and the calculation of the predicted positioning accuracy Q(N+1) at cross-section F(N+1).

[0107] By repeatedly performing the series of processes from steps S120 to S170, if it is determined to be YES (x=N+1) in step S180, all the predicted positioning accuracy Q(x) calculated in each calculation loop (when the variable x is used) are associated with the plan view 531 of the construction target shape to generate distribution data of the construction prediction accuracy for the entire area to be constructed (step S200). Specifically, the predicted positioning accuracy Q(x), which is the calculation result for the work position C(x) of each cross section F(x) in the plan view 531 shown in Figure 18, is set as the construction prediction accuracy for each section A(x) into which the surface A of the construction target surface is divided according to each cross section F(x), as shown in Figure 19. In this way, the construction prediction accuracy Q(x) is assigned to each area A(x) of the construction target surface according to the cross section F(x).

[0108] Furthermore, the prediction calculation device 1 generates a distribution map of construction accuracy for the entire area to be constructed (surface A) based on the distribution data of construction accuracy generated by assigning the predicted positioning accuracy Q(x) of the work position C(x) to each area A(x) of the surface to be constructed (surface A), and outputs it to the display device 54 (step S210). The distribution map of construction accuracy is configured to make the construction accuracy Q(x) of all areas A(x) of the surface to be constructed (surface A) visually identifiable.

[0109] For example, in the distribution map, as shown in Figure 22, the construction prediction accuracy Q(x) of each area A(x) is color-coded according to whether or not it can secure the minimum acceptable construction accuracy (allowable lower limit accuracy) when the hydraulic excavator 100 constructs the target surface (surface A). Also, as shown in Figure 23, the construction prediction accuracy Q(x) of each area A(x) is color-coded in a gradient color scheme according to the level of accuracy.

[0110] As a result, users of the prediction calculation device 1 can grasp the distribution of construction prediction accuracy across the entire construction area (surface A) simply by glancing at the prediction distribution map of construction accuracy displayed on the display device 54. The construction prediction accuracy in the distribution map is calculated by relating the positioning accuracy Q(x) predicted for the hydraulic excavator 100 when the upper rotating body 102 (machine) is in a first setting state, which is the set working position and working orientation, with the construction accuracy for area A(x) of the construction target surface (surface A) that the hydraulic excavator 100 in the first setting state can work on. This allows for the prediction of construction accuracy that takes into account the discrepancy between the positions of the construction target and the positioning target, as well as the changes in positioning accuracy due to differences in the position and orientation of the hydraulic excavator 100. In other words, the construction prediction accuracy in the distribution map takes into account the influences specific to the construction of the hydraulic excavator 100.

[0111] Furthermore, if the answer is NO in step S40, that is, if the construction target surface and the machine ground contact area are the same area, the prediction calculation device 1 sets the variable x defined for the cross section F(x) to x=1 (step S310), and sets the working position C(x) of the hydraulic excavator 100 in three-dimensional space (step S320). However, here, instead of setting the variable x=1, the explanation will be given without defining the variable x.

[0112] For example, in the plan view 531 of the target construction shape shown in Figure 12, if surface B is set as the construction target surface and the machine ground contact area, and multiple cross-sections F(x) are set, the intersection points of each cross-section F(x) and the center line 531c are set as the working position C(x) of the hydraulic excavator 100. This uniquely determines the working position C(x) in three-dimensional space. Note that if the construction target surface is surface B, the working direction is not uniquely set.

[0113] Next, the prediction calculation device 1 calculates the average position Ap(x) of the antennas 114 and 115 of the hydraulic excavator 100 in three-dimensional space (step S330). Specifically, the position of antenna 114(115) is calculated as the average of the points where antenna 114(115) are located, assuming that the hydraulic excavator 100 is at the working position C(x) and that the hydraulic excavator 100 can move in the entire range (360°). For example, as shown in Figure 14, the height from surface B (construction target surface and machine ground contact area) relative to the working position C(x) of the hydraulic excavator 100 in the cross-sectional view 532 is the same as the height of antenna 114(115).

[0114] Next, the prediction calculation device 1 calculates the visible area V(x) in which the view of the antennas 114 and 115 is not obstructed by the front working device 103, assuming that the hydraulic excavator 100, which is in a second setting state where the upper rotating body 102 (machine) is in a set working position and the antennas 114 and 115 are in an average position Ap(x), will perform work on the target surface (surface B) using the front working device 103 (step S350). Specifically, within the cross section (x) of the cross section 532 shown in Figure 14, the visible area V(x) is calculated as the area in which the view of the antennas 114 and 115 is not obstructed when the hydraulic excavator 10, located at working position C(x), is assumed to move the tip 123a of the bucket 123 along the surface B of the target surface.

[0115] Furthermore, the prediction calculation device 1 calculates the positioning satellite constellation G(x) that is predicted to be located within the visible area V(x) in the sky view R(x) of antennas 114 and 115 located at the average position Ap(x) at the predicted date and time (step S360). Subsequently, the prediction calculation device 1 calculates the positioning accuracy that would be obtained if positioning calculations were performed using the positioning signals of the calculated positioning satellite constellation G(x) as the predicted positioning accuracy Q(x) at the work position C(x) (step S370). Through this series of processes from steps S320 to S370, the predicted positioning accuracy Q(x) for the work position C(x) of the hydraulic excavator 100 at a certain cross section F(x) of the construction target shape is calculated.

[0116] Next, the prediction calculation device 1 determines whether the variable x is N+1 (the total number of cross-sections F) (step S380). In step S380, if the answer is YES, the device proceeds to step S400; otherwise, it proceeds to step S390.

[0117] If the answer in step S380 is NO, the prediction calculation device 1 increments the variable x by one (step S390), returns to step S320, and performs the series of processes from steps S320 to S370. That is, it changes from calculating the predicted positioning accuracy Q(x) at cross-section F(x) to calculating the predicted positioning accuracy Q(x+1) at cross-section F(x+1). In this way, by incrementing the variable x by one each time the series of processes from steps S320 to S370 are performed, the calculations from the predicted positioning accuracy Q(1) at cross-section F(1) to the predicted positioning accuracy Q(N+1) at cross-section F(N+1) are executed.

[0118] By repeatedly performing the series of processes from steps S320 to S370, if it is determined that YES (x=N+1) in step S380, all predicted positioning accuracy Q(x) calculated in each calculation loop is associated with the plan view 531 of the construction target shape to generate distribution data of the construction prediction accuracy for the entire construction target area (step S400). Specifically, as shown in Figure 20, all calculated predicted positioning accuracy Q(x) is associated with the work position C(x) of each cross section F(x) in the plan view 531. In this case, as shown in Figure 21, multiple areas B(x) are set by dividing the surface B of the construction target surface into multiple sections according to each cross section F(x). This associates the predicted positioning accuracy Q of the work position C with each area B(x) of the construction target surface. However, if the surface to be constructed and the machine's ground contact area are the same surface B, the hydraulic excavator 100 can perform work in the entire 360° range of its working orientation. Therefore, when constructing a certain area B(x) on the surface to be constructed, it may be possible to perform work not only from the working position C(x) within area B(x), but also from multiple working positions C(k) outside of area B(x). In this case, the lowest predictive positioning accuracy Q(k) among the multiple working positions C(k) that can perform work on area B(x) is associated with the construction prediction accuracy of area B(x). In other words, the construction prediction accuracy of area B(x) may be not only the predictive positioning accuracy Q(x) of working position C(x), but also the predictive positioning accuracy Q(x+1) of working position C(x-1) or the predictive positioning accuracy Q(x-1) of working position C(x-1).

[0119] Finally, the prediction calculation device 1 generates a distribution map of construction accuracy for the entire area to be constructed (surface B) based on the distribution data of construction prediction accuracy generated in step S400 and outputs it to the display device 54 (step S210). In this way, even if the surface to be constructed and the machine ground contact area are the same area, a distribution map of construction accuracy for the entire area to be constructed (surface B) can be generated.

[0120] Furthermore, in this embodiment, by changing the predicted date and time for construction accuracy, the user can easily obtain a predicted map of construction accuracy for the entire area to be constructed for any given date and time. Therefore, the user can formulate an efficient construction plan.

[0121] Figure 25 shows the accuracy distribution maps, which are the processing results of the prediction calculation device shown in Figure 2, for different prediction dates and times. For example, construction accuracy is predicted by specifying the time period from Tst to Ted. As a result, if the distribution maps of construction prediction accuracy at time Tst, time T2, and time Ted are distribution maps Mst, M2, and Med shown in Figure 25, respectively, it can be seen that at time Tst, the construction accuracy is low on the left side of the target surface (surface A), at time T2, the construction accuracy is low in the center of the target surface (surface A), and at time Ted, the construction accuracy is low on the right side of the target surface (surface A). Therefore, if the entire target surface (surface A) must be constructed between time Tst and time Ted, it is possible to maintain good construction accuracy at all times by constructing each area while avoiding the time periods when construction accuracy is poor.

[0122] As described above, the construction accuracy prediction calculation device 1 for a work machine according to one embodiment of the present invention predicts the construction accuracy of construction performed by a hydraulic excavator 100 (work machine) equipped with a multi-joint front work device 103 (work device) mounted on the upper slewing body 102 (machine body) so as to be movable in the vertical direction, and first and second antennas 114 and 115 (antennas) attached to the upper slewing body 102 (machine body) to receive positioning signals from multiple positioning satellites, and outputs the prediction result of the construction accuracy. The prediction calculation device 1 holds three-dimensional information of the target shape of the construction, which indicates the terrain shape of the target by the construction, and sets a target surface (surface A) which is the area to be predicted for construction accuracy and a machine ground contact area (surface B) which is the area where the lower traveling body 101 (machine body) is grounded when the target surface (surface A) is constructed, and sets multiple cross-sections F(x) so as to divide the target surface (surface A) and the machine ground contact area (surface B) into multiple sections.If the construction target surface (surface A) and the machine ground contact area (surface B) are set to different areas, the prediction calculation device 1 sets the position of the lower traveling body 101 (machine) where the area of ​​the upper view of the first and second antennas 114 and 115 (antennas) that is shielded by the front working device 103 (working device) is maximized when the construction target surface (surface A) is performed by the front working device 103 (working device) with the lower traveling body 101 (machine) located in the machine ground contact area, as the working position C(x) (first working position), sets the direction from working position C(x) (first working position) to the construction target surface (surface A) as the working direction, and in the first setting state in which the hydraulic excavator 100 (working machine) is at working position C(x) (first working position) and facing the working direction, the front working device 103 (working device) performs construction on the construction target surface (surface A). When construction is performed on surface (surface A), the system calculates the antenna overhead shielding region S(x), which is the area where the view above the first and second antennas 114 and 115 (antennas) is shielded by the front work device 103 (work device). Based on satellite orbit information indicating the predicted orbits of multiple positioning satellites and the calculated antenna overhead shielding region S(x), the system calculates the predicted positioning accuracy Q(x), which is the positioning accuracy when the first and second antennas 114 and 115 (antennas) of the hydraulic excavator 100 (work machine) in a first setting state receive positioning signals from a group of positioning satellites selected from among multiple positioning satellites and perform positioning calculations. By assigning the predicted positioning accuracy Q(x) as the construction accuracy for a specific area A(x) of the construction target surface (surface A) that can be constructed by the front work device 103 (work device) of the hydraulic excavator 100 (work machine) in a first setting state, the system generates a predicted distribution map of construction accuracy.

[0123] With this configuration, by relating the predicted positioning accuracy Q(x) for the hydraulic excavator 100 (working machine) when the upper rotating body 102 (machine) is in a first setting state, which is the position and orientation set according to predetermined conditions, with the construction accuracy for area A(x) of the construction target surface (surface A) that the hydraulic excavator 100 (working machine) can work on in the first setting state, it becomes possible to predict the construction accuracy while taking into account the discrepancy between the positions of the construction target and the positioning target, and the changes in positioning accuracy due to differences in the position and orientation of the hydraulic excavator 100 (working machine). In other words, it is possible to predict the construction accuracy of the hydraulic excavator 100 (working machine) over the entire area of ​​the construction target, taking into account the influences specific to the hydraulic excavator 100 (working machine).

[0124] Furthermore, in this embodiment, the front working device 103 (working device) is a device in which a plurality of link members (arms 122, buckets 123) are rotatably connected, including a boom 121 (first link member) that is mounted to the upper slewing body 102 (machine body) so as to be rotatable in the vertical direction. In addition, the setting of the working position C(x) (first working position) of the prediction calculation device 1 is performed by operating the arms 122 and buckets 123 (link members) other than the boom 121 (first link member) among the plurality of link members (boom 121, arms 122, buckets 123) while maintaining the attitude of the boom 121 (first link member) when the area of ​​the aerial view of the first and second antennas 114 and 115 (antennas) that are shielded by the front working device 103 (working device) is maximized. This is done by first calculating the operating area 103f, which is the region in the sagittal plane of the upper slewing body 102 (machine) that is located on the boom 121 (first link member) side of the trajectory of the limit reach of the claw 123a (tip) of the front working device 103 (working device), and then calculating the position of the lower traveling body 101 (machine) where the distance Df between the surface to be worked on (surface A) and the operating area 103f is minimized when the lower traveling body 101 (machine) is located in the machine ground contact area (surface B) within the cross section F(x).

[0125] With this configuration, the operating range 103f is calculated based on the attitude of the boom 121 (first link member) when the obstruction area of ​​the aerial view of the first and second antennas 114 and 115 (antennas) is at its maximum. Therefore, the position of the lower traveling body 101 (aircraft) when the obstruction area of ​​the aerial view of the first and second antennas 114 and 115 (antennas) is at its maximum can be calculated using a simple calculation method.

[0126] Furthermore, in the prediction calculation device 1 according to this embodiment, the calculation of the antenna overhead shielding region S(x) is performed by operating the front work device 103 (work device) so as to maintain the position of the tip 123a (tip) of the front work device 103 (work device) at the position of the surface to be worked on (surface A), and calculating the region in which the overhead view of the antenna is shielded by the work device.

[0127] With this configuration, it is possible to calculate the antenna overhead shielding area S(x) corresponding to the actual orientation of the front work device 103 (work device) relative to the work target surface (surface A) during construction, thereby enabling accurate prediction of positioning accuracy.

[0128] Furthermore, the prediction calculation device 1 according to this embodiment is configured to accept input of a predicted date and time, which is the date and time on which construction accuracy should be predicted. It is also configured to predict the positions of multiple positioning satellites at any given date and time in the aerial view of the first and second antennas 114 and 115 (antennas) of the hydraulic excavator 100 (working machine) in a first setting state, based on satellite orbit information. Moreover, when the prediction date and time is input, the prediction calculation device 1 calculates the predicted positioning accuracy Q(x) at the predicted date and time by predicting the positions of multiple positioning satellites at the predicted date and time in the aerial view of the first and second antennas 114 and 115 (antennas), and assigns the predicted positioning accuracy Q(x) at the predicted date and time as the construction accuracy at the predicted date and time, thereby generating a predicted distribution map of construction accuracy at the predicted date and time.

[0129] This configuration allows for the generation of a predictive distribution map of construction accuracy for any given date and time, enabling the creation of an efficient construction plan using this map.

[0130] Furthermore, in this embodiment, when the construction target surface and the machine ground contact area are set to the same area (surface B), the prediction calculation device 1 sets the position of the lower traveling body 101 (machine) where the front working device 103 (working device) can perform work on the construction target surface (surface B) regardless of the orientation of the upper rotating body 102 (machine) when the lower traveling body 101 (machine) is located in the machine ground contact area (surface B), as the working position C(x) (second working position). The device also calculates the average of the points where the first and second antennas 114 and 115 (antennas) are located when the hydraulic excavator 100 (working machine) is at working position C(x) (second working position) and the orientation of the upper rotating body 102 (machine) is within the full range, as the average position Ap(x) of the first and second antennas 114 and 115 (antennas). Furthermore, in a second setting state where the upper rotating body 102 (aircraft) is at work position C(x) (second work position) and the first and second antennas 114 and 115 (antennas) are at average position Ap(x), when construction is performed on the target surface (surface B) by the front work device 103 (work device), the antenna overhead shielding region S(x), which is the area in which the view above the first and second antennas 114 and 115 (antennas) is shielded by the front work device 103 (work device), is calculated, and the satellite orbit information and the calculated antenna overhead shielding region S( Based on x), the predicted positioning accuracy Q(x) is calculated when the positioning signals of the positioning satellite constellation G(x) selected from among multiple positioning satellites are received by the first and second antennas 114 and 115 (antennas) of the hydraulic excavator 100 (working machine) in the second setting state and positioning calculations are performed. By assigning the predicted positioning accuracy Q(x) as the construction accuracy for a section of the construction target surface (surface B) that can be worked on by the front working device 103 (working device) of the hydraulic excavator 100 (working machine) in the second setting state, a predicted distribution map of construction accuracy is generated.

[0131] With this configuration, even without setting the orientation of the upper rotating body 102 (machine), the positioning accuracy Q(x) can be calculated by setting the average position Ap(x) of the first and second antennas 114 and 115 (antennas). Therefore, even if the construction target surface of the hydraulic excavator 100 (working machine) and the machine's ground contact area are the same area (surface B), a predictive distribution map of construction accuracy can be generated over the entire construction target surface (surface B).

[0132] Furthermore, the calculation device 1 according to this embodiment is configured such that, if two or more front working devices 103 (working devices) of hydraulic excavators 100 (working machines) in second setting states are capable of working on the same area on the surface to be constructed (surface B), it assigns the lowest predictive positioning accuracy Q(x) calculated according to those second setting states as the construction accuracy for that area.

[0133] This configuration allows us to associate the worst-case construction accuracy with the area of ​​the surface to be constructed (surface B), thereby preventing the actual construction accuracy from being lower than the predicted accuracy.

[0134] [Other embodiments] It should be noted that the present invention is not limited to this embodiment and includes various modifications. The above-described embodiment is explained in detail for the purpose of clearly illustrating the present invention and is not necessarily limited to having all the configurations described. It is also possible to add, delete, or replace some of the configurations of this embodiment with other configurations.

[0135] For example, in the above-described embodiment, an example was shown in which the prediction calculation device 1 sets cross-sections F that divide the construction target surface set in the plan view 531 of the construction target shape into multiple sections based on user input. However, it is also possible to configure the prediction calculation device 1 to arbitrarily set the cross-sections F that divide the construction target surface in the plan view 531 of the construction target shape into multiple sections, without user input. For example, it can be configured to calculate an appropriate number of divisions for the construction target surface from specification information such as the size of the construction target surface and the size of the work machinery. [Explanation of Symbols]

[0136] 1…Predictive calculation device, 100…Hydraulic excavator (working machine), 101…Lower traveling body (machine), 102…Upper rotating body (machine), 103…Front working device (working device), 114, 115…First GNSS antenna, second GNSS antenna (antenna), 121…Boom (first link member), 122…Arm (link member), 123…Bucket (link member), 531…Plan view (3D information of construction target shape), 532…Cross-sectional view (3D information of construction target shape), F(x)…Cross section, C(x)…Working position (first working position, second working position), S(x)…Antenna overhead shielding area, Q(x)…Predictive positioning accuracy

Claims

1. A construction accuracy prediction calculation device for a work machine that predicts the construction accuracy of a work machine equipped with a multi-jointed work device mounted on the machine so as to be movable in the vertical direction and an antenna mounted on the machine to receive positioning signals from multiple positioning satellites, and outputs the prediction result of the construction accuracy, It maintains three-dimensional information of the target construction shape, which indicates the target terrain shape achieved through construction. With respect to the target construction shape, a construction target surface, which is the area for predicting the construction accuracy, and a machine grounding area, which is the area where the machine is grounded during construction of the construction target surface, are defined. Multiple cross-sections are set to divide the surface to be constructed and the area where the machine is grounded into multiple sections. If the surface to be worked on and the area where the machine is grounded are set to different areas, For each of the set cross-sections, the position of the aircraft that maximizes the area of ​​the overhead view of the antenna that is shielded by the work device when the aircraft is positioned in the aircraft grounding area and the work device is used to perform work on the surface to be constructed is set as the first working position. The direction from the first work position to the surface to be worked on is set as the work direction, In a first setting state in which the work machine is in the first work position and facing the work direction, when the work device performs work on the surface to be constructed, the first antenna overhead shielding region, which is the region in which the overhead view of the antenna is shielded by the work device, is calculated. Based on satellite orbit information indicating the predicted orbits of the plurality of positioning satellites and the shielding area above the first antenna, a first predicted positioning accuracy is calculated, which is the positioning accuracy when the antenna of the work machine in the first setting state receives the positioning signals of a group of positioning satellites selected from among the plurality of positioning satellites and performs positioning calculations. By assigning the first predictive positioning accuracy as the construction accuracy for a certain area of ​​the construction target surface that can be constructed by the work device of the work machine in the first setting state, a predictive distribution map of the construction accuracy is generated. A device for predicting the construction accuracy of work machinery, characterized by the following features.

2. In the construction accuracy prediction calculation device for a work machine according to claim 1, The aforementioned work device is a device in which a plurality of link members, including a first link member that is mounted to the machine body so as to be rotatable in the vertical direction, are rotatably connected. The setting of the first working position is: When the orientation of the first link member is maintained at the point where the area of ​​the view of the antenna above, which is shielded by the work device, is maximized, and the link members other than the first link member among the plurality of link members are operated, the operating area is calculated as the area in the sagittal plane of the aircraft that is located on the side of the first link member side of the trajectory of the limit reach of the tip of the work device. This is performed by calculating the position of the machine that minimizes the distance between the construction target surface and the operating area when the machine is located in the machine ground contact area within the cross-section. A device for predicting the construction accuracy of work machinery, characterized by the following features.

3. In the construction accuracy prediction calculation device for a work machine according to claim 1, The calculation of the first antenna's overhead shielding region is performed by operating the work device so that its tip remains at the position of the surface to be worked on, and calculating the region in which the overhead view of the antenna is shielded by the work device. A device for predicting the construction accuracy of work machinery, characterized by the following features.

4. In the construction accuracy prediction calculation device for a work machine according to claim 1, The system is configured to allow input of a predicted date and time, which is the date and time on which the construction accuracy should be predicted, and to allow prediction of the positions of the multiple positioning satellites at any given date and time in the aerial view of the antenna of the work machine in the first setting state, based on the satellite orbit information. When the predicted date and time is input, the first predicted positioning accuracy at the predicted date and time is calculated by predicting the positions of the multiple positioning satellites in the aerial view of the antenna at the predicted date and time. By assigning the first predicted positioning accuracy at the predicted date and time as the construction accuracy at the predicted date and time, a predicted distribution map of the construction accuracy at the predicted date and time is generated. A device for predicting the construction accuracy of work machinery, characterized by the following features.

5. In the construction accuracy prediction calculation device for a work machine according to claim 1, If the surface to be worked on and the area where the machine is grounded are set to the same area, For each of the set cross-sections, a second working position is set for the machine at which, regardless of the orientation of the machine while the machine is located in the machine ground contact area, the working device can perform work on the surface to be worked on. The average of the points where the antenna is located when the work machine is in the second work position and the entire range of the machine's orientation is possible is calculated as the average position of the antenna. In a second setting state in which the aircraft is in the second working position and the antenna is in the average position, when the work device performs work on the surface to be worked on, the second antenna overhead shielding region, which is the region in which the antenna's overhead view is shielded by the work device, is calculated. Based on the satellite orbit information and the shielding area above the second antenna, a second predicted positioning accuracy is calculated, which is the positioning accuracy when the antenna of the work machine in the second setting state receives positioning signals from a group of positioning satellites selected from among the multiple positioning satellites and performs positioning calculations. By assigning the second predictive positioning accuracy as the construction accuracy for a section of the construction target surface that can be constructed by the work device of the work machine in the second setting state, a predictive distribution map of the construction accuracy is generated. A device for predicting the construction accuracy of work machinery, characterized by the following features.

6. In the construction accuracy prediction calculation device for a work machine according to claim 5, If the work device of the work machine is capable of performing work on the same area on the surface to be worked on by two or more of the second setting states, the lowest second predictive positioning accuracy among the second predictive positioning accuracy calculated according to those second setting states is assigned as the work accuracy for that area. A device for predicting the construction accuracy of work machinery, characterized by the following features.

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