Excavators and excavator logic

Abstract

To provide a shovel capable of more accurately calculating the position of a predetermined part of an end attachment.SOLUTION: A shovel 100 includes a lower traveling body 1, an upper revolving body 3 mounted on the lower traveling body 1, an attachment AT that is attached to the upper revolving body 3 and includes a boom 4, an arm 5, and a bucket 6, an attitude detection device that detects the attitude of the attachment AT, and a controller 30 that is configured to calculate an estimated position of a tip of a claw 6a of a bucket 6 based on an output of the attitude detection device. The controller 30 is configured to calculate the positional deviation between the estimated position of the tip of the claw 6a and a reference position RP based on the output of the attitude detection device when the tip of the claw 6a is positioned at the reference position RP that is a known distance DS away from a boom foot pin in a predetermined direction.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] This disclosure relates to an excavator and an excavator management system. [Background technology]

[0002] Conventionally, there are known excavators that calculate the coordinate position of the tip of the bucket based on known boom length, arm length, and bucket length, and boom angle, arm angle, and bucket angle measured by an angle sensor (see Patent Document 1). This excavator is configured to open and close the bucket while keeping the boom angle and arm angle constant, bringing the tip of the bucket into contact with a first position and a second position, and to derive the measurement error of the bucket angle based on the difference between the measured distance between the first position and the second position and the calculated distance. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-150596 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, the above configuration assumes that the difference between the measured distance between the first and second positions and the calculated distance is due to measurement errors in the bucket angle. Therefore, if the bucket attached to the arm is replaced with a bucket of a different shape, the excavator will no longer be able to accurately calculate the coordinate position of the tip of the bucket. This is because the difference caused by the difference in bucket shape will be perceived as a difference caused by measurement errors in the bucket angle.

[0005] Therefore, it is desirable to provide a shovel that can more accurately calculate the position of a predetermined part of the end attachment. [Means for solving the problem]

[0006] An excavator according to an embodiment of the present invention includes a lower traveling body, an upper swing body mounted on the lower traveling body, an attachment including a boom, an arm, and an end attachment attached to the upper swing body, an attitude detection device that detects the attitude of the attachment, and a control device configured to calculate an estimated position of a predetermined portion of the end attachment based on an output of the attitude detection device. The control device is at a first position that is separated from a boom foot pin by a known distance in a predetermined direction In a certain place when a predetermined portion of the end attachment Make contact is configured to calculate a positional deviation between the estimated position of the predetermined portion of the end attachment and the first position based on the output of the attitude detection device when The predetermined direction and the known distance are set before the distance between the boom foot pin and the object becomes the known distance. it occurs.

Advantages of the Invention

[0007] The above-described excavator can more accurately calculate the position of a predetermined portion of the end attachment.

Brief Description of the Drawings

[0008] [Figure 1] It is a side view of an excavator according to an embodiment of the present invention. [Figure 2] It is a diagram showing a configuration example of a drive system of an excavator. [Figure 3] It is a diagram showing a configuration example of a management system of an excavator. [Figure 4A] It is a side view of an excavator showing a reference coordinate system. [Figure 4B] It is a top view of an excavator showing a reference coordinate system. [Figure 5] It is a flowchart showing an example of a flow of information acquisition processing. <000,0111>It is a side view of an excavator that executes an example of information acquisition processing. [Figure 7] It is a side view of an excavator that executes another example of information acquisition processing. [Modes for carrying out the invention]

[0009] Figure 1 is a side view showing a shovel 100 as an excavator, which is an example of a construction machine according to an embodiment of the present invention. An upper rotating body 3 is rotatably mounted on the lower traveling body 1 of the shovel 100 via a slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. A field bucket, slope bucket, wide bucket, or narrow bucket may be attached as an end attachment.

[0010] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket link.

[0011] The boom angle sensor S1 is a sensor that detects the rotation angle of the boom 4. In the illustrated example, the boom angle sensor S1 is an acceleration sensor that detects the tilt angle of the boom 4 with respect to the horizontal plane by detecting the acceleration due to gravity. In the illustrated example, the boom angle sensor S1 detects the rotation angle of the boom 4 around the boom foot pin that connects the upper slewing body 3 and the boom 4 as the boom angle.

[0012] The arm angle sensor S2 is a sensor that detects the rotation angle of the arm 5. In the illustrated example, the arm angle sensor S2 is an acceleration sensor that detects the inclination angle of the arm 5 with respect to the horizontal plane by detecting the acceleration due to gravity. In the illustrated example, the arm angle sensor S2 detects the rotation angle of the arm 5 around the arm pin that connects the boom 4 and the arm 5 as the arm angle.

[0013] The bucket angle sensor S3 is a sensor that detects the rotation angle of the bucket 6. In the illustrated example, the bucket angle sensor S3 is an acceleration sensor that detects the tilt angle of the bucket 6 with respect to the horizontal plane by detecting the acceleration due to gravity. In the illustrated example, the bucket angle sensor S3 detects the rotation angle of the bucket 6 around the bucket pin that connects the arm 5 and the bucket 6 as the bucket angle.

[0014] At least one of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around the connecting pin, etc. Alternatively, at least one of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be an inertial measurement device combining an acceleration sensor and an angular velocity sensor (gyro sensor). The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 then function as an attitude detection device for calculating the attitude of the attachment AT.

[0015] The upper rotating body 3 is equipped with a cabin 10 and a power source such as an engine 11. The upper rotating body 3 is also fitted with an aircraft tilt sensor S4, a rotational velocity sensor S5, and a positioning device S6. Inside the cabin 10 are an input device D1, a sound output device D2, a display device D3, a storage device D4, a controller 30, and an operation support device 50.

[0016] The controller 30 is a control device that controls the drive of the shovel 100. In the illustrated example, the controller 30 consists of a processing unit (processing circuit) including a CPU and internal memory. The various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

[0017] The operation support device 50 is a device that assists the operator in operating the shovel 100. In the illustrated example, the operation support device 50 performs a function that guides the operator in operating the shovel 100 by visually and audibly informing the operator of the vertical distance between the surface of the target terrain set by the operator and the position of the tip (toe) of the bucket 6. Hereinafter, this function will be referred to as the "machine guidance function". The operation support device 50 may only visually inform the operator of the distance, or it may only audibly inform the operator of the distance. Specifically, the operation support device 50, like the controller 30, is composed of a processing unit including a CPU and internal memory as one of the controllers. The various functions of the operation support device 50 are realized by the CPU executing a program stored in the internal memory. The operation support device 50 may also be integrated integrally with the controller 30.

[0018] Alternatively, the operation support device 50 may perform a function that automatically assists the operator in manually operating the shovel 100. Hereinafter, this function will be referred to as the "machine control function". In the machine control function, the operation support device 50 may, for example, automatically operate at least one of the boom 4, arm 5, and bucket 6 when the operator manually operates at least one of the boom 4, arm 5, and bucket 6 in order to move the tip of the claw 6a of the bucket 6 along a preset target trajectory. Specifically, the operation support device 50 may automatically extend the boom cylinder 7 and raise the boom 4 when the operator is performing an arm closing operation.

[0019] Alternatively, the operation support device 50 may perform a function to automatically operate the shovel 100. Hereinafter, this function will be referred to as the "autonomous control function." In the autonomous control function, the operation support device 50 may automatically operate at least one of the boom 4, arm 5, and bucket 6, for example, to move the tip of the claw 6a of the bucket 6 along a preset target trajectory. Specifically, the operation support device 50 may automatically operate the boom 4, arm 5, and bucket 6 when the operator is not performing manual operation.

[0020] Furthermore, the machine guidance function and machine control function may be used in a remotely operated excavator that is remotely controlled using an operating device 26 located outside the excavator 100. In addition, the autonomous control function may be used in an autonomous excavator that does not have an operating device 26.

[0021] The aircraft tilt sensor S4 is a sensor that detects the tilt angle of the upper rotating body 3 with respect to the horizontal plane. In the illustrated example, it is an acceleration sensor that detects the tilt angle of the longitudinal axis of the upper rotating body 3 with respect to the horizontal plane (hereinafter referred to as the "aircraft pitch angle") and the tilt angle of the lateral axis of the upper rotating body 3 with respect to the horizontal plane (hereinafter referred to as the "aircraft roll angle") by detecting the acceleration due to gravity. The aircraft tilt sensor S4 may also constitute an attitude detection device for calculating the attitude of the attachment AT.

[0022] The rotational angular velocity sensor S5 is a sensor that detects the angular velocity of the upper rotating body 3 as it rotates around the rotation axis. In the illustrated example, the rotational angular velocity sensor S5 is a rotary encoder that detects the angular velocity of the upper rotating body 3. The rotational angular velocity sensor S5 may also constitute an attitude detection device for calculating the attitude of the attachment AT.

[0023] The positioning device S6 is a device for measuring the position of the shovel 100. In the illustrated example, the positioning device S6 is an electronic compass containing two GNSS receivers, and outputs information regarding the position coordinates (latitude, longitude, altitude) and orientation (azimuth) of the positioning device S6 in the World Geodetic System to the operation support device 50. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, the X-axis taken in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis taken in the direction of 90 degrees east longitude, and the Z-axis taken in the direction of the North Pole.

[0024] The input device D1 is a device for the operator of the shovel 100 to input various information. In the illustrated example, the input device D1 is a hardware switch located around the display screen of the display device D3. The operator of the shovel 100 inputs various information to the operation support device 50 through the input device D1. The input device D1 may be a touch panel. Alternatively, the input device D1 may be a USB memory stick. In this case, the operator can input information stored in the USB memory stick to the operation support device 50 by inserting the USB memory stick into a USB connector installed inside the cabin 10.

[0025] The sound output device D2 is a device that outputs various sound information in response to sound output commands from the controller 30 or the operation support device 50. In the illustrated example, the sound output device D2 is an in-vehicle speaker directly connected to the operation support device 50. The sound output device D2 may also be a buzzer.

[0026] Display device D3 is a device that displays various image information in response to commands from controller 30 or operation support device 50. In the illustrated example, display device D3 is an in-vehicle liquid crystal display directly connected to operation support device 50.

[0027] The memory device D4 is a device for storing various types of information. In the illustrated example, the memory device D4 is a non-volatile storage medium such as a semiconductor memory, and stores various types of information output by the operation support device 50, etc.

[0028] Figure 2 shows an example of the drive system configuration for the excavator 100 shown in Figure 1. In Figure 2, the mechanical power system is shown by double lines, the hydraulic fluid lines by thick solid lines, the pilot lines by dashed lines, and the electric drive and control system by thin solid lines.

[0029] Engine 11 is the power source for the shovel 100. In the illustrated example, engine 11 is a diesel engine that employs isochronous control to maintain a constant engine speed regardless of increases or decreases in engine load.

[0030] The engine 11 is connected to a main pump 14 and a pilot pump 15, which function as hydraulic pumps. The main pump 14 is connected to a control valve unit 17 via a hydraulic fluid line.

[0031] The control valve unit 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. In the illustrated example, the control valve unit 17 includes multiple control valves corresponding to each of the multiple hydraulic actuators, such as the left-side travel hydraulic motor 1L, the right-side travel hydraulic motor 1R, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the slewing hydraulic motor 21. Each of the multiple hydraulic actuators is connected to the corresponding control valve in the control valve unit 17 via a hydraulic fluid line.

[0032] The pilot pump 15 is configured to supply hydraulic fluid to the pilot ports of the multiple control valves in the control valve unit 17 via the pilot line 25. In the illustrated example, the pilot pump 15 is a fixed-displacement hydraulic pump. The pilot pump 15 may be omitted. In this case, the function that the pilot pump 15 performed may be realized by the main pump 14. That is, the main pump 14 may have a function to supply hydraulic fluid to the hydraulic control equipment after reducing the pressure of the hydraulic fluid by throttling or the like, in addition to its function of supplying hydraulic fluid to the control valve unit 17.

[0033] The operating device 26 is a device for operating a hydraulic actuator and includes an operating lever 26A, an operating lever 26B, and an operating pedal 26C. The operating sensor 29 is a sensor that detects the operation of the operating device 26 and outputs the detected value to the controller 30.

[0034] Next, with reference to Figure 3, the management system SYS for the excavator 100 will be described. Figure 3 is a diagram showing an example configuration of the management system SYS. The management system SYS is a system for managing the excavator 100 and mainly includes a controller 30 and an operation support device 50.

[0035] In the illustrated example, the operation support device 50 receives outputs from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine tilt sensor S4, slewing angular velocity sensor S5, positioning device S6, input device D1, and controller 30, and outputs various commands to the sound output device D2, display device D3, and storage device D4, respectively. The operation support device 50 also includes a coordinate acquisition unit 51, a calculation unit 52, a sound output processing unit 53, and a display processing unit 54. The controller 30 and the operation support device 50 are connected to each other via CAN (Controller Area Network).

[0036] The coordinate acquisition unit 51 is configured to acquire the coordinates of a predetermined part of the attachment AT. In the illustrated example, the coordinate acquisition unit 51 derives the origin coordinates (latitude, longitude, altitude) of the reference coordinate system based on the detection values ​​of the machine tilt sensor S4 and the positioning device S6. The reference coordinate system is a coordinate system based on the shovel 100, and is, for example, a three-dimensional Cartesian coordinate system with the extension direction of the attachment AT as the X-axis and the rotation axis of the shovel 100 as the Z-axis. The positional relationship between the origin coordinates of the reference coordinate system and the coordinates of the mounting position of the positioning device S6 (hereinafter referred to as "positioning device coordinates") is relatively constant. Therefore, the coordinate acquisition unit 51 can uniquely derive the origin coordinates of the reference coordinate system in the World Geodetic System from the detection values ​​of the machine tilt sensor S4 and the positioning device S6.

[0037] Specifically, the coordinate acquisition unit 51 derives the origin coordinates of the reference coordinate system in the World Geodetic System based on the position coordinates and orientation of the positioning device S6 in the World Geodetic System, which are the detected values ​​of the positioning device S6.

[0038] Furthermore, the coordinate acquisition unit 51 rotates the reference coordinate system based on the aircraft roll angle and aircraft pitch angle detected by the aircraft tilt sensor S4 to derive a rotation matrix to align the three axes of the reference coordinate system with the three axes of the World Geodetic System.

[0039] As a result, once the coordinate acquisition unit 51 determines the coordinates of any point in the reference coordinate system, it can derive the coordinates of that arbitrary point in the world geodetic system based on the origin coordinates and rotation matrix of the reference coordinate system in the world geodetic system.

[0040] The coordinate acquisition unit 51 may be configured to derive coordinates in the World Geodetic System for a predetermined part on the upper rotating body 3, such as a boom foot pin, based solely on the values ​​detected by the positioning device S6.

[0041] Furthermore, the coordinate acquisition unit 51 derives the attitude of the attachment AT based on the detected values ​​of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. This is to enable the deriving of coordinates in the reference coordinate system corresponding to each point on the attachment AT, and consequently, to enable the deriving of coordinates in the world geodetic system corresponding to each point. Each point on the attachment AT includes the position of the bucket pin and the tip position of the bucket 6.

[0042] The calculation unit 52 derives the deviation between the current position of the tip of the bucket 6 and the target position. In the illustrated example, the calculation unit 52 derives the deviation between the current position of the tip of the bucket 6 and the target position based on the coordinates of the tip of the bucket 6 acquired by the coordinate acquisition unit 51 and the target terrain information. The target terrain information is information about the terrain at the time of construction completion and includes a set of coordinates representing the target terrain. The target terrain information is input through the input device D1 and stored in the storage device D4.

[0043] For example, the calculation unit 52 derives the vertical distance between the tip position of the bucket 6 and the surface of the target terrain as the displacement. The displacement may also be the horizontal distance between the tip position of the bucket 6 and the surface of the target terrain, or it may be the shortest distance between the tip position of the bucket 6 and the surface of the target terrain.

[0044] The sound output processing unit 53 controls the sound output from the sound output device D2. For example, the sound output processing unit 53 adjusts the attributes (pitch, volume, and timbre) of the sound output from the sound output device D2. In the illustrated example, the sound output processing unit 53 outputs an intermittent sound as a guidance sound from the sound output device D2 when the amount of deviation derived by the calculation unit 52 falls below a predetermined value. The sound output processing unit 53 also shortens the output interval (length of the silent portion) of the intermittent sound as the amount of deviation decreases. The sound output processing unit 53 may output a continuous sound (intermittent sound with zero output interval) from the sound output device D2 when the amount of deviation is zero, that is, when the tip position of the bucket 6 coincides with the surface of the target terrain. The sound output processing unit 53 may also change the pitch (frequency) of the intermittent sound when the sign of the amount of deviation is reversed. For example, the amount of deviation is positive when the tip position of the bucket 6 is vertically above the surface of the target terrain.

[0045] The display processing unit 54 controls the content of various image information to be displayed on the display device D3. In the illustrated example, the display processing unit 54 displays on the display device D3 the relationship between the coordinates of the tip position of the bucket 6 acquired by the coordinate acquisition unit 51 and the coordinate group representing the target terrain. Specifically, the display processing unit 54 displays on the display device D3 a CG image of the cross-section of the bucket 6 and the target terrain viewed from the side (Y-axis direction), and a CG image of the cross-section of the bucket 6 and the target terrain viewed from the rear (X-axis direction). The display processing unit 54 may also display the magnitude of the displacement amount derived by the calculation unit 52 as a bar graph.

[0046] Next, the reference coordinate system, which is a three-dimensional Cartesian coordinate system, will be explained with reference to Figures 4A and 4B. Figure 4A is a side view of shovel 100, and Figure 4B is a top view of shovel 100.

[0047] As shown in Figures 4A and 4B, the Z-axis of the reference coordinate system corresponds to the pivot axis PC of the shovel 100, and the origin O of the reference coordinate system corresponds to the intersection point of the pivot axis PC and the ground contact surface of the shovel 100.

[0048] The X-axis, perpendicular to the Z-axis, extends in the direction of extension of attachment AT, and the Y-axis, also perpendicular to the Z-axis, extends in a direction perpendicular to the direction of extension of attachment AT. In other words, the X-axis and Y-axis rotate around the Z-axis as the shovel 100 rotates.

[0049] Furthermore, as shown in Figure 4A, the mounting position of the boom 4 to the upper slewing body 3 is represented by the boom foot pin position P1, which is the position of the boom foot pin as the boom rotation axis. Similarly, the mounting position of the arm 5 to the boom 4 is represented by the arm pin position P2, which is the position of the arm pin as the arm rotation axis. The mounting position of the bucket 6 to the arm 5 is represented by the bucket pin position P3, which is the position of the bucket pin as the bucket rotation axis. The tip position of the claws 6a of the bucket 6 is represented by the bucket tip position P4.

[0050] The length of the line segment SG1 connecting the boom foot pin position P1 and the arm pin position P2 is expressed as the boom length by a predetermined value L1, the length of the line segment SG2 connecting the arm pin position P2 and the bucket pin position P3 is expressed as the arm length by a predetermined value L2, and the length of the line segment SG3 connecting the bucket pin position P3 and the bucket tip position P4 is expressed as the bucket length by a predetermined value L3. The predetermined values ​​L1, L2, and L3 are stored in advance in a storage device D4 or the like.

[0051] Furthermore, the boom angle formed between line segment SG1 and the horizontal plane is represented by β1, the arm angle formed between line segment SG2 and the horizontal plane is represented by β2, and the bucket angle formed between line segment SG3 and the horizontal plane is represented by β3. In Figure 4A, the boom angle β1, arm angle β2, and bucket angle β3 are defined with respect to a line parallel to the X-axis, with the counterclockwise direction being the positive direction.

[0052] Here, the three-dimensional coordinates of the boom foot pin position P1 are (X, Y, Z) = (H 0X , 0, H 0Z Let ) and the three-dimensional coordinates of the bucket tip position P4 be (X, Y, Z) = (X4, Y4, Z4), then X4 and Z4 are expressed by equations (1) and (2), respectively.

[0053] X4=H 0X +L1cosβ1+L2cosβ2+L3cosβ3...(1) Z4=H 0Z +L1sinβ1+L2sinβ2+L3sinβ3...(2) Y4 is 0 because the bucket tip position P4 lies on the XZ plane. Also, since the boom foot pin position P1 is invariant relative to the origin O, the coordinates of the arm pin position P2 are uniquely determined once the boom angle β1 is determined. Similarly, the coordinates of the bucket pin position P3 are uniquely determined once the boom angle β1 and arm angle β2 are determined, and the coordinates of the bucket tip position P4 are uniquely determined once the boom angle β1, arm angle β2, and bucket angle β3 are determined.

[0054] Furthermore, the coordinate acquisition unit 51 can uniquely derive the coordinates of the boom foot pin position P1, arm pin position P2, bucket pin position P3, and bucket tip position P4 in the World Geodetic System once the coordinates of the boom foot pin position P1, arm pin position P2, bucket pin position P3, and bucket tip position P4 in the reference coordinate system are determined. This is because the relative positional relationship between the position of the positioning device S6 and the boom foot pin position P1 is known.

[0055] However, the claws 6a of the bucket 6 are an example of replaceable consumable parts and wear down with use. Therefore, the three-dimensional coordinates (X, Y, Z) = (X4, Y4, Z4) of the bucket tip position P4 calculated using the above equations (1) and (2) deviate from the actual three-dimensional coordinates of the bucket tip position as the claws 6a wear down. As a result, the coordinate acquisition unit 51 becomes unable to acquire the accurate coordinates of the bucket tip position P4, and the operation support device 50 becomes unable to accurately support the operation of the shovel 100.

[0056] Therefore, in the illustrated example, the controller 30 derives the precise coordinates of the bucket tip position P4 by performing the information acquisition process described later, enabling accurate support for the operation of the shovel 100 even when the claws 6a are worn.

[0057] Specifically, the controller 30 includes a coordinate estimation unit 31 and a positional deviation calculation unit 32.

[0058] The coordinate estimation unit 31 is configured to estimate the coordinates of the tip of the end attachment. In the illustrated example, the coordinate estimation unit 31 derives the coordinates of the bucket tip position P4 in the World Geodetic System based on the coordinates of the bucket pin position P3 acquired by the coordinate acquisition unit 51 when the tip of the claw 6a of the bucket 6 is brought into contact with a reference position, which is a known coordinate in the World Geodetic System, and the bucket angle detected by the bucket angle sensor S3. The reference position is, for example, a position located a known distance away from the boom foot pin in a predetermined direction. In the illustrated example, it is a position located diagonally downward and forward from the boom foot pin position P1 by a distance DS. The distance DS may be a pre-registered distance, or it may be a distance dynamically set before calculating the positional deviation.

[0059] The positional deviation calculation unit 32 is configured to calculate the positional deviation between the estimated coordinates and the actual coordinates of a predetermined part of the end attachment. In the illustrated example, the positional deviation calculation unit 32 calculates the positional deviation between the coordinates of the bucket tip position P4 (estimated coordinates) calculated by the coordinate estimation unit 31 when the tip of the claws 6a of the bucket 6 is brought into contact with the reference position, and the coordinates of the reference position (actual coordinates) that have been measured in advance using a GNSS receiver or the like. Specifically, the positional deviation calculation unit 32 calculates in which direction and by how much the estimated coordinates are separated from the actual coordinates. When the tip of the claws 6a of the bucket 6 is brought into contact with the reference position, the coordinates of the reference position correspond to the actual coordinates of the bucket tip position P4.

[0060] Here, referring to Figures 5 and 6, an example of the process by which the controller 30 acquires information regarding the misalignment of the tip of the claw 6a (hereinafter referred to as the "information acquisition process") will be explained. Figure 5 is a flowchart showing the flow of an example of the information acquisition process. Figure 6 is a side view of the shovel 100 performing an example of the information acquisition process. Specifically, Figure 6 shows the state of the shovel 100 when the tip of the claw 6a of the bucket 6 is in contact with the reference position RP.

[0061] The reference position RP is a position having coordinates in a predetermined geodetic system, and includes positions having coordinates represented by surveying markers such as reference piles. In the illustrated example, the reference position RP has coordinates in the World Geodetic System. The coordinates (X R , Y R , Z R ) of the reference position RP are known to the controller 30 and the operation support device 50.

[0062] The reference position RP may be a line drawn on the horizontal ground at the parking area of the excavator 100. This line has, for example, a length substantially the same as the width of the bucket 6. In this case, the operator of the excavator 100 drives the excavator 100 and stops the lower traveling body 1 at a predetermined position. The predetermined position is, for example, a position represented by a rectangular frame drawn on the ground. The line representing the reference position RP is drawn parallel to the front side at a position separated from the front side of the rectangular frame by a predetermined distance. Thereafter, the operator of the excavator 100 operates the operating device 26 to move the attachment AT and brings the tip of the claw 6a of the bucket 6 into contact with the reference position RP. At this point, the controller 30 executes an information acquisition process.

[0063] First, the controller 30 acquires the coordinates (X R , Y R , Z R ) of the reference position RP (step ST1). In the illustrated example, the operator gives the coordinates (X R , Y R , Z R ) of the reference position RP to the controller 30 by inputting the coordinates (X R , Y R , Z R ) of the reference position RP to the controller 30 via the input device D1. The coordinates (X R , Y R , Z R ) of the reference position RP may be input to the controller 30 via a USB memory or wireless communication or the like. Note that the coordinates (X R , Y R , Z R) corresponds to the actual coordinates of the bucket tip position P4 when the operator brings the tip of the claw 6a of the bucket 6 into contact with the reference position RP.

[0064] Subsequently, the coordinate estimation unit 31 of the controller 30 estimates the coordinates (X4, Y4, Z4) of the bucket tip position P4 when the operator brings the tip of the claw 6a of the bucket 6 into contact with the reference position RP (step ST2).

[0065] Specifically, the operator of the shovel 100 operates the control devices 26, such as the boom control lever, arm control lever, bucket control lever, slewing control lever, and travel pedal, to bring the tip of the bucket 6's claw 6a into contact with the reference position RP. The operator then uses the touch panel, which acts as the input device D1, to instruct the operation support device 50 via the coordinate estimation unit 31 to store the coordinates of the bucket tip position P4 at that time as estimated coordinates. The coordinate acquisition unit 51 of the operation support device 50 stores the coordinates of the bucket tip position P4 as estimated coordinates in the storage device D4 in response to this instruction.

[0066] In the example shown in Figure 6, the coordinate acquisition unit 51 acquires the coordinates (X) of the sensor position Ps in the World Geodetic System based on the outputs of the aircraft tilt sensor S4 and the positioning device S6, respectively. S , Y S , Z S The coordinate acquisition unit 51 then determines the coordinates (X) of the sensor position Ps in the World Geodetic System. S , Y S , Z S Based on the orientation of the upper rotating body 3, the coordinates (X1, Y1, Z1) of the boom foot pin position P1 in the World Geodetic System are derived. Then, based on the outputs of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3, the coordinate acquisition unit 51 calculates the coordinates (X4, Y4, Z4) of the bucket tip position P4, which is located at a distance DS (value DS1) from the boom foot pin position P1 in the toe direction shown by the dashed line. In the example shown in Figure 6, the toe direction is set to form an angle θ1 with respect to the horizontal plane.

[0067] The operator of the shovel 100 may change the posture of the attachment AT and repeatedly bring the tip of the claw 6a of the bucket 6 into contact with the reference position RP, and each time contact is made, instruct the operation support device 50 via the coordinate estimation unit 31 to separately store the coordinates of the bucket tip position P4 as estimated coordinates.

[0068] Subsequently, the positional deviation calculation unit 32 of the controller 30 acquires information regarding the positional deviation between the actual coordinates and estimated coordinates of the bucket tip position P4 (step ST3). In the illustrated example, the controller 30 calculates the coordinates (X) of the reference position RP acquired in step ST1. R , Y R , Z R The controller 30 obtains the actual coordinates of the bucket tip position P4. The controller 30 then obtains information regarding the positional deviation between these actual coordinates and the estimated coordinates of the bucket tip position P4 stored in the storage device D4 in step ST2.

[0069] Information regarding positional deviations includes, for example, the distance, horizontal distance, or vertical distance between the estimated coordinates and the actual coordinates of the bucket tip position P4, or the direction of the estimated coordinates as viewed from the actual coordinates.

[0070] If multiple estimated coordinates for the bucket tip position P4 are stored, the position deviation calculation unit 32 may acquire information regarding the position deviation between each of the multiple estimated coordinates and the actual coordinate. In this case, the information regarding the position deviation may be a statistical value (average, maximum, or minimum) of the distance between each of the multiple estimated coordinates and the actual coordinate. The same applies to horizontal distance, vertical distance, or the direction of the estimated coordinate as seen from the actual coordinate.

[0071] Subsequently, the controller 30 calculates a correction amount based on information regarding the positional deviation (step ST4). The correction amount is used to correct the coordinates of the bucket tip position P4 calculated by the coordinate acquisition unit 51 when the operation support device 50 is performing a machine guidance function, a machine control function, or an autonomous control function. The correction amount is, for example, the amount of wear on the claws 6a of the bucket 6.

[0072] With this configuration, the controller 30 derives a correction amount to correct the coordinates of the bucket tip position P4 calculated by various functions executed afterward, based on the coordinates of the bucket tip position P4 acquired by the coordinate acquisition unit 51 when the claws 6a of the bucket 6 come into contact with a known reference position RP. Therefore, the controller 30 can accurately derive the coordinates of the bucket tip position P4 regardless of whether or not the claws 6a of the bucket 6 are worn, after the information acquisition process has been executed. In the illustrated example, the controller 30 corrects the bucket tip position P4 so that the error in the bucket tip position P4 is within ±50 mm.

[0073] Next, with reference to Figures 5 and 7, another example of the information acquisition process will be described. Figure 7 is a side view of the shovel 100 performing another example of the information acquisition process. Specifically, Figure 7 shows the state of the shovel 100 when the tip of the claw 6a of the bucket 6 is in contact with the tip of the protruding member PM.

[0074] The protruding member PM is a member provided to protrude forward from the slewing frame that constitutes the upper slewing body 3 so that the tip of the claw 6a of the bucket 6 can make contact with it. In the illustrated example, the protruding member PM is a retractable rod-shaped member, with one end attached to the lower surface of the slewing frame and configured to be retracted and stored between the lower traveling body 1 and the upper slewing body 3. However, the protruding member PM may be configured to be detachable from the slewing frame. In this case, the protruding member PM is attached to the slewing frame immediately before the information acquisition process is executed, and is removed after the information acquisition process is completed and before normal operation by the shovel 100 begins. The protruding member PM may also be a plate-shaped member, or may be configured to be disassembled into multiple members.

[0075] The information acquisition process performed by the shovel 100 shown in Figure 7 differs from the information acquisition process performed by the shovel 100 shown in Figure 6, which uses the output of the positioning device S6, in that it does not use the output of the positioning device S6. Therefore, the positioning device S6 may be omitted in the shovel 100 shown in Figure 7. However, the information acquisition process performed by the shovel 100 shown in Figure 7 is performed in the same way as the information acquisition process performed by the shovel 100 shown in Figure 6, following the flow shown in Figure 5.

[0076] In the information acquisition process performed by the shovel 100 shown in Figure 7, first, the controller 30 obtains the coordinates (X) of the reference position RP. R , Y R , Z R ) is obtained (Step ST1). In the example shown in Figure 7, the coordinates (X) of the reference position RP are obtained. R , Y R , Z R The coordinates (X) are those located at the tip of the protruding member PM, which has a known size, and are pre-registered in the storage device D4. Also, the coordinates (X) of the reference position RP are R , Y R , Z R The coordinates are not in the World Geodetic System, but in a reference coordinate system based on the Shovel 100. The same applies to the coordinates of the boom foot pin position P1 (X1, Y1, Z1) and the bucket tip position P4 (X4, Y4, Z4), etc. The operator inputs the coordinates of the reference position RP (X) via the input device D1. R , Y R , Z R By inputting the coordinates (X) of the reference position RP, the controller 30 receives the coordinates (X R , Y R , Z R ) may also be provided. Note that in the information acquisition process performed by the shovel 100 shown in Figure 7, the coordinates (X) of the reference position RP may also be provided. R , Y R , Z R ) corresponds to the actual coordinates of the bucket tip position P4 when the operator brings the tip of the claw 6a of the bucket 6 into contact with the reference position RP.

[0077] Subsequently, the coordinate estimation unit 31 of the controller 30 estimates the coordinates (X4, Y4, Z4) of the bucket tip position P4 when the operator brings the tip of the claw 6a of the bucket 6 into contact with the reference position RP (step ST2).

[0078] Specifically, the operator of the shovel 100 operates the control devices 26, such as the boom control lever, arm control lever, bucket control lever, slewing control lever, and travel pedal, to bring the tip of the bucket 6's claw 6a into contact with the reference position RP. The operator then uses the touch panel, which acts as the input device D1, to instruct the operation support device 50 via the coordinate estimation unit 31 to store the coordinates of the bucket tip position P4 at that time as estimated coordinates. The coordinate acquisition unit 51 of the operation support device 50 stores the coordinates of the bucket tip position P4 as estimated coordinates in the storage device D4 in response to this instruction.

[0079] In the example shown in Figure 7, the coordinate acquisition unit 51 calculates the coordinates (X4, Y4, Z4) of the bucket tip position P4, which is located at a distance DS (value DS2) from the boom foot pin position P1 in the toe-tip direction shown by the dashed line, based on the outputs of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3. In the example shown in Figure 7, the relative positional relationship between the origin of coordinates (0, 0, 0) and the boom foot pin position P1 of coordinates (X1, Y1, Z1) is pre-registered in the storage device D4. Furthermore, the toe-tip direction is set to form an angle θ2 with respect to the horizontal plane.

[0080] The operator of the shovel 100 may change the posture of the attachment AT and repeatedly bring the tip of the claw 6a of the bucket 6 into contact with the reference position RP, and each time contact is made, instruct the operation support device 50 via the coordinate estimation unit 31 to separately store the coordinates of the bucket tip position P4 as estimated coordinates.

[0081] Subsequently, the positional deviation calculation unit 32 of the controller 30 acquires information regarding the positional deviation between the actual coordinates and estimated coordinates of the bucket tip position P4 (step ST3). In the illustrated example, the controller 30 calculates the coordinates (X) of the reference position RP acquired in step ST1. R , YR , Z R The controller 30 obtains the actual coordinates of the bucket tip position P4. The controller 30 then obtains information regarding the positional deviation between these actual coordinates and the estimated coordinates of the bucket tip position P4 stored in the storage device D4 in step ST2.

[0082] Subsequently, the controller 30 calculates a correction amount based on information regarding the positional deviation (step ST4). The correction amount is used to correct the coordinates of the bucket tip position P4 calculated by the coordinate acquisition unit 51 when the operation support device 50 is performing a machine guidance function, a machine control function, or an autonomous control function. The correction amount is, for example, the amount of wear on the claws 6a of the bucket 6.

[0083] With this configuration, the controller 30 derives a correction amount to correct the coordinates of the bucket tip position P4 calculated by various functions executed afterward, based on the coordinates of the bucket tip position P4 acquired by the coordinate acquisition unit 51 when the claws 6a of the bucket 6 come into contact with a known reference position RP. Therefore, after the information acquisition process has been executed, the controller 30 can accurately derive the coordinates of the bucket tip position P4 regardless of whether or not the claws 6a of the bucket 6 are worn.

[0084] As described above, the excavator 100 according to an embodiment of the present invention, as shown in Figure 1, comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1, an attachment AT (excavation attachment) attached to the upper rotating body 3 including a boom 4, an arm 5, and an end attachment (bucket 6), a posture detection device for detecting the posture of the attachment AT, and a control device (controller 30) configured to calculate the estimated position of a predetermined part of the end attachment (the tip of the claw 6a of the bucket 6) based on the output of the posture detection device. In the example shown in Figure 1, the posture detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, and a machine body tilt sensor. This includes sensor S4 and slewing angular velocity sensor S5. The control device (controller 30) is configured to calculate the positional deviation between the estimated position of the predetermined part of the end attachment (the tip of the claw 6a of the bucket 6) and the first position (reference position RP) based on the output of the attitude detection device when the predetermined part of the end attachment (the tip of the claw 6a of the bucket 6) is positioned at a first position (reference position RP) which is a known distance DS away from the boom foot pin position P1, which is the position of the boom foot pin, in a predetermined direction (indicated by a dashed line). If the positional deviation is zero, the estimated position of the tip of the claw 6a of the bucket 6 and the reference position RP are the same.

[0085] This configuration has the effect of allowing for more accurate calculation of the position of a predetermined part of the end attachment.

[0086] Furthermore, the shovel 100 may be equipped with a positioning device S6 for measuring the position of the shovel 100. In this case, as shown in Figure 6, the controller 30 may be configured to calculate the value of the distance DS between the boom foot pin position P1 and the reference position RP based on the output of the positioning device S6 before calculating the position deviation. This is to confirm whether the distance DS is a predetermined distance. The predetermined distance is a distance suitable for calculating the position deviation and may have a certain range.

[0087] This configuration has the effect of simplifying the preparation required when the controller 30 performs the information acquisition process, which is the process of acquiring information about the misalignment of the tip of the claw 6a. The preparation includes, for example, the installation of the protruding member PM as shown in the example in Figure 7.

[0088] In other words, in the excavator 100 equipped with the positioning device S6, without using the protruding member PM shown in Figure 7, simply by bringing the tip of the claw 6a of the bucket 6 into contact with a public control point or a control point set based on a public control point, the positional deviation between the estimated position (estimated coordinates) of the tip of the claw 6a of the bucket 6 and the reference position RP (actual coordinates of the tip of the claw 6a) can be calculated.

[0089] Furthermore, in the shovel 100, the controller 30 may be configured to acquire information about the type of end attachment attached to the arm 5 and to calculate the estimated position of a predetermined part of the end attachment based on the acquired information about the type of end attachment and the output of the attitude detection device. The types of end attachments may be classified by application, such as slope buckets or excavation buckets, or by size, such as large slope buckets, medium slope buckets, or small slope buckets. The information about the type of end attachment includes the distance from the arm pin to a predetermined part (for example, the tip of the claw 6a) when the end attachment is attached to the arm 5.

[0090] The operator of the shovel 100 may input information about the type of end attachment to the controller 30 via the input device D1 when the end attachment is replaced. For example, when the operator of the shovel 100 removes the excavation bucket that was attached to the arm 5 and then attaches a slope bucket to the arm 5, they operate the touch panel, which is the input device D1 attached to the display device D3, to bring up the input screen for inputting the type of end attachment. Then, they press the software button labeled "slope bucket" displayed on the display screen of the display device D3. This operation inputs information about the slope bucket, such as the distance between the arm pin and the tip of the slope bucket, to the controller 30. Based on this information about the slope bucket and the output of the attitude detection device, the controller 30 can calculate the estimated position of the tip of the slope bucket.

[0091] This configuration has the effect of enabling the controller 30 to accurately estimate the position of a predetermined part of the end attachment, even when the excavation bucket is replaced with a slope bucket.

[0092] Furthermore, in the shovel 100, the controller 30 may be configured to calculate the positional deviation between the estimated position of a predetermined part of the end attachment (the tip of the claw 6a of the bucket 6) and a first position (reference position RP) when a predetermined control command is input.

[0093] In the example shown in Figure 6 or Figure 7, the operator of the shovel 100 may operate the operating device 26 to move the attachment AT and, when the tip of the claw 6a of the bucket 6 contacts the reference position RP, start calculating the position deviation by pressing the software button displayed on the display screen of the display device D3 to start calculating the position deviation. In this case, the controller 30 may calculate the position deviation between the estimated coordinates of the tip of the claw 6a of the bucket 6 and the actual coordinates of the tip (coordinates of the reference position RP) when the control command generated when the software button is pressed is input.

[0094] This configuration allows the operator to confirm that a predetermined part of the end attachment has made contact with the reference position RP, and then begin calculating the positional deviation between the estimated coordinates of that predetermined part of the end attachment and its actual coordinates (the coordinates of the reference position RP). Therefore, this configuration has the effect of improving the accuracy of the positional deviation calculation.

[0095] In addition, in the case of the shovel 100, the end attachment may be a bucket 6. In this case, the controller 30 may be configured to calculate the amount of wear on the claws 6a of the bucket 6 based on the magnitude of the positional deviation between the estimated coordinates of the tip of the claws 6a of the bucket 6 and the actual coordinates of the tip (coordinates of the reference position RP).

[0096] This configuration allows the operator of the shovel 100 to accurately determine the amount of wear on the tines 6a of the bucket 6. Therefore, the operator can accurately determine when to replace the tines 6a.

[0097] Preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as no technical inconsistencies arise.

[0098] For example, in the example shown in Figure 6, the reference position RP is a point on the ground, but the present invention is not limited to this configuration. Specifically, the reference position RP may be any geographical feature that can be contacted by a predetermined part of the end attachment, such as a point on the surface of a vertical wall, or a point on the upper end surface of a base that protrudes upward from the ground.

[0099] Furthermore, in the example shown in Figure 7, the protruding member PM is configured to be attached to the upper rotating body 3, but it may also be configured to be attached to the lower traveling body 1.

[0100] Furthermore, the reference position RP does not need to be a physical point; it may be a virtual point set optically, magnetically, or electrically.

[0101] Furthermore, in the example shown in Figure 6, the coordinate acquisition unit 51 rotates the reference coordinate system based on the shovel 100 to align the three axes of the reference coordinate system with the three axes of the World Geodetic System, thereby deriving the coordinates in the World Geodetic System corresponding to any point in the reference coordinate system. For example, the coordinate acquisition unit 51 derives coordinates (latitude, longitude, altitude) in global geodetic systems such as the World Geodetic System 1984, the Japanese Geodetic System 2000, and the International Geodetic Reference System. However, the coordinate acquisition unit 51 may also derive coordinates in a narrower geodetic system, such as a local coordinate system (regional coordinate system). [Explanation of Symbols]

[0102] 1. Lower travel body 1R. Right-side travel hydraulic motor 1L. Left-side travel hydraulic motor 2. Swivel mechanism 3. Upper slewing body 4. Boom 5. Arm 6. Bucket 6a. Claws 7. Boom cylinder 8. Arm cylinder 9. Bucket cylinder 10. Cabin 11. Engine 14. Main pump 15. Pilot pump 17. Control valve unit 21. Swivel hydraulic motor 25. Pilot line 26. Operating device 26A, 26B. Operating lever 26C. Operating pedal 29. Operating sensor 30. Controller 31. Coordinate estimation unit 32. Position deviation calculation unit 50. Operation support device 51. Coordinate acquisition unit 52. Calculation unit 53...Sound output processing unit 54...Display processing unit 100...Shovel S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Swivel angular velocity sensor S6...Positioning device D1...Input device D2...Sound output device D3...Display device D4...Storage device PM...Protruding member

Claims

1. Lower running body and The upper rotating body mounted on the lower traveling body, An attachment, including a boom, arm, and end attachment, is attached to the upper rotating body. A posture detection device for detecting the posture of the attachment, The system includes a control device configured to calculate the estimated position of a predetermined part of the end attachment based on the output of the attitude detection device, The control device is configured to calculate the positional deviation between the estimated position of the predetermined part of the end attachment and the first position based on the output of the attitude detection device when a predetermined part of the end attachment comes into contact with a local object located at a first position at a known distance from the boom foot pin in a predetermined direction. The predetermined direction and the known distance are set before the distance between the boom foot pin and the feature becomes the known distance. Shovel.

2. Equipped with a positioning device to measure the position of the shovel, The first position is a position having coordinates in a predetermined geodetic system, The control device calculates the distance between the boom foot pin and the first position based on the output of the positioning device before calculating the positional deviation. The shovel according to claim 1.

3. The control device is configured to acquire information regarding the type of end attachment attached to the arm, and to calculate the estimated position of a predetermined part of the end attachment based on the acquired information regarding the type of end attachment and the output of the attitude detection device. The shovel according to claim 1 or 2.

4. The control device is configured to calculate the positional deviation when a predetermined control command is input. The shovel according to claim 1 or 2.

5. The end attachment is a bucket, The control device calculates the amount of wear on the bucket claws based on the positional misalignment. The shovel according to claim 1 or 2.

6. A management system for an excavator comprising a lower traveling body, an upper slewing body mounted on the lower traveling body, an attachment attached to the upper slewing body including a boom, arm, and end attachment, and a posture detection device for detecting the posture of the attachment, The control device is configured to calculate the estimated position of a predetermined part of the end attachment based on the output of the attitude detection device, The control device is configured to calculate the positional deviation between the estimated position of the predetermined part of the end attachment and the first position based on the output of the attitude detection device when a predetermined part of the end attachment comes into contact with a local object located at a first position at a known distance from the boom foot pin in a predetermined direction. The predetermined direction and the known distance are set before the distance between the boom foot pin and the feature becomes the known distance. Excavator management system.

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