System and method for acquiring shape data indicating the shape of a work implement in a work machine having a work implement.

Abstract

To obtain highly accurate shape data of a work device with a simple procedure.SOLUTION: A work device includes a predetermined reference part and a first part. A system includes a sensor, a storage device, and a controller. The sensor detects a position of the reference part. The storage device stores a position of the predetermined reference point that is outside a work machine. The controller acquires attitude data indicating an attitude of the work device when the first part is placed at the reference point, and calculates first position data indicating the position of the first part to the reference part from the position of the reference part, the position of the reference point and the attitude data. The controller stores the first position data as shape data in the storage device.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present invention relates to a system and method for acquiring shape data indicating the shape of a working machine in a working machine having a working machine.

Background Art

[0002] In a working machine having a working machine, a technique for calculating the position of the working machine has been conventionally known. For example, the working machine of Patent Document 1 includes a vehicle body and a working machine. A position sensor and an attitude sensor are arranged on the vehicle body. The position sensor includes, for example, an antenna of GNSS (Global Navigation Satellite System). The position sensor detects the position of the vehicle body. The attitude sensor has, for example, an IMU (Inertial Measurement Unit) arranged therein. The attitude sensor detects the attitude of the vehicle body such as the roll angle and pitch angle of the vehicle body. The working machine has a boom, an arm, a bucket, and a hydraulic cylinder for driving them. The controller of the working machine calculates the position of the bucket from the position and attitude of the vehicle body, the dimensions of each part of the working machine, and the stroke amount of the hydraulic cylinder.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above technology, accurate information indicating the shape of the bucket (hereinafter referred to as "shape data") is necessary to accurately calculate the position of the bucket. Conventionally, to obtain bucket shape data, users manually measure the shape of the bucket using tools such as measuring tapes, digital angle meters, and magnetic poles. As a result, the work is complicated, and it is difficult to easily obtain highly accurate shape data. The purpose of this disclosure is to obtain highly accurate shape data of the work machine through a simple procedure. [Means for solving the problem]

[0005] A system according to a first aspect of this disclosure is a system for acquiring shape data indicating the shape of a work implement in a work machine having a work implement. The work implement includes a predetermined reference part and a first part. The system comprises a sensor, a storage device, and a controller. The sensor detects the position of the reference part of the work implement. The storage device stores the position of a predetermined reference point located outside the work machine. The controller acquires posture data indicating the posture of the work implement when the first part of the work implement is placed at the reference point. The controller calculates first position data indicating the position of the first part relative to the reference part from the position of the reference part, the position of the reference point, and the posture data. The controller stores the first position data as shape data in the storage device.

[0006] A method relating to a second aspect of this disclosure is a method performed by a controller to acquire shape data indicating the shape of a work implement in a work machine having a work implement. The work implement includes a predetermined reference part and a first part. The method comprises detecting the position of the reference part of the work implement, acquiring the position of a predetermined reference point located outside the work machine, acquiring posture data indicating the posture of the work implement when the first part of the work implement is placed at the reference point, calculating first position data indicating the position of the first part relative to the reference part from the position of the reference part, the position of the reference point, and the posture data, and storing the first position data as shape data.

[0007] A system according to a third aspect of this disclosure is a system for detecting the position of an unknown reference point using a work machine having a work attachment. The work attachment includes a predetermined reference part. The system comprises a sensor and a controller. The sensor detects the position of the reference part of the work attachment. The controller acquires the position of the reference part as the first position in a first orientation of the work attachment where the predetermined part of the work attachment is in contact with the predetermined reference point. The controller acquires the position of the reference part as the second position in a second orientation obtained by rotating the work attachment around the predetermined reference point from the first orientation while the predetermined part is in contact with the reference point. The controller acquires the position of the reference part as the third position in a third orientation obtained by rotating the work attachment around the reference point from the second orientation while the predetermined part is in contact with the reference point. The controller calculates the position of the reference point as the position of the center of a virtual circle passing through at least the first position, the second position and the third position.

[0008] A system according to a fourth aspect of this disclosure is a system for detecting the position of an unknown reference point using a work machine having a work attachment. The work attachment includes a predetermined reference part. The system comprises a sensor and a controller. The sensor detects the position of the reference part of the work attachment. The controller acquires the position of the reference part as the first position in a first orientation of the work machine where the predetermined part of the work attachment is in contact with the predetermined reference point. The controller acquires the position of the reference part as the second position in a second orientation obtained by rotating the work machine around the predetermined reference point from the first orientation while the predetermined part is in contact with the reference point. The controller acquires the distance between the predetermined part and the reference part. The controller calculates the position of the reference point as the position of the center of a virtual circle that passes through at least the first position and the second position and has a radius equal to the distance.

[0009] A system according to a fifth aspect of this disclosure is a system for detecting the position of an unknown reference point using a work machine having a work attachment. The work attachment includes a predetermined reference part. The system comprises a sensor and a controller. The sensor detects the position of the reference part of the work attachment. The controller acquires the position of the reference part as a first position in a first orientation of the work attachment where the predetermined part of the work attachment is in contact with the predetermined reference point. The controller acquires a first direction from the first position toward the predetermined part. The controller acquires the position of the reference part as a second position in a second orientation obtained by rotating the work attachment around the predetermined reference point from the first orientation while the predetermined part is in contact with the reference point. The controller acquires a second direction from the second position toward the predetermined part. The controller calculates the position of the reference point as the position of the intersection of a first virtual line extending from the first position toward the first direction and a second virtual line extending from the second position toward the second direction.

[0010] A system according to a sixth aspect of this disclosure is a system for acquiring shape data indicating the shape of a work implement in a work machine having a work implement, the work implement including a predetermined reference part and a predetermined part. The system comprises a sensor and a controller. The sensor detects the position of the reference part. The controller acquires the position of the reference part as a first position in a first posture of the work machine in which the predetermined part is in contact with a predetermined reference point, and the controller acquires the position of the reference part as a second position in a second posture obtained by rotating the work machine around the reference point from the first posture. The controller acquires the rotation angle of the work machine around the reference point from the first posture to the second posture. Based on the distance between the first position and the second position and the rotation angle, the controller calculates the length between the reference part and the predetermined part as shape data. [Effects of the Invention]

[0011] In the first and second aspects of this disclosure, when the first part of the workpiece is placed at a reference point, the position of the first part relative to the reference point is calculated from the position of the reference point and orientation data. Therefore, by placing any part of the workpiece at the reference point, the position of any part of the workpiece relative to the reference point can be easily obtained. This makes it possible to obtain highly accurate shape data of the workpiece using a simple procedure.

[0012] In a third aspect of this disclosure, the position of the reference point is calculated from the first to third positions of the reference part obtained by rotating the work machine around the reference point while a predetermined part of the work machine is in contact with the reference point. Therefore, the position of the reference point can be easily obtained without the user having to manually measure the position of the reference point using a tool.

[0013] In a fourth aspect of this disclosure, the position of the reference point is calculated from the first and second positions of the reference part obtained by rotating the work machine around the reference point while a predetermined part of the work machine is in contact with the reference point. Therefore, the effort required of the user to measure the position of the reference point using a tool is reduced, and the position of the reference point can be easily obtained.

[0014] In a fifth aspect of this disclosure, the position of the reference point is calculated from the first and second positions of the reference part obtained by rotating the work machine around the reference point while a predetermined part of the work machine is in contact with the reference point. Therefore, the effort required of the user to measure the position of the reference point using a tool is reduced, and the position of the reference point can be easily obtained.

[0015] In a sixth aspect of this disclosure, the length between a reference part and a predetermined part is calculated from the first and second positions of a reference part obtained by rotating the work implement around a reference point, and from the rotation angle of the work implement. Therefore, highly accurate shape data of the work implement can be obtained with a simple procedure. [Brief explanation of the drawing]

[0016] [Figure 1] This is a perspective view of the work machine according to the embodiment. [Figure 2] It is a block diagram showing the configuration of the drive system and the control system of the working machine. [Figure 3] It is a diagram schematically showing the configuration of the working machine. [Figure 4] It is a diagram showing an example of the guide screen. [Figure 5] It is a side view of the bucket. [Figure 6] It is a diagram showing an example of the input screen for the dimensions of the bucket. [Figure 7] It is a flowchart showing the process for determining the position of the reference point. [Figure 8] It is a diagram showing an example of the first instruction screen. [Figure 9] It is a diagram showing an example of the second instruction screen. [Figure 10] It is a diagram showing an example of the third instruction screen. [Figure 11] It is a side view showing the bucket in the first posture, the second posture, and the third posture. [Figure 12] It is a flowchart showing the process for detecting the shape data of the bucket. [Figure 13] It is a diagram showing an example of the fourth instruction screen. [Figure 14] It is a side view of the bucket showing the part of the bucket to be measured and the shape data. [[ID=,39]] [Figure 15] It is a diagram showing an example of the fifth instruction screen. [Figure 16] It is a front view of the bucket showing the position of the first part according to the modification example. [Figure 17] It is a diagram showing the calculation method of the reference point according to the modification example. [Figure 18] It is a diagram showing the calculation method of the reference point according to another modification example. [Figure 19] It is a side view of the bucket showing the calculation method of the bucket length. [Figure 20] It is a side view of the working machine showing the calculation method of the rotation angle of the bucket. [Figure 21] It is a side view of the working machine showing the calculation method of the rotation angle of the bucket, [Figure 22]This is a side view of a work machine showing a modified example of the method for calculating the rotation angle of the bucket. [Figure 23] This is a side view of a work machine showing another variation of the method for calculating the rotation angle of the bucket. [Figure 24] This is a side view of a work machine showing how to calculate the bucket foot angle. [Modes for carrying out the invention]

[0017] The following describes a work machine according to one embodiment of the present invention with reference to the drawings. Figure 1 is a perspective view of the work machine 1 according to the embodiment. The work machine 1 has a vehicle body 2 and a work machine 3. The vehicle body 2 has a slewing body 4 and a running gear 5. The slewing body 4 is rotatably supported relative to the running gear 5. A driver's cab 6 is located on the slewing body 4. The running gear 5 includes tracks 5a and 5b. The work machine 1 moves as the tracks 5a and 5b rotate.

[0018] The work implement 3 is attached to the vehicle body 2. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is rotatably attached to the vehicle body 2 via a boom pin 14. The arm 12 is rotatably attached to the boom 11 via an arm pin 15. The bucket 13 is rotatably attached to the arm 12 via a bucket pin 16.

[0019] The work machine 3 includes a boom cylinder 17, an arm cylinder 18, and a bucket cylinder 19. The boom cylinder 17, arm cylinder 18, and bucket cylinder 19 are all hydraulic cylinders. The boom 11 operates when the boom cylinder 17 extends and retracts. The arm 12 operates when the arm cylinder 18 extends and retracts. The bucket 13 operates when the bucket cylinder 19 extends and retracts.

[0020] Figure 2 is a block diagram showing the configuration of the drive system 21 and control system 22 of the work machine 1. As shown in Figure 2, the drive system 21 includes a drive source 23 and a hydraulic pump 24. The drive source 23 is, for example, an internal combustion engine. However, the drive source may be an electric motor or a hybrid mechanism of an engine and an electric motor. The hydraulic pump 24 is driven by the drive source 23 and discharges hydraulic fluid. The hydraulic fluid discharged from the hydraulic pump 24 is supplied to the boom cylinder 17, the arm cylinder 18 and the bucket cylinder 19. The work machine 1 includes a first travel motor 25a, a second travel motor 25b and a slewing motor 26. The first travel motor 25a drives the track 5a. The second travel motor 25b drives the track 5b. The slewing motor 26 rotates the slewing body 4. The hydraulic fluid discharged from the hydraulic pump 24 is supplied to the first travel motor 25a, the second travel motor 25b, and the swing motor 26. Although Figure 2 shows one hydraulic pump 24, multiple hydraulic pumps may be provided.

[0021] The control system 22 includes an operating device 27, an input device 28, and a display 29. The operating device 27, the input device 28, and the display 29 are located in the operator's cab 6. The operating device 27 is a device for operating the work implement 3, the slewing body 4, and the traveling device 5. The operating device 27 receives operations from the operator to drive the work implement 3, the slewing body 4, and the traveling device 5, and outputs an operation signal corresponding to the operation. The operating device 27 includes, for example, levers, pedals, switches, etc.

[0022] The input device 28 receives operations from an operator to set the control settings for the work machine 1 and outputs operation signals corresponding to the operations. The input device 28 is, for example, a touch screen. Alternatively, the input device 28 may include a lever or a switch. The display 29 displays an image corresponding to the command signal input to the display 29. The display 29 displays a screen for setting the control settings for the work machine 1. The display 29 also displays a guide screen to assist in the operation of the work machine 1.

[0023] The control system 22 includes a controller 31, a storage device 32, and a control valve 33. The controller 31 is programmed to control the work machine 1 based on acquired data. The controller 31 includes a processor such as a CPU (Central Processing Unit), and memory such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage device 32 includes semiconductor memory or a hard disk. The storage device 32 is an example of a non-transitory storage medium readable by the controller 31. The storage device 32 is executable by the processor and records computer commands for controlling the work machine 1.

[0024] The controller 31 acquires operation signals from the operating device 27 and the input device 28. The controller 31 controls the control valve 33 based on the operation signals. The control valve 33 is controlled by command signals from the controller 31. The control valve 33 may be a pressure-proportional control valve, or it may be an electromagnetic proportional control valve. The control valve 33 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 24 to the first travel motor 25a and the second travel motor 25b. As a result, the work machine 1 moves in response to the operation of the operating device 27. The control valve 33 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 24 to the boom cylinder 17, arm cylinder 18, and bucket cylinder 19. The controller 31 generates command signals to the control valve 33 so that the boom 11, arm 12, and bucket 13 operate in response to the operation of the operating device 27. The control valve 33 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 24 to the slewing motor 26. The controller 31 generates a command signal to the control valve 33 so that the rotating body 4 rotates in response to the operation of the operating device 27.

[0025] The control system 22 is equipped with a position sensor 34. The position sensor 34 measures the position of the work machine 1. The position sensor 34 is located on the vehicle body 2. The position sensor 34 comprises a GNSS (Global Navigation Satellite System) receiver 35, an antenna 36, ​​and an IMU 37. The GNSS receiver 35 is, for example, a receiver for GPS (Global Positioning System). The GNSS receiver 35 receives positioning signals from satellites, calculates the position of the antenna 36 based on the positioning signals, and generates vehicle position data. The controller 31 acquires the vehicle position data from the GNSS receiver 35. The IMU 37 is an inertial measurement unit. The IMU 37 acquires tilt angle data. The tilt angle data includes the angle relative to the horizontal in the longitudinal direction of the vehicle (pitch angle) and the angle relative to the horizontal in the lateral direction of the vehicle (roll angle).

[0026] The control system 22 includes a posture sensor 38 for the work machine 3. The posture sensor 38 detects posture data indicating the posture of the work machine 3. The posture sensor 38 includes a boom angle sensor 41, an arm angle sensor 42, and a bucket angle sensor 43. The posture data includes the boom angle, arm angle, and bucket angle. The boom angle sensor 41 detects the boom angle θ1. Figure 3 is a schematic diagram showing the configuration of the work machine 1. As shown in Figure 3, the boom angle θ1 indicates the inclination angle of the boom 11 on the vehicle body 2.

[0027] The arm angle sensor 42 detects the first arm angle θ2. The first arm angle θ2 indicates the inclination angle of the arm 12 relative to the boom 11. The bucket angle sensor 43 detects the first bucket angle θ3. The first bucket angle θ3 indicates the inclination angle of the bucket 13 relative to the arm 12. The boom angle sensor 41 outputs a detection signal indicating the stroke amount of the boom cylinder 17. The arm angle sensor 42 outputs a detection signal indicating the stroke amount of the arm cylinder 18. The bucket angle sensor 43 outputs a detection signal indicating the stroke amount of the bucket cylinder 19. The controller 31 calculates the boom angle θ1, the first arm angle θ2, and the first bucket angle θ3 based on these detection signals. However, the boom angle sensor 41, the arm angle sensor 42, and the bucket angle sensor 43 may be angle sensors that directly detect the boom angle θ1, the first arm angle θ2, and the first bucket angle θ3, respectively. The angle sensors may be inclination angle sensors or IMUs. The attitude sensor 38 may be an IMU attached to the work machine 3.

[0028] The storage device 32 stores shape data of the vehicle body 2 and the work implement 3. The shape data of the vehicle body 2 shows the shape of the vehicle body 2. The shape data of the vehicle body 2 shows the positional relationship between the antenna 36 and the reference position on the vehicle body 2. The shape data of the vehicle body 2 shows the positional relationship between the reference position on the vehicle body 2 and the boom pin 14.

[0029] The shape data of the work implement 3 indicates the shape of the work implement 3. The shape data includes the boom length L1, the arm length L2, and the bucket length L3. The boom length L1 is the length from the boom pin 14 to the arm pin 15. The arm length L2 is the length from the arm pin 15 to the bucket pin 16. The bucket length L3 is the length from the bucket pin 16 to the cutting edge P10 of the bucket 13. The controller 31 calculates the bucket position data from the vehicle position data detected by the position sensor 34, based on the inclination angle data, attitude data, and shape data. The bucket position data indicates the position of the cutting edge P10 of the bucket 13.

[0030] The storage device 32 stores current terrain data and design terrain data. The current terrain data shows the current terrain of the work site. The design terrain data shows the target shape of the work site. Based on the current terrain data, design terrain data, and shape data, the controller 31 displays the guide screen 51 shown in Figure 4 on the display 29. As shown in Figure 4, the guide screen 51 shows the positions of the current terrain 52, the design terrain 53, and the work machine 1. The shape data includes data showing the shape of the bucket 13. Based on the shape data and bucket position data of the bucket 13, the controller 31 shows the position of the bucket 13 relative to the current terrain 52 and the design terrain 53 on the guide screen 51.

[0031] The operator of the work machine 1 can understand the positional relationship between the bucket 13, the current terrain 52, and the designed terrain 53 using the guide screen 51. The work performed by the work machine 1 may be performed manually by the operator. Alternatively, the work performed by the work machine 1 may be performed by automatic control by the controller 31. In automatic control, the controller 31 may automatically control the work machine 3 based on shape data, bucket position data, current terrain data, and designed terrain data. For example, the controller 31 may control the work machine 3 so that the cutting edge P10 of the bucket 13 moves along the designed terrain 53. In this case, the controller 31 may control the work machine 3 based on shape data to avoid contact between the bucket 13 and the current terrain 52 with parts other than the cutting edge P10.

[0032] As described above, the controller 31 displays the guide screen 51 on the display 29 based on the shape data of the work implement 3. Alternatively, the controller 31 performs automatic control of the work implement 3 based on the shape data of the work implement 3. Next, a method for acquiring the shape data of the work implement 3 will be described. In the following description, a method for acquiring the shape data of the bucket 13 will be described when the shape data of the boom 11 and arm 12 of the work implement 3 is known, but the shape data of the bucket 13 is unknown.

[0033] Figure 5 is a side view of the bucket 13. As shown in Figure 5, the bucket 13 includes a bucket body 61, a connecting part 62, and teeth 63. The bucket body 61 includes an opening 64, a side plate 65, and a bottom plate 66. The connecting part 62 is connected to the bucket body 61. The connecting part 62 includes a first hole 67 and a second hole 68. A bucket pin 16 is inserted into the first hole 67. A first connecting pin 69 (see Figure 1), which connects the bucket 13 and the bucket cylinder 19, is inserted into the second hole 68. The teeth 63 are connected to the bucket body 61. The cutting edge P10 of the bucket 13 described above is located at the tip of the teeth 63.

[0034] The controller 31 displays an input screen 54 for the dimensions of the bucket 13 shown in Figure 6 on the display 29. The input screen 54 is for the operator to manually input some of the dimensions of the bucket 13. The operator uses the input device 28 to input the distance between the pins 55 of the bucket 13, the length 56 of the teeth 63, and the width 57 of the bucket 13 into the input screen 54. The distance between the pins 55 of the bucket 13 is the distance between the center of the first hole 67 and the center of the second hole 68. The operator measures these dimensions using a measuring instrument such as a tape measure and inputs them using the input device 28.

[0035] Next, the controller 31 performs a process to determine the position of the reference point R0. The reference point R0 is located, for example, outside the work machine 1. The reference point R0 can be any landmark for the operator and may be arbitrarily selected by the operator. The reference point R0 may also be part of the work machine 1. For example, the reference point R0 may be part of the track. Figure 7 is a flowchart of the process for determining the position of the reference point R0.

[0036] In the following description, the position of reference point R0 and the positions of each part of bucket 13 may be shown in a global coordinate system based on the Earth, or in a local coordinate system based on the work site where the work machine 1 is located. Alternatively, the position of reference point R0 and the positions of each part of bucket 13 may be shown in a machine coordinate system based on the work machine 1.

[0037] As shown in Figure 7, in step S101, the controller 31 displays the first instruction screen 71 on the display 29. Figure 8 shows the first instruction screen 71. As shown in Figure 8, the first instruction screen 71 is a screen for instructing the operator to assume a first posture with the cutting edge P10 of the bucket 13 at the reference point R0. The first instruction screen 71 includes an image showing the bucket 13 in the first posture.

[0038] In step S102, the controller 31 determines whether or not there is input from the input device 28. The operator positions the bucket 13 in the first position and operates the input device 28. As a result, the controller 31 determines that there is input from the input device 28, and the process proceeds to step S103.

[0039] In step S103, the controller 31 obtains the first position of the reference portion P11 of the bucket 13. The reference portion P11 is the center of the first hole 67. The center of the first hole 67 represents the position of the bucket pin 16. Based on the shape data of the vehicle body 2, the shape data of the boom 11 and arm 12, and the boom angle θ1 and first arm angle θ2 of the work machine 3, the controller 31 calculates the position of the reference portion P11 of the bucket 13. As a result, the controller 31 obtains the position of the reference portion P11 of the bucket 13 in the first posture as the first position.

[0040] In step S104, the controller 31 displays the second instruction screen 72 on the display 29. Figure 9 shows the second instruction screen 72. As shown in Figure 9, the second instruction screen 72 is a screen that instructs the operator to assume a second posture in which the cutting edge P10 of the bucket 13 is placed at the reference point R0. The second instruction screen 72 shows the bucket 13 in the second posture. The second posture is the posture in which the bucket 13 is rotated around the reference point R0 from the first posture.

[0041] In step S105, the controller 31 determines whether or not there is input from the input device 28. The operator rotates the bucket 13 from the first position around the reference point R0 to the second position and operates the input device 28. As a result, the controller 31 determines that there is input from the input device 28, and the process proceeds to step S106. In step S106, the controller 31 acquires the position of the reference portion P11 of the bucket 13 in the second position as the second position, in the same manner as the first position.

[0042] In step S107, the controller 31 displays the third instruction screen 73 on the display 29. Figure 10 shows the third instruction screen 73. As shown in Figure 10, the third instruction screen 73 is a screen for instructing the operator to assume a third posture with the cutting edge P10 of the bucket 13 at the reference point R0. The third instruction screen 73 shows the bucket 13 in the third posture. The third posture is the posture in which the bucket 13 has been further rotated around the reference point R0 from the second posture.

[0043] In step S108, the controller 31 determines whether or not there is input from the input device 28. The operator rotates the bucket 13 from the second position around the reference point R0 to the third position and operates the input device 28. As a result, the controller 31 determines that there is input from the input device 28, and the process proceeds to step S109. In step S109, the controller 31 acquires the position of the reference portion P11 of the bucket 13 in the third position as the third position, in the same manner as for the first and second positions.

[0044] In step S110, the controller 31 calculates the position of the reference point R0. The controller 31 calculates the position of the reference point R0 from the first position, second position, and third position of the reference portion P11. Figure 11 is a side view showing the bucket 13 in the first, second, and third positions. In Figure 11, the symbol P11A indicates the first position of the reference portion P11. The symbol P11B indicates the second position of the reference portion P11. The symbol P11C indicates the third position of the reference portion P11.

[0045] As shown in Figure 11, the controller 31 calculates the position of the center of a virtual circle C1 passing through the first position P11A, the second position P11B, and the third position P11C as the position of the reference point R0. For example, the controller 31 calculates the position of the reference point R0 by approximating the virtual circle C1 passing through the first position P11A, the second position P11B, and the third position P11C using the least squares method. The controller 31 also calculates the radius of the virtual circle C1. The radius of the virtual circle C1 corresponds to the bucket length L3 described above. The controller 31 stores the position of the reference point R0 in the storage device 32. The controller 31 also stores the bucket length L3 as shape data in the storage device 32.

[0046] Next, the controller 31 detects the dimensions of multiple parts of the bucket 13 as shape data of the bucket 13. Figure 12 is a flowchart of the process for detecting the shape data of the bucket 13. As shown in Figure 12, in step S201, the controller 31 displays an instruction screen on the display 29. The instruction screen is a screen that instructs the operator to place a predetermined target part of the bucket 13 at the reference point R0. For example, as shown in Figure 13, the controller 31 displays a fourth instruction screen 74 on the display 29. The fourth instruction screen 74 shows the work machine 3 when the first part P1 of the bucket 13 is placed at the reference point R0.

[0047] In step S202, the controller 31 determines whether or not there is input from the input device 28. The operator places the first part P1 of the bucket 13 at the reference point R0 and operates the input device 28. As a result, the controller 31 determines that there is input from the input device 28, and the process proceeds to step S203.

[0048] In step S203, the controller 31 acquires position data for the target portion of the bucket 13. The position data indicates the position of the target portion of the bucket 13 relative to the reference portion P11 of the bucket 13. The controller 31 calculates the position of the reference portion P11 of the bucket 13 based on the shape data of the vehicle body 2, the shape data of the boom 11 and arm 12, and the boom angle θ1 and first arm angle θ2 of the attitude data. Then, the controller 31 calculates the position data of the target portion from the position of the reference portion P11, the position of the reference point R0, and the first bucket angle θ3 of the attitude data. The position data of the target portion includes the length and angle of the target portion in the bucket 13. The length of the target portion is the distance between the reference portion P11 and the target portion. The angle of the target portion is the angle between the reference portion P11, the target portion, and the cutting edge P10. For example, as shown in Figure 14, the controller 31 acquires the distance D1 and angle A1 of the first portion P1 as first position data. The distance D1 of the first part P1 is the distance between the first part P1 and the reference part P11. The angle A1 of the first part P1 is the angle between the first part P1, the reference part P11, and the cutting edge P10.

[0049] In step S204, the controller 31 determines whether the measurement of position data has been completed for all target parts. The controller 31 repeats the process from steps S201 to S203 until the measurement of all target parts of the bucket 13 has been completed. For example, the controller 31 displays the fifth instruction screen 75 shown in Figure 15 on the display 29. The fifth instruction screen 75 shows the work machine 3 when the second part P2 of the bucket 13 is placed at the reference point R0. When the operator places the second part P2 of the bucket 13 at the reference point R0 and operates the input device 28, the controller 31 acquires second position data. The second position data includes the distance D2 and angle A2 of the second part P2. The distance D2 of the second part P2 is the distance between the reference part P11 and the second part P2. The angle A2 of the second part P2 is the angle between the reference part P11, the second part P2 and the cutting edge P10. The controller 31 calculates the second position data from the position of the reference part P11, the position of the reference point R0, and the first bucket angle θ3 of the attitude data, similar to the first position data.

[0050] For example, as shown in Figure 14, the controller 31 acquires position data for the first to fifth parts P1-P5. The first to fifth parts P1-P4 are located on the bottom plate 66 of the bucket 13. The fifth part P5 is located on the connection part 62 of the bucket 13. The number of parts of the bucket 13 to be measured is not limited to five. The number of parts of the bucket 13 to be measured may be less than five or more than five. The controller 31 stores the position data of the first to fifth parts P1-P5 as shape data of the bucket 13 in the storage device 32.

[0051] In the control system 22 of the work machine 1 according to this embodiment described above, when the first part P1 of the work machine 3 is placed at the reference point R0, the position of the first part P1 relative to the reference part P11 is calculated from the position of the reference part P11 and the position of the reference point R0. Therefore, by placing any part of the work machine 3 at the reference point R0, the position of any part of the work machine 3 relative to the reference part P11 can be easily obtained. As a result, shape data of the work machine 3 can be obtained through a simple procedure.

[0052] In the control system 22 of the work machine 1 according to this embodiment, the position of the reference point R0 is calculated from the first to third positions P11A-P11C of the reference portion P11, which are obtained by rotating the work machine 3 around the reference point R0. Therefore, the position of the reference point R0 can be easily obtained without the user having to measure the position of the reference point R0 using an instrument. As a result, shape data of the work machine 3 can be obtained with a simple procedure.

[0053] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.

[0054] The working machine 1 is not limited to the hydraulic excavator described above, but may also be other machines such as a mechanical excavator or a rope excavator. The working machine 1 in the above embodiment is a so-called backhoe type excavator, but may also be a face excavator. The working machine 3 is not limited to the bucket 13, but may also include other attachments such as a breaker, compactor, or blade. The attachment may also include a tilt rotator. The shape of the bucket 13 is not limited to that of the above embodiment, but may also be a trapezoidal shape, such as a slope bucket. The working machine 3 is not limited to a three-axis structure of boom, arm, and attachment, but may have a structure of four or more axes.

[0055] The work machine 1 may be a remotely controlled vehicle. In that case, part of the control system 223 may be located outside the work machine 1. For example, the controller 31 may be located outside the work machine 1. The operating device 27, input device 28, and display 29 may be located outside the work machine 1. The controller 31 may include multiple controllers that are separate from each other. The processing performed by the controller 31 described above may be distributed and executed across multiple controllers. The controller 31 may include multiple processors. The processing performed by the controller 31 described above may be distributed and executed across multiple processors.

[0056] The processing performed by the controller 31 is not limited to that of the embodiment described above and may be modified. Some of the processing described above may be omitted. Alternatively, some of the processing described above may be changed. For example, the position of the reference point R0 may be provided to the controller 31 from another computer. Alternatively, the position of the reference point R0 may be input by the input device 28. The number of positions of the reference part P11 for determining the reference point R0 is not limited to three, but may be more than three.

[0057] The position of the reference portion P11 may be detected by a visual sensor mounted on the work machine 1. For example, a marker may be attached to the reference portion, and the controller 31 may acquire the position of the marker detected by the visual sensor as the position of the reference portion P11. Alternatively, the position of the reference portion P11 may be directly measured by attaching a GNSS sensor to the reference portion P11.

[0058] In the above embodiment, the first to fifth parts P1-P5 are in different positions from the reference part P11 in a side view of the work machine 3. Therefore, the controller 31 obtains shape data indicating the shape of the bucket 13 in a side view from the position data of the first to fifth parts P1-P5. However, at least a portion of the first to fifth parts P1-P5 may be in a different position from the reference part P11 in the left-right direction of the work machine 3. Figure 16 is a front view of the bucket 13. For example, the first part P1 may be in a different position from the reference part P11 in the left-right direction of the bucket 13. The operator may place the first part P1 on the reference point R0 by rotating the slewing body 4. The controller 31 may obtain the slewing angle of the slewing body 4 and obtain first position data from the slewing angle, including the position of the first part P1 in the left-right direction relative to the reference part P11. This makes it possible to obtain shape data that shows not only the shape of the bucket 13 in the front-to-back and up-and-down directions, but also the shape of the bucket 13 in the left-to-right direction.

[0059] The method for calculating the position of the reference point R0 is not limited to that of the embodiment described above and may be modified. For example, as shown in Figure 17, the controller 31 obtains the first position P11A and the second position P11B of the reference portion P11. The controller 31 also obtains the distance D3 between the reference portion P11 and the cutting edge P10. The distance D3 between the reference portion P11 and the cutting edge P10 may be stored in the storage device 32 in advance. The distance D3 between the reference portion P11 and the cutting edge P10 may also be input by the input device 28. The controller 31 calculates the position of the reference point R0 as the position of the center of a virtual circle C2 that passes through at least the first position P11A and the second position P11B and has a radius of distance D3. Note that two positions may be calculated for the center of the virtual circle C2 that passes through the first position P11A and the second position P11B and has a radius of distance D3. In that case, the controller 31 may calculate the position of the reference point R0 as, for example, the lower or upper of the two centers. Which center is selected may be determined, for example, according to the attitude data of the work machine 3.

[0060] Alternatively, as shown in Figure 18, the controller 31 acquires the first position P11A and the second position P11B of the reference part P11. The controller 31 also acquires the first direction V1 from the first position P11A toward the cutting edge P10. The controller 31 acquires the second direction V2 from the second position P11B toward the cutting edge P10. The first direction V1 and the second direction V2 are calculated, for example, from the attitude data of the work machine 3 and the direction of the vehicle body 2 detected by the position sensor 34. The controller 31 calculates the position of the reference point P10 as the position of the intersection of the first virtual line VL1 extending from the first position P11A toward the first direction V1 and the second virtual line VL2 extending from the second position P11B toward the second direction V2.

[0061] As shown in Figure 19, the controller 31 may calculate the bucket length L3 from the first position P11A, the second position P11B, and the rotation angle Δθ of the bucket 13 from the first position P11A to the second position P11B. The bucket length L3 is equal to the distance D3 between the reference portion P11 and the cutting edge P10. In Figure 19, (X1, Z1) indicates the coordinates of the first position P11A. (X2, Z2) indicates the coordinates of the second position P11B. The distance D4 between the first position P11A and the second position is expressed by the following equation (1). TIFF0007911852000001.tif9147

[0062] Furthermore, by the Law of Cosines, the bucket length L3 can be expressed by the following equation (2). TIFF0007911852000002.tif15147

[0063] The controller 31 calculates the rotation angle Δθ of the bucket 13 based on the boom angle θ1, the first arm angle θ2, and the second bucket angle θ4. As shown in Figure 20, the second bucket angle θ4 is the angle between the bucket line B3 and the arm line B2. The bucket line B3 is the straight line connecting the bucket pin 16 and the first connecting pin 69. The arm line B2 is the straight line connecting the arm pin 15 and the bucket pin 16. The first arm angle θ2 described above is the angle between the boom line B1 and the arm line B2. The boom line B1 is the straight line connecting the boom pin 14 and the arm pin 15. The boom angle θ1 described above is the angle of the boom line B1 with respect to a predetermined reference direction of the vehicle body 2. The predetermined reference direction of the vehicle body 2 is, for example, the vertical direction of the vehicle body 2. The rotation angle Δθ of the bucket 13 is expressed by the following equation (3). TIFF0007911852000003.tif7147

[0064] θ1A is the boom angle θ1 in the first position. θ2A is the first arm angle θ2 in the first position. θ4A is the second bucket angle θ4 in the first position. Therefore, θ1A + θ2A + θ4A represents the first angle, which is the angle made by the bucket line B3 in the first position with respect to a predetermined reference direction of the vehicle body 2. θ1B is the boom angle θ1 in the second position. θ2B is the first arm angle θ2 in the second position. θ4B is the second bucket angle θ4 in the second position. Therefore, θ1B + θ2B + θ4B represents the second angle, which is the angle made by the bucket line B3 in the second position with respect to a predetermined reference direction of the vehicle body 2.

[0065] Figure 21 shows a method for calculating the second bucket angle θ4. As shown in Figure 21, the bucket 13 is connected to the bucket cylinder 19 via a link member 80. The link member 80 includes a first link member 81 and a second link member 82. The first link member 81 is rotatably connected to the bucket 13 via a first connecting pin 69. The second link member 82 is rotatably connected to the arm 12 via a second connecting pin 84. The first link member 81 and the second link member 82 are rotatably connected to the bucket cylinder 19 via a third connecting pin 85. The first link member 81 and the second link member 82 are also rotatably connected to each other via the third connecting pin 85. The bucket cylinder 19 is connected to the arm 12 via a bucket cylinder pin 86.

[0066] The distance D5 between the bucket pin 16 and the first connecting pin 69, the distance D6 between the bucket pin 16 and the second connecting pin 84, the distance D7 between the bucket cylinder pin 86 and the second connecting pin 84, the distance D8 between the first connecting pin 69 and the third connecting pin 85, and the distance D9 between the second connecting pin 84 and the third connecting pin 85 are stored in the storage device 32. The controller 31 calculates the second bucket angle θ4 based on the stroke length of the bucket cylinder 19 and these distances D5-D9.

[0067] As described above, the controller 31 can calculate the bucket length L3 from the first position P11A, the second position P11B, and the rotation angle Δθ of the bucket 13 from the first position P11A to the second position P11B. In this case, the controller 31 can obtain highly accurate shape data of the bucket 13 using a simple procedure. Furthermore, the controller 31 can calculate the bucket length L3 using the above method even if the position of the reference point R0 is unknown.

[0068] When acquiring the first position P11A and the second position P11B, the operator may rotate the bucket 13 from the first position around the reference point R0 while keeping the cutting edge P10 in contact with the reference point R0 to position it in the second position. Alternatively, the operator may, after bringing the cutting edge P10 into contact with the reference point R0 in the first position, temporarily move the cutting edge P10 away from the reference point R0 to change the position of the work machine 3, and then bring the cutting edge P10 into contact with the reference point R0 to position it in the second position.

[0069] The rotation angle Δθ of the bucket 13 may be calculated by methods other than those described above. For example, as shown in Figure 22, the work machine 1 may be equipped with an IMU 44. The IMU 44 is attached to the second link member 82. The IMU 44 detects a link angle θ5 which indicates the inclination angle of the second link member 82 with respect to a predetermined reference direction. The reference direction is, for example, the horizontal direction. Alternatively, the reference direction may be another direction, such as the direction of gravity.

[0070] The controller 31 calculates the inclination angle f(θ5) of the bucket line B3 with respect to the reference direction based on the link angle θ5, the distance D5 between the bucket pin 16 and the first connecting pin 69, the distance D6 between the bucket pin 16 and the second connecting pin 84, the distance D8 between the first connecting pin 69 and the third connecting pin 85, and the distance D9 between the second connecting pin 84 and the third connecting pin 85. The controller 31 calculates the rotation angle Δθ of the bucket 13 using the following equation (4). TIFF0007911852000004.tif6141

[0071] θ5A is the link angle θ5 in the first position. f(θ5A) represents the first angle, which is the inclination angle of bucket line B3 with respect to the reference direction in the first position. θ5B is the link angle θ5 in the second position. f(θ5B) represents the second angle, which is the inclination angle of bucket line B3 with respect to the reference direction in the second position.

[0072] Alternatively, as shown in Figure 23, the work machine may be equipped with an IMU 45. The IMU 45 is attached to the arm 12. The IMU 45 detects a second arm angle θ6 which indicates the inclination angle of the arm 12 with respect to a predetermined reference direction. The predetermined reference direction is, for example, the horizontal direction. Alternatively, the reference direction may be another direction, such as the direction of gravity. The controller 31 calculates the inclination angle (θ6 + θ4) of the bucket line B3 with respect to the reference direction based on the second arm angle θ6 and the second bucket angle θ4. The controller 31 calculates the rotation angle Δθ of the bucket 13 using the following equation (5). TIFF0007911852000005.tif7141

[0073] θ6A is the second arm angle θ6 in the first position. θ4A is the second bucket angle θ4 in the first position. θ6A + θ4A represents the first angle, which is the inclination angle of the bucket line B3 with respect to the reference direction in the first position. θ6B is the second arm angle θ6 in the second position. θ4B is the second bucket angle θ4 in the second position. θ6B + θ4B represents the second angle, which is the inclination angle of the bucket line B3 with respect to the reference direction in the second position.

[0074] The controller 31 may acquire the bucket foot angle as shape data. As shown in Figure 24, the bucket foot angle θ7 is the angle between the bucket line B3 and the cutting edge line B4. The cutting edge line B4 is a straight line connecting the bucket pin 16 and the cutting edge P10 of the bucket 13. The controller 31 calculates the bucket foot angle θ7 using the following equation (6). TIFF0007911852000006.tif7141

[0075] θ8 is the first link angle. The first link angle θ8 is the angle between bucket line B3 and first link line B5. First link line B5 is the straight line connecting bucket pin 16 and third connecting pin 85. θ9 is the second link angle. The second link angle θ9 is the angle between first link line B5 and second link line B6. Second link line B6 is the straight line connecting bucket pin 16 and second connecting pin 84. The controller 31 calculates the first link angle θ8 and the second link angle θ9, for example, from the stroke length of the bucket cylinder 19.

[0076] θ10 is the third link angle. The third link angle θ10 is the angle between arm line B2 and second link line B6. The third link angle θ10 is a fixed value, and the controller 31 stores the third link angle θ10 as shape data. The second arm angle θ6 is the angle between the horizontal direction and arm line B2. θt is the cutting edge angle. The cutting edge angle θt is the angle between the horizontal direction and cutting edge line B4. The controller 31 calculates the cutting edge angle θt using the following equation (7). TIFF0007911852000007.tif10141

[0077] (X1, Z1) indicates the coordinates of the reference part P11, i.e., the boom pin 16. (X, Y) indicates the coordinates of the cutting edge P10. As described above, the controller 31 may calculate the bucket foot angle θ7 from the link angles θ8, θ9, θ10, the second arm angle θ6, and the cutting edge angle θt. The sum of the link angles θ8, θ9, θ10 corresponds to the second bucket angle θ4 mentioned above. In other words, the controller 31 may calculate the bucket foot angle θ7 from the second bucket angle θ4, the second arm angle θ6, and the cutting edge angle θt. [Industrial applicability]

[0078] According to this disclosure, highly accurate shape data of a work machine can be obtained through a simple procedure. [Explanation of Symbols]

[0079] 1. Working Machinery 3. Work equipment 28 Input devices 29 displays 34 Position Sensor 32 Storage device 31 Controllers P1 Part 1 P2 2nd part P11 Standard part

Claims

1. A system for acquiring shape data indicating the shape of a work implement in a work machine having a work implement including a predetermined reference part and a first part, A sensor for detecting the position of the aforementioned reference portion, A memory device that stores the position of a predetermined reference point, A controller that, when the first part is placed at the reference point, acquires posture data indicating the posture of the work machine, calculates first position data indicating the position of the first part relative to the reference part from the position of the reference part, the position of the reference point, and the posture data, and stores the first position data as shape data in the storage device, A system equipped with these features.

2. The first position data includes the distance between the reference portion and the first portion. The system according to claim 1.

3. The aforementioned work machine further includes a second part, The controller, when the second part is placed at the reference point, calculates second position data indicating the position of the second part relative to the reference part from the position of the reference part, the position of the reference point, and the orientation data, and stores the second position data as shape data. The system according to claim 1 or 2.

4. The system further includes a display that shows an image corresponding to a command signal from the controller, The controller causes the display to show a first screen showing the work machine when the first part is placed at the reference point, and a second screen showing the work machine when the second part is placed at the reference point. The system according to claim 3.

5. It further includes an input device that outputs an operation signal indicating operation by an operator, The aforementioned controller, When the operation signal is received while the first screen is being displayed, the first position data is calculated. When the operation signal is received while the second screen is being displayed, the second position data is calculated. The system according to claim 4.

6. The first part is located at a different position from the reference part in a side view of the work machine, The controller acquires shape data from the first position data, which shows the shape of the work machine in a side view. The system according to any one of claims 1 to 5.

7. The first part is located at a different position from the reference part in the left-right direction of the work machine, The controller acquires shape data from the first position data, which indicates the shape of the work machine in at least the left-right direction. The system according to any one of claims 1 to 6.

8. The reference portion and the first portion are points included in the work machine, The system according to any one of claims 1 to 7.

9. A method performed by a controller to acquire shape data indicating the shape of a work implement in a work machine having a work implement including a predetermined reference part and a first part, To detect the position of the aforementioned reference portion, To obtain the position of a predetermined reference point located outside the aforementioned work machine, When the first part is placed at the reference point, posture data indicating the posture of the work machine is acquired, From the position of the reference portion, the position of the reference point, and the orientation data, first position data indicating the position of the first portion relative to the reference portion is calculated, To save the first position data as the shape data, A method for providing this.

10. The first position data includes the distance between the reference portion and the first portion. The method according to claim 9.

11. The aforementioned work machine further includes a second part, When the second part is placed at the reference point, second position data indicating the position of the second part relative to the reference part is calculated from the position of the reference part, the position of the reference point, and the attitude data. To save the second position data as the shape data, The method according to claim 9 or 10, further comprising:

12. The controller further includes displaying on a display a first screen showing the work machine when the first part is placed at the reference point, and a second screen showing the work machine when the second part is placed at the reference point. The method according to claim 11.

13. When an operation signal is received from an input device operated by an operator while the first screen is being displayed, the first position data is calculated. When the operation signal is received while the second screen is being displayed, the second position data is calculated. The method according to claim 12, further comprising:

14. The first part is located at a position different from the reference part in the front-rear direction and / or the up-down direction of the work machine, The shape data indicates the shape of the work machine in at least the front-to-back direction and / or the up-and-down direction. The method according to any one of claims 9 to 13.

15. The first part is located at a different position from the reference part in the left-right direction of the work machine, The shape data indicates the shape of the work machine in at least the left-right direction. The method according to any one of claims 9 to 14.

16. The reference portion and the first portion are points included in the work machine, The method according to any one of claims 9 to 15.

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