Source: https://patents.google.com/patent/US20160024757A1/en
Timestamp: 2020-01-29 10:54:25
Document Index: 122415453

Matched Legal Cases: ['art 9', 'art 19', 'art 19', 'art 19', 'art 35', 'arts 34', 'arts 34', 'arts 34', 'arts 34', 'art 43', 'art 44', 'art 43', 'art 91', 'art 92', 'art 91', 'art 92', 'art 91', 'art 35', 'art 92', 'art 42', 'art 54', 'art 54', 'art 54', 'art 54', 'art 92', 'art 91', 'art 91', 'art 91', 'art 91', 'art 91', 'art 91', 'art 42', 'art 54', 'art 54', 'art 42', 'art 54', 'art 42', 'art\n19', 'art\n21', 'art\n33', 'art\n37', 'art\n40', 'art\n91', 'art\n91', 'art\n91', 'art\n92', 'art\n100', 'art\n204', 'art\n204', 'art\n204', 'art\n205', 'art.\n9']

US20160024757A1 - Construction management device for excavation machinery, construction management device for excavator, excavation machinery, and construction management system - Google Patents
Construction management device for excavation machinery, construction management device for excavator, excavation machinery, and construction management system Download PDF
US20160024757A1
US20160024757A1 US14/233,498 US201314233498A US2016024757A1 US 20160024757 A1 US20160024757 A1 US 20160024757A1 US 201314233498 A US201314233498 A US 201314233498A US 2016024757 A1 US2016024757 A1 US 2016024757A1
US14/233,498
US10017919B2 (en
Azumi Nomura
2013-04-10 Priority to JP2013082517A priority Critical patent/JP5789279B2/en
2013-04-10 Priority to JP2013-082517 priority
2013-09-02 Application filed by Komatsu Ltd filed Critical Komatsu Ltd
2013-09-02 Priority to PCT/JP2013/073573 priority patent/WO2014167740A1/en
2014-04-16 Assigned to KOMATSU LTD. reassignment KOMATSU LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FUKANO, Ryo, NOMURA, AZUMI
2016-01-28 Publication of US20160024757A1 publication Critical patent/US20160024757A1/en
2018-07-10 Publication of US10017919B2 publication Critical patent/US10017919B2/en
238000009430 construction management Methods 0 abstract claims description title 95
238000009412 basement excavation Methods 0 abstract claims description title 90
238000010276 construction Methods 0 abstract claims description 368
A construction management device generates construction information fore an excavation machinery having a work machine, a swing body to which the work machine is attached, and a traveling body traveling with the swing body mounted thereon. The construction management device includes a work machine position information generation part determining work machine position information as information on a position of the work machine; a traveling body position information generation part determining traveling body position information as information on a position of the traveling body; and a construction position information generation part using either the work machine position information or the traveling body position information to generate construction position information as information on a position of construction by the excavation machinery, and while the excavation machinery travels, using not the work machine position information, but the traveling body position information to generate the construction position information.
The upper swing body 3 has an operating room 4. The operating room 4 is provided at the other end side of the upper swing body 3. That is, the operating room 4 is positioned on the side opposite to the side at which the engine room 3EG is positioned. The operating room 4 has therein a display input device 38 and an operating device 25 as illustrated in FIG. 4. These components are described later. A traveling device 5 is provided with the upper swing body 3. The traveling device 5 has crawler tracks 5 a and 5 b. When one or both of right and left hydraulic motors 5 c are driven to rotate the crawler tracks 5 a and 5 b, the traveling device 5 travels the excavator 100. The work machine 2 is attached to a side of the operating room 4 of the upper swing body 3.
The excavator 100 may include tires instead of the crawler tracks 5 a and 5 b and include a traveling device that can travel by transferring a driving force of a diesel engine not illustrated to the tires via a transmission. For example, the excavator 100 in such a form may be a wheel excavator. Alternatively, the excavator 100 may a backhoe loader that includes a traveling device with tires as described above, has an work machine mounted on the vehicle main body (main body part), and does not include the upper swing body 3 as illustrated in FIG. 1 or a swing mechanism for the upper swing body 3, for example. That is, the backhoe loader has a work machine mounted on the vehicle main body and a traveling device constituting a part of the vehicle main body.
The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 illustrated in FIG. 1 are hydraulic cylinders driven by an operating oil pressure (hereinafter, referred as appropriate to as oil pressure). The boom cylinder 10 drives the boom 6 to move up and down. The arm cylinder 11 drives the arm 7 to rotate around the arm pin 14. The bucket cylinder 12 drives the bucket 8 to rotate around the bucket pin 15. Arranged between the hydraulic cylinders such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump not illustrated are a traveling control valve 37D and an working control valve 37W illustrated in FIG. 4. When a vehicle electronic control device 26 described later controls the traveling control valve 37D and the working control valve 37W to regulate the flow amount of operating oil supplied to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, or the hydraulic motor 5 c. As a result, operations of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are controlled.
As illustrated in FIG. 2, the boom 6, the arm 7, and the bucket 8 are provided with a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18, respectively. The first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18 constitute a posture detection part 9 that detects the posture of the work machine 2. The first stroke sensor 16 detects the stroke length of the boom cylinder 10. A display control device 39 described later (refer to FIG. 4) calculates inclination angle θ1 of the boom 6 with respect to axis Za in a vehicle main body coordinate system described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 16. The second stroke sensor 17 detects the stroke length of the arm cylinder 11. The display control device 39 calculates inclination angle θ2 of the arm 7 with respect to the boom 6, from the stroke length of the arm cylinder 11 detected by the second stroke sensor 17. The third stroke sensor 18 detects the stroke length of the bucket cylinder 12. The display control device 39 calculates inclination angle θ3 of the bucket 8 with respect to the arm 7, from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18.
The vehicle main body 1 includes a position detection part 19 as illustrated in FIG. 2. The position detection part 19 detects the current position of the excavator 100. The position detection part 19 has two antennas 21 and 22 for RTK-GNSS (Real Time Kinematic—Global Navigation Satellite Systems) (hereinafter, referred as appropriate to as GNSS antennas 21 and 22), a three-dimensional position sensor 23, and an inclination angle sensor 24. The GNSS antennas 21 and 22 are placed on the vehicle main body 1, more specifically, on the upper swing body 3. In the embodiment, the GNSS antennas 21 and 22 are separated from each other by a specific distance along Ya axis in a vehicle main body coordinate system {Xa, Ya, Za} as a three-dimensional coordinate system. The origin point of the vehicle main body coordinate system {Xa, Ya, Za} is arbitrarily determined according to designed dimensions of the vehicle main body 1. Information on the coordinates of the origin point of the vehicle main body coordinate system {Xa, Ya, Za} is stored in advance in a work machine-side storage part 35.
Signals received by the GNSS antennas 21 and 22 according to GNSS radio waves are input into the three-dimensional position sensor 23. The three-dimensional position sensor 23 detects installation positions P1 and P2 of the GNSS antennas 21 and 22. As illustrated in FIG. 3, the inclination angle sensor 24 detects inclination angle θ4 of the vehicle main body 1 in the width direction with respect to the direction of action of gravity, that is, vertical direction Ng (hereinafter, referred as appropriate to as roll angle θ4). In the embodiment, the width direction refers to the width direction of the bucket 8, which is aligned with the width direction of the upper swing body 3, that is, the horizontal direction. However, if the work machine 2 includes a tilt bucket, the width direction of the bucket and the width direction of the upper swing body 3 may not be aligned with each other.
The traveling operation members 33L and 33R are members for an operator to operate traveling of the excavator 100. The traveling operation members 33L and 33R are operation levers including grips and bars (hereinafter, referred as appropriate to as traveling levers), for example. The traveling operation members 33L and 33R can be inclined back and forth by the operator grasping the grips. The excavator 100 can be moved forward by simultaneously inclining forward the traveling operation members 33L and 33R as two operation levers, and the excavator 100 can be moved backward by simultaneously inclining backward the two operation levers. Alternatively, the traveling operation members 33L and 33R are seesaw-type pedals not illustrated and capable of being operated by the operator stepping on. The pedals are stepped on at the front or back side to generate pilot pressures as in the case of the operation levers as described above, and the traveling control valve 37D is controlled to drive the hydraulic motor 5 c and move the excavator 100 forward or backward. The excavator 100 can be moved forward by simultaneously stepping on the two pedals at the front sides, and the excavator 100 can be moved backward by simultaneously stepping on the two pedals at the back sides. Alternatively, by stepping on one pedal at the front or back side, one of the crawler tracks 5 a and 5 b can be rotated to swing the excavator 100. As described in the foregoing, when traveling the excavator 100, the operator can incline the operation levers manually back and forth or step on the pedals at the front or back side to drive the hydraulic motor 5 c of the traveling device 5. As illustrated in FIG. 4, there are two pairs of traveling operation members 33L and 33R and traveling operation detection parts 34L and 34R. The traveling operation members 33L and 33R are horizontally arranged in front of the operator's seat not illustrated in the operating room 4. By operating the traveling operation member 33L on the left side, the left hydraulic motor 5 c can be driven to operate the left crawler track 5 b. By operating the traveling operation member 33R on the right side, the right hydraulic motor 5 c can be driven to operate the right crawler track 5 a.
The traveling operation detection parts 34L and 34R generate pilot pressures according to inputs into the traveling operation members 33L and 33R, that is, operations performed on the traveling operation members 33L and 33R, and apply the generated pilot pressures to the traveling control valve 37D included in the vehicle control device 27. The traveling control valve 37D operates according to the magnitudes of the pilot pressures to supply the operating oil to the traveling hydraulic motor 5 c. If the traveling operation members 33L and 33R are electric levers, the traveling operation detection parts 34L and 34R detect inputs to the traveling operation members 33L and 33R, that is, operations performed on the traveling operation members 33L and 33R, by the use of a potentiometer or the like, for example, and convert the inputs to electric signals (detection signals) and send the same to the vehicle electronic control device 26. The vehicle electronic control device 26 controls the traveling control valve 37D according to the detection signals.
If the traveling operation members 33L and 33R are pilot-pressure traveling lever, when the operator of the excavator 100 gives inputs to the levers to operate the levers, a flow amount of operating oil according to the pilot pressure from the traveling operation detection parts 34L and 34R flows out of the traveling control valve 37D and is supplied to the traveling hydraulic motor 5 c. When one or both of the traveling operation members 33L and 33R are operated, one or both of the right and left hydraulic motors 5 c illustrated in FIG. 1 are driven. As a result, at least one of the crawler tracks 5 a and 5 b rotates and the excavator 100 travels.
The display control device 39 executes various functions of the display system 28. The display control device 39 is an electronic control device having a display-side storage part 43 including at least one of a RAM and ROM and a display processing part 44 such as a CPU. The display-side storage part 43 stores work machine data. The work machine data includes the length L1 of the boom 6, the length L2 of the arm 7, and the L3 of the bucket 8 described above. The work machine data also includes the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 8.
FIGS. 7 and 8 are diagrams of one example of a method for determining the blade edge position P3 of the bucket 8. FIG. 7 is a side view of the excavator 100, and FIG. 8 is a rear view of the excavator 100. To determine the blade edge position P3 of the bucket 8, the work machine position information generation part 91A of the construction management device 90 determines the vehicle main body coordinate system {Xa, Ya, Za} with an origin point at the installation position P1 of the GNSS antenna 21 described above, as illustrated in FIGS. 7 and 8. In this example, the longitudinal side of the excavator 100, that is, the Ya axis of the coordinate system (vehicle main body coordinate system) COM of the vehicle main body 1 inclines with respect to the Y axis of the global coordinate system COG. The coordinates of the boom pin 13 in the vehicle main body coordinate system COM are (0, Lbi, −Lb2), which are stored in advance in the storage part 92 of the construction management device 90.
The three-dimensional position sensor 23 illustrated in FIGS. 2 and 4 detects the installation positions P1 and P2 of the GNSS antennas 21 and 22. From the coordinates of the detected installation positions P1 and P2, a unit vector along the Ya axis is calculated by Equation (1) as follows:
Ya=(P1−P2)/|P1−P2| (1)
As illustrated in FIG. 7, by introducing vector Z′ passing through a plane represented by two vectors Ya and Z and made perpendicular to Ya, relationships in Equations (2) and (3) hold. In Equation (3), c denotes a constant. From Equations (2) and (3), Z′ is expressed by Equation (4) as shown below. In addition, by introducing a vector X′ perpendicular to Ya and Z′, X′ is expressed by Equation (5) as shown below.
(Z′,Ya)=0 (2)
Z′=(1−c)×Z+c×Ya (3)
Z′=Z+{(Z,Ya)/((Z,Ya)−1)}×(Ya−Z) (4)
X′=Ya⊥Z′ (5)
As illustrated in FIG. 8, the vehicle main body coordinate system COM is rotated by roll angle θ4 around the Ya axis and thus is expressed by Equation (6) as shown below.
[ Xa   Ya   Za ] = [ X ′   Ya   Z ′ ]  [ cos   θ4 0 sin   θ4 0 1 0 - sin   θ4 0 cos   θ4 ] ( 6 )
The current inclination angles θ1, θ2, and θ3 of the boom 6, the arm 7, and the bucket 8 described above are calculated from the detection values from the first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18. The coordinates (xat, yat, zat) of the blade edges 8T of the bucket 8 in the vehicle main body coordinate system COM can be determined by Equations (7), (8), and (9) using the inclination angles θ1, θ2, and θ3 and the lengths L1, L2, and L3 of the boom 6, the arm 7, and the bucket 8. The blade edges 8T of the bucket 8 move in the plane Ya-Za of the vehicle main body coordinate system COM. The coordinates of the blade edges 8T of the bucket 8 in the global coordinate system COG can be determined by Equation (10). The coordinates of the blade edges 8T in the global coordinate system COG refer to the blade edge position P3. The blade edge position P3 is represented by the coordinates {X, Y, Z} in the global coordinate system COG. The work machine position information generation part 91A stores the thus calculated blade edge position P3 in the storage part 92 of the construction management device 90.
Xat=0 (7)
yat=Lb1+L1×sin θ1+L2×sin(θ1+θ2)+L3×sin(θ1+θ2+θ3) (8)
zat=−Lb2+L1×cos θ1+L2×cos(θ1+θ2)+L3×cos(θ1+θ2+θ3) (9)
P3=xat·Xa+yat·Ya+zat·Za+P1 (10)
In the embodiment, the construction position information generated by the construction position information generation part 91C of the construction management device 90 may include position information on a ground contact plane of the excavator 100, that is, a plane of contact between the crawler tracks 5 a and 5 b included in the traveling device 5 and a contact subject such as ground R. This information position refers to traveling body position information. The traveling body position information includes information on the position of a swing center (hereinafter, referred as appropriate to as swing center position) P4 of the upper swing body 3 on a ground contact plane CC of the traveling device 5, for example, which is represented by coordinates {X, Y, Z} in the global coordinate system COG. The ground contact plane CC is a plane defined by the crawler tracks 5 a and 5 b included in the traveling device 5. The swing center position P4 on the ground contact plane CC is placed at a point of intersection of the ground contact plane CC and the swing central axis Zr.
It is assumed that, in the global coordinate system COG, the inclination angle of the traveling device 5 around the X axis is designated as θ5 and the roll angle of the traveling device 5 around the Y axis as θ4. It is also assumed that the distance between the installation position P1 and the swing center position P4 along the direction orthogonal to the ground contact plane CC is designated as Za4 and the distance between the installation position P1 and the swing center position P4 in the Ya axis direction of the vehicle main body coordinate system COM as Ya4. Information indicative of the distance between Za4 and Ya4 is stored in advance in the work machine-side storage part 35. If it is assumed that the coordinates of the installation position P1 in the global coordinate system COG is designated as {Xp1, Yp1, Zp1}, the swing center position P4 in the global coordinate system COG can be determined as {Xp1−Za4×sin θ4, Yp1+Ya4×cos θ5, Zp1}, for example. As described above, the coordinates of the swing center position P4 in the global coordinate system COG may be determined by using the coordinates of the swing center position P4 in the vehicle main body coordinate system COM.
The display control device 39 calculates an intersection line 80 of the three-dimensional designed landform and a plane passing through the blade edges 8T of the bucket 8 (hereinafter, referred as appropriate to as Ya−Za plane 77) as illustrated in FIG. 6, based on the blade edge position P3 of the bucket 8 determined by the foregoing method and the designed landform data stored in the storage part 92 of the construction management device 90 illustrated in FIG. 4 in the embodiment. Then, the display control device 39 displays a part of the intersection line 80 passing through the target plane 70 as a target line on the guide screen. Next, descriptions will be given as to the case where the display control device 39 illustrated in FIG. 4 displays the locus of the blade edges 8T during excavation of the ground as a working target by the bucket 8 on a screen 42P of the display part 42 of the display input device 38.
As illustrated in FIG. 9, the blade edge locus TLi is displayed on a side view part 54 b of an excavation screen 54. That is, the blade edge locus TLi refers to the locus of the blade edges 8T of the bucket 8 in a side view. An icon 90 for the bucket 8 in a side view is displayed on the side view part 54 b. In addition, displayed on the side view part 54 b are a target line 79 indicative of a cross section of the target plane 70 in a side view and a ground surface-side line Lu and an underground-side line Ld for defining the predetermined range AI in the direction orthogonal to the target plane 70 (two-dot chain lines in FIG. 9). The ground surface-side line Lu and the underground-side line Ld are parallel to the target line 79. Displayed on a front view part 54 a are an icon 89 for the bucket 8 in a front view, a target line 78 indicative of a cross section of the target plane 70 in a front view, and a first plane Pu and a second plane Pd described later.
The predetermined range AI is surrounded by the first plane Pu parallel to the target plane 70 existing at a predetermined distance tu from the target plane 70 to the ground surface, and the second plane Pd parallel to the target plane 70 existing at a predetermined distance td from the target plane 70 to the underground, in the direction orthogonal to the target plane 70 (the direction in which a dotted line n extends in FIG. 9). A line of intersection of the first plane Pu and the Ya−Za plane 77 passing through the blade edges 8T of the bucket 8 (refer to FIG. 6) refers to the ground surface-side line Lu, and a line of intersection line 80 of the second plane Pd and the Ya−Za plane 77 refers to the underground-side line Ld.
In the embodiment, the predetermined range AI corresponds to a plurality of index bars 84 a indicated with reference sign 84G included in graphic information 84. Level mark 84 b indicates the position corresponding to the target plane 70. Specifically, the extent of the predetermined range AI in the direction orthogonal to the target plane 70 equivalent to the magnitude of tu+td corresponds to the plurality of index bars 84 a indicated with reference sign 84G. In the embodiment, when the blade edges 8T of the bucket 8 move within the range, the target plane 70 is constructed within a range of designed tolerance.
Of the plurality of index bars 84 a included in the graphic information 84, the index bars 84 a indicated with reference sign 84B represent the outside of the predetermined range AI on the ground surface side. Of the plurality of index bars 84 a included in the graphic information 84, the index bars 84 a indicated with reference sign 84Y represent the outside of the predetermined range AI on the underground side. These bars indicate that the target plane 70 is excavated beyond the range of designed tolerance for the target plane 70. Of the plurality of index bars 84 a included in the graphic information 84, the index bar 84 a indicated with reference sign 84R represents the outside of the predetermined range AI on the most underground side. This bar indicates that the target plane 70 is excavated largely beyond the range of designed tolerance for the target plane 70.
The plurality of index bars 84 a included in the graphic information 84 represent a positional relationship between the blade edges 8T of the bucket 8 and the target plane 70 during exaction by the excavator 100. Specifically, the display mode of the index bars 84 a varies depending on the distance between the blade edges 8T and the target plane 70. For example, the index bars 84 a with reference sign 84B are displayed in blue, the index bars 84 a with reference sign 84G are displayed in green, the index bars 84 a with reference sign 84Y are displayed in yellow, and the index bar 84 a with reference sign 84R is displayed in red.
Therefore, if the blade edges 8T of the bucket 8 are located on the outside of the predetermined range AI on the ground surface side, the index bars 84 a with reference sign 84B are displayed in blue. If the blade edges 8T of the bucket 8 are located within the predetermined range AI, the index bars 84 a with reference sign 84B are displayed in blue and the index bars 84 a with reference sign 84G are displayed in green. If the blade edges 8T of the bucket 8 are located on the outside of the predetermined range AI on the underground side, the index bars 84 a with reference sign 84B are displayed in blue, and the index bars 84 a with reference sign 84G are displayed in green, and the index bars 84 a with reference sign 84Y are displayed in yellow. As in the foregoing, in addition to the display mode of the blade edge locus TLi since the display mode of the index bars 84 a varies depending on the distance between the blade edges 8T of the bucket 8 and the target plane 70, the operator of the excavator 100 can know more easily whether the blade edges 8T of the bucket 8 excavate beyond the predetermined range AI centered on the target plane 70. As a result, the operator can easily hold the blade edges 8T of the bucket 8 within the predetermined range AI during excavation, thereby resulting in improvement of construction efficiency.
FIG. 10 is a diagram for describing the construction position information. FIGS. 11 to 14 are diagrams for describing the traveling body position information. FIG. 15 is a diagram for describing the work machine position information. In the embodiment, the traveling body position information refers to coordinates of a traveling body-side current state update line Lc in the global coordinate system COG. The traveling body-side current state update line Lc is a straight line that passes through the foregoing swing center position P4, is parallel to the Xa−Ya plane in the vehicle main body coordinate system COM, and is orthogonal to the direction of travel of the excavator 100. The length of the traveling body-side current state update line Lc refers to a distance Wc between the outsides of the pair of crawler tracks 5 a and 5 b (hereinafter, referred as appropriate to as inter-crawler track distance). The inter-crawler-track distance Wc is stored in advance in the storage part 92.
When Mv>Mvc, the traveling body position information generation part 91B generates a straight line that moves in a direction orthogonal to the movement direction FD, passes through the swing center position P4, and is parallel to the Xa−Ya plane in the vehicle main body coordinate system COM, as the traveling body-side current state update line Lc, as illustrated in FIG. 11. The traveling body-side current state update line Lc passes through the swing center axis Zr at a position of Wc/2 (midpoint of the traveling body-side current state update line Lc) from the left outside of the crawler track 5 a or the right outside of the crawler track 5 b. The position information on the traveling body-side current state update line Lc, that is, the coordinates in the global coordinate system COG constitutes the traveling body position information. To determine the movement direction FD, as illustrated in FIG. 12, the traveling body position information generation part 91B determines, from a plurality of (two in this example) swing center positions P4 — m−1 and P4 — m acquired at different timings, a vector from the swing center position P4 — m−1 to the swing center position P4 — m (m denotes a natural number). The traveling body position information generation part 91B sets the direction of the vector as the movement direction FD.
The second method is applied when Mv≦Mvc and the traveling body-side current state update line Lc is already generated. In this case, as illustrated in FIG. 13, the traveling body position information generation part 91B generates as a new traveling body-side current state update line Lc_n a straight line that moves in a direction orthogonal to a line ND orthogonal to the traveling body-side current state update line Lc_n−1 generated at the previous processing period, passes through the swing center position P4, and is parallel to the Xa−Ya plane in the vehicle main body coordinate system COM (n denotes a natural number). The traveling body-side current state update line Lc_n passes through the swing center axis Zr at a position of Wc/2 from the left outside of the crawler track 5 a or the right outside of the crawler track 5 b (the midpoint in the traveling body-side current state update line Lc_n). The position information on the traveling body-side current state update line Lc_n, that is, the coordinates in the global coordinate system COG constitutes the traveling body position information. According to the second method, even if the movement direction FD cannot be obtained, it is possible to suppress a decrease in accuracy of the traveling body position information by using the previously obtained traveling body-side current state update line Lc_n.
The third method is applied when Mv≦Mvc and the traveling body-side current state update line Lc is not generated. In this case, as illustrated in FIG. 14, the traveling body position information generation part 91B generates as a new traveling body-side current state update line Lc a straight line that moves in a direction orthogonal to a straight line LTD extending in the front-back direction of the upper swing body 3 (hereinafter, referred as appropriate to as front-back direction), passes through the swing center position P4, and is parallel to the Xa−Ya plane in the vehicle main body coordinate system COM. The traveling body-side current state update line Lc_n passes through the swing center axis Zr at a position of Wc/2 from the left outside of the crawler track 5 a or the right outside of the crawler track 5 b (the midpoint in the traveling body-side current state update line Lc). The front-back direction LTD is parallel to the Ya axis of the vehicle main body coordinate system COM. The position information on the traveling body-side current state update line Lc, that is, the coordinates in the global coordinate system COG constitutes the traveling body position information. According to the third method, it is possible to generate the traveling body position information even if the movement direction FD cannot be obtained and the existing traveling body-side current state update line Lc does not exist. As in the foregoing, the traveling body position information generation part 91B generates the traveling body position information according to the movement direction in which the excavator 100 travels. Next, a method for determining the work machine position information will be described.
Specifically, when at least one of the hydraulic sensors 37Slf, 37Slb, 37Srf, and 37Srb detects that an operation is performed to travel the traveling device 5 of the excavator 100, the hydraulic sensors 37Slf, 37Slb, 37Srf, and 37Srb illustrated in FIG. 4 detect a raise in pilot pressures. If the detected pilot pressures are higher than a predetermined threshold value, operating oil is supplied to the traveling hydraulic motor 5 c and either one of the crawler tracks 5 a and 5 b is driven to travel the excavator 100. If the pilot pressures detected by the hydraulic sensors 37Slf, 37Slb, 37Srf, and 37Srb are equal to or smaller than the predetermined threshold value, the traveling device 5 of the excavator 100 is stopped or remains stopped. When the pilot pressures become equal to or less than the predetermined threshold value, the supply of operating oil is stopped to the traveling hydraulic motor 5 c, and the excavator 100 is stopped.
FIG. 19 is a diagram of one display example of construction position information on the screen 42P of the display part 42. The display is provided while the operator conducts the excavation work. Alternatively, the display can be configured such that another screen is displayed during excavation work and can be shifted to the foregoing screen by the operator touching a predetermined place (for example, menu button 85) on the screen 42P. The foregoing display includes a distribution chart of construction position information in which construction result information as construction results is displayed in the form of a distribution chart. Displayed at a side view part 54 b are a target line 79 and solid lines indicated with reference signs TLi and TLd. The locus TLi of the blade edge 8T of the bucket 8 (icon 89B) is displayed as construction results, and the locus TLd of the crawler tracks 5 a and 5 b is displayed by a solid line.
A front view part 54 a presents a distribution chart of construction position information. In a region indicated with reference sign NOP, the bucket 8 (icon 89B) moves over a target construction plane, that is, the target plane, but does not conduct excavation work. In a region indicated with reference sign DP, the target plane is excavated and has construction results equivalent to the target construction plane. In a region indicated with reference sign DN, the target plane is excavated too deeply. Here, the region with reference sign DN is displayed in different colors to indicate the degrees of depths of excavation, for example. Places excavated more deeply than a predetermined threshold value are displayed in blue, for example, and places excavated less deeply than the predetermined threshold value are displayed in light blue, for example. The kinds or number of colors according to the degrees of depths of excavation can be arbitrarily set by touching a predetermined place (for example, menu button 85) on the display to call a setting screen. By displaying the construction results in the form of a distribution chart on the screen 42P of the display part 42 as described above, the operator can intuitively confirm the construction results in a visual manner. In addition, such distribution chart can also be displayed in the same mode on a display device of a construction management system described later.
Instead of the construction position information distribution chart in a display of construction results, on the basis of the number of times when the estimated current state update line passes through grid points at step S105 or step S111 as illustrated in FIG. 18, a distribution chart according to the number of times, that is, a number-of-construction distribution chart may be displayed in the front view part 54 a of the screen 42P of the display part 42. For example, construction places with a predetermined number of times or more are displayed in red, and construction places with a number of times less than the predetermined number of times are displayed in blue. The number of colors used for color coding in the number-of-construction distribution chart, that is, the kinds of colors are not limited to two but may be three or more. The kinds of colors used in the construction position information distribution chart and the number-of-construction distribution chart are presented in graphic information 84 at the left end of the screen 42P. In addition, the kinds and number of colors according to the number of constructions in the number-of-construction distribution chart can be arbitrarily set by touching a predetermined place (for example, menu button 85) to call a setting screen.
5 a and 5 b Crawler track
5 c Hydraulic motor
8B Blade
8T Blade edge
9 Posture detection part
19 Position detection part
21 and 22 Antenna (GNSS antenna)
23 Three-dimension position sensor
27 Vehicle control device
31L and 31R Work machine operation member
32L and 32R Work machine operation detection part
33L and 33R Traveling operation member
34L and 34R Traveling operation detection part
37W Working control valve
37Slf, 37Slb, 37Srf, and 37Srb Hydraulic sensor
37SBM, 37SBK, 37SAM, and 37SRM Hydraulic sensor
38 Display input device
39 Display control device
40 Communication part
40A Antenna
45 Designed plane
70 Target plane
90 Construction management device in excavation machinery (construction management device)
91 Processing part
91A Work machine position information generation part
91B Traveling body position information generation part
91C Construction position information generation part
92 Storage part
100, 100A, and 100B Excavator
200 Construction management system
203 Data server
204 Processing part
204A Construction plan creation part
204B Construction plan transmission part
204C Construction position information acquisition part
205 Storage part
CC Ground contact plane
COG Global coordinate system
COM Vehicle main body coordinate system
FD Movement direction
Lb Work machine-side current state update line
Lc and Lc_n Traveling body-side current state update line
LTD Front-back direction
My Movement amount
P1 and P2 Installation position
P3 Blade edge position
P4 and P4 — m Swing center position
Zr Swing center axis
1. A construction management device for excavation machinery configured to generate information on a result of construction by the excavation machinery having a work machine, a swing body to which the work machine is attached, and a traveling body traveling with the swing body mounted thereon, the device comprising:
a vehicle state detection part that detects information on current position and posture of the excavation machinery;
a work machine position information generation part that determines work machine position information as information on a position of the work machine, based on a result of a detection by the vehicle state detection part;
a traveling body position information generation part that determines traveling body position information as information on a position of the traveling body, based on the result of the detection by the vehicle state detection part; and
a construction position information generation part that uses one of the work machine position information and the traveling body position information to generate construction position information as information on a position of construction by the excavation machinery, wherein when the excavation machinery travels, the construction position information generation part uses not the work machine position information, but the traveling body position information, to generate the construction position information.
2. The construction management device for excavation machinery according to claim 1, wherein
when the traveling body is stopped, the construction position information generation part uses the work machine position information to generate the construction position information.
3. The construction management device for excavation machinery according to claim 2, further comprising:
an operation part that controls an operation of the traveling body and an operation detection part that detects an operation of the operation part, wherein
when the operation detection part detects an operation for traveling the traveling body, the construction position information generation part uses the traveling body position information to generate the construction position information, and when the operation detection part detects an operation for stopping the traveling body, the construction position information generation part uses the work machine position information to generate the construction position information.
5. The construction management device for excavation machinery according to claim 1, wherein
in a case of using the work machine position information, when current work machine position information generated by the work machine position information generation part becomes smaller than the position of the construction position information which already exists in a height direction, the construction position information generation part updates the construction position information to the current work machine position information.
6. The construction management device for excavation machinery according to claim 1, wherein
in a case of using the traveling body position information, the construction position information generation part updates the construction position information to current traveling position information generated by the traveling body position information generation part.
9. The construction management device for excavation machinery according to claim 1, wherein the construction position information generation part displays the construction position information on a display device included in the excavation machinery.
10. A construction management device for excavator, configured to generate information on a result of construction by the excavator having a work machine, a swing body to which the work machine is attached, and a traveling body traveling with the swing body mounted thereon, the device comprising:
a vehicle state detection part that detects information on current position and posture of the excavator;
a traveling body position information generation part that determines traveling body position information as information on a position of the traveling body, based on the result of the detection by the vehicle state detection part;
a pilot-pressure traveling lever that controls an operation of the traveling body; and
an operation detection part that detects an input to the traveling lever, wherein
when the operation detection part detects an input for traveling the traveling body, the construction position generation information part uses the traveling body position information to generate the construction position information, and when the operation detection part detects an input for stopping the traveling body, the construction position generation information part uses the work machine position information to generate the construction position information.
11. Excavation machinery, comprising:
a swing body to which the work machine is attached;
a traveling body that travels with the swing body mounted thereon; and
the construction management device for excavation machinery according to claim 1.
12. A construction management system, comprising:
a construction plan creation part that creates a construction plan for the excavation machinery according to claim 11;
a construction plan transmission par that transmits the construction plan to the construction management device in the excavation machinery; and
a construction position information acquisition part that acquires the construction position information generated by the construction management device in the excavation machinery.
US14/233,498 2013-04-10 2013-09-02 Construction management device for excavation machinery, construction management device for excavator, excavation machinery, and construction management system Active US10017919B2 (en)
JP2013082517A JP5789279B2 (en) 2013-04-10 2013-04-10 Excavation machine construction management device, hydraulic excavator construction management device, excavation machine and construction management system
JP2013-082517 2013-04-10
PCT/JP2013/073573 WO2014167740A1 (en) 2013-04-10 2013-09-02 Construction management device for excavating equipment, construction management device for hydraulic shovel, excavating equipment, and construction management system
US20160024757A1 true US20160024757A1 (en) 2016-01-28
US10017919B2 US10017919B2 (en) 2018-07-10
ID=51689165
US14/233,498 Active US10017919B2 (en) 2013-04-10 2013-09-02 Construction management device for excavation machinery, construction management device for excavator, excavation machinery, and construction management system
US (1) US10017919B2 (en)
JP (1) JP5789279B2 (en)
KR (1) KR101713457B1 (en)
CN (1) CN104246085B (en)
DE (1) DE112013000115T5 (en)
WO (1) WO2014167740A1 (en)
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2013-09-02 US US14/233,498 patent/US10017919B2/en active Active
2013-09-02 DE DE201311000115 patent/DE112013000115T5/en active Pending
2013-09-02 CN CN201380002204.2A patent/CN104246085B/en active IP Right Grant
2013-09-02 KR KR1020157006485A patent/KR101713457B1/en active IP Right Grant
2013-09-02 WO PCT/JP2013/073573 patent/WO2014167740A1/en active Application Filing
DE112013000115T5 (en) 2015-01-08
KR20150040362A (en) 2015-04-14
KR101713457B1 (en) 2017-03-07
JP2014205955A (en) 2014-10-30
US10017919B2 (en) 2018-07-10
CN104246085A (en) 2014-12-24
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