JP2006265954A - Target work surface setting device of working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a target work surface setting device of a working device for easily inputting a plurality of information required for setting a target work surface. <P>SOLUTION: A hydraulic excavator side computer 49 receives electronic data on a plan view and a cross-sectional drawing of a design drawing via transceivers 73 and 74 from an office side computer 72 when a setting switch 69 is turned on. The target work surface is calculated on the basis of the electronic data, and a three-dimensional position of a hydraulic excavator 1 is calculated on the basis of position information from GPS antenna devices 70 and 71 and correction information from a GPS reference station 90, and whether the hydraulic excavator 1 is positioned in an area capable of arranging a bucket 10 on the target work surface, is determined by comparing a position of the hydraulic excavator 1 with a position of the target work surface. The target work surface is set when determining that the hydraulic excavator 1 is positioned in the area where the bucket 10 is arranged on the target work surface, and a buzzer 75 is operated when the hydraulic excavator is not positioned in the area. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is provided in relation to a work machine equipped with a work device including a work tool for performing excavation work, leveling work, and the like at the tip, and is a work machine that sets a target work surface according to input information. The present invention relates to a target work surface setting device.

  The hydraulic excavator includes a working device in which a boom, an arm, and a bucket are rotatably connected. In excavation work performed by this working device, the bucket may be moved linearly, but the working device is operated so that the bucket moves linearly because the trajectories of the boom, the arm, and the bucket are arcuate. Therefore, skill is required.

  Therefore, in order to be able to move the bucket in a straight line even if the operator is not skilled in maneuvering the work device, the conventional technique shown in Patent Document 1 has a target work surface according to input information. Target work surface setting means for setting a target work surface to be set, and an excavation region for performing control (hereinafter, “excavation region restriction control”) for limiting the operation region of the work device as a boundary surface that the work device must not cross the target work surface. Limiting control means.

The excavation area restriction control means calculates the position of the bucket tip. The information input to set the target work surface by the target work surface setting means is the position of the bucket tip calculated by the excavation area restriction control means with the bucket tip placed at a certain position, and the target excavation depth at the certain position. The position of the bucket tip calculated by the excavation area restriction control means in a state where the bucket tip is arranged at another position, and the target excavation depth at the other position. The two target excavation depths are input by the operator operating the operation panel.
Japanese Patent No. 3056254

  In the above-described conventional technology, when inputting information for setting the target work surface, the operation of the working device for arranging the bucket tip at two positions and the bucket tip at each of these two positions are arranged. It is necessary to perform the target depth input operation in the state. It is troublesome for the operator to input information for setting the target work surface in this way.

  The present invention has been made in consideration of the above-described actual situation, and an object thereof is to provide a target work surface setting device for a work device that can easily input a plurality of pieces of information necessary for setting a target work surface. There is to do.

  [1] In order to achieve the above-mentioned object, the present invention is provided in connection with a work machine equipped with a work device having a work tool for excavation work at the tip, and has a target work surface according to input information. In the target work surface setting device of the work machine to be set, target work surface calculation means for calculating the target work surface based on electronic data in which the position, shape, and dimensions of the structure to be formed are collected, and the target work surface calculation And a design information input means for inputting the electronic data to the means.

  In the present invention configured as described above, when inputting information necessary for setting a target work surface to the target work surface calculation means, electronic data in which the position, shape, and dimensions of the structure to be formed are collected is input as design information. Enter by means. That is, a plurality of pieces of information necessary for setting the target work surface can be input at a time. Therefore, it is possible to easily input a plurality of information necessary for setting the target work surface.

  [2] The present invention is characterized in that in the invention described in [1], the electronic data includes electronic data of a plan view and a cross-sectional view of a design drawing.

  [3] According to the present invention, in the invention described in [1], setting command means for instructing setting of a target work surface, position measuring means for measuring a position of a predetermined portion of the work machine, and measurement by the position measuring means Position determination for comparing whether or not the work machine is located within an area where the work tool can be arranged on the target work surface by comparing the position of the predetermined position of the work machine and the position of the target work surface The position determining means determines that the setting of the target work surface is instructed by the setting instruction means, and the work machine is located within an area where the work implement can be placed on the target work surface. A target work surface is set when the operation is performed.

  [4] The present invention according to [3], further comprising notification means for notifying a result of determination by the position determination means.

  According to the present invention, since a plurality of pieces of information necessary for setting the target work surface can be input at a time, a plurality of pieces of information necessary for setting the target work surface can be easily input.

  The target work surface setting device for a work machine according to the present invention is provided in connection with a work machine having a work tool for excavation work at the tip. Before describing an embodiment of the present invention, a hydraulic excavator that is an example of a work machine to which the embodiment is applied will be described with reference to FIGS.

  1 is a perspective view showing a hydraulic excavator to which an embodiment of the present invention is applied, FIG. 2 is a hydraulic circuit diagram showing a hydraulic drive device provided in the hydraulic excavator shown in FIG. 1, and FIG. 3 is shown in FIG. The figure which shows the dimension and angle which are used when the direction switching valve control apparatus shown calculates the position of the bucket tip, FIG. 4 is the direction switching valve for the boom, the direction switching valve for the arm, and the direction switching valve for the bucket shown in FIG. FIG. 5 is a flowchart for explaining the velocity vector at the tip of the bucket when excavation area restriction control is performed by the direction switching valve control device shown in FIG. FIG. 6 is a diagram showing a function that defines the relationship between the vertical distance between the bucket tip and the target work surface and the deceleration vector coefficient, and FIG. 7 is a diagram of the bucket tip trajectory controlled based on the function shown in FIG. A diagram showing an example, FIG. FIG. 9 is a diagram showing a function that defines the relationship between the vertical distance between the bucket tip and the target work surface and the magnitude of the restoration vector, and FIG. 9 is an example of the bucket tip trajectory controlled based on the function shown in FIG. FIG.

  One embodiment of the present invention to be described later is applied to a hydraulic excavator 1 shown in FIG. The hydraulic excavator 1 includes a traveling body 2 that travels by driving a crawler belt provided on each of the left and right side portions, and a revolving body 3 that is provided on the traveling body 2 so as to be able to turn.

  The swivel body 3 includes a cab 4, a machine room 5, and a counterweight 6. The cab 4 is provided on the left side of the front part of the swivel body 3. The machine room 5 is provided behind the cab 4. The counterweight 6 is provided behind the machine room 5, that is, at the rear end of the swing body 3.

  Further, the swing body 3 is equipped with a work device 7. The working device 7 is located on the right side of the cab 4 and in the center of the front portion of the revolving structure 3. The boom 8 is pin-coupled so as to be pivotable in the vertical direction, and the free end of the boom 8 is vertically movable. And an arm 9 that is pin-coupled to be rotatable. A bucket 10, which is a work tool for excavation work, is pin-coupled to the free end of the arm 9, that is, the tip of the work device 7 so as to be rotatable.

  As shown in FIG. 2, the hydraulic drive device 11 provided in the excavator 1 includes travel motors 12 and 13, a swing motor 14 that drives the travel body 2, the swing body 3, the boom 8, the arm 9, and the bucket 10. Boom cylinders 15 and 16, arm cylinders 17, and bucket cylinders 18 are provided. The traveling motor 12 is for driving the left crawler belt of the traveling body 2, and the traveling motor 13 is for driving the right crawler belt. Hereinafter, the traveling motor 12 is referred to as a left traveling motor 12, and the traveling motor 13 is referred to as a right traveling motor 13.

  The left traveling motor 12, the right traveling motor 13, the turning motor 14, the boom cylinders 15 and 16, the arm cylinder 17 and the bucket cylinder 18 are supplied with pressure oil discharged from the hydraulic pump 19 and are driven. The flow of pressure oil supplied from the hydraulic pump 19 to each of the left traveling motor 12, the right traveling motor 13, the turning motor 14, the boom cylinders 15 and 16, the arm cylinder 17, and the bucket cylinder 18 is the left traveling direction switching valve 20. These are controlled by a right traveling direction switching valve 21, a turning direction switching valve 22, a boom direction switching valve 23, an arm direction switching valve 24, and a bucket direction switching valve 25. These direction switching valves 20 to 25 have, for example, a pair of electromagnetic drive units including a proportional electromagnetic valve, and are driven by an electric signal input to the pair of electromagnetic drive units. In FIG. 2, reference numerals 26 to 37 denote the electromagnetic drive units.

  The electromagnetic drive units 26 to 37 are controlled by the direction switching valve control device 47. The direction switching valve control device 47 includes a left traveling operation lever device 38, a right traveling operation lever device 39, a turning operation lever device 40, a boom operation lever device 41, an arm operation lever device 42, and a bucket operation. A lever device 43 is connected.

  The left travel operation lever device 38 outputs an operation command signal for instructing the operation amount of the electromagnetic drive units 26 and 27 of the left travel direction switching valve 20 according to the lever operation. The right travel operation lever device 39 outputs an operation command signal for instructing the operation amount of the electromagnetic drive units 28 and 29 of the right travel direction switching valve 21 according to the lever operation. The turning operation lever device 40 outputs an operation amount command signal for instructing an operation amount of the electromagnetic drive units 30 and 31 of the turning direction switching valve 22 in accordance with the lever operation. The boom operation lever device 41 outputs an operation command signal for instructing the operation amount of the electromagnetic drive units 32 and 33 of the boom direction switching valve 23 according to the lever operation. The arm operation lever device 42 outputs an operation command signal for instructing the operation amount of the electromagnetic drive units 34 and 35 of the arm direction switching valve 24 according to the lever operation. The bucket operation lever device 43 outputs an operation command signal for instructing the operation amount of the electromagnetic drive units 36 and 37 of the bucket direction switching valve 25 according to the lever operation.

  In addition, the direction switching valve control device 47 includes a boom angle detector 44 that is provided at a pin coupling portion that pin-couples the swing body 3 and the boom 8, detects the rotation angle α of the boom 8, and the boom 8 and the arm 9. An arm angle detector 45 that detects the rotation angle β of the arm 9 provided at the pin connection portion that connects the pins, and a rotation angle γ of the bucket 10 that is provided at the pin connection portion that connects the arm 9 and the bucket 10 with pins. A bucket angle detector 46 is connected to an inclination angle detector 80 which is provided in the cab 4 and detects the inclination angle θ of the hydraulic excavator 1.

  As shown in FIG. 3, the rotation angle α of the boom 8 is assumed to be a state where the line segment a connecting the rotation fulcrum P0 of the boom 8 and the rotation fulcrum P1 of the arm 9 and the revolving body 3 are horizontal. The angle formed by the vertical line z passing through the pivot point P0 of the boom 8 in this case. The rotation angle β of the arm 9 is an angle formed by a line segment b connecting the rotation fulcrum P1 of the arm 9 and the rotation fulcrum P2 of the bucket 10 and an extension line of the line segment a. The rotation angle γ of the bucket 10 is an angle formed by a line segment c connecting the rotation fulcrum P2 of the bucket 10 and the bucket tip P3 and an extension line of the line segment b.

  The direction switching valve control device 47 stores in advance the lengths La, Lb, and Lc of the line segments a, b, and c, and the bucket tip P3 of the boom 8 with reference to the pivot point P0 of the boom 8 is stored. The height position is calculated using a trigonometric function based on the length dimensions La, Lb, Lc and the rotation angles α, β, γ.

  Returning to FIG. 2, the direction switching valve control device 47 is connected to an excavation area restriction switch 48 that outputs a command signal for instructing execution of the excavation area restriction control. The excavation area limit control is control for limiting the operation area of the work device 7 with a target work surface set according to an embodiment of the present invention described later as a boundary surface that the work device 7 should not exceed.

  The direction switching valve control device 47 operates according to the procedure shown in FIG. 4 when controlling the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25.

  That is, the direction switching valve control device 47 determines whether or not a command signal is input from the excavation area restriction switch 48 every predetermined time, that is, whether or not the excavation area restriction switch 48 is ON (procedure S1). When it is determined that the excavation area restriction switch 48 is not ON (NO in step S1), based on each of the operation command signals input from the boom operation lever device 41, the arm operation lever device 42, and the bucket operation lever device 43. Then, the target operation amounts of the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25 are calculated (steps S14 and S15). Next, control signals corresponding to the respective target operation amounts are output to the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25, respectively (step S13).

  When the direction switching valve control device 47 determines that the excavation area restriction switch 48 is ON (YES in step S1), the boom operation lever device 41, the arm operation lever device 42, and the bucket operation lever device 43 are used. Based on each of the operation command signals input from, the target operation amounts of the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25 are calculated (steps S2, 3). Next, the rotation angles α, β, γ, θ indicated by the angle signals input from the boom angle detector 44, the arm angle detector 45, the bucket angle detector 46, and the tilt angle detector 80, Based on the length dimensions La, Lb, and Lc stored in advance, the height position of the bucket tip P3 with respect to the pivot fulcrum P0 of the boom 8 is calculated (steps S4 and S5). Next, the speed vector Vc of the bucket tip P3 corresponding to the target operation amount is calculated (step S6).

  Next, the direction switching valve control device 47 determines whether or not the vertical distance D1 from the target work surface to the bucket tip P3 is smaller than the preset vertical distance Da, that is, the region from the target work surface to the vertical distance Da. It is determined whether or not there is a bucket tip P3 within the deceleration region (step S7). When it is determined that the bucket tip P3 is within the deceleration region (YES in step S7), the deceleration vector coefficient k is calculated based on the distance D1 and the function f1 stored in advance (see FIG. 6), and the speed vector The direction of the vertical component Vcz of Vc is reversed and multiplied by the deceleration vector coefficient k to calculate the deceleration vector Vd (= −hVcz) (step S8). Next, the speed vector Vc is corrected to Vc1 by adding the deceleration vector Vd to the vertical component Vcz of the speed vector Vc (see FIG. 7). That is, the target operation amounts of the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25 are corrected to values corresponding to the corrected speed vector Vc1 (step S9).

  Next, the direction switching valve control device 47 determines whether or not the vertical distance D2 (= | −D1 |) from the target work surface to the bucket tip P3 is larger than 0, that is, the region beyond the target work surface. It is determined whether or not there is a bucket tip P3 in the restoration area (step S10). When it is determined that the bucket tip P3 does not exceed the target work surface (NO in step S10), a control signal corresponding to each of the target motion amounts corrected in step S9 is output (step S13).

  When the direction switching valve control device 47 determines that the bucket tip P3 has exceeded the target work surface (YES in step S10), the direction switching valve control device 47 uses the vertical distance D2 and the function f2 (see FIG. 8) stored in advance. In addition, a restoration vector Vr in the opposite direction to the vertical component Vcz of the velocity vector Vc is calculated, and the restoration vector Vr and the velocity vector -Vcz having the same magnitude and opposite direction as the vertical component Vcz are converted into the vertical component Vcz. In addition, the velocity vector Vc is corrected to Vc2. That is, the target operation amounts of the boom direction switching valve 23, the arm direction switching valve 24, and the bucket direction switching valve 25 are corrected to values corresponding to the corrected speed vector Vc2 (step S12). Next, a control signal corresponding to each of the corrected target motion amounts is output (procedure S13).

  As shown in FIG. 6, the function f1 has a deceleration vector coefficient k of 0 when the vertical distance D1 between the bucket tip P3 and the target work surface is greater than or equal to a preset vertical distance Da, and the vertical distance D1. However, the relationship between the vertical distance D1 and the deceleration vector coefficient k is determined so that the deceleration vector coefficient k increases as it becomes smaller than the vertical distance Da.

  Thus, for example, when the bucket tip P3 moves in the deceleration region with the velocity vector Vc of the bucket tip P3 held obliquely downward, the locus of the bucket tip P3 is the target as shown in FIG. A curved line that touches the work surface. That is, the velocity vector Vc becomes the velocity vector Vc1 corrected with the vertical component Vcz being reduced to Vc1z while the horizontal component is maintained at Vcx. The vertical component Vc1z of the velocity vector Vc1 decreases as the bucket tip P3 approaches the target work surface, and becomes zero when the bucket tip P3 reaches the target work surface. Accordingly, the velocity vector Vc1 becomes Vcx.

  Further, as shown in FIG. 8, the function f2 is such that the vertical distance D2 (= | −D1 |) between the bucket tip P3 and the target work surface when the bucket tip P3 exceeds the target work surface is greater than zero. Accordingly, the relationship between the vertical distance D2 and the restoration vector Vr is determined so that the speed of the restoration vector Vr increases.

  Thus, for example, when the bucket tip P3 is positioned in the restoration region with the velocity vector Vc of the bucket tip P3 held obliquely downward, the locus of the bucket tip P3 is as shown in FIG. The curve is in contact with the target work surface. That is, the velocity vector Vc becomes the velocity vector Vc2 in which the vertical component Vcz is corrected to the restoration vector Vr while the horizontal component is maintained at Vcx. The vertical component Vr (restoration vector) of the velocity vector Vc2 decreases as the bucket tip P3 approaches the target work surface, and becomes zero when the bucket tip P3 reaches the target work surface. Accordingly, the velocity vector Vc2 becomes Vcx.

  One Embodiment of the target working surface setting apparatus of the working machine of this invention is described using FIGS.

  FIG. 10 is a block diagram showing the configuration of an embodiment of the present invention, and FIG. 11 is a flowchart showing the operation of the computer on the excavator side shown in FIG. 12 is a diagram showing an example of a plan view of a design diagram stored as electronic data in the office computer shown in FIG. 10, FIG. 13 is a diagram showing a cross-sectional view taken along line AA of the plan view shown in FIG. 14 is a cross-sectional view taken along the line BB of the plan view shown in FIG.

  As shown in FIG. 10, the present embodiment includes a computer 49 mounted in the cab 4 of the excavator 1. The computer 49 functions as a target work surface calculation unit that calculates a target work surface based on electronic data in which the position, shape, and dimensions of the structure 51 to be formed are collected.

  The electronic data includes a plan view and a cross-sectional view of a design drawing, for example, a plan view 50 shown in FIG. 12, a cross-sectional view A-A 52 of the plan view 50 shown in FIG. Consists of electronic data of cross-sectional view 61. That is, it is created by a computer capable of processing the diagram as electronic data, for example, a personal computer.

  In the plan view 50, a structure 51 (two-dotted line) to be formed is superimposed on a map including a construction site. That is, this plan view 50 shows the position of the structure 51 to be formed and the shape in plan view. Further, in the AA sectional view 52, the cross-sectional shape of the structure 51 to be formed, the width dimension w1 of the top surface 59, the gradient t1: u1 and the height dimension h1 of the slopes 53 and 55, and the small steps 57 and 58 are shown. , And a slope t2: u2 of the slopes 54 and 56 are shown. In the BB sectional view 61, the sectional shape of the structure 51 to be formed, the width dimension w1 of the bottom surface 68, the gradient t3: u3 of the slopes 62 and 64, the height dimension h2, and the width dimension of the small steps 66 and 67 are shown. The gradient t4: u4 of w2 and the slopes 63 and 65 is shown.

  The computer 49 mounted on the excavator 1 reads the positions M1 to M8 shown in the plan view 50, the dimensions w1 and w2, and the gradients t1: u2 and t2: u2 shown in the AA sectional view 52. Then, a target work surface corresponding to the slope 53 is calculated based on the positions M3, M4 and the gradient t1: u1, and a target work surface corresponding to the slope 54 is calculated based on the positions M1, M2 and the gradient t2: u2. Similarly, a target work plane corresponding to each of the slopes 55 and 56 is calculated. Further, a target work surface corresponding to the top surface 59 is calculated based on the positions M4, M5 and the width dimension w1, and a target work surface corresponding to the small step portion 57 is calculated based on the positions M2, M3 and the width dimension w2. Similarly, a target work surface corresponding to the small step portion 58 is calculated.

  Further, the computer 49 reads the positions N1 to N8 shown in the plan view 50, the dimensions w1 and w2, and the gradients t3: u3 and t4: u4 shown in the BB sectional view 61. Then, a target work surface corresponding to the slope 62 is calculated based on the positions N3, N4 and the gradient t3: u3, and a target work surface corresponding to the slope 63 is calculated based on the positions N1, N2 and the gradient t4: u4. Similarly, the target work plane corresponding to each of the slopes 64 and 65 is calculated. Further, a target work surface corresponding to the bottom surface 68 is calculated based on the positions N4, N5 and the width dimension w1, and a target work surface corresponding to the small step portion 66 is calculated based on the positions N2, N3 and the width dimension w2. Similarly, the target work surface corresponding to the small step portion 67 is calculated.

  In the present embodiment, design information input means for inputting electronic data to the computer 49 is provided. As shown in FIG. 10, the design information input means is connected to, for example, a computer 72 (hereinafter referred to as “office computer 72”) provided in an office provided at a construction site, and the office computer 72. And a transmitter / receiver 74 (see FIG. 1) provided in the excavator 1 and connected to a computer 49 mounted on the excavator 1 (hereinafter, referred to as “hydraulic excavator side computer 49”). Yes. The office computer 72 is provided with the electronic data via a storage medium such as a magnetic disk, an optical disk, a memory card, or a communication line, and can store it.

  Moreover, this embodiment is provided with the position measurement means which measures the position of the predetermined location of the hydraulic shovel 1, for example, the three-dimensional position of the rotation fulcrum P0 of the boom 8. As shown in FIG. 10, this position measuring means is installed on each of the left and right sides of the upper part of the counterweight 6 of the swivel body 3 and measures its own three-dimensional position based on signals from GPS satellites. GPS antenna devices 70 and 71 (see FIG. 1) for inputting information to the excavator computer 49 and the excavator computer 49 are included. That is, the hydraulic excavator side computer 49 stores in advance the positional relationship between the GPS antenna devices 70 and 71 and the pivot fulcrum P0 of the boom 8 based on the two positions measured by the GPS antenna devices 70 and 71. The three-dimensional position of the pivot fulcrum P0 of the boom 8 is calculated using a trigonometric function.

  Further, the position measuring means includes a GPS reference station 90 installed at a position where a three-dimensional position is measured in advance around the excavator 1. The GPS reference station 90 stores a GPS antenna device 91 that measures its own three-dimensional position based on a signal from a GPS satellite, and actually-measured value information of the three-dimensional position that is manually input. The computer 92 (hereinafter referred to as “reference station computer 92”) that compares the positional information from the GPS antenna device 91 and creates correction information, and the correction information produced by the reference station computer 92 are transferred to the excavator computer 49. And a transmitter 93 for transmission.

  The hydraulic excavator computer 49 is connected to a receiver 94 that receives correction information from the transmitter 93. The excavator computer 49 corrects the three-dimensional position of the pivot point P0 of the boom 8 calculated based on the position information from the GPS antenna devices 70 and 71 based on the correction information from the receiver 94, thereby The obtained three-dimensional position is used as a measurement result of the three-dimensional position of the excavator 1.

  Further, the excavator computer 49 compares the three-dimensional position of the pivot fulcrum P0 of the boom 8 with the position of the target work surface corresponding to the structure 51 to be formed, and the structure where the bucket 10 is to be formed. It functions as a position determination means for determining whether or not the excavator 1 is located in an area that can be disposed on the target work surface corresponding to 51.

  Further, the present embodiment includes a setting switch 69 provided in the cab 4 as setting command means for commanding setting of the target work surface. The setting switch 69 is connected to the hydraulic excavator computer 49 and, when turned on, inputs a setting command signal for instructing setting of the target work surface to the hydraulic excavator computer 49.

  In addition, the present embodiment includes notifying means for notifying the determination result when the hydraulic excavator side computer 49 functions as the position determining means. This notifying means includes, for example, a buzzer 75 and is connected to a hydraulic excavator side computer 49. The excavator computer 49 operates the buzzer 75 when it receives a setting command signal from the setting switch 69 and determines that the excavator 1 is not located in an area where the bucket 10 can be placed on the target work surface. A buzzer control signal is output for this purpose.

  The present embodiment operates according to the procedure shown in FIG. 11 when setting the target work surface.

  The excavator computer 49 determines whether or not a setting command signal is input from the setting switch 69, that is, whether or not the setting switch 69 is ON at every predetermined time (step S20). When the setting switch 69 is ON (YES in step S20), the electronic data of the design drawing is received from the office computer 72 (step S21). Next, target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, and 67, the top surface 59, and the bottom surface 68 are calculated (step S22). Next, the three-dimensional position of the pivot fulcrum P0 of the boom 8 is measured as the three-dimensional position of the excavator 1 (step S23). Next, the position of the pivot fulcrum P0 of the boom 8 and each of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. The bucket 10 can be arranged on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. It is determined whether or not the excavator 1 is located in the region (step S24).

  Then, the excavator computer 49 puts the bucket 10 on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small steps 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. When it is determined that the excavator 1 is located within the area where it can be disposed (YES in step S24), the target work surface that is determined to be capable of placing the bucket 10 is set as the target work surface at that time (step S25). ). The target work surface set in this way is used when excavation area restriction control is performed by the direction switching valve control device 47 as described above.

  The hydraulic excavator computer 49 also places the bucket 10 on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small steps 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. If it is determined that the excavator 1 is located within the region where it cannot be placed (NO in step S24), a buzzer control signal is output (step S26). As a result, the buzzer 75 emits a sound. In other words, it is difficult for the operator to place the bucket 10 on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. Informed.

  According to this embodiment, the following effects can be obtained.

  In this embodiment, electronic data in which the position, shape, and dimensions of the structure 51 to be formed are collected is input to the excavator computer 49 by the office computer 72 and the transceivers 73 and 74. That is, a plurality of pieces of information necessary for setting the target work surface can be input at a time. Thereby, it is possible to easily input a plurality of pieces of information necessary for setting the target work surface.

  In addition, the electronic data in which the position, shape, and dimensions of the structure 51 to be formed used in the present embodiment are collected includes electronic data of a plan view and a cross-sectional view. Thereby, the electronic data of the design drawing created by the computer can be efficiently used as information for setting the target work surface.

  In addition, the present embodiment includes a setting switch 69 for instructing setting of a target work surface. Thereby, a target work surface can be set when an operator desires.

  Further, in the present embodiment, the target work surface is set only when the excavator 1 is located in an area where the bucket 10 can be disposed on the target work surface. Thereby, a target work surface can be set efficiently.

  Further, in the present embodiment, the buzzer 75 notifies the operator that the excavator 1 is not located in an area where the bucket 10 can be disposed on the target work surface. Thereby, the operator can grasp the position of the excavator 1 with respect to the target work surface.

  Further, in this embodiment, the correction information produced by the GPS reference station 90 is the three-dimensional position of the pivot point P0 of the boom 8 calculated based on the position information from the GPS antenna devices 70 and 71 provided in the excavator 1. Correct based on. Thereby, the measurement accuracy of the three-dimensional position of the hydraulic excavator 1 can be improved.

  The present embodiment is an example including an office computer 72 and transceivers 73 and 74 as design information input means. However, the present invention is not limited to this, and a magnetic disk, an optical disk, a memory card, etc. The storage medium reader may be provided as design information input means.

  Moreover, although this embodiment is an example provided with the buzzer 75 as an alerting | reporting means, this invention is not limited to this, You may provide a display lamp as an alerting | reporting means.

  Further, the present embodiment is an example in which the calculation of the target work surface is performed by the hydraulic excavator computer 49, but the present invention is not limited to this. For example, as shown in FIGS. The target work surface may be calculated by the office computer 72 by operating the computer and the office computer.

  FIG. 15 is a flowchart showing the operation of the excavator computer when the target computer calculates the target work surface. FIG. 16 shows the operation of the office computer when the target computer calculates the target work surface. It is a flowchart which shows.

  As shown in FIG. 15, the excavator side computer 49 determines whether or not the setting switch 69 is turned on every predetermined time (step S30). If it is determined that the setting switch 69 is ON (YES in step S30), the three-dimensional position of the excavator 1, that is, the three-dimensional position of the pivot fulcrum P0 of the boom 8 is measured (step S31), and the measurement result is obtained. The three-dimensional position information shown is transmitted to the office computer 72 (step S32).

  On the other hand, as shown in FIG. 16, the office computer 72 determines whether or not the three-dimensional position information is received from the excavator computer 49 at predetermined time intervals (step S40). When the three-dimensional position information is received from the hydraulic excavator computer 49 (YES in step S40), based on the stored electronic data of the plan view 50, the AA sectional view 52, and the BB sectional view 61. The target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, 67, the top surface 59, and the bottom surface 68 are calculated (step S41). Next, in a region where the bucket 10 can be disposed on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small step portions 57, 58, 66, 67, the top surface 59, and the bottom surface 68, It is determined whether or not the excavator 1 is located (step S42).

  The office computer 72 can place the bucket 10 on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small steps 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. When it is determined that the excavator 1 is located in the area (YES in step S42), target work surface information indicating the target work surface determined to be able to place the bucket 10 is transmitted to the excavator computer 49. (Procedure S43).

  In addition, the office-side computer 72 places the bucket 10 on any of the target work surfaces corresponding to the slopes 53 to 56, 62 to 65, the small steps 57, 58, 66, 67, the top surface 59, and the bottom surface 68, respectively. When it is determined that the excavator 1 is located within the region where it cannot be arranged (NO in step S42), a buzzer operation command for instructing the operation of the buzzer 75 is transmitted to the hydraulic excavator computer 49 (step S44).

  Returning to FIG. 15, after transmitting the three-dimensional position information, the excavator side computer 49 determines whether or not the target work surface information or the buzzer operation command from the office side computer 72 is received every predetermined time. (Procedure S33 → Procedure S35 → Repeat Step S33). When the target work surface information is received (YES in step S33), the target work surface indicated by the target work surface information is set. If a buzzer work command has been received (YES in step S35), a buzzer control signal is output (step S36).

1 is a perspective view showing a hydraulic excavator to which an embodiment of the present invention is applied. FIG. 2 is a hydraulic circuit diagram showing a hydraulic drive device provided in the hydraulic excavator shown in FIG. 1. It is a figure which shows the dimension and angle which are used when the direction switching valve control apparatus shown in FIG. 2 calculates the position of the bucket tip. It is a flowchart which shows operation | movement of the direction switching valve control apparatus at the time of controlling the direction switching valve for booms shown in FIG. 2, the direction switching valve for arms, and the direction switching valve for buckets. It is a figure explaining the velocity vector of the bucket front end when excavation area | region limitation control is performed by the direction switching valve control apparatus shown in FIG. It is a figure which shows the function which defined the relationship between the vertical distance of a bucket front-end | tip and a target work surface, and the deceleration vector coefficient. It is a figure which shows an example of the locus | trajectory of the bucket tip controlled based on the function shown in FIG. It is a figure which shows the function which defined the relationship between the perpendicular distance of a bucket front-end | tip and a target work surface, and the magnitude | size of a restoration vector. It is a figure which shows an example of the locus | trajectory of the bucket tip controlled based on the function shown in FIG. It is a block diagram which shows the structure of one Embodiment of the target work surface setting apparatus of the working machine of this invention. It is a flowchart which shows operation | movement of the computer by the side of the hydraulic shovel shown in FIG. It is a figure which shows an example of the top view of the design drawing memorize | stored as electronic data in the computer of the office side shown in FIG. FIG. 13 is a cross-sectional view taken along the line AA of the plan view shown in FIG. It is a figure which shows BB sectional drawing of the top view shown in FIG. It is a flowchart which shows operation | movement of the hydraulic shovel side computer in the case of calculating a target work surface with an office side computer. It is a flowchart which shows operation | movement of the office side computer in the case of calculating a target work surface with an office side computer.

Explanation of symbols

1 Excavator (work machine)
2 traveling body 3 revolving body 4 cab 5 machine room 6 counterweight 7 working device 8 boom 9 arm 10 bucket (working tool)
DESCRIPTION OF SYMBOLS 11 Hydraulic drive device 12 Left travel motor 13 Right travel motor 14 Swing motor 15, 16 Boom cylinder 17 Arm cylinder 18 Bucket cylinder 19 Hydraulic pump 20 Left travel direction switching valve 21 Right travel direction switching valve 22 Swing direction switching valve 23 Boom direction switching valve 24 Arm direction switching valve 25 Bucket direction switching valve 26 to 37 Electromagnetic drive unit 38 Left travel operation lever device 39 Right travel operation lever device 40 Turning operation lever device 41 Boom operation lever device 42 Operation lever device for arm 43 Operation lever device for bucket 44 Boom angle detector 45 Arm angle detector 46 Bucket angle detector 47 Direction switching valve control device 48 Excavation area restriction switch 49 Hydraulic excavator side computer
(Target work surface calculation means, position measurement means, position determination means)
50 Plan view (electronic data)
51 Structure 52 AA sectional view (electronic data)
53-56 Slope 57,58 Stepped part 59 Top face 61 BB cross section (electronic data)
62 to 65 Slope 66, 67 Small step 68 Bottom surface 69 Setting switch (setting command means)
70, 71 GPS antenna device 72 Office side computer (design information input means)
73, 74 Transceiver (design information input means)
75 Buzzer (notification means)
80 Inclination angle detector 90 GPS reference station 91 GPS antenna device 92 Reference station side computer 93 Transmitter 94 Receiver

Claims (4)

In a target work surface setting device of a work machine that is provided in relation to a work machine equipped with a work device having a work tool for excavation work at the tip and sets a target work surface according to input information,
Target work surface calculation means for calculating a target work surface based on electronic data in which the position, shape, and dimensions of the structure to be formed are collected;
A target work surface setting device for a work machine, comprising: design information input means for inputting the electronic data to the target work surface calculation means. In the invention of claim 1,
A target work surface setting device for a work machine, wherein the electronic data includes electronic data of a plan view and a cross-sectional view of a design drawing. In the invention of claim 1,
Setting command means for commanding setting of the target work surface;
Position measuring means for measuring the position of the predetermined location of the work machine;
By comparing the position of the predetermined position of the work machine measured by the position measuring means with the position of the target work surface, whether or not the work machine is located in an area where the work tool can be placed on the target work surface. Position determining means for determining whether or not
When setting of the target work surface is instructed by the setting command means and the position determination means determines that the work machine is located in an area where the work tool can be placed on the target work surface, A target work surface setting device for a work machine, wherein the work surface is set. In the invention of claim 3,
A target work surface setting device for a work machine, comprising: notification means for notifying a result of determination by the position determination means.

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