JP2016079677A - Area limited excavation control device and construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an area limited excavation control device and a construction machine which enable a work machine control device to appropriately implement area limited excavation control in accordance with a signal protocol of an external operation unit.SOLUTION: An area limited excavation control device comprises: an external operation unit 30 which carries out an operation of difference information between a position of a work machine 20 and an excavation target surface on the basis of positional information of a vehicle body 10 of a construction machine, posture information on the vehicle body 10 and the work machine 20, and three-dimensional information on the given excavation target surface; a display device 38 which displays a positional relation between the work machine 20 and the excavation target surface on the basis of the difference information input through the external operation unit 30; a work machine control device 40 which executes area limited excavation control on the basis of a signal input through the external operation unit 30; and a signal conversion device 47 which performs protocol conversion of the signal output from the external operation unit 30 to the work machine control device 40 into a signal protocol of the work machine control device 40.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an area limited excavation control device and a construction machine.

  In the construction machine of Patent Document 1, an external arithmetic unit (external controller) is used for a work machine control device (work machine controller) that outputs an operation command signal to a drive system of the work machine based on an operation signal from the operation device. Can be connected. The external calculation unit is given a function for calculating the position information of the vehicle body and work implement based on the signals of the positioning device mounted on the construction machine and the sensors of each part, and three-dimensional information of the excavation target plane (target landform). Thus, the work machine can be operated along the excavation target plane by outputting the three-dimensional information of the excavation target plane and the position information of the work implement to the work implement control device from the external arithmetic unit.

JP 2001-98585 A

  However, there are various manufacturers of external arithmetic units that can be adopted, and the actual situation is that the signal protocol differs depending on the manufacturer and the communication format, speed, data format, etc. are not unified. Therefore, in order to properly operate the work machine along the excavation target surface, it is necessary to prepare a work machine control device that matches the specifications with the signal program of the external arithmetic unit to be employed.

  An object of the present invention is to provide an area limited excavation control apparatus and a construction machine that can cause a work machine control apparatus to appropriately perform area limited excavation control according to a signal protocol of an external arithmetic unit.

  In order to achieve the above object, the present invention provides an area limited excavation control apparatus for executing area limited excavation control for controlling a work machine of a construction machine so as not to excavate beyond a target excavation surface. An external calculation unit that calculates difference information between the position of the work implement and the excavation target surface based on the position information of the vehicle body, the posture information of the vehicle body and the work implement, and the given three-dimensional information of the excavation target plane; A display device that displays a positional relationship between the work implement and the excavation target surface based on the difference information input from the external arithmetic unit; and the region-limited excavation control based on a signal input from the external arithmetic unit A signal conversion device that converts a signal output from the external arithmetic unit to the work implement control device into a signal protocol of the work implement control device. For example, characterized in that is.

  In another aspect of the invention, there is provided a vehicle body, a work machine provided on the vehicle body, a positioning device that acquires position information of the vehicle body, a posture detector that detects posture information of the vehicle body and the work machine, and the region A construction machine including a limited excavation control device.

  According to the present invention, it is possible to cause the work implement control device to appropriately execute the area limited excavation control according to the signal protocol of the external arithmetic unit.

1 is a perspective view illustrating an external configuration of a hydraulic excavator that is an example of a construction machine to which an area limited excavation control device according to the present invention is applied. It is a figure which shows the hydraulic drive device with which the hydraulic shovel shown in FIG. 1 was equipped with the area | region limited excavation control apparatus. It is a block diagram of a work machine control device, a display device, and an external calculation unit forming an area limited excavation control device. It is the figure which illustrated the feature point extracted with the basic information transmission apparatus with which the external arithmetic unit which forms an area limited excavation control apparatus was equipped. It is the schematic diagram showing the one aspect | mode of the feature point information transmitted to the working machine control apparatus from the external arithmetic unit which forms an area | region limited excavation control apparatus. It is a flowchart showing the procedure of the calculation and transmission of the basic information by the external arithmetic unit which forms an area | region limited excavation control apparatus. It is a flowchart showing the setting procedure of the signal conversion by the signal converter with which the working machine control apparatus which forms an area | region limited excavation control apparatus was equipped. It is a figure showing an example of the setting screen of the signal conversion by the signal converter with which the working machine control apparatus which forms an area | region limited excavation control apparatus was equipped. It is a figure which illustrates the display screen containing the graphic image displayed on a display apparatus at the time of work. It is a figure which illustrates the enlarged display screen of the vicinity of a toe | toe displayed when the toe | toe of a working machine approaches an excavation target surface.

  Embodiments of the present invention will be described below with reference to the drawings.

1. Construction Machine FIG. 1 is a perspective view showing an external configuration of a hydraulic excavator that is an example of a construction machine to which an area limited excavation control device according to an embodiment of the present invention is applied. When there is no notice in the following description, the front of the driver's seat (upper left direction in the figure) is the front of the aircraft.

  Although FIG. 1 illustrates a hydraulic excavator as a construction machine to which the region-limited excavation control device according to the present invention is applied, the present invention can also be applied to other types of construction machines such as a bulldozer and a wheel loader. In this embodiment, an example in which a hydraulic excavator is applied will be described. In brief, the hydraulic excavator shown in the figure includes a vehicle body 10 and a work implement 20. The vehicle body 10 includes a traveling body 11 and a vehicle body 12.

  In this embodiment, the traveling body 11 includes left and right crawlers (traveling drive bodies) 13a and 13b having endless track tracks, and left and right crawlers 13a and 13b by left and right traveling motors 3e and 3f (see also FIG. 2). It drives by driving each. For example, hydraulic motors are used as the traveling motors 3e and 3f.

  The vehicle body 12 is a turning body provided on the traveling body 11 so as to be turnable. A driver's cab 14 in which an operator is boarded is provided at the front part of the vehicle body 12 (the left side of the front part in the present embodiment). On the rear side of the cab 14 in the vehicle body 12, a power chamber 15 that houses an engine, a hydraulic drive device, and the like is mounted, and a counterweight 16 that adjusts the balance in the front-rear direction of the fuselage is mounted at the rearmost portion. A turning frame (not shown) that connects the vehicle body 12 to the traveling body 11 is provided with a turning motor 3d (see FIG. 2), and the body body 12 turns relative to the traveling body 11 by the turning motor 3d. Driven. For example, a hydraulic motor is used as the turning motor 3d.

  The work machine 20 is provided in the front part of the vehicle body 12 (in the present embodiment, on the right side of the cab 14). The work machine 20 is an articulated work device including a boom 21a, an arm 21b, and a bucket 21c. The boom 21a is connected to the frame of the vehicle body 12 by pins (not shown) extending horizontally and horizontally, and is pivoted up and down with respect to the vehicle body 12 by the boom cylinder 3a. The arm 21b is connected to the tip of the boom 21a by a pin (not shown) extending horizontally to the left and right, and is rotated with respect to the boom 21a by the arm cylinder 3b. The bucket 21c is connected to the tip of the arm 21b by a pin (not shown) extending horizontally to the left and right, and is rotated with respect to the arm 21b by the bucket cylinder 3c. For example, hydraulic cylinders are used as the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c. With such a configuration, the work implement 20 moves up and down in a vertical plane extending in the front-rear direction. A plane including the trajectory of the working machine 20 that moves up and down (in this embodiment, a vertical plane extending in the front-rear direction) is referred to as an “operation plane”.

  In addition, the hydraulic excavator is provided with a detector for detecting information related to the position and orientation in place. For example, angle detectors 8a-8c are provided at the respective rotation fulcrums of the boom 21a, the arm 21b, and the bucket 21c. The angle detectors 8a-8c are used as posture detectors that detect information related to the position and posture of the work machine 20, and detect the rotation angles of the boom 21a, the arm 21b, and the bucket 21c, respectively. The vehicle body 12 is provided with an inclination detector 8d, positioning devices 9a and 9b, and a wireless device 9c (see FIG. 2 and the like). The inclination detector 8d detects the inclination of the vehicle body 12 in the front-rear direction (inclination in the operation plane) and / or the inclination in the left-right direction. For example, RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System) is used for the positioning devices 9a and 9b, and the position information of the vehicle body 12 is acquired by the positioning devices 9a and 9b. The wireless device 9c receives correction information from a reference station GNSS (not shown).

2. Hydraulic Drive Device FIG. 2 is a diagram showing a hydraulic drive device and an area limited excavation control device provided in the hydraulic excavator shown in FIG. For those already described, the same reference numerals as those in the above-mentioned drawings are given in FIG.

  The hydraulic drive device shown in FIG. 2 is a device that drives a driven member of a hydraulic excavator and is accommodated in the power chamber 15. The driven members include the work machine 20 (the boom 21a, the arm 21b, and the bucket 21c) and the vehicle body 10 (the crawlers 13a and 13b and the vehicle body 12). The hydraulic drive device includes a hydraulic actuator 3a-3f, a hydraulic pump 1, an operation device 4a-4f, a control valve 5a-5f, a relief valve 6, and the like.

  The hydraulic actuators 3a to 3f are a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a turning motor 3d, and traveling motors 3e and 3f, respectively. These hydraulic actuators 3 a to 3 f are driven by pressure oil discharged from the hydraulic pump 1.

  The hydraulic pump 1 is driven by an engine (not shown). The pressure oil discharged from the hydraulic pump 1 flows through the discharge pipe 2a and is supplied to the hydraulic actuators 3a-3f via the control valves 5a-5f. Each return oil from the hydraulic actuator 3a-3f flows into the return oil pipe 2b via the control valve 5a-5f, and is returned to the tank 7. The relief valve 6 regulates the maximum pressure of the discharge pipe 2a.

  The operation devices 4a-4f are electric lever devices corresponding to the hydraulic actuators 3a-3f, respectively, and are provided in the cab 14 (see FIG. 1). An operation signal (electric signal) from the operation lever 4a-4f is input to the work machine control device 40 and converted into a command signal (electric signal) for driving the control valve 5a-5f. The control valves 5a to 5f are electro-hydraulic operation type valves provided at both ends with electro-hydraulic conversion means (for example, a proportional electromagnetic valve) that converts a command signal from the work machine control device 40 into pilot pressure. These control valves 5a-5f are switched and controlled by command signals input from the work machine control device 40 based on the operations of the operation devices 4a-4f, respectively, and the flow rate and direction of the pressure oil supplied to the hydraulic actuators 3a-3f. To control. The control valves 5a-5f may be servo valves whose spools operate in response to command signals (electrical signals). Further, the operation levers 4a to 4f may be so-called remote control valves that generate a pilot pressure corresponding to the operation amount of the operation lever. In this case, the operation amount of the operation lever can be obtained by detecting the pilot pressure with a pressure sensor.

3. 3 is a block diagram of a work machine control device, a display device, and an external arithmetic unit. For those already described, the same reference numerals as those in the above-mentioned drawings are given in FIG. The area limited excavation control device 100 includes an external arithmetic unit 30, a display device (not shown in FIG. 2), and the work machine control device 40. Next, these elements will be described.

External calculation unit The external calculation unit 30 calculates the basic information of the area limited excavation control based on the signals input from the angle detectors 8a-8c, the inclination detector 8d, the positioning devices 9a, 9b and the radio unit 9c. It is a controller that outputs to the work machine control device 40. The calculated basic information includes difference information (positional relationship) between the position of the work machine 20 and the excavation target surface (described later).

  The external computation unit 30 includes an input port 31, a position / orientation computation device 32, a target plane storage device 33, a two-dimensional information extraction device 34, a basic information transmission device 35, a storage device 36, a communication port 37, and a difference information computation device 39. ing.

  The input port 31 includes the current position information received by the positioning devices 9a and 9b, the correction information received by the wireless device 9c (correction value of the position information), the angle detection signals of the angle detectors 8a-8c, and the inclination of the inclination detector 8d. Input the detection signal. The communication port 37 exchanges information between the work machine control device 40 and the display device 38.

  The position / orientation calculation device 32 calculates the current position and orientation of the vehicle body 12 based on the position information of two points on the vehicle body 12 (for example, the positions of the positioning devices 9a and 9b).

  The target surface storage device 33 stores three-dimensional position information (design data) of the excavation target surface. The excavation target plane refers to a target landform that is excavated (formed) by a hydraulic excavator. The three-dimensional position information of the excavation target surface refers to information obtained by adding position data to topographic data representing the excavation target surface with polygons. This three-dimensional position information is created in advance and stored in the target surface storage device 33.

  The two-dimensional information extraction device 34 operates based on the three-dimensional position information of the excavation target surface read from the target surface storage device 33 and the current position information of the excavator input from the positioning devices 9a and 9b and the radio device 9c. Two-dimensional information of the reference plane on the operation plane of the apparatus 20 is extracted. The reference surface may be a surface calculated based on the target excavation surface as well as the target excavation surface itself. The surface calculated based on the excavation target surface is a surface obtained by shifting the excavation target surface by a set distance, a surface inclined by a set angle, or the like. The surface obtained by shifting and tilting the excavation target surface is also included in the surface calculated based on the excavation target surface. The two-dimensional information of the reference plane refers to an intersection line between the operation plane of the work machine 20 and the reference plane in a predetermined area in front of the excavator or a line calculated based on the intersection line. The line calculated based on the intersection line is a line obtained by shifting the intersection line by a set distance, a line inclined by a set angle, or the like. A line obtained by shifting and tilting the intersection line is also included in the line calculated based on the intersection line. Hereinafter, the two-dimensional information of the reference plane is referred to as a reference line.

  The difference information calculation device 39 is, for example, information on the current position and orientation of the vehicle body 10 based on information received by the positioning devices 9a and 9b (or calculated by the position / orientation calculation device 32), angle detectors 8a-8c, and inclination detection. For example, the position of the toe and the position of the toe of the work machine 20 based on the current posture information of the vehicle body 10 and the work machine 20 based on the signal of the device 8d and the given three-dimensional information of the excavation target surface (described later) Difference information (distance) from the position of the excavation target surface is calculated. The calculation result of the difference information calculation device 39 is also output to the display device 38, and a graphic image of the positional relationship between the excavation target surface and the work implement 20 based on the difference information is displayed on the display device 38 in real time. The graphic image at that time is illustrated in FIG. 9 and FIG.

  The basic information transmitting device 35 uses the information of a plurality of feature points (described later) on the reference line extracted by the two-dimensional information extracting device 34, the signals of the angle detectors 8a-8c and the inclination detector 8d, for region limited excavation control. The basic information is transmitted to the work machine control device 40 via the communication port 37. In addition to or instead of the signals from the angle detectors 8a-8c and the inclination detector 8d, the toe position information of the work implement 20 calculated by the difference information calculation device 39 may be included in the basic information. Details of the feature points extracted by the basic information transmitting device 35 will be described later.

  The storage device 36 is an area for storing various size data of hydraulic excavators, constants used for various calculations, programs, and the like, as well as calculated values of the position and orientation calculation device 32, the two-dimensional information extraction device 34, the difference information calculation device 39, and the like. And so on.

Display Device A display device 38 is connected to the external arithmetic unit 30 and the work machine control device 40. The display device 38 is a device that displays information based on display signals from the external arithmetic unit 30 and the work machine control device 40, and performs operations for setting and giving instructions to the external arithmetic unit 30 and the work machine control device 40. Department. The display device 38 is a touch panel, and the display unit also serves as an operation unit. However, the display unit 38 may be configured to replace or use an operation unit using mechanical buttons, levers, or the like.

-Work implement control device The work implement control device 40 is a controller provided with an area limited excavation control function in addition to a basic machine control function. An external arithmetic unit 30 is connected to the work machine control device 40, and basic information on area limited excavation control is input from the external arithmetic unit 30. The basic machine control function is a function for outputting a command signal to the control valves 5a-5f in response to an operation of the operation device 4a-4f. The area limited excavation control function is a signal (information of feature points (described later), angle detectors 8a-8c and inclination detectors 8d) acquired via the external arithmetic unit 30 in addition to the operation signals from the operation devices 4a-4f. The hydraulic cylinders 3a-3c (strictly, the control valves 5a-5c) of the work machine 20 are controlled so as not to dig beyond the excavation target surface. This is a function that limits the area.

  The work machine control device 40 includes an input port 41, a signal conversion device 47, a basic information reception device 42, a storage device 43, a command signal calculation device 44, a communication port 45, and an output port 46.

  The input port 41 inputs an operation signal from the operation device 4a-4f. The signal conversion device 47 converts the signal (basic information) input from the external arithmetic unit 30 via the communication port 45 into a signal protocol adopted by the work machine control device 40 according to the type of the external arithmetic unit 30. To do. In the storage area of the signal conversion device 47, a communication program for converting the signal protocol of the output signal of the external arithmetic unit 30 into the signal protocol of the work machine control device 40 is prepared for each type of the external arithmetic unit 30. . The basic information receiver 42 receives and stores the basic information converted by the signal converter 47. The storage device 43 stores programs and constants related to area limited excavation control. The command signal calculation device 44 calculates a command signal for the control valves 5a-5f based on the operation signal from the operation devices 4a-4f and the basic information input from the external calculation unit 30 in accordance with the program read from the storage device 43. The command signal is output to the control valves 5a-5f via the output port 46. As a result, the work device 20 operates according to the operation within a range where the excavation target surface is not excavated.

  Description of the area-limited excavation control will be omitted as appropriate because known techniques can be applied as appropriate, and feature points including basic information provided from the external arithmetic unit 30 to the work implement control device 40, work implement control by the external arithmetic unit 30 Next, a procedure for transmitting basic information to the apparatus 40 and a protocol conversion setting procedure in the work machine control apparatus 40 for an input signal from the external arithmetic unit 30 will be sequentially described.

4). Feature Points FIG. 4 is a diagram illustrating the feature points extracted by the basic information transmitting apparatus 35 in the present embodiment. For those already described, the same reference numerals as those in the above-mentioned drawings are given in FIG.

  As shown in FIG. 4, first, an axis extending forward from the reference point O set in advance to the excavator along the operation plane of the work machine 20 is extended upward along the operation plane from the reference point and the X coordinate axis. Let the axis be the Z coordinate axis. Regardless of the attitude of the excavator, the X coordinate axis always extends horizontally forward from the reference point O along the operation plane, and the Z coordinate axis extends from the reference point O along the operation plane in a direction perpendicular to the X coordinate axis. The reference point O is the origin of the XZ coordinate system. Here, the reference point O means an arbitrary point set for the hydraulic excavator or a point calculated based on the arbitrary one point. A point calculated based on an arbitrary point is a point having a preset positional relationship with respect to the arbitrary point. In the present embodiment, for example, the fulcrum of the base of the boom 21a is set as the reference point O. However, a point having a fixed positional relationship with the fulcrum of the base of the boom 21a can also be the reference point O. Accordingly, the reference point O can be other than the points on the excavator.

  The line segment L shown in the figure is the reference line (two-dimensional information) extracted by the two-dimensional information extraction device 34. Hereinafter, the line segment L is referred to as the reference line L. The reference line L is equal to the outline of the target terrain cross section cut by the operation plane of the work machine 20 or a line having a certain relationship with the outline.

  The feature points P1, P2,... Pn extracted by the basic information transmitting device 35 are a plurality of points on the reference line L whose X coordinate is a constant interval. The X coordinate of the feature point P1 is the X coordinate (that is, 0) of the reference point O. The distance ΔX between the X coordinates of the feature points P1, P2,... Pn is not particularly limited, but can be, for example, about 20 cm. The feature point information transmitted from the basic information transmitting device 35 to the work implement control device 40 is only the Z coordinates of these feature points P1, P2,.

  FIG. 5 is a schematic diagram showing one aspect of the feature point information transmitted from the external arithmetic unit 30 to the work machine control device 40 in the present embodiment.

  When a CAN (Controller Area Network) is used for communication from the external processing unit 30 to the work machine control device 40, 8-byte information is transmitted as one message. Since one piece of location information requires 2 bytes, four pieces of location information are included per message. To explain a specific example, the message ID-1 shown in FIG. 5 includes the Z coordinates Z1-Z4 of the feature points P1-P4, and the message ID-2 includes the Z coordinates Z5-Z8 of the feature points P5-P8. ing. Since the X coordinates of the feature points P1, P2,... Pn are preset and known, the work machine control device 40 receives the Z coordinates of the feature points P1, P2,. XZ coordinates of P1, P2,... Pn are specified.

  In FIG. 4, when the range in the X coordinate axis direction of the excavation operation by the work machine 20 is R, and the excavation operation range R is equally divided by the set number n in the X coordinate axis direction, the dimension in the X coordinate axis direction of each section is an interval ΔX. Then, although the interval ΔX varies depending on the excavation operation range R, the number of feature points is determined as n, and the number of transmission data is constant.

5. Basic Information Calculation Procedure FIG. 6 is a flowchart showing a basic information calculation and transmission procedure by the external calculation unit 30.

Start When the power is turned on in the cab 14, the external arithmetic unit 30 is turned on, and the procedure shown in FIG. 6 is started after a predetermined initial process. The external arithmetic unit 30 repeatedly executes the procedure (from start to end) in the figure at a constant cycle (for example, 200 ms).

Step S100
When the procedure proceeds to step S100, the external arithmetic unit 30 acquires detection information and the like from each sensor via the input port 31 and stores them in the storage device 36. The detection information acquired here includes position information (positioning information) of the positioning devices 9a and 9b, correction information by the wireless device 9c, an angle detection signal by the angle detectors 8a-8c, and a tilt detection signal by the tilt detector 8d. Is included. Then, the external arithmetic unit 30 uses the position / orientation arithmetic unit 32 based on the position information from the positioning devices 9a and 9b and the correction information from the wireless device 9c (here, the positioning device 9a, 9b position) is calculated for each accurate three-dimensional current position information (X, Y, Z). The Y coordinate axis is a coordinate axis orthogonal to the XZ coordinate axis (on the operation plane of the work machine 20) at the reference point O. The current position information of the positioning devices 9a and 9b calculated by the position / orientation calculation device 32 is stored in the storage device 36 together with detection information and the like that are the basis of the calculation.

Step S110
When the procedure proceeds to step S110, the external arithmetic unit 30 reads out the three-dimensional position information of the positioning devices 9a and 9b and the information (known) of the mounting positions of the positioning devices 9a and 9b on the vehicle body 12 from the storage device 36. Then, the three-dimensional information of the current position of the reference point O (in this embodiment, the fulcrum position on the base end side of the boom 21a) is calculated by the position / orientation calculation device 32. The positional relationship between the reference point O and the positioning devices 9a and 9b is known. The current position information of the reference point O calculated by the position / orientation calculation device 32 is stored in the storage device 36.

Step S120
When the procedure is moved to step S120, the external arithmetic unit 30 stores the three-dimensional position information of the positioning devices 9a and 9b, the mounting position information of the positioning devices 9a and 9b, and the detection signal of the inclination detector 8d calculated in step S100. Read out from the device 36, and the posture of the vehicle body 12 is calculated by the position / orientation calculation device 32. The posture information of the vehicle body 12 includes the orientation and inclination of the vehicle body 12. The direction of the vehicle body 12 is, for example, a direction in which the front of the driver's seat faces. The inclination of the vehicle body 12 includes front and rear and / or right and left inclinations of the vehicle body 12. The front / rear inclination of the vehicle body 12 is calculated based on the detection signal from the inclination detector 8d. The left and right inclinations are calculated based on the three-dimensional position information of the positioning devices 9a and 9b and the mounting position information of the positioning devices 9a and 9b. The posture information of the vehicle body 12 calculated by the position / orientation calculation device 32 is stored in the storage device 36.

Step S130
When the procedure moves to step S <b> 130, the external arithmetic unit 30 reads the three-dimensional position information of the excavation target surface from the target surface storage device 33.

Step S140
When the procedure moves to step S140, the external arithmetic unit 30 reads the calculation results of steps S110 and S120 from the storage device 36, and the position information of the reference point O, the posture information of the vehicle body 12 and the three-dimensional position of the excavation target surface. Based on the information, the reference line is extracted as the two-dimensional information of the reference plane by the two-dimensional information extraction device 34 as described above. The reference line information calculated by the two-dimensional information extraction device 34 is stored in the storage device 36.

Step S150
When the procedure moves to step S150, the external arithmetic unit 30 reads the reference line from the storage device 36 and extracts the feature points by the basic information transmitting device 35. The basic information transmission device 35 processes the information on these feature points into information for transmission to the work machine control device 40 and stores the information in the storage device 36. The information processing performed here is to calculate the Z coordinates (see FIG. 5) of the feature points P1, P2,... Pn described above with reference to FIG.

Step S160
When the procedure moves to step S160, the external arithmetic unit 30 causes the basic information transmitting device 35 to transmit information (Z coordinate) of the feature points P1, P2,... Pn via the communication port 37, and the angle detectors 8a-8c. And the signal of the inclination detector 8d is read from the memory | storage device 36, and these are transmitted to the working machine control apparatus 40 as basic information.

End As described above, while the external arithmetic unit 30 is energized, when the procedure of step S160 is completed, the procedure returns to step S100, and the procedure of FIG. 6 is repeatedly executed. If the power is turned off when the procedure of step S160 is completed, a predetermined termination process is executed and stopped.

  In addition, although the transmission procedure of the basic information to the work machine control device 40 by the external arithmetic unit 30 is as described above, the external arithmetic unit 30 is not limited to the positioning devices 9a and 9b, the radio device 9c, and the angle detection. The difference information calculation device 39 calculates the difference information between the tip of the work implement 20 and the excavation target surface based on the information obtained from the devices 8a-8c and the inclination detector 8d, and outputs it to the display device 38. The display device 38 displays in real time a graphic image representing the positional relationship between the tip of the work machine 20 and the excavation target surface as shown in FIGS. 9 and 10 described later based on an input signal from the external arithmetic unit 30. Is done. The real-time display here refers to updating the display by repeatedly executing the positional relationship between the work implement 20 and the excavation target surface, for example, in the execution cycle (for example, 200 ms) of the procedure of FIG.

6). Signal Conversion Procedure Here, a signal conversion setting procedure by the signal converter 47 will be described. The signal conversion setting according to the procedure described here is different from the basic information calculation and transmission procedure that is repeatedly executed at a constant period in the external arithmetic unit 30. As a result, the external arithmetic unit 30 is connected to the work machine control device 40. It is executed in response to the operation of an operator such as a service person at a specific time such as when it is done. If the signal conversion is appropriately set by the operator, the protocol (signal interpretation method, communication speed, etc.) of the signal output from the external arithmetic unit 30 is converted into the protocol employed by the work machine control device 40, and the external As a result of the area limited excavation control being executed by the work implement control device 40 based on the input signal from the arithmetic unit 30, the work implement 20 controlled by the work implement control device 40 draws a normal trajectory with respect to the excavation target surface. It becomes like this.

  FIG. 7 is a flowchart showing a signal conversion setting procedure by the signal conversion device 47 in the work machine control device 40.

・ Start-Step S200
The signal converter 47 starts the procedure of FIG. 7 when the power is turned on by the key switch, and repeatedly executes the procedure of FIG. 7 while the power is turned on. When the procedure shown in the figure is started, the signal conversion device 47 first determines whether or not a call operation for a signal conversion setting screen has been performed (step S200). The signal conversion device 47 repeats the procedure of step S200 until there is a call operation, and after confirming the call operation, moves the procedure to step S210. To call the setting screen, for example, a mechanical or on-screen button for calling the setting screen is prepared on the display device 38, and the signal conversion device 47 according to an operation signal input from the display device 38 according to the button operation. Can be executed in However, in order to prevent the signal conversion settings from being changed carelessly, for example, after a specific operation procedure (for example, password input or hidden command on the display device 38) known to a specific person (for example, a service person). It is preferable to be executed by the signal converter 47 in response to an operation signal input from the display device 38.

Step S210
When the procedure proceeds to step S210, the signal conversion device 47 outputs a display signal to the display device 38 and causes the display device 38 to display a signal conversion setting screen. An example of the setting screen is shown in FIG. The setting screen 54 shown in the figure plays the role of a signal conversion setting selection device, on which a signal conversion setting selection button 54a-54c and an end button 54d are displayed. In this example, the manufacturer name AC of the external arithmetic unit 30 is displayed on the setting selection buttons 54a to 54c, respectively, and the case of selecting the signal conversion setting with the manufacturer name AC is illustrated. Even if the same manufacturer has a different signal protocol depending on the model of the external arithmetic unit 30, a setting selection button may be prepared for each manufacturer and model having a different signal protocol. The display of the setting selection buttons 54a to 54c is not limited to the manufacturer name, and any display that can distinguish the signal conversion setting may be used. The end button 54d is a button for closing the setting screen 54 and shifting to the previous screen.

Step S220
In subsequent step S <b> 220, the signal conversion device 47 determines whether or not a signal conversion setting selection signal is input from the display device 38. For example, when any of the setting selection buttons 54a to 54c in FIG. 8 is operated and a setting selection signal is input from the display device 38, the signal conversion device 47 moves the procedure to step S230, and the setting selection buttons 54a to 54c. If neither of these is operated and no setting selection signal is input from the display device 38, the procedure proceeds to step S240.

Step S230
After moving the procedure to step S230, the signal converter 47 selects a communication program corresponding to the setting selection signal, and moves the procedure to step S240. As a result, the output signal of the external arithmetic unit 30 is subsequently converted in accordance with the selected communication program, and the work machine control device 40 executes the area limited excavation control based on the converted signal.

Step S240—End When the procedure proceeds to step S240, the signal conversion device 47 determines whether or not a signal conversion setting end signal is input from the display device 38. For example, when the end button 54d in FIG. 8 is not operated and the setting end signal is not input from the display device 38, the signal conversion device 47 returns the procedure to step S220, and the end button 54d is operated and the display device 38 returns. When the setting end signal is input, the setting screen 54 is closed and the procedure of FIG. 7 is ended.

  When the setting of signal conversion is completed as described above, for example, a person who performs the setting operation performs a trial operation of the construction machine, and numerical values and images displayed on the display device 38 according to the signal from the external arithmetic unit 30 ( For example, see FIG. 9 and FIG. 10), and comparing the operation of the work machine 20 with the actual work machine 20 to confirm that they match, it can be confirmed that there is no problem in the signal conversion setting. . The display screen shown in FIG. 9 shows the positional relationship between the toe C and the excavation target surface D of the construction machine A, the vehicle body B and the work machine, the azimuth E, the turning direction F and the turning angle G for facing the excavation target surface. Numerical information H such as the distance between the excavation target surface and the toe, area limit excavation control ON / OFF button I, numerical information storage ON / OFF button J, camera image switching button K, various setting screen call buttons L, In this example, an end button M, an automatic zoom on / off button N, a numerical information unit change button O, a status display portion P, a scale Q, and the like are displayed on one screen. In FIG. 10, when the automatic zoom function is set to be effective with the automatic zoom on / off button N, the vicinity of the toe C when the distance between the toe C of the work implement and the excavation target surface D is equal to or less than a set value. A display example in the case of automatic enlargement display is shown.

7). Effect According to the present embodiment, by providing the signal conversion device 47, the signal output from the external operation unit 30 to the work machine control device 40 is transmitted to the work machine even if the signal protocol of the external operation unit 30 differs depending on the model. The protocol can be converted into a signal protocol adopted by the control device 40. Therefore, it is not necessary to prepare the work machine control device 40 that matches the specifications with the signal protocol of the external arithmetic unit 30 to be adopted, and the output signal of the connected external arithmetic unit 30 is based on the model of the external arithmetic unit 30. Thus, it is possible to cause the work machine control device 40 to appropriately execute the area limited excavation control.

  Of course, the signal conversion device 47 may be provided on the external arithmetic unit 30 side, but in the present embodiment, the signal conversion device 47 is provided in the work implement control device 40, thereby converting the protocol of the signal in accordance with the work implement control device 40. There is a merit that the above effect can be obtained even if the function to output is not provided on the external arithmetic unit 30 side.

  Further, since the selection device is provided, it is not necessary for a service person or the like to separately prepare a dedicated setting device or the like in order to set signal conversion. In addition, by adopting a selection device that cannot set signal conversion without passing through a specific operation procedure, it is possible to prevent the area conversion excavation control from being executed normally due to the user changing the signal conversion setting accidentally. can do. In particular, when setting is performed through a specific screen operation on the display device 38, there is a risk that the body may accidentally touch the operation device and change the setting compared to a configuration in which the setting can be performed by a mechanical button or the like. There is a merit that can be suppressed.

8). Others In the above description, the case where the signal conversion device 47 is provided in the work machine control device 40 has been described as an example. However, as described above, the signal processing device 47 may be provided in the external arithmetic unit 30. Further, the case where the setting operation for the protocol conversion of the signal from the external arithmetic unit 30 to the work machine control device 40 is described as an example has been described, but for example, the input port 31 of the external arithmetic unit 30 or the work machine control An operation device such as a communication terminal (having a mechanical or touch panel type operation unit) may be connected to the input port 41 of the device 40 and a setting operation may be performed by this operation device. If the communication terminal includes a touch panel type operation unit, the setting screen 54 shown in FIG. 8 can be displayed as a selection device. The display device 38 may be a monitor device independent of the external arithmetic unit 30 or the work machine control device 40, but may be a monitor provided in the external arithmetic unit 30 or the work machine control device 40.

  The information acquired by the angle detectors 8a-8c, the inclination detector 8d, the positioning devices 9a, 9b, and the wireless device 9c is input to the work machine control device 40 via the external arithmetic unit 30 as an example. However, the information may be directly input to the work machine control device 40 without going through the external arithmetic unit 30. Further, the basic information calculation function is provided in the external calculation unit 30, but the work machine control device 40 is simply acquired by the angle detectors 8a-8c, the inclination detector 8d, the positioning devices 9a, 9b, and the wireless device 9c. It is good also as a structure by which the area | region limited excavation control apparatus is performed by the working machine control apparatus 40 based on such information being output. The area limited excavation control referred to in this specification includes so-called trajectory control for controlling the trajectory drawn by the work implement.

8a-8c Angle detector (Attitude detector)
8d Tilt detector (Attitude detector)
9a, 9b Positioning device 10 Car body 20 Work implement 30 External operation unit 38 Display device 40 Work implement control device 47 Signal conversion device 54 Setting screen (selection device)
100 area limited excavation control device

Claims (5)

An area limited excavation control device that executes area limited excavation control for controlling a work machine of a construction machine so as not to excavate beyond a target excavation surface,
Based on the positional information of the vehicle body of the construction machine, the posture information of the vehicle body and the working machine, and the three-dimensional information of the given excavation target surface, the difference information between the position of the working machine and the excavation target surface is calculated. An external computing unit;
A display device that displays a positional relationship between the work implement and the excavation target surface based on difference information input from the external arithmetic unit;
Based on a signal input from the external arithmetic unit, a work machine control device that executes the area limited excavation control,
An area limited excavation control device comprising a signal conversion device that converts a signal output from the external arithmetic unit to the work implement control device into a signal protocol of the work implement control device. In the area limited excavation control device according to claim 1,
The signal conversion device is included in the work implement control device. In the area limited excavation control device according to claim 1 or 2,
An area limited excavation control device comprising a selection device for selecting the protocol conversion setting. In the area limited excavation control device according to claim 3,
The area-limited excavation control device, wherein the selection device is a setting screen displayed on the display device or another terminal through a specific operation procedure. The car body,
A working machine provided on the vehicle body;
A positioning device for acquiring position information of the vehicle body;
An attitude detector for detecting attitude information of the vehicle body and the work implement;
A construction machine comprising the region limited excavation control device according to claim 1.

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