JP2019132062A - Construction machine - Google Patents

Abstract

To provide a construction machine capable of preventing a target area from being excessively excavated regardless of the skill level of an operator.SOLUTION: A construction machine comprises an imaging device, a display device, a candidate image creation unit, a guide selection unit, a guide image creation unit, and an interference determination unit. The imaging device images a target area. The candidate image creation unit displays a candidate image indicating a plurality of virtual guides created in advance as selection candidates for the operator on the display device. The guide selection unit selects a virtual guide corresponding to an operation of an operator from the candidate images. The guide image creation unit displays on the display device a guide image that is an image in which the virtual guide selected by the guide selection unit is superimposed on the target area of the image captured by the imaging device. The interference determination unit performs a process of calculating a current position and orientation of a bucket, or a future position and orientation of the bucket, and determines whether or not the bucket of the calculated position and orientation interferes with the virtual guide placed on the target area.SELECTED DRAWING: Figure 8

Description

  The present invention mainly relates to a construction machine that performs excavation with an excavating tool.

  2. Description of the Related Art Conventionally, a construction machine having a function for causing an operator who performs excavation by operating a construction machine to grasp a target area to be excavated is known. Patent documents 1 to 3 disclose this kind of construction machine.

  The construction machine of patent document 1 is provided with the line laser irradiation part and the stereo camera. The construction machine acquires the three-dimensional coordinates of the target area with the stereo camera in a state where the target area (work site) is irradiated with the laser by the line laser irradiation unit. Thereby, the current cross-sectional shape (current state) of the target region is obtained. The construction machine stores a final cross-sectional shape (construction data) to be obtained by excavation. Patent Document 1 describes that the current status and construction data are displayed together on a display device.

  The construction machine disclosed in Patent Document 2 includes a two-dimensional scanning distance measuring device and a display device. The two-dimensional scanning distance measuring device acquires the current topography around the construction machine. The display device displays the current landform and the previously stored target landform side by side. The display device displays the current topography immediately before excavation and every excavation.

  Patent Document 3 discloses a drilling method in which laser scanning devices are arranged on both sides of a target area (scheduled excavation site) and excavation is performed by a construction machine. The arm of the construction machine includes a laser receiver that can receive the laser beam irradiated by the laser scanning device. The operator operates the construction machine to excavate the ground downward. When the laser receiver receives the laser beam, the operator performs an operation to switch the excavation downward to the lateral excavation. Thereby, the target area can be excavated at an accurate depth. Patent Document 3 also describes that the laser scanning device irradiates the laser beam only at the center in the width direction, thereby making the horizontal excavation position accurate.

Japanese Patent No. 5759798 Japanese Patent Laid-Open No. 2006-8484 JP-A-6-146334

  In the construction machines of Patent Documents 1 and 2, since the operator only has a function of allowing the operator to grasp the construction data or the target topography of the target area, the operator performs excavation by operating the excavator so as to match the construction data or the target topography. There is a need. However, in order to perform excavation as operated by grasping the excavator, a high level of proficiency is required of the operator. Moreover, although patent document 3 can match | combine only the position of the arm of a specific one direction correctly, it does not describe aligning the position of a some direction simultaneously. Further, if the position of the arm is made accurate, the target area may be excessively excavated depending on the construction machine or the posture of the arm.

  The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a construction machine capable of preventing the target area from being excessively excavated regardless of the skill level of the operator.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the viewpoint of this invention, the construction machine of the following structures is provided. That is, the construction machine excavates the target area with the excavator. The construction machine includes an imaging device, a display device, a candidate image creation unit, a guide selection unit, a guide image creation unit, and an interference determination unit. The imaging device images the target area. The candidate image creation unit displays candidate images indicating a plurality of virtual guides created in advance as selection candidates for the operator on the display device. The guide selection unit selects the virtual guide corresponding to the operation of the operator from the candidate images. The guide image creation unit displays on the display device a guide image that is an image in which the virtual guide selected by the guide selection unit is superimposed on the target area of the image captured by the imaging device. The interference determination unit performs a process of calculating a current position and posture of the excavator or a future position and posture of the excavator, the excavator at the calculated position and posture, and the target It is determined whether or not the virtual guide arranged on the area interferes.

  As a result, it is determined whether or not the excavator and the current virtual guide interfere with each other, or whether or not the excavator and the virtual guide will interfere with each other in the future. For example, the operation of the excavator can be stopped or restricted, or a warning can be given. Therefore, it is possible to prevent the target area from being excessively excavated regardless of the skill level of the operator, and the operator can easily excavate. Moreover, since the virtual guide is displayed on the image photographed by the photographing apparatus, the operator can grasp the excavation area intuitively.

  In the construction machine, when the interference determination unit determines that the excavation tool and the virtual guide disposed on the target area interfere with each other, the position and posture of the excavation tool are adjusted. Thus, it is preferable to further include an excavator adjustment unit that eliminates or prevents interference between the excavator and the virtual guide.

  Accordingly, even when the excavator and the virtual guide interfere with each other or when the interference is predicted, the interference is automatically eliminated or prevented. This can be reliably prevented, and the operator can perform excavation more easily.

  The construction machine preferably has the following configuration. That is, the guide image creation unit includes a visible portion of the virtual guide that is closer to the photographing device than a display object included in an image photographed by the photographing device, and an image photographed by the photographing device. The guide image is created by distinguishing from an invisible part that is a part farther from the imaging device than the display object included in the display object.

  Thereby, the operator can grasp | ascertain the position of a virtual guide still more easily.

  The construction machine preferably further includes a guide changing unit that changes at least one of the position and the shape of the virtual guide according to an operation of the operator.

  Thereby, since the position and / or shape of the virtual guide can be changed according to the target area or the like, the virtual guide can be used for various operations.

  In the construction machine, the progress calculation unit further calculates a progress rate of excavation in the target area based on at least one of the excavation completed part and the unexcavated part in the target area and the position of the virtual guide. It is preferable to provide.

  Thereby, the progress rate of excavation can be grasped as clear data.

  In the construction machine, the excavation completion time of the target area is calculated based on at least one of the excavation completion part and the unexcavated part of the target area, the position of the virtual guide, and the time taken for excavation. It is preferable to further include a completion time calculating unit.

  Thereby, the progress rate of excavation can be grasped as clear data.

The side view of the construction machine which concerns on one Embodiment of this invention. FIG. 3 is a control block diagram of a construction machine. The flowchart which shows the flow of the process which sets a virtual guide. The figure which shows a mode that a virtual guide template is selected and adjusted. The figure which shows a mode that the position of a virtual guide is set. The figure which shows a mode that the length etc. of a virtual guide are finely adjusted. The figure which shows a mode that excavation work is performed while seeing a guide image. The figure explaining the process which detects the interference with a bucket and a virtual guide, and adjusts a target position. The figure explaining the process which calculates a progress rate and work completion time.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a construction machine 1 according to an embodiment of the present invention. FIG. 2 is a control block diagram of the construction machine 1.

  The construction machine 1 is used in construction sites, demolition sites, mines, and the like, and performs civil engineering work and building work. The construction machine 1 mainly performs excavation work for excavating earth and sand. As shown in FIG. 1, the construction machine 1 includes a crawler 11, a turning body 12, and a work machine 13.

  The crawlers 11 are arranged in a pair on the left and right. The left and right crawlers 11 are driven according to the operation of the operator. Thereby, the construction machine 1 can be run. The revolving structure 12 is supported by the crawler 11. The revolving structure 12 is configured to be able to revolve with respect to the crawler 11 with the vertical direction (the vertical direction of the construction machine 1) as a rotation axis. A work machine 13 is attached to the swivel body 12. The work machine 13 performs the above excavation work in accordance with the operation of the operator. The work machine 13 includes a boom 14, an arm 15, and a bucket 16.

  The boom 14 is configured as an elongated member. One end of the boom 14 is rotatably attached to the front part of the revolving structure 12. A boom cylinder 17, which is a hydraulic cylinder, is attached to the boom 14, and the boom 14 can be rotated by extending and contracting the boom cylinder 17. The construction machine 1 also includes a boom angle sensor 20 that detects the rotation angle of the boom 14.

  The arm 15 is an elongated member like the boom 14. One end of the arm 15 is rotatably supported by the tip of the boom 14. The construction machine 1 includes an arm cylinder 18 for rotating the arm 15 and an arm angle sensor 21 for detecting the rotation angle of the arm 15.

  The bucket 16 is configured as a member formed in a container shape. One end of the bucket 16 is rotatably supported by the tip of the arm 15. The construction machine 1 includes a bucket cylinder 19 for rotating the bucket 16 and a bucket angle sensor 22 for detecting the rotation angle of the bucket 16. When the position of the bucket 16 is adjusted by rotating the boom 14 and the arm 15, the bucket 16 is rotated, whereby the posture of the bucket 16 is changed to perform the scooping / dumping operation. As a result, earth and sand are excavated.

  A cabin 31 for an operator to board is arranged on the upper side of the revolving structure 12. Inside the cabin 31, there are arranged a driver seat 32 for an operator to sit, an operating lever 33 for operating the work implement 13, and a display device 34. Further, other operation tools (for example, a travel lever for instructing traveling of the construction machine 1 and an accelerator lever for increasing the rotational speed of the engine) are also arranged around the driver seat 32. In the following description, the front-rear direction and the left-right direction are defined with the direction in which the operator sitting on the driver seat 32 faces forward. Further, the direction of the construction machine 1 is defined as indicating the direction of the revolving body 12 (that is, the direction of the seated operator) instead of the crawler 11.

  As shown in FIG. 4 to be described later, the display device 34 includes a display unit 35 and operation keys 36. The display unit 35 is a liquid crystal display, an organic EL display, or the like, and can display various information. The operation key 36 is a hardware key arranged in the vicinity of the display unit 35. The operation key 36 includes a push key operated by pressing and a dial key operated by rotating. Note that the display unit 35 and the operation key 36 do not have to be provided in the same casing, and may be arranged at positions separated from each other. Further, in addition to or instead of the operation key 36, a touch panel on which an operator operates by touching the screen may be provided.

  Further, the display device 34 is disposed so as to face the driver seat 32. In other words, it is disposed at a position that enters the field of view of the operator who is seated on the driver's seat 32 and looks forward. For example, the display device 34 is arranged so that the display surface of the display unit 35 is substantially perpendicular to the front-rear direction. In the present embodiment, the display device 34 is arranged in the lower part of the operator's field of view, but the display device 34 may be arranged in the upper part of the operator's field of view. As will be described in detail later, the display device 34 displays a video obtained by photographing the front side with information added thereto. Therefore, by disposing the display device 34 at the above position, the operator can easily compare the sight of the front view directly from the driver's seat 32 with the image of the display device 34.

  The construction machine 1 includes a three-dimensional measurement sensor 41, a photographing device 42, a GNSS antenna 43, and a direction sensor 44 as information acquisition devices that acquire surrounding information. Further, the information acquired by these is output to the control device 50.

  The three-dimensional measurement sensor 41 performs three-dimensional measurement with respect to the front, and acquires the position and shape of an object and terrain existing in front. The three-dimensional measurement sensor 41 is, for example, a stereo camera. The stereo camera includes a pair of imaging elements (for example, CCDs) arranged at an appropriate distance from each other. By comparing the images acquired by the respective image sensors, the position of an object or the like included in the acquired images can be calculated. Further, as the three-dimensional measuring sensor 41, a three-dimensional LIDAR (Laser Imaging Detecting and Ranging) may be used. LIDAR is a technique for acquiring the position and shape of a surrounding object or the like by irradiating a radio wave and measuring the time until the reflected wave of the radio wave is received.

  The imaging device 42 is a camera that captures the front and acquires video (a plurality of continuous images). In the present embodiment, both the three-dimensional measurement sensor 41 and the imaging device 42 are positioned higher than the driver seat 32 and are disposed further forward than the driver seat 32. Instead of this, at least one of the three-dimensional measurement sensor 41 and the imaging device 42 may be arranged at a different position. However, since the operator may perform work while confirming the video imaged by the imaging device 42, it is preferable that the viewpoint in which the operator directly looks forward is close to the viewpoint of the imaging device 42. For example, it is preferable that the left-right position of the photographing device 42 overlaps the left-right position of the driver seat 32.

  Further, the information obtained by the three-dimensional measurement sensor 41 and the image obtained by the imaging device 42 are used in association with each other. Therefore, the correspondence relationship between the position of information obtained by the three-dimensional measurement sensor 41 (three-dimensional coordinates of the origin of the construction machine 1, hereinafter simply referred to as three-dimensional coordinates) and the position of the image of the photographing device 42 (image coordinates) is It is created in advance and stored in the control device 50. In addition, the installation positions of the three-dimensional measurement sensor 41 and the photographing device 42 in the three-dimensional coordinates are also stored.

  The GNSS antenna 43 receives signals from positioning satellites constituting a satellite positioning system such as GPS. The positioning signal received by the GNSS antenna 43 is input to the control device 50 or a receiving unit (not shown), and positioning calculation is performed. By performing the positioning calculation, the position information of the construction machine 1 (particularly the position information of the GNSS antenna 43) is calculated as, for example, latitude / longitude information. In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems may be used as long as high-precision position coordinates can be obtained. Good. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

  The direction sensor 44 is disposed on the revolving structure 12. Therefore, even when the turning body 12 turns while the crawler 11 is stopped, the direction to which the turning body 12 faces can be detected. As the direction sensor 44, for example, a magnetic sensor or a gyro sensor can be used.

  The control device 50 is configured as a computer and includes a CPU (arithmetic unit), a ROM, a RAM, and the like. The ROM stores an appropriate operation program for operating each part of the construction machine 1 based on control data. By the cooperation of this software and hardware, the control device 50 is changed to a self-position recognition unit 51, a candidate image creation unit 52, a guide selection unit 53, a guide change unit 54, a guide position specification unit 55, a guide image shown in FIG. It can function as the creation unit 56, the interference determination unit 57, the excavator adjustment unit 58, the progress calculation unit 59, and the completion time calculation unit 60. Thereby, it is possible to superimpose the virtual guide on the target area to be excavated on the video imaged by the imaging device 42. For example, when excavating the ground to form a hole, the target area is not only the portion where the hole is to be formed but also the portion (ground) including the periphery thereof. Hereinafter, this process will be specifically described.

  First, self-position recognition processing performed by the self-position recognition unit 51 of the control device 50 will be described. The self-position recognition process is a process for recognizing the position and orientation of the construction machine 1. Specifically, the surrounding objects are obtained by performing SLAM (Simultaneous Localization and Mapping) processing based on the position and shape of the object existing in front and the topography obtained by the three-dimensional measurement sensor 41. It is possible to create a surrounding map showing the positional relationship between the terrain and the topography, and further specify the position and orientation of the construction machine 1 on the surrounding map.

  Further, in the self-position recognition process, the absolute position of the construction machine 1 that is the detection result of the GNSS antenna 43 and the direction that the construction machine 1 is the detection result of the direction sensor 44 are used. By using the data in which the object, the terrain, and the like are stored, the positional relationship with the object, the terrain, etc. around the construction machine 1 can be specified. Therefore, the accuracy of self-position recognition based on the three-dimensional measurement sensor 41 can be improved by using the detection results of the GNSS antenna 43 and the azimuth sensor 44 as well as the three-dimensional measurement sensor 41.

  When the construction machine 1 moves or turns, the self-position of the construction machine 1 changes. Therefore, the self-position recognition unit 51 newly obtains the position and orientation of the construction machine 1 at a predetermined timing and updates the self-position.

  Next, the virtual guide setting performed by the candidate image creation unit 52, the guide selection unit 53, the guide change unit 54, the guide position specification unit 55, and the guide image creation unit 56 of the control device 50 will be described with reference to FIG. This will be described with reference to the flowchart of FIG.

  The candidate image creation unit 52 creates an image (template candidate image 71, candidate image shown in FIG. 4) in which a plurality of virtual guide templates, which are virtual guides to be displayed during work and are selection candidates for the operator, are arranged. Displayed on the display unit 35. The virtual guide template is a shape (data) that is a basis for creating a virtual guide. The virtual guide template is created in advance and stored in the ROM or the like of the control device 50. In the example shown in FIG. 4, a vertical plane parallel to the vertical direction, a horizontal plane parallel to the horizontal direction, and a virtual guide template having a combination thereof are displayed. Note that a virtual guide template including a plane other than the vertical plane and the horizontal plane can also be displayed. The operator operates the operation key 36 to select a virtual guide template having a target shape or a virtual guide template close to the target shape. Thereby, the guide selection part 53 specifies the selected virtual guide template (S101).

  The guide changing unit 54 changes the shape of the virtual guide template according to the operation of the operator and creates a virtual guide (S102). Specifically, a template change image 72 for changing the shape of the virtual guide template selected in the template candidate image 71 is displayed on the right side of the display unit 35 shown in FIG. In the template change image 72, the selected virtual guide template, a ground line indicating the position of the ground surface, and a mark indicating the direction of changing the shape and the like are displayed. For example, the operator can change the shape of the virtual guide template by selecting the virtual plane to be changed and the changing direction and turning the dial key or the like. Also, the position of the ground line can be changed. At this stage, the purpose is to specify the rough shape of the virtual guide. Therefore, for example, the type of virtual planes constituting the virtual guide, the number of virtual planes, and the rough aspect ratio of each virtual plane may be set.

  In this embodiment, the template candidate image 71 and the template change image 72 are displayed on the display unit 35 at the same time. Alternatively, the template candidate image 71 may be displayed first, and the template change image 72 may be displayed after the selection of the virtual guide template is confirmed.

  Next, the guide position specifying unit 55 performs a process of specifying the position of the virtual guide created in step S102 (S103). In the present embodiment, as shown in FIG. 5, it is assumed that a target area that is a target for excavation exists in front of the obstacle 81. The display device 34 displays the created virtual guide 75 and its reference point 76. The reference point 76 is a point indicating a position for specifying the position of the virtual guide 75. The operator also specifies the position of this reference point. In this embodiment, the laser pointer 82 is used to align the laser irradiation point 83 with the position (the work site, not the display unit 35) where the reference point 76 of the virtual guide 75 is to be aligned. In this state, photographing is performed by the photographing device 42, and the position of the laser irradiation point 83 on the photographed image coordinates is specified. Since the correspondence between the image coordinates and the three-dimensional coordinates is created in advance as described above, the three-dimensional coordinates of the laser irradiation point 83 can be specified. Therefore, the virtual guide 75 can be installed as instructed by the operator.

  Instead of the configuration in which the laser pointer 82 indicates the reference point 76, a mark object can be arranged at the work site. In this case, similarly to the laser irradiation point 83, one mark object may be arranged, or a plurality of mark objects may be arranged. When arranging a plurality of landmark objects, for example, by arranging the landmark objects at four corners of the horizontal plane of the virtual guide 75, the position and size of the virtual guide 75 can be easily and accurately adjusted.

  Next, the guide changing unit 54 changes the position and shape of the virtual guide 75 whose position is specified in step S103 in accordance with the operation of the operator (S104). In step S102, the rough shape of the virtual guide 75 can be changed, whereas in step S104, the detailed shape and position of the virtual guide 75 can be changed. The operation for changing the shape of the virtual guide 75 is the same as in step S102. The operation for changing the position of the virtual guide 75 can be changed by, for example, selecting the reference point 76 and its moving direction and turning the dial key.

  The process of step S104 can be performed by displaying only the virtual guide 75 on the display unit 35, but as shown in FIG. 6, the image captured by the imaging device 42 and the virtual guide 75 are superimposed on the display unit 35. It can also be performed in the state displayed. Thereby, the position and shape of the virtual guide 75 can be adjusted more easily. Hereinafter, a process of creating an image (hereinafter referred to as a guide image 73) in which the virtual guide 75 is superimposed on the video imaged by the imaging device 42 will be described.

  Specifically, the three-dimensional coordinates of the installation position of the virtual guide 75 are converted into image coordinates. Next, the three-dimensional model of the virtual guide 75 is converted into image coordinates. Thereby, the position and shape of the virtual guide 75 when the imaging device 42 is the viewpoint can be obtained. Therefore, the guide image 73 can be created by superimposing the virtual guide 75 at an appropriate position and shape on the video imaged by the imaging device 42.

  Further, in the present embodiment, based on the measurement result of the three-dimensional measurement sensor 41 and the three-dimensional coordinates of the virtual guide 75, the display object (particularly the ground surface) of the image photographed by the photographing device 42 in the image coordinate system, and the virtual Which of the guides 75 is displayed on the front side (that is, the side close to the photographing device 42) can be specified. Then, as shown in FIG. 6, the virtual guide 75 is drawn as a visible portion 75 a on the side closer to the imaging device 42 than the display object, and a portion farther from the imaging device 42 than the display object (for example, buried in the ground surface). Is drawn as an invisible part 75b. Then, the guide image 73 is created by distinguishing the visible portion 75a and the invisible portion 75b.

  As a method for distinguishing between the visible portion 75a and the invisible portion 75b, for example, it is conceivable to increase the transparency of the invisible portion 75b (the degree to which the rear image is transmitted) as compared with the visible portion 75a. Alternatively, the drawing color may be different between the visible portion 75a and the invisible portion 75b. One of the visible part 75a and the invisible part 75b may be displayed only with a frame line. Thus, the operator can easily understand the position where the virtual guide 75 is installed in the guide image 73, and can easily and accurately match the virtual guide 75 to the target area to be excavated.

  Thus, the setting for the virtual guide 75 is completed. This virtual guide 75 is also displayed when excavating by operating the work machine 13, as shown in FIG. Therefore, the operator can perform excavation according to the virtual guide 75 by operating the work machine 13 while confirming the guide image 73. Even when the position and orientation of the construction machine 1 change, information such as self-position recognition is newly performed and information is updated as described above. The display position and shape of the guide 75 can be changed. Further, when the position of the ground surface is lowered by advancing excavation work, the information acquired by the three-dimensional measurement sensor 41 changes, and accordingly, the process of displaying the portion that was the invisible portion 75b as the visible portion 75a is performed. Done. Processing in which at least one of the absolute value of the depth, depth, and width of the excavation completion portion is displayed in real time is defined as a region where excavation has been completed (excavation completion portion) where the invisible portion 75b has changed to the visible portion 75a. It may be done. The absolute values of the depth, depth, and width of the excavation completion portion can be calculated based on distance information from the installation position in the three-dimensional coordinates of the three-dimensional measurement sensor 41 and the imaging device 42. The absolute values of the depth, depth, and width of the excavation completed portion are corrected by the absolute value of the size of the portion where the shape does not change, such as the width of the bucket 16, among those displayed on the display unit 35. It is preferable. Thereby, calculation accuracy can be improved. The working guide image 73 can also be transmitted to the outside (for example, an information processing device of a collaborator or manager) via a wireless device (not shown).

  Next, interference determination performed by the interference determination unit 57 and adjustment processing performed by the excavator adjustment unit 58 will be described with reference to FIG. FIG. 8 is a diagram for describing processing for detecting interference between the bucket 16 and the virtual guide 75 and adjusting the target position.

  In the present embodiment, the interference determination unit 57 determines whether or not the bucket 16 and the virtual guide 75 interfere with each other. The interference between the bucket 16 and the virtual guide 75 means a state where the bucket 16 and the virtual guide 75 overlap each other. Therefore, the state in which the bucket 16 and the virtual guide 75 are in contact with each other and do not overlap does not strictly correspond to interference. And when the interference determination part 57 determines that interference arises now or in the future, the excavation tool adjustment part 58 controls the working machine 13 so that interference does not arise. Details will be described below.

  The position and posture of the bucket 16 with respect to the construction machine 1 can be calculated based on the shape and angle of the boom 14, the shape and angle of the arm 15, and the shape and angle of the bucket 16. The angle of each part of the work machine 13 is detected by the angle sensors 20 to 22 as described above. Further, the shape of each part of the work machine 13 is stored in the control device 50 in advance. Therefore, the interference determination unit 57 can calculate the current position and orientation of the bucket 16 based on the detection results of the angle sensors 20 to 22.

  Further, when the operator makes the operation lever 33 at a predetermined tilt angle, it is possible to calculate the position and posture of the work machine 13 after a predetermined time based on the operation state of the operation lever 33. Therefore, the interference determination unit 57 can calculate not only the current position and orientation of the bucket 16 but also the future position and orientation of the bucket 16.

  As described above, the position of the virtual guide 75 in the three-dimensional coordinates has already been obtained. The interference determination unit 57 calculates the position and orientation of the bucket 16, and further uses the shape of the bucket 16 to place the bucket 16 in three-dimensional coordinates, thereby calculating the portion occupied by the bucket 16 in the three-dimensional coordinates. . Therefore, it can be determined whether or not the bucket 16 interferes with the virtual guide 75 by comparing the portion occupied by the bucket 16 in the present or the future with the portion occupied by the virtual guide 75 (see FIG. 8).

  The excavator adjustment unit 58 performs the following process when the interference determination unit 57 determines that the bucket 16 will interfere with the virtual guide 75 in the future. First, the excavator adjustment unit 58 specifies the coordinates of the longest point (hereinafter referred to as point B1) that exceeds the virtual guide 75 among the points of the portion occupied by the future bucket 16. For example, a perpendicular line is drawn with respect to the virtual guide 75 from each point exceeding the virtual guide 75, and the point having the longest perpendicular line is defined as a point B1. Further, the same location as the point B1 in the current bucket 16 is referred to as a point A.

  Next, the excavator adjustment unit 58 obtains the coordinates of the point B2 that is the intersection of the perpendicular drawn from the point B1 to the virtual guide 75 and the virtual guide 75. The excavator adjustment unit 58 controls the work machine 13 (specifically, the cylinders 17, 18, and 19) so that the point A moves to the point B2. At this time, the excavator adjustment unit 58 controls the work implement 13 so that the amount of change in the rotation angle of the boom 14, arm 15, and bucket 16 is minimized. Thereby, the bucket 16 can be moved smoothly. Note that the point B2 can be obtained by a calculation method different from the above.

  By performing the above processing, even if an operation that causes the bucket 16 to interfere with the virtual guide 75 is performed by an operator, the interference is prevented and the virtual guide 75 is not exceeded (virtual). The position and orientation of the bucket 16 can be changed (along the guide 75).

  In addition, when the interference determination part 57 detects the interference of the bucket 16 and the virtual guide 75, the structure which prevents this interference by stopping the working machine 13 may be sufficient. Moreover, the structure which notifies the possibility of interference to an operator by emitting a warning sound or displaying a warning may be sufficient.

  In the present embodiment, the virtual guide 75 determines whether or not the bucket 16 and the virtual guide 75 will interfere in the future. Instead of this, the interference determination unit 57 may determine whether or not the current bucket 16 and the virtual guide 75 interfere with each other. According to this configuration, even if the operation of the work machine 13 is stopped when it is determined that there is interference, the bucket 16 exceeds the virtual guide 75. For example, the virtual guide 75 is set with a margin. Alternatively, it is effective when precise excavation along the virtual guide 75 is not required. Further, when interference has already occurred, processing for eliminating interference is performed instead of processing for preventing interference. For example, control is performed to change the position and posture of the bucket 16 so that the amount of excavation in the area beyond the virtual guide 75 is minimized.

  Next, a progress calculation process performed by the progress calculation unit 59 and a completion time calculation process performed by the completion time calculation unit 60 will be described with reference to FIG. FIG. 9 is a diagram illustrating processing for calculating the progress rate and the work completion time.

  In the present embodiment, the three-dimensional coordinates of the ground surface are acquired from the measurement result of the three-dimensional measurement sensor 41. In addition, the three-dimensional coordinates of the virtual guide 75 are set. Therefore, as shown in the upper diagram of FIG. 9, the volume of the area to be excavated (unexcavated portion) can be calculated based on the position of the ground surface before the excavation is started and the position of the virtual guide 75. Further, as shown in the lower diagram of FIG. 9, the excavation completed portion or the unexcavated portion is determined based on the position of the ground surface before starting excavation, the position of the ground surface during excavation, and the position of the virtual guide 75. The volume of the part can be calculated. Therefore, the progress calculation unit 59 divides the current volume of the excavation completed part by the volume of the unexcavated part before starting excavation (that is, the total volume of the range to be excavated), thereby obtaining the progress rate of the excavation work. calculate.

  The calculated progress rate is displayed on the guide image 73. In addition, as the progress rate, it is possible to calculate and display the rate at which excavation remains, not the rate at which excavation is completed.

  Further, as excavation proceeds, an unexcavated portion changes to an excavated completion portion. Here, the excavation speed (volume excavated per unit time) can be grasped by calculating the amount of change from the unexcavated portion to the excavated completed portion in a predetermined time. Therefore, by dividing the unexcavated portion by the excavation speed, it is possible to estimate the time until the excavation work is completed (excavation completion time). This excavation completion time is also displayed on the guide image 73. Only one of the progress rate and the excavation completion time can be displayed on the guide image 73.

  In addition, it is possible to create a construction record using the photographing device 42 provided in the construction machine 1. For example, before the excavation work is started, during the excavation work, and after the excavation work is completed, an image photographed by the photographing device 42 is stored in the control device 50 or transmitted to the outside. This facilitates creation of construction records. Further, when the construction machine 1 is moved, the image is taken with the information to that effect and stored in the control device 50 or transmitted to the outside. Thereby, the record at the time of interruption of excavation work can also be created automatically.

  As described above, the construction machine 1 of the above embodiment includes the imaging device 42, the display device 34, the candidate image creation unit 52, the guide selection unit 53, the guide image creation unit 56, and the interference determination unit 57. And comprising. The imaging device 42 images the target area. The candidate image creation unit 52 displays a template candidate image 71 indicating a plurality of virtual guides 75 created in advance as selection candidates for the operator on the display device 34. The guide selection unit 53 selects a virtual guide 75 corresponding to the operation of the operator from the template candidate image 71. The guide image creation unit 56 displays a guide image 73 that is an image in which the virtual guide 75 selected by the guide selection unit 53 is superimposed on the target area of the image captured by the imaging device 42 on the display device 34. The interference determination unit 57 performs processing for calculating the current position and posture of the bucket 16 or the future position and posture of the excavator, and the bucket 16 having the calculated position and posture is placed on the target region. It is determined whether or not the arranged virtual guide 75 interferes.

  As a result, it is determined whether or not the bucket 16 interferes with the current virtual guide 75, or whether or not the bucket 16 will interfere with the virtual guide 75 in the future. For example, the operation of the bucket 16 can be stopped or restricted, or a warning can be given. Therefore, it is possible to prevent the target area from being excessively excavated regardless of the skill level of the operator, and the operator can easily excavate. Moreover, since the virtual guide 75 is displayed on the image image | photographed with the imaging device 42, the operator can grasp | ascertain an excavation area | region intuitively.

  In the construction machine 1 of the above embodiment, when the interference determination unit 57 determines that the virtual guide 75 disposed on the target area interferes with the bucket 16, at least one of the position and posture of the bucket 16 is adjusted. By doing so, the drilling tool adjustment part 58 which eliminates or prevents interference with the bucket 16 and the virtual guide 75 is further provided.

  Thereby, even when the bucket 16 and the virtual guide 75 are interfering with each other or when the interference is predicted, the interference is automatically eliminated or prevented. This can be reliably prevented, and the operator can perform excavation more easily.

  In the construction machine 1 according to the embodiment, the guide image creation unit 56 is a portion of the virtual guide 75 that is closer to the photographing device 42 than the display object included in the image photographed by the photographing device 42. A guide image 73 is created by distinguishing between the visible portion 75a and the invisible portion 75b that is a portion farther from the imaging device 42 than the display object included in the image captured by the imaging device 42.

  Thereby, the operator can grasp | ascertain the position of the virtual guide 75 still more easily.

  Moreover, the construction machine 1 of the above embodiment further includes a guide changing unit 54 that changes at least one of the position and the shape of the virtual guide 75 according to the operation of the operator.

  Thereby, since the position and / or shape of the virtual guide 75 can be changed in accordance with the target area or the like, the virtual guide 75 can be used for various operations.

  Further, in the construction machine 1 of the above embodiment, the progress calculation that calculates the progress rate of the excavation in the target area based on at least one of the excavation completed part and the unexcavated part in the target area and the position of the virtual guide 75. A part 59 is further provided.

  Thereby, the progress rate of excavation can be grasped as clear data.

  In the construction machine 1 of the above embodiment, the excavation of the target area is completed based on at least one of the excavation completed part and the unexcavated part of the target area, the position of the virtual guide 75, and the time taken for excavation. A completion time calculation unit 60 for calculating time is further provided.

  Thereby, the progress rate of excavation can be grasped as clear data.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the process of adjusting the shape of the virtual guide 75 is performed in both Step S102 and Step S104, but at least one of them can be omitted. For example, when the adjustment of the shape of the virtual guide 75 is unnecessary, the process of adjusting the shape of the virtual guide 75 can be omitted in both step S102 and step S104. Moreover, in the said embodiment, it is assumed that the shape of the virtual guide 75 candidate (virtual guide template) included in the template candidate image 71 is basically changed. Instead, a candidate image including only the virtual guide 75 that is not assumed to change the shape as an operator selection candidate may be displayed on the display device 34.

  In the above embodiment, an example in which a hydraulic cylinder is used as a cylinder such as the boom cylinder 17 has been described. However, an electric cylinder may be used, for example.

  In the above embodiment, the virtual guide 75 is used to define the excavation shape. In addition, the virtual guide 75 is installed in a range where the intrusion of the excavator is prohibited (for example, a range where a building or the like is arranged). You can also

  In the above embodiment, the present invention is applied to the construction machine 1 including the cabin 31, but the present invention can also be applied to a construction machine 1 of a type in which the driver seat 32 is exposed without the cabin 31.

DESCRIPTION OF SYMBOLS 1 Construction machine 13 Working machine 14 Boom 15 Arm 16 Bucket (excavation tool)
50 Control Device 71 Template Candidate Image 72 Template Change Image 73 Guide Image 75 Virtual Guide

Claims (6)

In construction machines that excavate the target area with a drilling tool,
An imaging device for imaging the target area;
A display device;
A candidate image creating unit for displaying a plurality of pre-created virtual guides on the display device as candidate images indicating operator selection candidates;
A guide selection unit that selects the virtual guide according to the operation of the operator from the candidate images;
A guide image creation unit that displays on the display device a guide image that is an image in which the virtual guide selected by the guide selection unit is superimposed on the target area of an image captured by the imaging device;
A process for calculating the current position and posture of the excavator or the future position and posture of the excavator is performed, and the excavator of the calculated position and posture is arranged on the target region. An interference determination unit for determining whether or not the virtual guide interferes;
A construction machine comprising: The construction machine according to claim 1,
When the interference determination unit determines that the digging tool and the virtual guide disposed on the target area interfere with each other, by adjusting at least one of the position and the posture of the digging tool, A construction machine further comprising an excavator adjustment unit that eliminates or prevents interference with the virtual guide. The construction machine according to claim 1 or 2,
The guide image creation unit is included in a visible portion that is a portion closer to the imaging device than a display object included in an image captured by the imaging device, and an image captured by the imaging device, of the virtual guide. A construction machine characterized in that the guide image is created by distinguishing an invisible part that is a part farther from the imaging device than a displayed object. A construction machine according to any one of claims 1 to 3,
A construction machine, further comprising a guide changing unit that changes at least one of a position and a shape of the virtual guide according to an operation of an operator. A construction machine according to any one of claims 1 to 4,
Construction further comprising a progress calculating unit that calculates a progress rate of excavation of the target area based on at least one of the excavation completed part and the unexcavated part of the target area and the position of the virtual guide. machine. A construction machine according to any one of claims 1 to 5,
A completion time calculating unit that calculates the excavation completion time of the target area based on at least one of the excavation completion part and the unexcavated part of the target area, the position of the virtual guide, and the time taken for excavation; A construction machine characterized by comprising.

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