JP2025014646A - AUTONOMOUS DRIVING INFORMATION CALCULATION SYSTEM AND AUTONOMOUS DRIVING INFORMATION CALCULATION METHOD - Google Patents

Abstract

To provide an automatic operation information calculation system that performs a specified operation simply by specifying the behavior of a "working apparatus," and an automatic operation information calculation method that outputs information necessary for the automatic operation.SOLUTION: An automatic operation information calculation system obtains information for automatic operation of a construction machine, and is equipped with relay information calculation means. A working apparatus realizes a specified work purpose. The relay information calculation means calculates "mechanism operation information" of a relay mechanism based on input "apparatus behavior information" related to the working apparatus. The apparatus behavior information includes a plurality of "point behavior information" consisting of working apparatus position information, apparatus attitude information, and elapsed time.SELECTED DRAWING: Figure 4

Description

This invention relates to technology related to the automatic operation of construction machinery, and more specifically, to construction machinery that performs automatic operation using the position and angle of equipment that realizes the work purpose of the construction machinery, such as a bucket in a hydraulic excavator, and a program that outputs information necessary for automatic operation.

In recent years, the labor shortage problem in the construction industry has become more serious, affecting the execution of construction projects planned by the government to a certain extent. On the other hand, construction work is sometimes carried out in places that are dangerous for people to enter, such as disaster sites or accident sites, and in such cases safety measures must be taken with extreme care. Against this background, and with the dramatic advances in information and communication technology and positioning technology, "unmanned construction," in which construction work is carried out using unmanned construction machinery, has come into practical use.

This unmanned construction can be broadly divided into remote control and automatic operation. Remote control is a method in which a person stands away from the construction machinery and operates the machinery by operating a wireless control transmitter, while automatic operation is a method in which a computer executes a program that contains processes to command a series of tasks, causing the construction machinery to operate automatically.

Various technologies have been proposed for automating construction work using construction machinery. For example, Patent Document 1 proposes a hydraulic excavator that uses a method based on so-called teaching data and playback to automatically perform specified tasks in response to the entry of a truck.

Japanese Patent Application Publication No. 10-183665

Conventional technologies related to automatic operation, such as that disclosed in Patent Document 1, were targeted at specific construction machines. In other words, calculations were made so that the construction machine would perform a specific operation based on various conditions and parameters specific to that construction machine, and then a program for automatic operation was created. Therefore, even for the same type of construction machine, that is, construction machines that share the same equipment for achieving the work purpose (hereinafter referred to as "work equipment"), calculations had to be made and programs created for each construction machine. For example, even for the same backhoe, which has in common the fact that it has a bucket (work machine), if the manufacturer or specifications (bucket capacity, etc.) are different, a program for automatic operation must be created for each backhoe.

Furthermore, in conventional technology, calculations were made for the various components that make up a construction machine, and then calculations were made for the construction machine to perform a specified operation. For example, in Patent Document 1, the rotating body, boom, arm, and bucket were considered, and the angles of each were calculated before creating a program. In this case, not only were the calculations complicated, but it was also possible that operations would be instructed that would not actually be performed, taking into account the stability and efficiency of the construction machine, or that operations were instructed that were logically possible but not realistically possible.

The objective of the present invention is to solve the problems of the conventional technology, that is, to provide an automatic driving information calculation system that performs a predetermined operation simply by specifying the behavior of "work equipment," and an automatic driving information calculation method that outputs the information necessary for the automatic driving.

The present invention was made with a focus on the fact that by specifying the behavior of "work equipment" common to the same type of construction machinery, it can be used in common for the automatic operation of various types of construction machinery, and is an invention based on an unprecedented idea.

The automatic driving information calculation system of the present invention is a system for obtaining information for automatically driving a construction machine, and is equipped with a relay information calculation means. The construction machine is configured to include a main body, a relay mechanism attached to the main body, and a work equipment attached to the relay mechanism. The work equipment has a function for realizing the work purpose of the construction machine, and the relay mechanism has a function for controlling the behavior of the work equipment. The relay information calculation means is a means for calculating "mechanism operation information" of the relay mechanism based on "equipment behavior information" related to the work equipment. The equipment behavior information includes "equipment position information" related to a specific point set in advance among the work equipment, "equipment attitude information" indicating the attitude of the work equipment, and a plurality of "point behavior information" consisting of "elapsed time". The equipment position information is three-dimensional coordinates in a coordinate system with a reference point set in advance among the main body as the origin. The relay information calculation means calculates the mechanism operation information so that the work equipment conforms to the equipment position information and equipment attitude information of the point behavior information at the elapsed time of the point behavior information.

The automatic driving information calculation system of the present invention can also be further equipped with a construction machine having a mechanism control means. This mechanism control means is a means for controlling the relay mechanism based on the mechanism operation information calculated by the relay information calculation means. A hydraulic excavator can also be used as the construction machine. In this case, the work equipment is a "bucket" for excavating the ground or loading earth and sand, and the relay mechanism is composed of an "arm", a "boom" and a "hydraulic cylinder". The mechanism control means controls the hydraulic cylinder to control the work equipment so as to conform to the mechanism operation information.

The automated driving information calculation system of the present invention can also calculate mechanism operation information on the condition that the rotation of the relay mechanism is restricted.

The automated driving information calculation system of the present invention can also calculate mechanism operation information on the condition that the relay mechanism is capable of turning.

The automatic operation information calculation method of the present invention is a method for determining "mechanism operation information" for automatically operating the construction machine of the present invention, and is a method including a behavior information setting step and a relay information calculation step. In this behavior information setting step, equipment behavior information related to the work equipment is set, and in the relay information calculation step, the mechanism operation information of the relay mechanism is calculated based on the equipment behavior information.

The automatic driving information calculation method of the present invention can also be a method further including a point behavior information acquisition process. In this point behavior information acquisition process, the operator acquires point behavior information while operating the construction machine. In this case, in the behavior information setting process, the equipment behavior information is set based on the point behavior information acquired in the point behavior information acquisition process.

The automatic driving information calculation system and the automatic driving information calculation method of the present invention have the following advantages.
(1) By specifying the behavior of "work equipment" common to the same type of construction machine, the construction machine can automatically perform a specific task. In other words, even if the construction machines are made by different manufacturers or have different specifications, they can be used for various construction machines as long as the work equipment is common.
(2) By specifying the behavior of the work equipment that will realize the work application of the construction machine, such as digging up ground or loading soil with a hydraulic excavator, it is possible to command the construction machine to perform operations that are realistic, feasible, and stable.
(3) Automatic operation of construction machinery is possible simply by specifying the behavior of the work equipment. There is no need to perform complicated processing such as calculating the movements of the various pieces of equipment that make up the construction machinery (rotating body, boom, arm, bucket, etc.) all at once.

1 is a block diagram showing the main configuration of an automatic driving information calculation system according to the present invention. FIG. 2A is a side view showing a hydraulic excavator before excavating the ground, and FIG. 2B is a side view showing the hydraulic excavator excavating the ground. FIG. 1 is a plan view showing a schematic diagram of excavating ground into construction blocks that divide a target area. FIG. 4 is a perspective view showing a schematic diagram of an equipment trajectory of a bucket during ground excavation. A model diagram showing equipment behavior information composed of 19 point behavior information. FIG. 4A is a side view showing a specific point related to a bucket and equipment attitude information, and FIG. 4B is a plan view showing a coordinate origin set in a main body of a hydraulic excavator and a coordinate system therefor. FIG. 2 is a plan view showing a schematic diagram of excavation along a boundary wall within a construction area. 1 is a flow chart showing the main steps of the automatic driving information calculation method of the present invention.

The following describes an example of an embodiment of the autonomous driving information calculation system and autonomous driving information calculation method of the present invention with reference to the drawings.

1. Overall Overview One of the technical features of the present invention is that it focuses on the "work equipment" that directly performs the work that is the main purpose of the construction machine (hereinafter referred to as the "dedicated work"), and sets the behavior (i.e., the movement) of the work equipment, and then controls the construction machine to realize that behavior. For example, in the case of a hydraulic excavator, the behavior of the "bucket," which is the work equipment, is set first, and then the movements of the "arm,""boom," and "hydraulic cylinder" are controlled to realize that behavior. For convenience, the mechanism that directly controls the work equipment (in this case, the bucket), such as the arm, boom, and hydraulic cylinder of a hydraulic excavator, is referred to as the "relay mechanism."

Up until now, many construction machinery manufacturers have developed automatic driving technology for construction machinery, and it is generally believed that automatic driving is possible for most major construction machinery. Normally, when a construction machine is made to perform a specialized task, information regarding automatic driving (hereinafter referred to as "control information") is obtained by analyzing the operation of the relay mechanism, work equipment, and the main body, and each component is controlled according to the control information. Naturally, construction machinery manufacturers are familiar with the configuration of construction machinery, and when a "specified operation" is given, they can obtain the control information to achieve it. However, construction machinery manufacturers are not as knowledgeable about the specialized tasks of construction machinery as actual operators are. For example, when digging ground with a hydraulic excavator, construction machinery manufacturers may not have sufficient know-how on how the bucket should behave.

Therefore, in the present invention, information on the behavior of the work equipment (hereinafter referred to as "equipment behavior information") is set, and information on the operation of the relay mechanism (hereinafter referred to as "mechanism operation information") is calculated based on the equipment behavior information; in other words, control information is composed of the equipment behavior information and the mechanism operation information. This allows the equipment behavior information to be set by an expert who operates the construction machinery, such as an operator, and the mechanism operation information to be calculated by someone familiar with construction machinery, such as a construction machinery manufacturer.

The present invention can be applied to various construction machines as long as they are equipped with a relay mechanism and working equipment. For example, there are bulldozers in which the working equipment is a "blade" and the "cylinder" that controls the blade is the relay mechanism, vibrating rollers in which the working equipment is a "roller" and the "arm" that controls the roller is the relay mechanism, and dump trucks in which the working equipment is a "cargo platform" and the "cylinder" that dumps up the cargo platform is the relay mechanism.

2. Automatic driving information calculation system Next, the automatic driving information calculation system of the present invention will be described in detail with reference to the drawings. Note that both the automatic driving information calculation system and the automatic driving information calculation method of the present invention are for obtaining information for automatically driving a construction machine, so the automatic driving information calculation system of the present invention will be described first, and then the automatic driving information calculation method of the present invention will be described.

Figure 1 is a block diagram showing the main components of the autonomous driving information calculation system 100 of the present invention. As shown in this figure, the autonomous driving information calculation system 100 of the present invention is configured to include a calculation processing device 110, and can also be configured to include a construction machine 120. This calculation processing device 110 is configured to include a relay information calculation means 111, and can also be configured to include a behavior information input means 112 and a management side transmission/reception means 113. The construction machine 120 is configured to include a main body 121, a relay mechanism 122, work equipment 123, mechanism control means 124, etc., and can also be equipped with a measurement means 125 and a machine side transmission/reception means 126, etc.

Of the elements constituting the arithmetic processing device 110, the relay information calculation means 111 can be manufactured as a dedicated unit, or a general-purpose computer device can be used. In other words, the computer device executes arithmetic processing according to a specific program, thereby performing processing specific to each means. This computer device is equipped with a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display, and executes arithmetic processing according to a specific program, and can be constituted by a personal computer (PC), a server, a tablet PC such as an iPad (registered trademark), a mobile terminal including a smartphone, etc.

As shown in FIG. 1, the arithmetic processing device 110 can be placed in a location away from the work site, such as a management building or a supervisor's station. Alternatively, as in "Construction Machine B" in FIG. 1, a computer device including a relay information calculation means 111 and a behavior information input means 112 can be mounted on a construction machine 120. As described below, the relay information calculation means 111 calculates "mechanism operation information (information on the operation of the relay mechanism)" based on "equipment behavior information (information on the behavior of the work equipment)" as input information. Then, the mechanism control means 124, which has acquired the mechanism operation information, controls the relay mechanism 122 according to the mechanism operation information. Therefore, when the arithmetic processing device 110 is placed in a management building or the like, it is preferable to use a wireless or wired management side transmission/reception means 113 to transmit the mechanism operation information to the machine side transmission/reception means 126, which then transmits the mechanism operation information to the mechanism control means 124.

The automatic driving information calculation system 100 of the present invention can be implemented to control one type of construction machine 120, or can be implemented to simultaneously control multiple types of construction machines 120 (two types in the figure) as shown in Figure 1. For example, a backhoe and a dump truck are controlled simultaneously at the same construction site. In this case, naturally, mechanism operation information is obtained for each construction machine 120, and in the example of Figure 1, mechanism operation information for construction machine A and mechanism operation information for construction machine B are obtained respectively. It can also be implemented to control multiple construction machines 120 of the same type. For example, two backhoes and three dump trucks are controlled simultaneously at the same construction site.

Below, we will explain in detail each of the main elements that make up the autonomous driving information calculation system 100 of the present invention. For convenience, we will explain this using an example in which the construction machine 120 is a hydraulic excavator.

(Construction machinery)
2 is a side view showing a hydraulic excavator 120E as a construction machine 120, in which (a) shows a state before excavating the ground, and (b) shows a state during excavation. As shown in this figure, the hydraulic excavator 120E includes a main body 121, a relay mechanism 122, and a bucket 123B (working equipment 123), and further includes a mechanism control means 124. Of these, the main body 121 includes a cabin (driver's seat) and crawlers for traveling. The relay mechanism 122 includes a boom 122B, an arm 122A, a boom cylinder 122C1, an arm cylinder 122C2, and a bucket cylinder 122C3. The boom 122B is attached to the main body 121 at its rear, and the arm 122A is connected to the boom 122B at its rear and connected to the bucket 123B at its front. The mechanism control means 124 controls the boom cylinder 122C1 to operate the boom 122B, controls the arm cylinder 122C2 to operate the arm 122A, and controls the bucket cylinder 122C3 to operate the bucket 123B.

The hydraulic excavator 120E can also be equipped with a measuring means 125 for measuring the area to be worked on (hereinafter referred to as the "target area"). For example, as shown in FIG. 3, the ground may be excavated for each construction block (BL01 to BL15 in the figure) that divides the target area. In this case, the construction blocks are set after grasping the shape and dimensions of the target area, and at this time the measuring means 125 can be used to measure the target area. Also, by measuring with the measuring means 125, it is possible to grasp the progress of the ground excavation and the finished shape after excavation.

The measuring means 125 may be, for example, a laser measuring device that uses a laser sensor to perform measurements, an image acquisition means (such as a camera or video camera) for performing photomeasurements (measurements using a stereo pair of two images), or a total station.

(Processing Device)
The relay information calculation means 111 constituting the arithmetic processing device 110 is a means for calculating mechanism operation information using equipment behavior information as input information. This equipment behavior information is information indicating the behavior of the work equipment 123 when performing the "dedicated work" that is the main purpose of the construction machine. For example, in the case of the hydraulic excavator 120E, "ground excavation" and "loading of earth and sand" are the dedicated works, and the equipment behavior information is information indicating the behavior of the bucket 123B (work equipment 123) from the start to the end of the dedicated work. The equipment behavior information will be described in more detail below.

The equipment behavior information is a collection of information about the position and attitude of the bucket 123B, which changes from moment to moment from the start to the end of the dedicated work, and is information indicating the trajectory of the bucket 123B (hereinafter referred to as the "equipment trajectory") during the dedicated work (ground excavation in the figure) as shown in FIG. 4. Therefore, the equipment behavior information includes the time elapsed from the start of the dedicated work (hereinafter referred to as the "elapsed time"), information indicating the position of the bucket 123B at the elapsed time (hereinafter referred to as the "equipment position information"), and information indicating the attitude of the bucket 123B at the elapsed time (hereinafter referred to as the "equipment attitude information"). The equipment behavior information is a collection of information consisting of the elapsed time, equipment position information, and equipment attitude information (hereinafter referred to as the "point behavior information") along the equipment trajectory. For example, in FIG. 5, 19 points (point 1 to point 19) are set along the equipment trajectory from the start to the end of the work, and the equipment behavior information is composed of the point behavior information at each point.

The equipment position information in the point behavior information is the coordinates of a "specific point" that has been set in advance on the work equipment 123. For example, in the case of the bucket 123B, the specific point can be set at a desired position on the bucket 123B, such as the central cutting edge as shown in FIG. 6(a) or the center of the back surface of the bucket 123B. The equipment position information is expressed as three-dimensional coordinates in a coordinate system that has a "reference point" that has been set in advance on the main body 121 as the origin. For example, in the case of the hydraulic excavator 120E, the reference point can be set at a desired position on the main body 121, such as the center of the plane of the main body 121 as the reference point (i.e., the coordinate origin) as shown in FIG. 6(b) or an arbitrary point on the top of the cabin as the reference point.

The equipment attitude information in the point behavior information is information indicating the attitude of the work equipment 123, and can be set as an angle related to a surface of the work equipment 123 that is of interest. For example, in the case of the bucket 123B, the angle that the back surface of the bucket 123B makes with the horizontal plane can be set as the equipment attitude information, as shown in FIG. 6(a). Of course, the angle that the top surface (opening surface) of the bucket 123B makes with the horizontal plane can also be set as the equipment attitude information, and the intersection angle with the vertical plane can also be set as the equipment attitude information instead of the intersection angle with the horizontal plane. Alternatively, two points of interest can be used as the equipment attitude information instead of an angle. In this case, the angle of the work equipment 123 is obtained using the three-dimensional coordinates of the points of interest. For example, two points of interest are set on the back surface of the bucket 123B as the equipment attitude information, and the back surface angle of the bucket 123B is obtained based on the three-dimensional coordinates of the points of interest.

When setting equipment behavior information consisting of a series of point behavior information, it can be set based on the experience and knowledge of an expert familiar with the operation of the construction machine 120, or it can be set by operating a virtual model of the construction machine 120 using, for example, 3D CAD (Computer Aided Design) and setting the equipment behavior information through a so-called simulation. Alternatively, an experienced operator can actually operate the construction machine 120 while periodically measuring the elapsed time, equipment position information, and equipment attitude information, and set the equipment behavior information based on the measurement results.

The relay information calculation means 111 calculates the mechanism operation information so that the work equipment 123 matches the equipment position information and the equipment attitude information at each elapsed time, that is, so that the work equipment 123 (specific point) is in the position related to the equipment position information and the work equipment 123 (focused surface) is in the attitude related to the equipment attitude information. At this time, it is preferable to calculate the mechanism operation information based on parameters (such as component dimensions and capacity) specific to the construction machine 120 used. In other words, although the equipment behavior information does not depend on the type of construction machine 120, the mechanism operation information is calculated according to the construction machine 120. Note that the equipment behavior information is a collection of point behavior information, and is, so to speak, discrete data for each elapsed time. Therefore, the relay information calculation means 111 calculates the mechanism operation information so as to complement the point behavior information and the point behavior information. Therefore, it is a good idea to set an upper limit on the time interval between point behavior information (e.g., 0.5 seconds or less) and an upper limit on the distance between points in point behavior information (e.g., 300 mm or less).

The relay information calculation means 111 can calculate the mechanism operation information under the condition (hereinafter referred to as the "rotation constraint condition") that the relay mechanism 122 does not rotate (hereinafter referred to as the "horizontal rotation") around a substantially vertical axis (including the vertical axis), or can calculate the mechanism operation information under the condition (hereinafter referred to as the "rotation condition") that the relay mechanism 122 rotates horizontally. For example, in the case of a series of operations in which the bucket 123B descends from above toward the ground as shown in FIG. 2, the bucket 123B excavates the ground, and the bucket 123B scoops up the excavated soil, it is preferable to calculate the mechanism operation information under the "rotation constraint condition" that the boom 122B and the arm 122A (relay mechanism 122) do not rotate horizontally.

On the other hand, if the target work also includes the boom 122B and arm 122A rotating horizontally after the bucket 123B scoops up the excavated soil, the bucket 123B moving to the bed of the dump truck, the bucket 123B unloading the excavated soil onto the bed, and the bucket 123B leveling out the degree of excavation on the bed, then it is advisable to calculate the mechanism operation information under "rotation conditions" in which the boom 122B and arm 122A (relay mechanism 122) rotate horizontally. Also, as shown in FIG. 7, when a boundary wall is installed within the construction area and excavation must be performed along the boundary wall, it is advisable to calculate the mechanism operation information under "rotation conditions".

As mentioned above, when setting the construction blocks shown in FIG. 3, it is advisable to measure the target area using the measuring means 125. In this case, the coordinates indicating the position of each construction block are obtained, and the relay information calculation means 111 calculates the mechanism operation information based on the coordinates. However, it is not necessary to change the equipment behavior information for each construction block. In other words, although the operation of the boom 122B and the arm 122A differs depending on the construction block, the mechanism operation information is calculated assuming that the behavior of the bucket 123B does not change depending on the construction block. When excavating the ground for each construction block, it is advisable to calculate the mechanism operation information under the "swing constraint condition" when setting the equipment behavior information for one cycle of excavation work (lowering the bucket 123B to scooping up the excavated soil), and to calculate the mechanism operation information under the "swing condition" when setting the equipment behavior information for the work until the construction block is completed.

The behavior information input means 112 constituting the arithmetic processing device 110 is a means for inputting equipment behavior information to the relay information calculation means 111. As this behavior information input means 112, a pointing device (such as a mouse, touch panel, pen tablet, touch pad, track pad, track ball, etc.), a keyboard, etc. can be used.

3. Automatic driving information calculation method Next, the automatic driving information calculation method of the present invention will be described with reference to the drawings. Note that the description will avoid overlapping with the contents described in the automatic driving information calculation system 100, and only the contents unique to the automatic driving information calculation method of the present invention will be described. In other words, the contents not described here are the same as those described in "2. Automatic driving information calculation system".

Figure 8 is a flow diagram showing the main steps of the intrusion detection method of the present invention. Note that the center column of this diagram shows the steps to be performed, the left column shows the information required for each step, and the right column shows the information generated by each step.

To operate the construction machine 120 automatically, as shown in FIG. 8, model construction is first performed (Step 201 in FIG. 8). This model construction may be performed by, for example, an experienced operator performing ideal, dedicated work. While the operator is operating the construction machine 120, point behavior information is periodically acquired using measuring instruments such as a laser measuring instrument, an image acquisition means for photographic measurement, or a total station (point behavior information acquisition process). Once the point behavior information is acquired, equipment behavior information is set based on a series of point behavior information along the equipment trajectory (Step 202 in FIG. 8: behavior information setting process).

When actually performing the dedicated work, the target area is measured using the measuring means 125 (Step 203 in FIG. 8). Then, based on the measurement results and the equipment behavior information, mechanism operation information is calculated (Step 204 in FIG. 8: Relay information calculation process). When setting a construction block as shown in FIG. 3, it is advisable to obtain coordinates indicating the position of the construction block and calculate mechanism operation information based on those coordinates.

When the mechanism operation information is obtained, the mechanism control means 124 controls the relay mechanism 122 (Step 205 in FIG. 8), so that the work equipment 123 executes the dedicated work (Step 206 in FIG. 8).

The automatic driving information calculation system and the automatic driving information calculation method of the present invention can be used for various construction machines such as bulldozers, vibratory rollers, dump trucks, etc. in addition to hydraulic excavators. Considering that the present invention solves the problem of labor shortages in the construction industry and makes it possible to carry out work in places where human entry is dangerous, the present invention can be said to be an invention that can be expected to not only be used industrially but also to make a significant contribution to society.

100 Automatic driving information calculation system of the present invention 110 (Automatic driving information calculation system) arithmetic processing device 111 Relay information calculation means 112 Behavior information input means 113 Management side transmission/reception means 120 (Automatic driving information calculation system) construction machine 120E Hydraulic excavator 121 Main body 122 Relay mechanism 122A Arm 122B Boom 122C1 Boom cylinder 122C2 Arm cylinder 122C3 Bucket cylinder 123 Work equipment 123B Bucket 124 Mechanism control means 125 Measurement means 126 Machine side transmission/reception means

Claims (7)

A system for requesting information for automatically operating a construction machine,
The construction machine includes a main body, a relay mechanism attached to the main body, and a work implement attached to the relay mechanism,
The work equipment has a function of realizing a work purpose of the construction machine,
The relay mechanism has a function of controlling the behavior of the work equipment,
a relay information calculation means for calculating mechanism operation information of the relay mechanism based on equipment behavior information related to the work equipment,
the equipment behavior information includes equipment position information relating to a specific point of the work equipment that is set in advance, equipment attitude information indicating the attitude of the work equipment, and a plurality of point behavior information consisting of elapsed time,
the device position information is a three-dimensional coordinate in a coordinate system having an origin at a preset reference point in the main body,
the relay information calculation means calculates the mechanism operation information so that the work equipment matches the equipment position information and the equipment attitude information of the point behavior information at the elapsed time of the point behavior information.
An automatic driving information calculation system characterized by the above. The construction machine further includes a mechanism control means, and the mechanism control means controls the relay mechanism based on the mechanism operation information calculated by the relay information calculation means.
2. The automatic driving information calculation system according to claim 1 . The construction machine is a hydraulic excavator,
The work equipment is a bucket for excavating the ground or loading earth and sand,
The relay mechanism includes an arm, a boom, and a hydraulic cylinder,
the mechanism control means controls the hydraulic cylinder to control the work equipment in accordance with the mechanism operation information.
3. The automatic driving information calculation system according to claim 2 . the relay information calculation means calculates the mechanism operation information on the condition that the rotation of the relay mechanism is restricted.
2. The automatic driving information calculation system according to claim 1 . the relay information calculation means calculates the mechanism operation information on the condition that the relay mechanism is capable of turning.
2. The automatic driving information calculation system according to claim 1 . A method for obtaining information for automatically operating a construction machine, comprising:
The construction machine includes a main body, a relay mechanism attached to the main body, and a work implement attached to the relay mechanism,
The work equipment has a function of realizing a work purpose of the construction machine,
The relay mechanism has a function of controlling the behavior of the work equipment,
a behavior information setting step of setting equipment behavior information relating to the work equipment;
and calculating mechanism operation information of the relay mechanism based on the equipment behavior information,
the equipment behavior information includes equipment position information of a specific point of the work equipment that is set in advance, equipment attitude information indicating the attitude of the work equipment, and a plurality of point behavior information consisting of elapsed time,
the device position information is a three-dimensional coordinate in a coordinate system having an origin at a preset reference point in the main body,
In the relay information calculation step, the mechanism operation information is calculated so that the work equipment matches the equipment position information and the equipment attitude information of the point behavior information at the elapsed time of the point behavior information.
An automatic driving information calculation method comprising: The method further includes a point behavior information acquisition step of acquiring the point behavior information while an operator operates the construction machine,
In the behavior information setting step, the equipment behavior information is set based on the point behavior information acquired in the point behavior information acquisition step.
The method for calculating automatic driving information according to claim 6 .

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