JP7107792B2 - construction machinery - Google Patents

Description

The present invention relates to a construction machine equipped with a work support function and performing work based on target terrain.

Conventionally, in construction machines such as hydraulic excavators, the distance between the front toe position of the construction machine and the construction target plane is displayed using the construction target plane input by the operator via an input device or the construction target plane prepared in advance. A technique to do so has been proposed. Also, a technique has been proposed for limiting the area so that the front toe position of the construction machine does not excavate the area below the construction target surface.

For example, Patent Literature 1 describes "a control method for controlling an excavator having a bucket so as to excavate a surface layer to a desired slope or depth, wherein when a slope control mode is selected, the surface layer to be excavated is entering data defining the desired slope; displaying information on the display panel indicating the desired slope; displaying information on the display panel indicating the position of the bucket relative to the desired slope. and automatically controlling the trajectory of the bucket to match the desired grade; and, if a depth control mode is selected, data defining the desired depth of the surface to be excavated. displaying information on the display panel indicating the desired depth; displaying information on the display panel indicating the position of the bucket relative to the desired depth; and trajectory of the bucket. automatically controlling the depth to match the desired depth”.

Japanese Patent No. 3452461

In the technique disclosed in Patent Document 1, the target terrain (the terrain at the time of construction completion) is constructed in advance for each operation of the construction machine, and the operator needs to input settings using the touch panel. requires. Also, when the target terrain is prepared in advance, it is necessary for a person to design it in advance using CAD or the like.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and automatically creates a target topography at a construction site by using the current topographical data of the construction site and a template shape stored in advance in a storage device. The purpose is to provide a technology that can

In order to solve the above problems, a typical construction machine includes an attitude detection device that detects the attitude of the construction machine, a positioning device that detects the positioning position of the construction machine, and a template shape that is a model of the terrain shape. an information controller that creates a target landform that is a landform after construction based on the template shape stored in the storage device; and a display device, wherein the information controller comprises the Based on the detection values of the attitude detection device and the positioning device, and the detection values output from the terrain measurement device that measures the terrain around the construction machine, current terrain data representing the terrain shape around the construction machine is created. obtaining a template shape stored in the storage device, deforming the template shape to create a template landform suitable for the construction target area, The target landform is calculated by raising or lowering the height of the template landform as a whole so as to converge within a specified value range, and the current landform data and the target landform are output to the display device. and

By using the current topography data of the construction site and the template shape stored in advance in the storage device, the target topography can be automatically created at the construction site, reducing the time and effort required to create the target topography before construction. , it is possible to reduce the trouble of creating in advance the target landform suitable for the construction site.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

It is a figure which shows the general view of a hydraulic excavator. It is a figure which shows an example of the control system of the hydraulic excavator of embodiment. It is a figure explaining the body coordinate system of an embodiment. It is a figure explaining the relationship between the vehicle body coordinate system of embodiment, a sensor coordinate system, and a site coordinate system. It is a figure which shows the outline|summary example of target landform preparation of the hydraulic excavator in embodiment. It is a figure which illustrates the functional block of embodiment. FIG. 4 is a diagram showing an example of a data format of terrain point cloud data according to the embodiment; It is a figure which shows the example of the data format of the present landform data of embodiment. FIG. 4 is a diagram showing an example of a data format of template terrain data according to the embodiment; It is a figure which shows the example of the data format of the target landform of embodiment. FIG. 4 is an explanatory diagram showing the flow of template landform creation processing according to the embodiment; It is a figure which shows the example of the template shape of embodiment. FIG. 10 is a diagram showing a template shape selection screen and a parameter setting screen displayed on a monitor; FIG. 5 is a diagram showing an example of current terrain obtained by current terrain output processing of the embodiment; 4 is a flowchart showing the flow of current terrain output processing according to the embodiment; 4 is a flowchart showing the flow of terrain grid conversion processing according to the embodiment; FIG. 5 is a diagram showing an example for explaining the operation of the target landform creation unit of the embodiment; 4 is a flowchart showing the flow of target landform creation processing according to the embodiment; 4 is a flowchart showing target terrain optimization processing of the embodiment; FIG. 4 is a diagram illustrating a method of calculating template terrain heights corresponding to grids of current terrain data according to the embodiment; It is a figure which shows the example of a display on the monitor of embodiment.

In the following embodiments, the description will be divided into a plurality of sections or embodiments if necessary for convenience. In the following embodiments, when referring to the number of elements, etc. (including the number, numerical value, amount, range, etc.), unless otherwise specified or clearly limited to a specific number in principle, The number is not limited to a specific number, and may be greater than or less than a specific number. In the following embodiments, the constituent elements (including processing steps and the like) are not necessarily essential, unless otherwise specified or clearly considered essential in principle.

Embodiments will be described below with reference to the drawings and the like. The following description shows specific examples of the content of the present invention, and the present invention is not limited to these descriptions, and various modifications by those skilled in the art within the scope of the technical idea disclosed in the present embodiment. Changes and modifications are possible. Further, in all the drawings for explaining the present embodiment, the same reference numerals are assigned to those having the same functions, and repeated explanations thereof may be omitted.

[Constitution]
First, as an example of construction machinery, a schematic configuration of a hydraulic excavator according to the present embodiment will be described. FIG. 1 is a perspective view showing an overview of a hydraulic excavator 100 of this embodiment, and FIG. 2 is a diagram showing an example of a control system for the hydraulic excavator 100. As shown in FIG.

A hydraulic excavator 100 includes an articulated front work machine 110 and a vehicle body 130 . The vehicle body 130 includes an upper revolving body 131 and a lower running body 132 . The upper revolving body 131 and the lower traveling body 132 are revolved by driving the revolving motor 124 and travel in the front-rear direction by being driven by the right traveling motor 125 and the left traveling motor 126 .

The articulated front work machine 110 includes a boom 111 whose base end is connected to an upper revolving body 131 so that it can be raised, an arm 112 which is swingably connected to the tip of the boom 111, and a tip of the arm 112 which can swing. and a bucket 113 connected to the The boom 111, the arm 112 and the bucket 113 are driven by actuators of the boom cylinder 121, the arm cylinder 122 and the bucket cylinder 123, respectively, to excavate and carry earth and sand.

The upper revolving body 131 also includes an operator's cab 151 . A control lever 152, a monitor 153 (display device) having a touch panel formed on the surface thereof, and a buzzer 154 for emitting a warning sound (both of which are shown in FIG. 2) are installed in the operator's cab 151 . The monitor 153 receives input from the operator through the touch panel function and notifies the operator of information.

Further, the boom 111, arm 112, bucket 113, and upper rotating body 131 are equipped with a boom angle detector 181, an arm angle detector 182, a bucket angle detector 183, and a rotating body angle detector for detecting respective rotation angles. 184. These various angle detectors 181 to 184 are, for example, IMUs (Inertial Measurement Units).

The hydraulic excavator 100 includes a terrain measuring device 170 that detects the surrounding terrain and generates information (landscape point cloud data 700, which will be described later) indicating the current terrain shape. The terrain measurement device 170 is, for example, an external sensor such as a stereo camera, a laser scanner, or a millimeter wave radar, and measures the terrain around the hydraulic excavator 100 . The hydraulic excavator 100 also includes a right GNSS (Global Navigation Satellite System) receiver 171 and a left GNSS receiver 172 . The right GNSS receiver 171 and the left GNSS receiver 172 are positioning devices that detect the measured position of the hydraulic excavator 100 by receiving positioning signals output from GNSS satellites flying far above.

The hydraulic excavator 100 also includes a posture detection device 173 that detects the inclination angle of the hydraulic excavator 100 with respect to the direction of gravity, that is, the posture of the hydraulic excavator 100 . The orientation detection device 173 is, for example, an IMU (Inertial Measurement Unit).

[Control system]
Continuing on, the outline of the control system provided in the hydraulic excavator 100 will be described with reference to FIG. 2 .

The hydraulic excavator 100 includes an engine 143 , a hydraulic pump 142 , a control valve 141 , a main controller 162 and an information controller 161 .

The hydraulic pump 142 is powered by the engine 143 . When the operator operates the operating lever 152 , the operating information is converted into control signals by the main controller 162 . Control signals are sent to hydraulic pump 142 , pilot valve 144 and engine 143 . These control signals cause hydraulic fluid to circulate through the control valve 141, and the swing motor 124, right travel motor 125, left travel motor 126, boom cylinder 121, arm cylinder 122, and bucket cylinder 123 are driven. do.

The information controller 161 is a computer in which a CPU (Central Processing Unit) 1611 , a RAM (Random Access Memory) 1612 , a ROM (Read Only Memory) 1613 , an external 1/F (Interface) 1614 and the like are connected to each other via a bus 1615 . be. The information controller 161 creates a target landform, which is a landform shape after construction, by executing each process described later.

The external I/F 1614 is connected to the main controller 162, buzzer 154, monitor 153, and storage device 155 (hard disk drive, large-capacity flash memory, etc.). The information controller 161 presents information to the operator via the buzzer 154 and the monitor 153 and instructs the main controller 162 to control the control valve 141 . The storage device 155 stores a template database 230 (hereinafter referred to as template DB 230). The template DB 230 holds a template shape 300 (FIG. 12 to be described later), which is a model of topographic shape.

The external I/F 1614 is connected with the right GNSS receiver 171, the left GNSS receiver 172, the above various angle detectors 181-184, the attitude detection device 173, and the terrain measurement device 170. Also, the target landform output device 200 built in the information controller 161 performs various kinds of arithmetic processing.

The information controller 161 is connected to a wireless communication device 157 for transmitting/receiving terrain shape information and control data to/from the outside of the hydraulic excavator 100 (for example, a control server). The wireless communication device 157 is a communication device that connects to a wireless LAN, Wi-Fi, Bluetooth (registered trademark), mobile line, or the like. The wireless communication device 157 and the monitor 153 correspond to a plurality of output devices that output the target landform information from the information controller 161 .

Before describing the target landform output device 200 of the present embodiment, the outline of the present embodiment will be described.

[Coordinate system]
First, the coordinate system used in this embodiment will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram illustrating a vehicle body coordinate system 900 used in this embodiment. 4 is a diagram for explaining the relationship among the vehicle body coordinate system 900, the sensor coordinate system 910, and the site coordinate system 930. As shown in FIG.

In this embodiment, the vehicle body coordinate system 900 fixed to the vehicle body 130 shown in FIG. 3, the sensor coordinate system 910 fixed to the terrain measuring device 170 shown in FIG. A site coordinate system 930 with an origin is used. In this embodiment, the site coordinate system 930 is assumed to be the most basic coordinate system, and the coordinate values of the objects shown in each coordinate system are finally converted into the site coordinate system 930 .

A vehicle body coordinate system 900 shown in FIG. It is a Cartesian coordinate system with the Z-axis in the direction. In this embodiment, the X-axis is set to the left and right of the direction in which the vehicle body 130 travels, and the direction orthogonal to the X-axis on the horizontal plane is set to the Y-axis.

Next, with reference to FIG. 4, the relationship between the vehicle body coordinate system 900, the sensor coordinate system 910 and the site coordinate system 930 and the coordinate conversion process thereof will be described.

First, a method for coordinate transformation of the measurement point 920 measured by the terrain measurement device 170 from the sensor coordinate system 910 to the vehicle body coordinate system 900 will be described. In FIG. 4 , measurement point 920 is expressed as Ps (xs, ys, zs) on sensor coordinate system 910 and converted to Pv (xv, yv, zy) on vehicle body coordinate system 900 . A coordinate conversion formula at this time is represented by, for example, the following (Formula 1).

Rsv is a rotation matrix from the sensor coordinate system 910 to the vehicle body coordinate system 900, and αs, βs, and γs are the angles formed by the X axes, the Y axes, and the Z axes of the sensor coordinate system 910 and the vehicle body coordinate system 900, respectively. is. When the landform measuring device 170 is fixed to the hydraulic excavator 100 , the angles formed by these are stored in advance in the storage device 155 by measuring the orientation of the landform measuring device 170 in the vehicle body coordinate system 900 in advance, for example. . Further, when the terrain measurement device 170 performs terrain measurement while changing the attitude of the hydraulic excavator 100, the terrain measurement device 170 may be equipped with an attitude measurement sensor, and the angle detected by the attitude measurement sensor may be used for coordinate conversion. Matrix may be calculated.

Tsv is a translation vector from the origin of the vehicle body coordinate system 900 to the sensor coordinate system 910 . xt, yt, and zt are equal to the origin coordinates of the sensor coordinate system 910 viewed from the vehicle body coordinate system 900 . The mounting position of the terrain measuring device 170 is often fixed with respect to the excavator 100 . For this reason, in this embodiment, the mounting position of the terrain measuring device 170 on the excavator 100 is measured in advance, and the measured value is stored in the storage device 155 in advance.

Next, coordinate transformation from the vehicle body coordinate system 900 to the site coordinate system 930 will be described. In FIG. 4 , the measurement point 920 is expressed as Pv (xv, yv, zv) on the vehicle body coordinate system 900 and converted to Pg (xg, yg, zg) on the site coordinate system 930 . The coordinate transformation formula at this time is expressed as (Formula 2), for example.

Rvg is a rotation matrix from the vehicle body coordinate system 900 to the site coordinate system 930, and θr, θp, and θy are the angles formed by the X axes, the Y axes, and the Z axes of the vehicle body coordinate system 900 and the site coordinate system 930, respectively. is. For θr and θp, for example, posture information of the excavator 100 output by the posture detection device 173 provided in the excavator 100 is used. For θy, the azimuth of the hydraulic excavator 100 calculated from the positioning data received by the right GNSS receiver 171 and the left GNSS receiver 172 mounted on the hydraulic excavator 100 may be used.

Also, Tvg is a vector from the origin of the site coordinate system 930 to the origin of the vehicle body coordinate system 900 . x0, y0, and z0 are equal to the origin coordinates of the vehicle body coordinate system 900 viewed from the site coordinate system 930. For these values, for example, the position of the hydraulic excavator 100 calculated from the positioning data received by the right GNSS receiver 171 and the left GNSS receiver 172 is used.

[Overview]
Next, an outline of the operation of the target landform output device 200 of this embodiment will be described. FIG. 5 is a diagram showing an example of an operation scene of creating a target landform of the hydraulic excavator 100. In FIG. FIGS. 5A and 5B show scenes in which the hydraulic excavator 100 spreads earth and sand 360 on a terrain 350 to be constructed in a plane. In this embodiment, excavation, leveling, etc. are performed using earth and sand as a material, and the amount (volume) thereof is referred to as "amount of soil". Naturally, materials other than earth and sand, such as recycled crushed stone such as crushed concrete and cement, gravel, etc., may be handled, and in this case, the amount (volume) thereof is also referred to as "soil amount".

When the hydraulic excavator 100 spreads earth and sand 360 on the terrain 350 to be constructed as shown in FIG. It is necessary to carry out and specify, calculate the soil volume (m ³ ), and design the target landform.

On the other hand, the target landform output device 200 of the present embodiment uses data of the landform 350 to be constructed, including earth and sand 360, measured using the landform measurement device 170 attached to the hydraulic excavator 100. FIG. The target landform output device 200 automatically generates a target landform based on this positioning data and the template landform selected by the operator (a plane is selected in this case). In the example of FIG. 5(a), the target topography output device 200 outputs a target topography 600 having a suitable height for leveling earth and sand 360 onto the construction target terrain 350, as shown in FIG. 5(b). to generate As described above, in this embodiment, it is possible to provide a technique for supporting construction work without the need for an operator or the like to design and create a target terrain.

[Target terrain output device 200]
The target landform output device 200 that realizes the above-described target landform creation will be described below. FIG. 6 is a functional block diagram of the target terrain output device 200 of this embodiment.

The target terrain output device 200 has a machine state acquisition unit 510 , a template terrain generation unit 520 , a current terrain output unit 530 , a target terrain generation unit 540 and a terrain information output unit 550 . These units are performed by the CPU 1611 of the information controller 161 loading a predetermined program into the RAM 1612 and executing it. Also, the program is stored in advance in the storage device 155 or the like, for example. If the information controller 161 has an integrated circuit such as ASIC (Application Specific Integrated Circuit) or FPGA (field-programmable gate array), some or all of the functions shown in FIG. may be implemented. Various data used for processing of each unit and various data generated during processing are stored in the RAM 1612 or the storage device 155 .

[Terrain data format]
Next, using FIGS. 7 to 10, the format of the terrain-related data handled by the target terrain output device 200 will be described. In this embodiment, as the shape of the terrain 350 to be constructed, the terrain point cloud data 700 and the current terrain data 800 are used. On the other hand, a template terrain 400 derived from the template shape 300 and a target terrain 600 are used as information on the terrain shape that is the target of construction.

FIG. 7 is a diagram showing an example of the data format of the terrain point cloud data 700. As shown in FIG. Such terrain point cloud data 700 is output by the terrain measurement device 170 . The terrain point cloud data 700 is represented by, for example, an index 712 of point data Pt(n) and coordinate values 714 of {Xpt(n), Ypt(n), Zpt(n)}, as shown in FIG. It is configured as a list, which is stored in the storage device 155 or RAM 1612 .

FIG. 8 is a diagram showing an example of current terrain data 800. As shown in FIG. The current terrain data 800 is obtained by the current terrain output unit 530 from the terrain point cloud data 700 output by the terrain measurement device 170 and the vehicle body position and orientation information of the hydraulic excavator 100 in the site coordinate system 930 output by the machine state acquisition unit 510. output by the processing of The current terrain data 800 is data that defines the current terrain around the hydraulic excavator 100 with numerical information such as coordinate values and dimensions in the site coordinate system 930 . The data format of the current terrain data 800 is not particularly limited, but in this embodiment, it is in a format like the grid G(n) shown in FIG. That is, in the present embodiment, the landform 350, which is the construction target area, is divided into grids, which are assumed to be G(n). Then, for each grid G(n), the current terrain output unit 530 calculates the center coordinates {Xgrid(n), Ygrid(n)} of each grid in the site coordinate system 930, the current terrain height Hgrid ( n) Make a list of inclusions. The current terrain output unit 530 also includes F(n), which is flag information indicating whether height information is stored, in the list in association with it (the use of F(n) will be described later). Here, n indicates the element number of an arbitrary grid G(n). In this way, the current terrain output unit 530 receives the terrain point cloud data 700, converts the coordinates into the site coordinate system using the above equations 1 and 2, and converts the notation so as to correspond to each grid. , to create the current terrain data 800 . Note that the specified value Dgrid shown in FIG. 8 indicates the length of one side of each grid. The region within the thick frame line with the length of one side as the specified value Lgrid is an example of the region to be extracted centering on the hydraulic excavator 100, which will be described later.

The current terrain data 800 created by the current terrain output unit 530 is stored in the storage device 155, for example. The size of the grid and the size of the area held by the current terrain data 800 are determined in advance. However, the size of the area held by the current terrain data 800 is preferably the same as the size of the template terrain 400 (described later).

FIG. 9 is an explanatory diagram showing an example of the data format of the template terrain 400. As shown in FIG. The template terrain 400 is generated by the processing of the template terrain creation unit 520 using the template shape 300 (see FIG. 12) selected by the operator and information such as the area of the terrain 350 input by the operator via the monitor 153. output. The template landform 400 is data indicating a post-construction landform shape suitable for the construction target area, such as an area. The template terrain creation unit 520 rotates the template shape 300, changes the length-to-width ratio, and enlarges or shrinks the template shape 300 to create a template terrain suitable for the construction target area. do.

Although the data format of the template terrain 400 is not particularly limited, for example, it is composed of point data 440 and element data 450 as shown in FIG. Point data 440 includes a number 441 identifying each point Nt(n) and coordinate values 442 of {Xt(n), Yt(n), Zt(n)}. The element data 450 also includes a number 451 identifying each element Et(n) and a number 452 of point data Nt(n) forming the element.

Note that the template landform 400 of this embodiment is data composed of a series of polygons, and in this embodiment, triangular polygons are used as the polygons. That is, each element Et(n) of the element data 450 uniquely identifies each of the local triangular polygons forming the template landform 400, and one triangular polygon is associated with the data shown in FIG. As shown, it is defined by each coordinate value of three points Nt(n).

FIG. 10 is an explanatory diagram showing an example of the data format of the target landform 600. As shown in FIG. The target landform 600 is output by the process of the target landform creation section 540 using the template landform 400 output by the template landform creation section 520 and the current landform data 800 output by the current landform output section 530 . Although the data format of the target landform 600 is not particularly limited, for example, it is composed of point data 640 and element data 650 as shown in FIG. Point data 640 includes a number 641 identifying each point Nd(n) and coordinate values 642 of {Xd(n), Yd(n), Zd(n)}. The element data 650 also includes a number 651 identifying each element Ed(n) and a number 652 of point data Nd(n) forming the element.

The relationship between element data 650 and point data 640 shown in FIG. That is, each element Ed(n) of the element data 650 means a local triangular polygon forming the target landform 600, and each of these triangular polygons is the coordinate value of each point Nd(n) of the point data 640. defined by

[Terrain measuring device 170]
Next, the operation of the terrain measuring device 170 will now be described. Although the mounting position and posture of the landform measuring device 170 are not limited, the landform measuring device 170 in this embodiment is assumed to be installed on the cab of the hydraulic excavator 100 as shown in FIG. Also, although there is no particular limitation on measurement timing and the like, in the present embodiment, the topography around the hydraulic excavator 100 is automatically and periodically measured. It should be noted that it is not necessary to perform the measurement periodically. For example, the terrain measurement may be performed at the timing when the hydraulic excavator 100 assumes a predetermined posture or at the timing instructed by the operator. The output format of the terrain data is, for example, the format of the terrain point cloud data 700 shown in FIG.

Each process of the target landform output device 200 will be described below with reference to the drawings.
[Machine state acquisition unit 510]
Machine state acquisition unit 510 includes attitude detection device 173, boom angle detector 181, arm angle detector 182, bucket angle detector 183, rotating body angle detector 184, right GNSS receiver 171, and left GNSS receiver. 172 to input the detected value. The machine state acquisition unit 510 calculates the measured position and orientation of the upper swing body 131 and the tip position of the bucket 113 . In this embodiment, the tip position of the bucket 113 and the position and orientation of the hydraulic excavator 100 are referred to as the machine state. The tip position of bucket 113 is represented by coordinate values of vehicle body coordinate system 900 . Further, the calculated machine state is stored in the storage device 155 and output to the current terrain output section 530 . In this embodiment, the machine state acquisition unit 510 uses the above (formula 1) and (formula 2) to transform the obtained machine state into the site coordinate system. The current terrain output unit 530 may perform this.

[Template terrain creation unit 520]
The template landform creation process will be described with reference to FIGS. 11 to 13. FIG. FIG. 11 is a flowchart showing the flow of template landform creation processing. 12A to 12C are explanatory diagrams showing examples of the template shape 300. FIG. 13A to 13C are template selection screens and parameter input screens displayed on the monitor 153. FIG.

The template terrain creation unit 520 creates a target terrain 600 based on the template shape 300 stored in advance in the storage device 155 and construction conditions such as the size of the construction target area input by the operator via the monitor 153. The original template terrain 400 is output. The template shape 300 at this time is a shape such as a flat surface, a slope, or a groove, as shown in FIGS. 12(a) to 12(c). In this embodiment, a case where the planar shape shown in FIG. 12A is selected will be described as an example. Note that the template shape 300 is not limited to these three shapes, and may be a more complicated shape than those shown in FIGS. 12(a) to 12(c). The data format of the template shape 300 is also not particularly limited, but here, it has the format shown in FIG.

The processing of the template landform creation unit 520 will be described below along each step in FIG.
<Step S101>
The template terrain creation unit 520 acquires one template shape 300 selected by the operator and stored in the storage device 155 . As a method for selecting the template shape 300, for example, an operator on the hydraulic excavator 100 selects the template shape 300 via the monitor 153 displaying the template selection screen shown in FIG. 13(a).

<Step S102>
The template landform creating unit 520 sets construction dimensions for the template shape 300 selected in step S101, outputs it as a template landform 400, and ends the process. Here, the construction dimensions are the dimensions of each side of the template shape 300 including L, D, H, A, B, and C shown in FIGS. The position of the template shape and the direction represented by θtm. The number of these dimensions depends on the shape of template shape 300 selected. 12A to 12C. For example, the coordinates of each vertex of the template shape 300 may be set. As a method for setting construction dimensions, for example, an operator selects the construction dimensions using a touch panel function or the like on a setting screen exemplified in FIG. In this way, the operator may obtain the dimensions directly assigned, or the posture and orientation information of the hydraulic excavator 100 calculated by the machine state acquisition unit 510 may be referred to, and the origin of the vehicle body coordinate system 900 of the hydraulic excavator 100 may be set to Ptm, The azimuth angle of the excavator 100 may be θtm.

If the operator knows in advance the amount of soil to be carried into the site ^, the operator uses the screen for inputting the amount of soil to be carried in shown in FIG. . The amount of soil information input here is used as one of the parameters for later processing.

[Current terrain output unit 530]
The current terrain output process will be described with reference to FIGS. 14 to 16. FIG. FIG. 14 is a diagram for explaining an operation example of the current terrain output unit 530. As shown in FIG. FIG. 15 is a flowchart showing the flow of current terrain output processing. FIG. 16 is a flow chart showing the flow of grid map conversion processing according to this embodiment.

The current terrain output unit 530 uses the position and orientation of the hydraulic excavator 100 in the site coordinate system 930 calculated by the machine state acquisition unit 510 to obtain the terrain point cloud data 700 of the construction target terrain 350 obtained from the terrain measurement device 170. is converted into the current terrain data 800 and output. For example, the current terrain data 800 shown in FIG. 14(b) can be obtained for the construction target terrain 350 shown in FIG. 14(a) by the current terrain output process. FIG. 14(b) is a diagram graphically drawn based on the current terrain data 800 shown in FIG.

The processing of the current terrain output unit 530 will be described below according to each step in FIG.
<Step S201>
The current terrain output unit 530 uses the position and orientation information of the hydraulic excavator 100 in the site coordinate system 930 calculated by the machine state acquisition unit 510 to convert the terrain point cloud data 700 output by the terrain measuring device 170 into the sensor coordinate system. Transform from 910 to site coordinate system 930 . At this time, the current terrain output unit 530 performs coordinate conversion using the above (formula 1) and (formula 2).

<Step S202>
The current terrain output unit 530 converts the terrain point cloud data 700 converted into the site coordinate system 930 into the current terrain data 800 in units of grids. FIG. 16 is a flow chart showing the contents of the current terrain data conversion process. The current terrain data conversion process (step S202) will be described below according to each step in FIG. The flowchart shown in FIG. 16 includes the operation of updating the existing terrain data 800 that has already been created to the latest data. That is, in this embodiment, every time the current terrain point cloud data 700 is obtained from the terrain measuring device 170, the current terrain output unit 530 operates to update the current terrain data 800 in real time. Therefore, when the terrain measurement device 170 operates periodically to repeatedly measure the current terrain point cloud data 700, the current terrain output unit 530 also interlocks with this operation to generate the current terrain data created one cycle before. By updating the 800 to the latest one, the current terrain data 800 is always kept up to date.

[Conversion processing of current terrain data (step S202)]
<Step S301>
The current terrain output unit 530 reads the current terrain data 800 already stored in the storage device 155 and temporarily writes the current terrain data 800 to the RAM 1612 in the information controller 161 . As described above, the current terrain data 800 is data obtained when this flow was performed last time. Since the current terrain data 800 includes all the information of the entire terrain 350 to be constructed, it takes time for arithmetic processing. Therefore, using the position information of the hydraulic excavator 100 in the site coordinate system 930 output by the machine state acquisition unit 510, only the terrain information centered on the origin of the vehicle body coordinate system 900 indicated by the thick frame line in FIG. You can cut it out and read it. It should be noted that this step S301 is skipped when the current terrain data 800 is newly created.

<Step S302>
The current terrain output unit 530 acquires the terrain point cloud data 700 output by the terrain measurement device 170, and from the size of this data, calculates the magnitude of the threshold Np used in the loop processing from step S303 onwards.
<Step S303>
The current terrain output unit 530 sets the variable n to an initial value of 1 (n=1), and starts loop processing from step S304 to step S306.

<Step S304>
The current terrain output unit 530 calculates to which grid G(n) of the current terrain data 800 the n-th point data Pt(n) of the terrain point cloud data 700 corresponds. The calculation method is not particularly limited. ) are compared with {Xgrid(n), Ygrid(n)} which are the center coordinate values of G(n), and whether the distance between Pt(n) and the center of G(n) is within the grid width ±Dgrid/2 judge. All Pt(n) of the terrain point cloud data 700 are compared with the grid G(n), and the grid G(n) corresponding to the n-th point data Pt(n) of the terrain point cloud data 700 is calculated. .

<Step S305>
The current terrain output unit 530 determines whether there is a corresponding grid G(n) in the current terrain data 800 for the n-th point data Pt(n) of the terrain point cloud data 700 calculated in step S304. . If G(n) corresponding to Pt(n) exists, the current terrain output unit 530 proceeds to step S306. If G(n) corresponding to Pt(n) does not exist, the current terrain output unit 530 treats the point data Pt(n) as data outside the range of the current terrain data 800 and discards it. proceed to

<Step S306>
The current terrain output unit 530 updates the height Hgrid(n) in the grid G(n) of the current terrain data 800 to the value of Zpt(n). The current terrain output unit 530 also sets 1 to indicate that a value has been set for the flag information F(n) indicating the presence or absence of height information of the grid G(n).

<Step S307>
The current terrain output unit 530 determines whether n has reached Np. When n is equal to Np, the process proceeds to step S309. When n is less than Np, the process proceeds to step S308.

<Step S308>
The current terrain output unit 530 adds 1 to n to obtain n+1, and proceeds to step S304.
<Step S309>
The current terrain output unit 530 saves the updated current terrain data 800 in the storage device 155, and terminates the process.

[Target terrain creation unit 540]
The target landform creation process will be described with reference to FIGS. 17 to 20. FIG. FIG. 17 is a diagram showing an operation example of the target landform creation unit 540. As shown in FIG. FIG. 18 is a flow chart showing the flow of target landform creation processing. FIG. 19 is a flow chart showing the flow of the target landform optimization process, which is the process of the target landform creating unit 540. In FIG. FIG. 20 is a diagram for explaining a method of calculating the height Hd(n) of the template terrain 400 corresponding to the grid G(n) of the current terrain data 800. FIG.

The target landform creation unit 540 compares the current landform data 800 output by the current landform output unit 530 with the template landform created by the template landform creation unit 520, and the difference in soil volume converges within the range of the specified value. Adjust the height dimension of the template terrain 400 as follows. Then, the target landform creating unit 540 outputs the adjusted template landform 400 as the target landform 600 .

As shown in FIG. 17(a), the target landform creation unit 540 first calculates the offset H0 between the template landform 400 output by the template landform creation unit 520 and the current landform data 800 output by the current landform output unit 530. set. Then, the target landform creation unit 540 compares the template landform 400 and the current landform data 800, and if the operator inputs the amount of soil to be carried in via the screen of FIG. Update H0 to the optimal offset Hopt. Although the method of calculating the offset H0 in the initial state of the template terrain 400 is not particularly specified, for example, it is set to a value equal to the maximum value of the terrain height Hgrid(n) of the current terrain data 800 . Also, the template landform 400 and the current landform data 800 are compared for each grid, and the increase/decrease value of the soil volume to be constructed is calculated for each grid. Then, from the results of calculating the amount of soil to be constructed in all the grids, by obtaining the height that minimizes the excess or deficiency of the amount of soil, a suitable offset Hopt as shown in FIG. 17(b) is calculated. , outputs the target terrain 600 .

The processing contents of the target landform creation unit 540 will be described below according to the flowchart of FIG. Note that the flowchart shown in FIG. 18 may also be performed in conjunction with the real-time operation of the current terrain output unit 530 . In this case, the target topography creating section 540 can also update the target topography 600 in real time and present the latest target topography 600 to the operator or the like.
<Step S401>
The target terrain creating section 540 acquires the template terrain 400 output by the template terrain creating section 520 .
<Step S402>
The target terrain creating unit 540 acquires the current terrain data 800 output by the current terrain output unit 530 .

<Step S403>
The target terrain creating unit 540 determines whether the current terrain data 800 acquired in step S402 is sufficient for creating the target terrain 600. FIG. As a determination method, for example, determination is made based on whether the ratio of flag information F(n) of 1 included in each grid of the current terrain data 800 is equal to or greater than a specified threshold.

If it is determined that the current terrain data 800 has a sufficient amount of information (S403: Yes), the target terrain creating unit 540 proceeds to step S405. If it is determined that the amount of information in the current terrain data 800 is insufficient (S403: No), the target terrain creating unit 540 proceeds to step S404.

<Step S404>
The target landform creating unit 540 outputs a command to acquire the landform data of the area 980 (see FIG. 21(b) described later) where the amount of information in the current landform data 800 is insufficient. For example, the target landform creation unit 540 outputs information on the region where F(n) is 0 to the landform information output unit 550, and the monitor 153 displays the region (see FIG. ). As a result, the target landform creation unit 540 can instruct the operator to direct the measurement range of the landform measuring device 170 to an area lacking landform data. Further, the processing of the current terrain output unit 530 is repeated until the current terrain data 800 has a sufficient amount of data for performing the processing of step S405.

<Step S405>
The target landform creation unit 540 performs target landform optimization processing. In the target terrain optimization process, first, assuming that the offset h between the template terrain 400 and the current terrain data 800 is H0, the height Hgrid(n) held by the grid G(n) of the current terrain data 800 and The terrain information of the template terrain 400 is compared. By doing this for each grid G(n), the target landform creation unit 540 calculates the sum of excesses and deficiencies in soil volume between the template landform 400 and the current landform data 800 (differences in soil volume for each grid). The optimum offset Hopt is obtained by changing the offset h until the excess or deficiency of the earth volume becomes equal to or less than a specified value (threshold value Sth, which will be described later). FIG. 19 is a flow chart showing the flow of target terrain optimization processing. The processing contents of the target terrain optimization processing will be described below according to each step in FIG. In the present embodiment, the specified value is set based on the allowable value of the flatness (height difference) of the construction surface defined by the Japan Road Association. For example, when constructing a subgrade, the allowable value for the design height is within ±5 cm, so in this embodiment, the amount of soil that makes the height difference in the height direction ±5 cm is set as the specified value. be done. In addition to this, the operator may specify a specified value of the soil amount difference, or a preset value may be used as the specified value of the soil amount difference.

[Target Terrain Optimization Processing (Step S405)]
<Step S501>
The target terrain creating unit 540 sets the offset H0 of the template terrain 400 and the earth volume threshold Sth. Also, the integrated earth volume S representing the excess or deficiency of the earth volume between the current landform data 800 and the template landform 400 is reset to zero.

The method of setting the offset H0 is not particularly limited, but here, it is set to the same height as the maximum height of the current terrain data 800 as described above. Further, the soil amount threshold Sth is a value for determining that there is no excess or deficiency if the accumulated soil amount S falls within this range. It is desirable that the threshold value Sth be a positive value so as not to converge with a negative value of the accumulated soil volume S (a state in which the soil volume is insufficient in the entire site). In addition, if the amount of earth and sand that will be additionally transported later by dumping is known in advance, and the amount of earth and sand to be carried in is entered in advance via the screen of Fig. 13 (c), the amount of earth and sand The target landform may be calculated by adjusting the height dimension of the template shape so that the difference in the amount of soil becomes equal to the value of the amount of soil carried in, using a threshold as a reference. Also, the integrated earth volume S representing the excess or deficiency of the earth volume between the current landform data 800 and the template landform 400 is reset to zero.

<Step S502>
The target landform creation unit 540 sets n, which is a counter for loop processing from steps S503 to S505, to 1, and starts loop processing.
<Step S503>
The target terrain creating unit 540 calculates the height Hd(n) of the template terrain 400 at the position of the grid G(n) of the current terrain data 800 .

To obtain the height of the template terrain 400 at the position of the grid G(n) of the current terrain data 800, the target terrain generator 540 calculates the Z axis of the grid G(n) of the current terrain data 800, as shown in FIG. Search for element Et(n) of template terrain 400 above. Then, the target landform creating unit 540 calculates the plane formed by the point data {Nt(n1), Nt(n2), Nt(n3)} included in the element Et(n) of the template landform 400 and the grid G of the current landform data 800. Calculate the position of the intersection Pc(n) with a straight line passing through the center {Xgrid(n), Ygrid(n)} of (n) and parallel to the Z-axis. Let Hd(n) be the Z-axis coordinate value of this intersection point Pc(n). When the template landform 400 has a planar shape as in the above example, the Z-axis component values Zt(n1), Zt(n2), and Zt(n3) of Nt(n1), Nt(n2), and Nt(n3) ) has the same value as the offset h. That is, when the offset is changed from h to (h-dh) as described later, Zt(n1), Zt(n2) and Zt(n3) are also changed to (h-dh). Even if the template terrain 400 has a shape other than a plane, Zt(n1), Zt(n2), and Zt(n3) are values based on the offset h, and increase or decrease by the same value as the offset h increases or decreases. be done.

The method of searching for the element Et(n) of the template terrain 400 above the grid G(n) of the current terrain data 800 is not particularly limited, but for example, the following method is conceivable. The target terrain creating unit 540 selects one element Et(k) from the element data 450 of the template terrain 400 . where E(k) represents the kth element in the element data 450 of the template terrain 400; Next, the target terrain creating unit 540 adds the grid G It is determined whether the center coordinates {Xgrid(n), Ygrid(n)} of (n) are included. If the triangle formed by the point data of the element E(k) includes the central coordinates {Xgrid(n), Ygrid(n)} of G(n), then Et(k) is a polygon corresponding to G(n). , and the target terrain creating unit 540 sets Et(k) to Et(n). If the center coordinates of G(n) are not included in the triangle formed by Et(k), the target terrain creation unit 540 selects another element Et(k), and similarly calculates the center coordinates of G(n) { Xgrid(n), Ygrid(n)} exists in the triangular area. The target terrain creating unit 540 repeats this process until an element Et(k) to be adopted as Et(n) is found.

<Step S504>
The target terrain creating unit 540 compares the height Hgrid(n) at the position of the grid G(n) of the current terrain data 800 with the height Hd(n) of the template terrain 400 at G(n) calculated in step S503. Then, the required earth volume in G(n) is calculated. Then, the integrated earth volume S representing the excess or deficiency of the soil volume of the current landform data 800 and the template landform 400 is updated. The cumulative soil volume S is updated using, for example, the following formula.

<Step S505>
The target landform creation unit 540 compares n, which is a counter for loop processing, with Ngrid, which is the number of elements in the current state landform data 800 (here, a prescribed value). If n is equal to Ngrid, the target terrain creating unit 540 proceeds to step S507. If n is less than Ngrid, the target terrain creating unit 540 proceeds to step S506.

<Step S506>
The target landform creation unit 540 sets n, which is the counter for loop processing, to n+1, and proceeds to step S503.
<Step S507>
The target landform creation unit 540 compares the accumulated soil volume S with the threshold value Sth for determining the convergence of the accumulated soil volume, thereby determining the convergence of the offset h between the template landform 400 and the current landform data 800 . When the cumulative soil volume S is equal to or less than the threshold value Sth, the target landform creation unit 540 determines that the offset h between the template landform 400 and the current landform data 800 has converged to an optimum value. Then, the target landform generating unit 540 sets the offset Hopt to the value of h that was last processed, outputs the target landform 600, and then terminates the process. On the other hand, if the cumulative soil volume S is greater than the threshold value Sth, the target terrain creating unit 540 determines that the offset h between the template terrain 400 and the current terrain data 800 has not converged to a suitable value, and proceeds to step S508.

<Step S508>
The target landform creation unit 540 resets h to (h−dh), resets the integrated earth volume S to 0, and then proceeds to the process of step S502. A preset value may be used for dh, or it may be changed according to the difference between the accumulated soil volume S and the threshold value Sth.

[Terrain information output unit 550]
The terrain information output unit 550 outputs the target terrain 600 calculated by the target terrain creating unit 540 and the current terrain data 800 output by the current terrain output unit 530 to the information controller 161 , the monitor 153 and the wireless communication device 157 . The output by the terrain information output unit 550 may be performed in conjunction with the real-time operations of the current terrain output unit 530 and the target terrain generation unit 540 . The current terrain output unit 530 operates each time the current terrain point cloud data 700 is obtained from the terrain measuring device 170 as described above, and updates the current terrain data 800 in real time. Therefore, by linking this operation with the operation of the terrain information output unit 550, the display contents of the monitor 153, which is the output destination, can be updated in real time with the current terrain. Further, when the target landform creation unit 540 is interlocked with the operation of the current landform output unit 530, by interlocking the operation of the current landform output unit 530 and the operation of the landform information output unit 550, the latest soil volume can be obtained. Differences can be displayed and notified to the operator.

21A and 21B are explanatory diagrams showing examples of output to the monitor 153. FIG. FIG. 21(a) is an example of displaying the hydraulic excavator 100, the target terrain data 600 and the current terrain data 800 on the XZ axis plane in the site coordinate system 930. FIG. Although the cross section at this time is not particularly limited, for example, the line of intersection between the YZ-axis plane in the vehicle body coordinate system 900, the target terrain 600, and the current terrain data 800 is displayed, as shown in FIG. In addition, the hydraulic excavator 100 display method is such that, for example, a plurality of side images corresponding to the posture of the hydraulic excavator are stored in advance in the storage device 155 or the like, and the posture of the hydraulic excavator 100 output by the machine state acquisition unit 510 is displayed. There is a method of outputting an image corresponding to the image. Further, when the target landform creation unit 540 determines that the information in the current landform data 800 is insufficient, the monitor 153 may display a warning display 990 as shown in FIG. good.

FIG. 21(b) is an example in which the hydraulic excavator 100, the target terrain data 600 and the current terrain data 800 are displayed on the XY axis plane in the site coordinate system 930. FIG.

In FIG. 21B, for example, according to the height Hgrid(n) of the grid G(n) of the current terrain data 800, a numerical value (here, an integer value within the range of ±10) is displayed, and the column 970 is may be used to indicate how high the grid is. As for the numerical value indicating the height, for example, as shown in FIG. It may be a value according to

In addition, FIG. 21(b) shows an implementation example showing numerical data according to the height for each grid G(n), but instead of this, for example, a grayscale that changes from black to white as the height increases An implementation that changes the color according to the height by using a gradation, etc., may also be used. In this case, column 970 is used as a legend indicating the height. The correspondence between the display color and the height value does not need to correspond to the height information of the grid G(n) of the current terrain data 800. For example, the target terrain 600 and the terrain information of the current terrain data 800 A color corresponding to the difference in height may be displayed.

When the target terrain creating unit 540 determines that the information in the current terrain data 800 is insufficient, the monitor 153 displays a warning display 990 as shown in FIG. A region 980 in which the information amount of the data 800 is insufficient is shaded so as to be different from other regions. In addition, the display method of the hydraulic excavator 100 is, for example, that a plurality of side images corresponding to the posture of the hydraulic excavator are stored in advance in the storage device 155 or the like, and the posture of the hydraulic excavator 100 output by the machine state acquisition unit 510 is displayed. There is a method of outputting an image according to.

[Effect/Supplement]
Generating the target landform 600 according to the procedure described above reduces the need to manually create the target landform at the construction site, and reduces the effort required to create the target landform before construction.

In the present embodiment, the acquisition result of the terrain measurement device 170 mounted on the hydraulic excavator 100 is used, but for example, a flying object such as a drone may be mounted with a sensor for terrain measurement to measure from the sky. In this case, the flying object functions as a terrain measuring device. The information controller 161 of the hydraulic excavator 100 can receive the data measured by the flying object via wireless communication and obtain the terrain point cloud data 700 . The information controller 161 calculates current terrain data 800 using the terrain point cloud data 700 thus obtained.

In addition, in the present embodiment, the current topography data 800 has a format of holding height information for each grid as shown in FIG. 8, but the format of holding the current topography data 800 is not limited to this. For example, current terrain data 800 may be stored in a format similar to terrain point cloud data 700, as shown in FIG. 7, and compared with template terrain 400. FIG. In this case, in the processing of the target terrain creating unit 540, the point data of the current terrain data 800 is compared with the template terrain 400 to calculate the optimum offset Hopt.

In this embodiment, the template landform 400 is held in the form of point data 440 and element data 450 as shown in FIG. 9, but the output format of the template landform information is not limited to this. For example, a simple shape may have a function in the site coordinate system 930 . Alternatively, the height information may be held for each grid as shown in FIG. In this case, in the processing of the target landform generating unit 540, the current state landform data 800 and the template landform 400 are compared in terms of height for each grid, and the optimum offset Hopt is calculated.

As shown in FIG. It is a functional part inherent in the output device 200 , that is, the information controller 161 . Therefore, it can be said that the processing performed by each of these functional units is performed by the information controller 161 . Therefore, in the above embodiment, the information controller 161 performs the following operations.

The information controller 161 calculates the current terrain shape indicating the terrain shape around the construction machine based on the detection values of the attitude detection device 173, the right GNSS receiver 171, the left GNSS receiver 172, and the detection values output from the terrain measurement device 170. Create data 800 . It has been explained that this is performed by the machine condition acquisition unit 510 and the current terrain output unit 530 . In addition to the detection values of the attitude detection device 173, the right GNSS receiver 171, and the left GNSS receiver 172, the Detected values may also be used.

Then, the information controller 161 acquires the template shape 300 stored in the template DB 230, transforms the template shape 300, and creates a template landform 400 suitable for the construction target area. This has been described as being done by the template terrain generator 520 . It also mentions that the template shape 300 is deformed by processing such as rotation, aspect ratio change, enlargement, reduction, etc., or a combination thereof, based on parameters input by the operator. .

The information controller 161 calculates the target landform 600 by raising or lowering the height of the entire template landform 400 so that the difference in soil volume between the current landform data 800 and the template landform 400 converges within a specified value range. This has been described as being performed by the target terrain generator 540 . Also, in this embodiment, as shown in FIG. 17 and the like, the operation of cutting down the height (offset) of the entire template landform 400 until a suitable offset Hopt is achieved has been described. On the other hand, depending on how the value of the initial setting (offset H0) is taken, it is of course possible to raise the height of the entire template landform 400 .

Finally, the information controller 161 outputs the current terrain data 800 and the target terrain data 600 thus obtained to the monitor 153 or the like. This has been explained as being performed by the terrain information output unit 550, and it has also been mentioned that each data is displayed in the form of a map.

In addition, the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Moreover, it is possible to add, delete, or replace part of the configuration of each embodiment with another configuration. Further, each of the above configurations, functions, processing units, processing means, and the like may be realized by hardware, for example, by designing them in an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files that implement each function can be stored in recording devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

100: Hydraulic excavator 153: Monitor 154: Buzzer 155: Storage device 157: Wireless communication device 161: Information controller 162: Main controller 170: Terrain measurement device 171: Right GNSS receiver 172: Left GNSS receiver 173: Attitude detection device 181 : Boom angle detector 182: Arm angle detector 183: Bucket angle detector 184: Rotating body angle detector 200: Target landform output device 230: Template database 300: Template shape 400: Template landform 510: Machine state acquisition unit 520: Template terrain generation unit 530: Present terrain output unit 540: Target terrain generation unit 550: Terrain information output unit 600: Target terrain 700: Terrain point group data 800: Current terrain data 900: Vehicle body coordinate system 910: Sensor coordinate system 930: Site Coordinate system

Claims (4)

an attitude detection device that detects the attitude of the construction machine;
a positioning device that detects the positioning position of the construction machine;
a storage device for storing a template shape, which is a model of terrain shape;
an information controller that creates a target terrain that is a terrain shape after construction ;
A construction machine having a display device that adds information about construction dimensions to the template shape ,
The information controller
Current terrain indicating the shape of the terrain around the construction machine based on the detection values of the attitude detection device , the detection values of the positioning device, and the detection values output from a terrain measurement device that measures the terrain around the construction machine. create the data,
creating a template terrain in which information about the construction dimensions input from the display device is added to the template shape;
calculating the target landform by adjusting the height of the entire template landform with respect to the current landform data so that the difference in soil volume between the current landform data and the template landform converges within a range of specified values;
outputting the current terrain data and the target terrain data to the display device;
A construction machine characterized by: an attitude detection device that detects the attitude of the construction machine;
a positioning device that detects the positioning position of the construction machine;
a storage device for storing a template shape, which is a model of terrain shape;
an information controller that creates a target terrain that is a terrain shape after construction based on the template shape stored in the storage device;
In a construction machine having a display device,
The information controller
Current terrain indicating the shape of the terrain around the construction machine based on the detection values of the attitude detection device, the detection values of the positioning device, and the detection values output from a terrain measurement device that measures the terrain around the construction machine. create the data,
obtaining the template shape, deforming the template shape to create a template landform suitable for a construction target area;
The target landform is calculated by adjusting the height of the entire template shape so that the difference in soil volume between the current landform data and the template landform is equal to the amount of soil carried into the construction target area. ,
outputting the current terrain data and the target terrain data to the display device;
A construction machine characterized by: In the construction machine according to claim 1,
The information controller
Each time the terrain measurement device acquires terrain information obtained by measuring the surrounding terrain, the current terrain data is created, the target terrain is calculated, and the data is output to the display device.
A construction machine characterized by: In the construction machine according to claim 1,
The information controller
The display of the display device is controlled so that the construction target area is displayed in the form of a map, and if there is an area in the construction target area for which the current terrain data cannot be obtained, the display of the area is changed to another area. controlling the display of the display device to be different from
A construction machine characterized by:

Images