Working machine

Patent metadata

Field	Value
Publication number	US-12043989-B2
Application number	US-202017436431-A
Country	US
Kind code	B2
Filing date	Sep 18, 2020
Priority date	Sep 25, 2019
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

A working machine 1 includes a design data obtainment unit 29, a topography measuring device 30, and a controller 21. The controller 21 extracts peripheral area shape data from the design data in the construction-site coordinate system, maps similar shape portions between the extracted peripheral area shape data and the current topography data in the current topography coordinate system, calculates a coordinate transformation matrix to transform from the current topography coordinate system to the construction-site coordinate system so that a difference in coordinate values of the mapped shape portions is minimized, and transforms the self-position and posture of the working machine 1 and the current topography data from coordinates in the current topography coordinate system to coordinates in the construction-site coordinate system using the calculated coordinate transformation matrix.

First claim

The invention claimed is:

1. A working machine comprising:
a traveling body that travels;
a swing body mounted to the traveling body to be swingable;
a working front mounted to the swing body to be rotatable;
a design data obtainment unit configured to obtain design data that has topographical data after completion of construction in the form of three-dimensional data;
a topography measuring device configured to measure surrounding topographical data in the form of three-dimensional data; and
a controller having a design data processor configured to process the topographical data obtained by the design data obtainment unit as a predetermined first coordinate system design data, a current topography data generator configured to generate current topography data of a second coordinate system from the topography data measured by the topography measuring device, the second coordinate system being defined based on the installation position of the topography measuring device, and a position/posture estimation unit configured to estimate a self-position and posture in the second coordinate system based on the current topography data generated by the current topography data generator,
wherein the design data in the first coordinate system includes:
construction area completion shape data that corresponds to a construction area where the working machine performs the construction; and
peripheral area shape data that corresponds to a peripheral area where the working machine does not perform the construction, and
wherein the controller is configured to:
map similar shape portions between the extracted peripheral area shape data and the current topography data, calculate a coordinate transformation matrix to transform from the second coordinate system to the first coordinate system so that the difference in coordinate values of the mapped shape portions is minimized, and transform the self-position and posture of the working machine and the current topography data from coordinates in the second coordinate system to coordinates in the first coordinate system using the calculated coordinate transformation matrix.

2. The working machine according to claim 1 , wherein the controller compares the construction area completion shape data with the current topography data to extract a construction completion area, and in mapping the similar shape portions between the peripheral area shape data and the current topography data, maps the similar shape portions between the peripheral area shape data and the current topography data using synthesized shape data of the peripheral area shape data with shape data of the construction completion area.

3. The working machine according to claim 1 , further comprising:
a position obtainment device configured to obtain position coordinates of the working machine on the earth; and
a communication device configured to exchange data with an external server,
wherein
the controller transmits position coordinates of the working machine obtained by the position obtainment unit together with coordinates of the self-position in the first coordinate system to the external server via the communication device.

Assignees

• Hitachi Construction Mach Co

Inventors

• Roh Joonyoung
• Sakamoto Hiroshi
• TORIYAMA Youhei
• Hayakawa Naoki

Classifications

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F9/2228 Primary

  including an electronic controller · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G01S19/01

  Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title