Work machine management system

Patent metadata

Field	Value
Publication number	US-12448755-B2
Application number	US-202218022776-A
Country	US
Kind code	B2
Filing date	Mar 8, 2022
Priority date	Mar 31, 2021
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

A work machine management system includes a terrain profile data generating system configured to generate terrain profile data representing a finished shape produced by a work device of a work machine, on the basis of a sensing result of a posture sensor that senses a posture of the work machine. The terrain profile data generating system computes a trajectory of the work device on the basis of the posture of the work machine, computes information about a plane constituting the trajectory of the work device on the basis of the trajectory, generates construction history data by recording positional information of the trajectory of the work device and the information about the plane constituting the trajectory for each of a plurality of grids obtained by dividing a predetermined area in a lattice manner, and generates the terrain profile data on the basis of the positional information of the trajectory of the work device and the information about the plane constituting the trajectory, the positional information and the plane information being included in the construction history data.

First claim

The invention claimed is:

1. A work machine management system comprising:
a terrain profile data generating system configured to generate terrain profile data representing a finished shape produced by a work device of a work machine, on a basis of a sensing result of a posture sensor that senses a posture of the work machine,
the terrain profile data generating system being configured to:
compute a trajectory of the work device that is constituted by movement trajectories of a plurality of monitor points set on the work device at intervals in a width direction of the work device on a basis of the posture of the work machine,
compute information about a vector normal to a plane constituting the trajectory of the work device as complementary information on a basis of the trajectory,
generate construction history data by recording positional information of the trajectory of the work device and the complementary information for each of a plurality of grids obtained by dividing a predetermined area in a lattice manner,
compute a plane tangent to the trajectory in each grid on a basis of the positional information of the trajectory of the work device and the complementary information, the positional information and the complementary information being recorded for each of the plurality of grids, the positional information and the complementary information being included in the construction history data,
compute positional information related to a line of intersection of planes tangent to the trajectory in respective grids adjacent to each other as complementary positional information between the grids adjacent to each other, and
generate the terrain profile data on a basis of the positional information of the trajectory of the work device and the complementary positional information.

2. The work machine management system according to claim 1 ,
wherein the terrain profile data generating system is configured to:
accumulate log data of the construction history data,
estimate and extract log data in which the trajectory of the work device is close to a present-condition terrain profile shape in the log data of the construction history data, and
generate the terrain profile data on a basis of the extracted log data.

3. The work machine management system according to claim 1 ,
wherein the terrain profile data generating system includes:
a first processing apparatus that is disposed in the work machine and is configured to perform processing of generating the construction history data on the basis of the posture of the work machine, the posture being sensed by the posture sensor, and transmitting the generated construction history data to a server external to the work machine, and
a second processing apparatus that is disposed in the server and is configured to perform processing of receiving the construction history data and generating the terrain profile data on a basis of the received construction history data.

4. The work machine management system according to claim 1 ,
wherein the information about the plane constituting the trajectory is information of a normal vector computed from an outer product of a vector in a direction in which the work device moves and a vector connecting two points of the work device to each other, the two points being in contact with a ground.

5. The work machine management system according to claim 1 ,
wherein the information about the plane constituting the trajectory is information about inclinations of the plane constituting the trajectory of the work device with respect to a reference plane.

6. The work machine management system according to claim 1 ,
wherein the information about the plane constituting the trajectory is information about a target surface in a vicinity of the trajectory of the work device.

7. The work machine management system according to claim 1 ,
wherein the terrain profile data generating system is configured to;
determine whether the work device of the work machine is in contact with a ground, and
compute the information about the plane constituting the trajectory of the work device on a basis of position coordinates of freely-selected points on the moving work device, when the work device of the work machine is in contact with the ground.

8. The work machine management system according to claim 1 ,
wherein the terrain profile data generating system is configured to:
determine whether the work machine is performing an excavating operation, and
compute the information about the plane constituting the trajectory of the work device on a basis of position coordinates of freely-selected points on the work device moved by the excavating operation, when the work machine is performing the excavating operation.

9. The work machine management system according to claim 1 ,
wherein the terrain profile data generating system is configured to:
determine whether or not the work machine is performing a bumping operation, and
compute the information about the plane constituting the trajectory of the work device on a basis of position coordinates of freely-selected points on a surface of the work device, the surface pressing a ground, when the work machine is performing the bumping operation.

Assignees

• Hitachi Construction Mach Co

Inventors

• Hayakawa Naoki
• Izumi Shiho

Classifications

• E02F9/264 Primary

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F9/2228

  including an electronic controller · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title