阅读说明：本技术 作业机械系统及控制方法 (Work machine system and control method ) 是由 岛野佑基 中川智裕 于 2018-07-04 设计创作，主要内容包括：本发明涉及一种作业机械系统及控制方法,系统具备：作业机械,其具有包括铲斗的工作装置；以及服务器,其能够与作业机械进行通信。作业机械向服务器发送与该作业机械建立了关联的识别编号。服务器基于识别信息,取得用于计算铲斗的铲尖位置的基础数据。服务器向作业机械发送所取得的基础数据。(The invention relates to a working machine system and a control method, the system comprises: a work machine having a work implement including a bucket; and a server capable of communicating with the work machine. The work machine transmits, to the server, the identification number associated with the work machine. The server acquires basic data for calculating the cutting edge position of the bucket based on the identification information. The server transmits the acquired basic data to the work machine.)

1. A work machine system, wherein,

the work machine system includes:

a work machine having a work implement including a bucket; and

a server capable of communicating with the work machine,

the work machine transmits identification information associated with the work machine to the server,

the server has:

an acquisition unit that acquires basic data for calculating a cutting edge position of the bucket based on the identification information; and

a transmission unit that transmits the acquired basic data to the work machine.

2. The work machine system of claim 1,

the server further has a storage unit that stores first basic data and second basic data as the basic data in association with the identification information,

the acquisition unit acquires the first basic data and the second basic data from the storage unit based on the identification information.

3. The work machine system of claim 2,

the storage unit stores, as the first base data, a first size obtained based on manufacturing data of a first component included in the work machine in association with the identification information, and stores, as the second base data, a second size obtained based on manufacturing data of a second component included in the work machine in association with the identification information.

4. The work machine system of claim 1 or 2,

the basic data is a size obtained based on manufacturing data of a constituent member included in the working device.

5. The work machine system of claim 3,

the working device further includes a boom as the first constituent member,

the manufacturing data is machining data of the boom at the time of machining.

6. The work machine system of claim 3,

the working device further includes an arm as the first constituent member,

the manufacturing data is machining data of the stick during machining.

7. The work machine system of any of claims 1-3,

the working device further includes a stick and a bucket pin connecting the bucket with the stick,

the base data is a dimension between a cutting edge of the work implement and the bucket pin.

8. The work machine system of any of claims 1-3,

the work machine further includes a receiving antenna for a global navigation satellite system,

the working device further includes a boom and a seat frame pin that mounts the boom to a vehicle body,

the base data is a dimension representing a dimension between the receiving antenna and the mounting pin.

9. The work machine system of any of claims 1-8,

the work machine stores the identification information in advance, and transmits the identification information to the server when accepting a predetermined operation.

10. The work machine system of any of claims 1-9,

the identification information is a machine body number of the working machine.

11. A control method for controlling a server capable of communicating with a work machine having a work implement including a bucket,

the control method comprises the following steps:

a step in which the server receives, from the work machine, identification information associated with the work machine;

a step in which the server acquires basic data for calculating a cutting edge position of the bucket based on the identification information; and

and a step in which the server transmits the acquired basic data to the work machine.

Technical Field

The invention relates to a work machine system and a control method.

Background

Conventionally, a construction machine is known that calculates a cutting edge position of a bucket based on a length of a hydraulic cylinder. In the construction machine as described above, in order to accurately calculate the cutting edge position, it is necessary to correct design data for calculating the cutting edge position in advance. For this correction, actual dimensional data of the prescribed positions in the construction machine relative to each other is used. The actual size data is obtained using a measuring device on a production line of the construction machine.

Prior art documents

Patent document

Patent document 1: japanese patent laid-open publication No. 2004-232343

Patent document 2: japanese patent laid-open publication No. 2004-227184

Disclosure of Invention

Problems to be solved by the invention

In order to obtain actual size data using the measuring apparatus as described above, a plurality of hands and a certain degree of working time are required.

The invention aims to provide a working machine system and a control method which can quickly acquire data for calculating a cutting edge position.

Means for solving the problems

According to one aspect of the present invention, a work machine system includes: a work machine having a work implement including a bucket; and a server capable of communicating with the work machine. The work machine transmits, to the server, the identification number associated with the work machine. The server has: an acquisition unit that acquires basic data for calculating a cutting edge position of the bucket based on the identification information; and a transmission unit that transmits the acquired basic data to the work machine.

Effects of the invention

According to the present invention, data for calculating the cutting edge position can be acquired quickly.

Drawings

Fig. 1 is a diagram showing a schematic configuration of a work machine system according to an embodiment.

Fig. 2 is a diagram for explaining an example of design data and machining data stored in the server device.

Fig. 3 is a diagram for explaining the reason why the design data and the machining data deviate from each other.

Fig. 4 is a diagram illustrating a part of the dimension for calculating the blade tip position.

Fig. 5 is a diagram showing a schematic configuration of the data table.

Fig. 6 is a diagram showing a schematic configuration of the data table.

Fig. 7 is a functional block diagram showing a functional configuration of the server device.

Fig. 8 is a diagram showing a hardware configuration of the server device.

Fig. 9 is a diagram showing an outline of data stored in the work vehicle.

Fig. 10 is data for explaining the correction processing and the corrected values.

Fig. 11 is a diagram showing a hardware configuration of the work vehicle.

Fig. 12 is a functional block diagram showing a functional configuration of the work vehicle.

Fig. 13 is a sequence diagram for explaining the flow of processing in the work machine system.

Fig. 14 is a flowchart for explaining details of the processing of the sequence S12 in fig. 13.

Detailed Description

Hereinafter, embodiments will be described based on the drawings. In the following description, the same members are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated. In addition, it is originally intended to use the structures in the embodiments in appropriate combinations. In addition, some of the components may not be used.

Hereinafter, a work machine system including a server device and a work machine will be described with reference to the drawings. A work vehicle as an example of the work machine will be described below. In the following, a description will be given of a hydraulic excavator as an example of a work vehicle. Specifically, an ict (information and communication technology) hydraulic excavator will be described as an example.

In the following description, "up", "down", "front", "rear", "left" and "right" are terms based on an operator seated in a driver seat of the work vehicle.

< brief summary of treatment >

In the present embodiment, the server device receives the machine number from the work vehicle. The server device acquires a plurality of data for calculating the cutting edge position of the bucket of the work vehicle from a data table stored in the server device based on the body number. The server device transmits the acquired plurality of data to the work vehicle. Hereinafter, specific contents of various processes including the above-described process will be described with reference to the drawings.

< integral Structure >

Fig. 1 is a diagram showing a schematic configuration of a work machine system according to an embodiment.

As shown in fig. 1, work machine system 1 includes a plurality of work vehicles 100, 100A, 100B, a plurality of server devices 200, 400, 500, 600, a camera 300, and a transceiver 800. The number of work vehicles is not limited to three.

The camera 300 is connected to the server apparatus 400 so as to be able to communicate with each other. The server apparatus 200 is communicably connected to the server apparatuses 400, 500, and 600. The server apparatus 200 is connected to the transceiver 800 via a network 700 such as the internet so as to be able to communicate with each other.

The server device 200 is an example of a "server" in the present invention. Work vehicle 100 is an example of a "work machine" in the present invention.

(1) Overall structure of work vehicle 100

As shown in fig. 1, work vehicle 100 mainly includes traveling body 101, revolving unit 103, work implement 104, and receiving antenna 109 for a Global Navigation Satellite System (GNSS). The work vehicle main body is constituted by a traveling body 101 and a revolving unit 103. The traveling body 101 has a pair of left and right crawler belts. The revolving unit 103 is rotatably mounted via a revolving mechanism in the upper part of the traveling unit 101.

Work implement 104 is pivotally supported by revolving unit 103 so as to be movable in the vertical direction, and performs work such as excavation of earth and sand. Work implement 104 includes, as components, a boom 110, an arm 120, a bucket 130, a boom cylinder 111, an arm cylinder 121, and a bucket cylinder 131.

The base of the boom 110 is movably coupled to the revolving unit 103. The arm 120 is movably coupled to a distal end of the boom 110. The bucket 130 is movably coupled to the front end of the arm 120. The revolving structure 103 includes a cab 108 and an armrest 107. In this example, the receiving antenna 109 is mounted to the armrest 107.

The boom 110 is driven by a boom cylinder 111. Arm 120 is driven by an arm hydraulic cylinder 121. The bucket 130 is driven by a bucket cylinder 131.

Work implement 104 of work vehicle 100 is an example of the "work implement" in the present invention. Bucket 130 of work vehicle 100 is an example of a "bucket" of the present invention.

Since work vehicles 100A and 100B have the same configuration as work vehicle 100, the configuration of work vehicles 100A and 100B will not be described repeatedly. Hereinafter, description will be given mainly focusing on work vehicle 100 among work vehicles 100, 100A, and 100B.

(2) Three-dimensional assay

The camera 300 is a camera for three-dimensional measurement. The camera 300 has a dual camera sensor. The camera 300 captures images of the work vehicle 100 having reflectors mounted at a plurality of predetermined positions in advance, and transmits image data obtained by the capturing to the server apparatus 400. In this example, the reflector is attached to the receiving antenna 109, the cutting edge of the bucket 130, the pedestal pin (foot pin)141, and the bucket pin 142.

The server apparatus 400 is pre-installed with software for acquiring three-dimensional data (3D data). The server device 400 calculates three-dimensional coordinate data (hereinafter, also referred to as "measurement data") of the reflector based on the three-dimensional image data transmitted from the camera 300. Thus, measurement data is obtained from the image data.

The server device 400 calculates three-dimensional coordinate data of the reflector for each of the plurality of work vehicles 100. The server device 400 stores the management number associated with the machine body number of the work vehicle in association with the coordinate data. The server apparatus 400 transmits the coordinate data to the server apparatus 200 in association with the management number in response to a request from the server apparatus 200. The management number is an identification number, and a specific example thereof will be described later (fig. 5 and 6).

In the example of the present embodiment, the server device 200 calculates the actual size data from the measurement data, but the present invention is not limited to this. Instead of the server apparatus 200, the server apparatus 400 may calculate the actual size data from the measurement data. In this case, the server apparatus 400 may transmit the actual size data to the server apparatus 200 instead of the measurement data.

(3) Manufacturing data

Server devices 500 and 600 store manufacturing data of components included in work implement 104 in association with a management number associated with a machine number of the work vehicle. The manufacturing data includes actual machining data (hereinafter, also referred to as "machining data") at the time of machining and inspection data obtained by inspecting a product.

The machining data is data indicating an actual machining position during machining, and is different from the design data. The machining is typically performed by a machine tool not shown.

The server device 500 stores machining data of components included in the work implement 104 such as the boom 110 and the arm 120 in association with the management number. The server device 500 stores, for example, the positions (coordinate data) of the pin holes as the machining data.

The server apparatus 500 transmits coordinate data as machining data to the server apparatus 200 in association with the management number in response to a request from the server apparatus 200.

Server device 600 stores inspection data of components included in work implement 104 such as boom cylinder 111, arm cylinder 121, bucket cylinder 131, and the like, in association with a management number associated with a machine body number of predetermined work vehicle 100 to which these cylinders are attached. The server device 600 stores the measured data as the above-mentioned inspection data.

The server device 600 stores, for example, the cylinder length when the cylinder is extended the maximum and the cylinder length when the cylinder is retracted the minimum as the above-described measured data.

The server device 600 transmits the measured data as the inspection data to the server device 200 in association with the management number in response to a request from the server device 200.

(4) Generation of real-size data

Server device 200 manages measurement data (coordinate data) acquired from server device 400, machining data (coordinate data) acquired from server device 500, and inspection data (actual measurement data) acquired from server device 600 in association with a management number associated with the machine number of work vehicle 100. Through the above-described processing, the server device 200 manages data of each of the plurality of work vehicles 100. Details of the method of managing data by the server device 200 will be described later (fig. 5 and 6).

The server device 200 calculates actual size data from the measurement data. Further, the server device 200 calculates actual size data from the machining data. The server apparatus 200 calculates the length (actual size data) between the two coordinates based on the coordinate data, which will be described in detail later.

In response to a request from the work vehicle 100, the server apparatus 200 transmits, as data for correction, the actual size data of the work vehicle 100 that has made the request to the work vehicle 100 that has made the request.

(5) Outline of correction processing

Work vehicle 100 acquires data for calibration of the own vehicle from server device 200. Work vehicle 100 uses the calibration data to calibrate design data for calculating the cutting edge position. Specifically, work vehicle 100 changes a plurality of default values (design dimensions, design angles) for calculating the cutting edge position using the calibration data indicating the dimensions. The details of the correction process will be described later.

< design data and processing data >

Before describing the details of the correction process, design data and machining data of predetermined components included in work vehicle 100 will be described.

Fig. 2 is a diagram for explaining an example of design data and machining data stored in the server device 500.

As shown in fig. 2, in the data D2, design data and machining data are stored in association with each pin hole of the boom 110 and the arm 120. Further, the server device 500 stores the data D2 described above for each work vehicle in association with the management number associated with the machine number of the work vehicle 100. In the example of the data D2, the design data and the machining data indicate the center position of the pin hole. In this example, the design data itself indicating the center position is not corrected, but the size (design data) of the two center positions with respect to each other is corrected.

Since the design data is the same for the same type of work vehicle, it is possible to directly establish a relationship with the machining data as shown in fig. 2.

Fig. 3 is a diagram for explaining the reason why the design data and the machining data deviate from each other.

As shown in fig. 3, a case where two holes C12, C22 having a diameter Φ 2 are formed in a casting 900 will be described as an example. The casting 900 corresponds to the boom 110 and the arm 120.

On the casting 900, before the two holes C12, C22 of the diameter Φ 2 are formed by the machine tool (at the time of casting completion), two lower holes C11, C21 of the diameter Φ 1 have been formed.

The coordinate values of the center positions Q1, Q3 of the design data of the two holes to be formed based on the lower holes C11, C21 are (Xa, Ya), (Xc, Yc), respectively. The center position Q1 of the lower hole C11 is (Xa, Ya) and the center position of the lower hole C21 is deviated from the center position Q3 of the design data.

In this case, since the center position of the lower hole C11 coincides with the center position of the design data, the machine tool can make the center position of the hole C12 coincide with the center position Q1 of the lower hole C11. However, since the center position of the lower hole C21 does not coincide with the center position Q3 of the design data, the machine tool cannot form a hole (circular hole) of diameter Φ 2 centered on Q3(Xc, Yc) according to the relationship of Φ 1 and Φ 2. Thus, the machine tool forms a hole of diameter φ 2 with a central position Q2(Xb, Yb). The center position Q2 is a position where a hole having a diameter of 2 can be formed and the distance from the center position Q3 of the design data is the shortest.

Thus, the center position Q3 of the design data is different from the center position Q2 of the machining data. Therefore, the design data and the process data deviate.

The processing for changing the position of the hole as described above based on the design data is predetermined by an NC program in the machine tool. The machine tool stores machining data, and the machining data is transmitted to the server device 500 and the like.

< details of correction processing >

As described above, main controller 150 (see fig. 11) of work vehicle 100 corrects the plurality of design data for calculating the position of cutting edge 139, using the correction data (actual size data) indicating the plurality of sizes. The design data includes a size (length) and an angle.

The main controller 150 performs correction using the actual size data and known design data (a part of a plurality of design data) transmitted from the server apparatus 200. For example, 19 values (size and angle) are required to calculate the position of cutting edge 139. Regarding a part of the 19 values, the main controller 150 replaces the design data with the actual size data acquired from the server apparatus 200, and corrects the 19 values (design data) with the design data itself for the remaining parameters. Specific examples of these processes will be described based on fig. 9 and 10.

For convenience of description, a case will be described below in which a plurality of design data are corrected without using the inspection data (actual measurement data of the cylinder length) acquired from the server device 600. Needless to say, the inspection data acquired from the server device 600 can be used.

Fig. 4 is a diagram for explaining a part of the dimension for calculating the position of cutting edge 139. Hereinafter, the position using the actual size data and the position using the design data will be separately described. Note that, with respect to the actual size data, the measurement data acquired via the server device 400 and the processing data acquired via the server device 500 will be separately described. The following is an example, and is not limited to this.

(1) Using position based on dimensions of machining data (actual dimension data)

First, dimensions related to the boom 110 are explained. As shown in fig. 4, the main controller 150 uses the size based on the machining data for the distance L11 between the position P11 and the position P14, the distance L12 between the position P11 and the position P12, and the distance L13 between the position P13 and the position P14 at the time of correction.

Position P11 is a position of a hole into which seat frame pin 141 for attaching boom 110 to the work vehicle body is inserted. Further, a reflector is attached to the mount pin 141 as described above. Therefore, the position P11 is also the position of the reflector mounted to the mounting pin 141. The position P12 is a position where a pin for fixing the rod of the boom cylinder 111 to the boom 110 is inserted. The position P13 is a position where a pin for fixing the bottom of the arm cylinder 121 to the boom 110 is inserted. The position P14 is a position where a pin for connecting the arm 120 and the boom 110 is inserted.

Next, dimensions related to the arm 120 will be described. Regarding the distance L21 between the position P21 and the position P22, the distance L22 between the position P21 and the position P25, the distance L23 between the position P23 and the position P24, and the distance L24 between the position P24 and the position P25, the main controller 150 uses the size based on the machining data.

The position P21 is a position where a pin for connecting the arm 120 and the boom 110 is inserted. Position P22 is a position where a pin for fixing the rod portion of arm cylinder 121 to arm 120 is inserted. Position P23 is a position where a pin for fixing the bottom of bucket cylinder 131 to arm 120 is inserted. The position P24 is a position where a pin for fixing one end of the link mechanism 136 of the bucket 130 to the arm 120 is inserted. The other end of the link mechanism 136 is connected to the tip end of the rod of the bucket cylinder 131 by a pin. The position P25 is a position where the bucket pin 142 for connecting the arm 120 and the bucket 130 is inserted.

In this way, the main controller 150 uses the dimensions (actual dimension data) calculated based on the machining data instead of the design data for the distances L11, L12, L13, L21, L22, L23, and L24 during the calibration.

(2) Using position based on size of measured data (actual size data)

The bucket 130 and the work vehicle body are sized based on measurement data obtained by imaging with the camera 300.

Specifically, the main controller 150 uses the size based on the measurement data for the distance L01 between the position P11 and the position P42 and the distance L31 between the position P32 and the position P35 at the time of correction.

The position P42 is the position of the reflector attached to a predetermined position of the receiving antenna 109. The position P32 is the position of the reflector mounted to the bucket pin 142. Position P35 is the position of the reflector attached to a predetermined position of cutting edge 139 of bucket 130. It should be noted that a reflector may be installed at a contour point of the bucket 130.

The reason why the distance L01 and the distance L31 are used for the size based on the measurement data is as follows.

The bucket 130 is replaced by the user with another kind of bucket 130 having a different distance L31 according to the work content. Further, cutting edge 139 is attached to an end portion of the bucket body by welding or bolts after the bucket body is finished by machining. Therefore, if the dimension based on the machining data is used as distance L31, the position of cutting edge 139 cannot be calculated with high accuracy.

Further, by performing the installation of the receiving antenna 109 at the final stage of the assembly process of the work vehicle, the position of the cutting edge 139 can be calculated with higher accuracy using the measurement data than using the machining data.

For the above reasons, the dimensions based on the measurement data are used for the distance L01 and the distance L31.

(3) Location using design data (default data)

The main controller 150 uses default data for the distance L02 between the position P11 and the position P41, the distance L32 between the position P32 and the position P33, the distance L33 between the position P33 and the position P34, and the distance L34 between the position P32 and the position P34 at the time of correction.

The position P41 is a position where a pin for connecting the bottom of the boom cylinder 111 to the work vehicle main body is inserted. The position P32 is a position where a pin for connecting the bucket 130 to the arm 120 is inserted.

The position P33 is a position where a pin for fixing one end of the link mechanism 136 and one end of the link mechanism 137 of the bucket 130 to the lever of the bucket hydraulic cylinder 131 is inserted. The position P34 is a position where a pin for fixing the other end of the link mechanism 137 to the bottom of the bucket 130 is inserted.

< Server apparatus 200>

(1) Processing summary

The server apparatus 200 calculates the distances L11, L12, L13, L21, L22, L23, and L24 (see fig. 4) using the machining data (coordinate data). The server apparatus 200 calculates the distances L01 and L31 (see fig. 4) using the image data (coordinate data).

The server apparatus 200 manages the calculated distances (actual sizes) by using the following data table D5 and data table D6 stored in the server apparatus 200.

Distance L01 is a dimension for calculating the position of cutting edge 139, and thus may be hereinafter referred to as "dimension L01". The other distances L11, L12, L13, L21, L22, L23, L24, and L31 may be described in the same manner as L01.

Fig. 5 is a diagram showing a schematic configuration of the data table D5.

As shown in fig. 5, the machine body numbers of the plurality of work vehicles are associated with management numbers for 9 sizes, respectively. For example, the device body number "a 102001" is associated with a management number "10001" related to the size L01, a management number "20001" related to the size L02, a management number "30001" related to the size L03, and the like. Further, the body number "a 102002" is associated with the management number "No. 10002" for the size L01, the management number "No. 20002" for the size L02, the management number "No. 30002" for the size L03, and the like.

The association between the body number and each management number is determined by the production planning stage of the work vehicle 100. The data (management numbers for the body number and each size) in the data table D5 is input by, for example, the manufacturer of the work vehicle.

When the server apparatus 200 designates the body number, it is possible to know each management number of 9 sizes associated with the designated body number by using the data table D5.

For convenience of description, as an example, "a 102001" is a machine body number of the work vehicle 100. Further, "a 102002" and "a 102003" denote the machine body number of work vehicle 100A and the machine body number of work vehicle 100B, respectively. The body number "a 102001" is an example of "identification information" in the present invention.

Fig. 6 is a diagram showing a schematic configuration of the data table D6.

As shown in fig. 6, the data table D6 includes a plurality of data tables D61, D62, D63, D64, D65, D66, D67, D68, D69.

In the data table D61, a size based on the measurement data (actual size of the distance L01) is associated with each management number for the size L01. In the data table D62, the size calculated based on the coordinate data (the actual size of the distance L11) is associated with each management number for the size L11. In the data table D63, the size calculated based on the coordinate data (the actual size of the distance L11) is associated with each management number for the size L12.

Similarly, in each of the data tables D64 to D69, the size calculated based on the coordinate data is associated with each management number for the corresponding size. Further, a size based on the measurement data (an actual size of the distance L31) is associated with each management number relating to the size L31.

In this way, in the data table D6, management numbers shown in the data table D5 of fig. 5 are associated with sizes (actual sizes), respectively. Therefore, when the server apparatus 200 designates a management number, the size associated with the designated management number can be known by using the data table D6.

Therefore, when the server apparatus 200 designates the body number, the sizes associated with the 9 management numbers associated with the designated body number can be acquired by using the data table D5 and the data table D6.

For example, when the body number "a 102001" is designated (see fig. 5), the server apparatus 200 refers to the data table D5, and acquires 9 management numbers "No. 10001", "No. 20001", "No. 310001", … ", and" No.90001 "from the plurality of management numbers included in the data table D5. When the server apparatus 200 acquires the 9 management numbers, it refers to the data table D6 (see fig. 6) and acquires 9 sizes associated with the acquired management numbers from the plurality of sizes included in the data table D6.

The specification of the body number is done by each of the plurality of work vehicles. The body number is transmitted from each of the work vehicles 100, 100A, and 100B to the server device 200, for example. In this case, the server device 200 transmits the 9 sizes acquired from the data table D6 to the work vehicle that has transmitted the machine number.

In this case, the server device 200 transmits the acquired 9 sizes to the work vehicle in association with an identifier that can mutually identify the sizes in the work vehicle. For example, the server device 200 associates each acquired size with a size name (for example, "L01") of the size, and transmits the size name to the work vehicle.

As described above, the work vehicle having received the 9 sizes can obtain actual size data (distances L11, L12, L13, L21, L22, L23, L24, L01, and L31) about the host vehicle, which is used for correcting the plurality of design data (19 sizes in fig. 10) for calculating the cutting edge position (see fig. 9 and 10).

The data structure of the data table D6 shown in fig. 6 is an example, but the present invention is not limited to this. The management numbers and the sizes may be associated with the sizes L01, L11, and ….

When each of the work vehicles 100, 100A, and 100B corrects a plurality of design data using the measured data of the cylinder length, the server device 200 also acquires the measured data as actual size data for each of the work vehicles 100, 100A, and 100B. In this case, the data table D5 may be configured such that the machine body number is associated with a management number for a dimension related to the cylinder length in advance, and the data table D6 may be configured such that the management number is associated with measured data in advance.

Each value (for example, "× 4.2") shown in fig. 6 is an example of "basic data" in the present invention.

(2) Functional structure

Fig. 7 is a functional block diagram showing a functional configuration of the server apparatus 200.

As shown in fig. 7, the server device 200 includes a control unit 210, a storage unit 220, and a communication unit 230. The control unit 210 includes a measurement data management unit 211, a manufacturing data management unit 212, and a data acquisition unit 213. The measurement data management unit 211 includes an actual size calculation unit 2111. The manufacturing data management unit 212 includes an actual size calculation unit 2121. The storage unit 220 stores a data table D5 and a data table D6.

The control unit 210 controls the overall operation of the server device 200. The control unit 210 is realized by a processor described later executing an operating system and a program stored in a memory.

Communication unit 230 is an interface for communicating with server devices 400, 500, and 600 and work vehicles 100, 100A, and 100B. The communication unit 230 includes a reception unit 231 that receives data and a transmission unit 232 that transmits data. The receiving unit 231 receives measurement data (coordinate data) from the server device 400 to which the camera 300 is connected. The receiving unit 231 receives the manufacturing data from the server devices 500 and 600.

The measurement data management unit 211 manages the measurement data received from the server apparatus 400 based on the management number acquired from the server apparatus 400 together with the measurement data. The actual size calculation unit 2111 of the measurement data management unit 211 calculates the size (actual size) of the distances L01 and L31 (see fig. 4) based on the measurement data (coordinate data). In the case of the configuration in which the server apparatus 400 calculates the size, as described above, the measurement data management unit 211 does not need to include the actual size calculation unit 2111.

The measurement data management unit 211 writes the calculated size in the data column of the size corresponding to the received management number in the data table D6. For example, when the received management number is "No. 10001", the measurement data management unit 211 writes the calculated size in the column of the size corresponding to No.10001 (the column marked with "× 4.2" in fig. 6) of the data table D61 (see fig. 6) relating to the size L01.

The manufacturing data management unit 212 manages the machining data (coordinate data) received from the server device 500 based on the management number received from the server device 500 together with the machining data. The actual size calculator 2121 of the manufacturing data manager 212 calculates the sizes (actual sizes) of the distances L11, L12, L13, L21, L22, L23, and L24 (see fig. 4) using the machining data (coordinate data).

The manufacturing data management unit 212 writes the calculated size in the data column of the size corresponding to the received management number in the data table D6. For example, when the received management number is "No. 20001", the manufacturing data management unit 212 writes the calculated size in the column of the size corresponding to No.20001 (the column marked with "× 3.5" in fig. 6) of the data table D62 (see fig. 6) relating to the size L11.

The manufacturing data management unit 212 manages the inspection data (actual measurement data) received from the server device 600 based on the management number received from the server device 600 together with the inspection data. The manufacturing data management unit 212 writes the received size (the value of the measured data) in the data column of the size corresponding to the acquired management number in the data table D6 having a configuration in which the management number for the size related to the cylinder length and the measured data are associated with each other.

The data tables D61 to D69 shown in fig. 6 are generated by the above-described writing process.

Next, the processing of the data acquisition unit 213 will be described.

The data acquisition unit 213 acquires the machine body numbers from the plurality of work vehicles 100, 100A, and 100B via the communication unit 230. For example, when the body number "a 102001" of the work vehicle 100 is acquired, the data acquisition unit 213 refers to the data table D5 stored in the storage unit 220, and acquires 9-sized management numbers associated with "a 102001" from the plurality of management numbers in the data table D5.

Data acquisition unit 213 refers to data table D6, and further acquires the dimensions (numerical values for calculating the position of cutting edge 139) associated with the acquired 9 management numbers from the plurality of dimensions in data table D6.

The transmission unit 232 transmits the 9 sizes acquired by the data acquisition unit 213 to the work vehicle 100 as the transmission source of the body number "a 102001" in association with the identifier of the size. As a result, work vehicle 100 can obtain actual size data (distances L11, L12, L13, L21, L22, L23, L24, L01, and L31) relating to the host vehicle, which is used for correcting a plurality of pieces of design data (19 values in fig. 10) for calculating the cutting edge position.

As described above, server device 200 receives the body number of work vehicle 100, and transmits a plurality of data for calculating the position of cutting edge 139 of work vehicle 100 to work vehicle 100.

Therefore, according to work machine system 1, work vehicle 100 can acquire a plurality of data for calculating the position of cutting edge 139 at a time by only transmitting the machine body number. Therefore, according to work machine system 1, it is possible to quickly acquire a plurality of data for calculating the position of cutting edge 139 of work vehicle 100.

The control unit 210 is an example of the "control unit" in the present invention. The data acquisition unit 213 is an example of the "acquisition unit" in the present invention. The transmission unit 232 is an example of the "transmission unit" in the present invention. The storage unit 220 is an example of the "storage unit" in the present invention.

(3) Hardware structure

Fig. 8 is a diagram showing a hardware configuration of the server apparatus 200.

As shown in fig. 8, the server apparatus 200 includes a processor 201, a memory 202, a communication interface 203, operation keys 204, a monitor 205, and a reader/writer 206. The memory 202 typically includes ROM2021, RAM2022, and HDD (Hard disc) 2023. The reader/writer 206 reads various data including a program from the memory card 299 as a storage medium or writes data in the memory card 299.

The processor 201 corresponds to the control unit 210 in fig. 8. More specifically, the control unit 310 is realized by the processor 201 executing a program stored in the memory 202. The memory 202 corresponds to the storage unit 220 in fig. 8. The communication interface 203 corresponds to the communication unit 230 in fig. 8.

The processor 201 executes programs stored in the memory 202. The RAM2022 temporarily stores various programs, data generated by the execution of the programs by the processor 201, and data input by the user. ROM2021 is a non-volatile storage medium, and typically stores bios (basic Input Output system) and firmware. The HDD2023 stores an os (operating system), various application programs, and the like.

Software such as a program stored in the memory 202 may be stored in a memory card or other storage medium and distributed as a program product. Alternatively, the software may be provided as a downloadable program product by an information provider connected to the internet. The software is read from the storage medium by a storage card reader/writer or other reading device, or downloaded via an interface, and then temporarily stored in the RAM 2022. The software is read from the RAM2022 by the processor 201, and further stored in the HDD2023 in the form of an executable program. The processor 201 executes the program.

The components constituting the server apparatus 200 shown in the above figures are common. Therefore, it can also be said that an essential part of the present invention is software stored in the memory 202, a memory card, other storage media, or software downloadable via a network.

The recording medium is not limited to dvd (digital Versatile Disc) -ROM, CD (Compact Disc) -ROM, FD (Flexible Disc), and hard Disk. For example, a medium with a fixed program such as a semiconductor Memory may be used, such as a magnetic tape, a magnetic tape cartridge, an Optical disk (mo (magnetic Optical disc)/md (mini disc)), an Optical card, a mask ROM, an EPROM (electrically programmable Read-Only Memory), an EEPROM (electrically Erasable programmable Read-Only Memory), or a flash ROM. The recording medium is a non-transitory medium such as a computer-readable program, and does not include a transitory medium such as a carrier wave.

The program referred to herein includes not only a program directly executable by the processor 201 but also a program in the form of a source program, a program subjected to compression processing, an encrypted program, and the like.

Since the server apparatuses 400, 500, and 600 have the same hardware configuration as the server apparatus 200, the description of the hardware configuration of the server apparatuses 400, 500, and 600 will not be repeated here.

< working vehicle 100>

(1) Data of

Fig. 9 is a diagram showing an outline of data D9 stored in work vehicle 100.

As shown in fig. 9, in the data D9, the design data is stored in association with the size of the work vehicle 100 acquired from the server device 200.

In the data D9, 19 values from No.1 to No.19 are stored as design data. The design data includes a design angle related to the boom 110, a design angle related to the arm 120, a design angle related to the bucket 130, and the like, in addition to the design size.

The dimensions acquired by work vehicle 100 from server device 200 include dimensions based on machining data (actual dimensions) and dimensions based on image data (measurement data) (actual dimensions). Of the sizes obtained from the server device 200, the sizes from No.3 to No.9 are sizes based on the machining data. Of the sizes obtained from the server apparatus 200, the sizes of nos. 1 and 10 are sizes based on image data.

Fig. 10 is data D10 for explaining the correction processing and the corrected values.

As shown in fig. 10, the main controller 150 obtains the actual size from the server apparatus 200 with respect to the distances L01, L11, L12, L13, L21, L22, L23, L24, and L31.

Therefore, the main controller 150 uses the actual sizes of the distances L01, L11, L12, L13, L21, L22, L23, L24, and L31 at the time of correction. In addition, the main controller 150 uses design data for values other than these (distances L02, L32, L33, L34, Lbms, Lams, Lbks, angles Phibm, Phiam, Phibk). The distances Lbms, Lams, and Lbks are values related to the boom cylinder 111, the arm cylinder 121, and the bucket cylinder 131, respectively. Angles Phibm, Phiam, and Phibk are values related to boom 110, arm 120, and bucket 130, respectively.

The main controller 150 corrects 19 pieces of design data (default values) using the above 19 values (actual size data and design data). Thereby, the main controller 150 obtains the corrected value. The calculation method of the correction is the same as that when a conventional surveying instrument such as a total station is used, and therefore, the description thereof will not be repeated.

(2) Hardware structure

Fig. 11 is a diagram showing a hardware configuration of work vehicle 100.

As shown in fig. 11, the work vehicle 100 includes a hydraulic cylinder 37, an operation device 51, a communication if (interface)52, a monitor device 53, an engine controller 54, an engine 55, a main pump 56A, a pilot pump 56B, a swash plate drive device 57, a pilot oil passage 58, an electromagnetic proportional control valve 59, a main valve 60, a pressure sensor 62, a tank 63, a hydraulic oil passage 64, a receiving antenna 109, and a main controller 150.

The hydraulic cylinder 37 is represented by one of the boom cylinder 111, the arm cylinder 121, and the bucket cylinder 131. The hydraulic cylinder 37 drives one of the boom 110, the arm 120, and the bucket 130.

The operation device 51 includes an operation lever 511 and an operation detector 512 that detects an operation amount of the operation lever 511. The main valve 60 includes a spool (spool)60A and a pilot chamber 60B.

The operating device 51 is a device for operating the working device 104. In this example, the operating device 51 is a hydraulic device. Oil is supplied from pilot pump 56B to operation device 51.

The pressure sensor 62 detects the pressure of the oil discharged from the operation device 51. The pressure sensor 62 outputs the detection result as an electric signal to the main controller 150.

The engine 55 has a drive shaft for connecting the main pump 56A and the pilot pump 56B. The hydraulic oil is discharged from the main pump 56A and the pilot pump 56B by the rotation of the engine 55.

The engine controller 54 controls the operation of the engine 55 in accordance with an instruction from the main controller 150.

The main pump 56A supplies hydraulic oil for driving the work implement 104 through the hydraulic oil passage 64. A swash plate drive device 57 is connected to the main pump 56A. The pilot pump 56B supplies the hydraulic oil to the electromagnetic proportional control valve 59 and the operation device 51.

The swash plate drive device 57 is driven based on an instruction from the main controller 150, and changes the inclination angle of the swash plate of the main pump 56A.

The monitor device 53 is connected to be able to communicate with the main controller 150. The monitor device 53 notifies the main controller 150 of an input instruction from the operator. The monitor device 53 performs various kinds of display based on instructions from the main controller 150.

The main controller 150 is a controller that controls the entire work vehicle 100, and is configured by a cpu (central processing unit), a nonvolatile memory, a timer, and the like. The main controller 150 controls the engine controller 54 and the monitor device 53.

The main controller 150 receives an electrical signal from the pressure sensor 62. The main controller 150 generates a command current corresponding to the electric signal. The main controller 150 outputs the generated command current to the electromagnetic proportional control valve 59.

The main controller 150 calculates position information of the cutting edge 139 of the bucket 130 based on the position information of the vehicle body obtained from the GNSS receiver antenna 109, and various information such as a stroke length of the hydraulic cylinder 37 and information from an inertial sensor unit (not shown) incorporated in the vehicle body. The main controller 150 compares the position information with the construction design data, and controls the operation of the work implement 104 (the boom 110, the arm 120, and the bucket 130) so that the design surface is not damaged. If the main controller 150 determines that the cutting edge 139 has reached the design surface, it automatically stops the work implement 104 or moves the cutting edge 139 along the design surface with an assist function.

In addition, main controller 150 calculates the accurate position of cutting edge 139, thereby executing the above-described correction processing.

The electromagnetic proportional control valve 59 is provided in a pilot oil passage 58 that connects the pilot pump 56B and the pilot chamber 60B of the main valve 60, and generates a command pilot pressure corresponding to a command current from the main controller 150 by using a hydraulic pressure supplied from the pilot pump 56B.

The main valve 60 is provided between the electromagnetic proportional control valve 59 and the hydraulic cylinder 37. The main valve 60 adjusts the flow rate of the hydraulic oil for operating the hydraulic cylinder 37 based on the command pilot pressure generated by the electromagnetic proportional control valve 59.

The tank 63 is a tank for accumulating oil used by the main pump 56A and the pilot pump 56B.

(3) Functional structure

Fig. 12 is a functional block diagram showing a functional configuration of work vehicle 100.

As shown in fig. 12, work vehicle 100 includes main controller 150, communication unit 160, and monitor device 53. Main controller 150 includes a storage unit 151, a correction unit 152, and a cutting edge position calculation unit 153. The monitor device 53 includes a display unit 171 and an input unit 172.

The communication unit 160 is an interface for communicating with the server apparatus 200. The communication unit 160 acquires the actual size data from the server device 200, and transmits the actual size data to the main controller 150. The actual size data is stored in the storage unit 151.

The storage unit 151 stores a plurality of design data such as design dimensions and design angles in advance. In this example, the storage unit 151 stores in advance 19 pieces of design data shown in fig. 9 in the storage unit 151 of the main controller 150.

The correction unit 152 has been described based on fig. 10, and corrects the above 19 values by using actual size data for the distances L01, L11, L12, L13, L21, L22, L23, L24, and L31, and by using design data itself for the values other than these (distances L02, L32, L33, L34, Lbms, Lams, Lbks, angles Phibm, Phiam, and Phibk). The correction unit 152 stores the corrected data obtained by the correction in the storage unit 151.

Cutting edge position calculating unit 153 calculates the position of cutting edge 139 using the corrected data.

The display unit 171 displays various screens. For example, the display unit 171 displays various instructions for the correction process.

The input unit 172 accepts various input operations. In one embodiment, the input unit 172 receives an instruction to execute the correction process.

When input unit 172 receives an instruction to execute the correction process, main controller 150 performs control to transmit the machine number of work vehicle 100 to server apparatus 200 via communication unit 160. The body number is stored in the storage unit 151 in advance.

The instruction to execute the correction process is an example of the "predetermined operation" of the present invention.

< treatment Process >

Fig. 13 is a sequence diagram for explaining the flow of processing in the work machine system 1.

As shown in fig. 13, at timing S1, camera 300 transmits image data obtained by imaging work vehicle 100 to server device 400. At sequence S2, the server apparatus 400 performs predetermined image processing on the received image data to calculate three-dimensional coordinate data (measurement data) between the reflectors. The server apparatus 400 calculates three-dimensional coordinate data of the reflector for each of the plurality of work vehicles 100.

At sequence S3, the server apparatus 200 requests the server apparatus 400 to transmit the measurement data. At sequence S4, the server apparatus 400 transmits the measurement data to the server apparatus 200.

At sequence S5, the server apparatus 200 requests the server apparatus 500 to transmit the measurement data. At sequence S6, the server apparatus 500 transmits the processed data to the server apparatus 200.

At sequence S7, the server apparatus 200 requests the server apparatus 600 to transmit the measurement data. At timing S8, the server device 600 transmits the check data to the server device 200.

At sequence S9, the server apparatus 200 calculates the actual sizes of the distances L01, L11, L12, L13, L21, L22, L23, L24, and L31 based on the received measurement data, machining data, and inspection data (fig. 4 and 9). When the inspection data acquired from the server apparatus 600 is not used, the server apparatus 200 calculates the actual sizes of the distances L01, L11, L12, L13, L21, L22, L23, L24, and L31 based on the received measurement data and machining data.

At sequence S10, the server apparatus 200 updates the data table D6 (fig. 6) using the calculated actual size. At a timing S11, the work vehicle 100 requests the server device 200 to transmit the actual size data of the host vehicle for correction. In this example, the work vehicle 100 transmits a request signal including the body number of the work vehicle 100 to the server apparatus 200.

At sequence S12, control unit 210 of server device 200 executes processing for acquiring data relating to the work vehicle of the transmission request source from storage unit 220. At sequence S13, the server device 200 transmits the actual size data of the transmission request source to the work vehicle 100 of the transmission request source. At sequence S14, work vehicle 100 executes the correction process using the acquired actual size data.

Fig. 14 is a flowchart for explaining details of the processing of the sequence S12 in fig. 13.

As shown in fig. 14, in step S121, the server apparatus 200 receives the body number from the work vehicle. For example, server device 200 receives body number "a 102001" from work vehicle 100.

In step S122, the server apparatus 200 acquires a plurality of management numbers associated with the received body numbers in the data table D5 stored in the storage unit 220. For example, the server apparatus 200 acquires 9 management numbers "No. 10001", "No. 20001", "No. 30001", … ", and" No.90001 ".

In step S123, the server apparatus 200 acquires the size associated with each of the plurality of management numbers acquired in step S122 from the data table D6 (data tables D61 to D69) stored in the storage unit 220.

In step S124, the server device 200 transmits the 9 sizes acquired in step S123 to the work vehicle as the transmission source of the body number. For example, the server device 200 transmits 9 sizes to the work vehicle 100 that is the transmission source of the management number "a 102001".

< advantages >

It can be said that the server device 200 of the work machine system 1 of the present embodiment has the following configuration. In addition, with this configuration, the following effects are obtained.

(1) Work vehicle 100 transmits the machine body number associated with work vehicle 100 to server device 200. The server device 200 includes: a data acquisition unit 213 that acquires data (hereinafter, also referred to as "basic data") for calculating the position of cutting edge 139 of bucket 130, based on the body number; and a transmission unit 232 that transmits the acquired size to work vehicle 100.

With the above-described configuration, work vehicle 100 can acquire data (basic data) for calculating the position of cutting edge 139 of work vehicle 100 from server device 200 by transmitting the body number of work vehicle 100 to server device 200.

Therefore, according to work machine system 1, work vehicle 100 can acquire data for calculating the position of cutting edge 139 by only transmitting the machine body number. Therefore, according to work machine system 1, data for calculating the position of cutting edge 139 of work vehicle 100 can be quickly acquired.

After the plurality of data are acquired, work vehicle 100 executes the above-described correction processing using the data.

(2) The server device 200 further includes a storage unit 220 that stores the first basic data and the second basic data, which are the basic data, in association with the body numbers, respectively. The data acquisition unit 213 acquires the first basic data and the second basic data from the storage unit 220 based on the body number.

With the above-described configuration, work vehicle 100 can acquire two pieces of basic data for calculating the position of cutting edge 139 of work vehicle 100 at a time from server device 200 by transmitting the body number of work vehicle 100 to server device 200.

(3) The storage unit 220 stores a first size obtained based on manufacturing data of a first component included in the work implement 104 as first basic data in association with the machine number, and stores a second size obtained based on manufacturing data of a second component included in the work implement 104 as second basic data in association with the machine number.

With the above-described configuration, work vehicle 100 transmits the machine body number of work vehicle 100 to server device 200, and thereby two dimensions for calculating the position of cutting edge 139 of work vehicle 100 can be acquired from server device 200 at a time.

(4) The basic data is a dimension obtained based on manufacturing data of the component included in the working device 104. With the above configuration, the dimensions obtained based on the manufacturing data of the components can be used for the correction process in work vehicle 100.

(5) The manufacturing data is machining data of the boom 110 at the time of machining, for example. With the above configuration, machining data obtained when the boom 110 is machined can be used for the correction process in the work vehicle 100.

(6) The manufacturing data is machining data of the arm 120 at the time of machining, for example. With the above configuration, machining data of the arm 120 during machining can be used for the correction process in the work vehicle 100.

(7) The basic data is a dimension between cutting edge 139 and bucket pin 142 (see fig. 4) of work vehicle 100. With the above configuration, the dimension (measurement data) between cutting edge 139 and bucket pin 142 of work vehicle 100 can be used for the calibration process in work vehicle 100.

(8) The basic data is a size indicating a size between the receiving antenna 109 for the global navigation satellite system and the mounting pin 141. With the above configuration, the dimension (measurement data) between the receiving antenna 109 and the seat frame pin 141 can be used for the calibration process in the work vehicle 100.

(9) The work vehicle 100 stores the body number of the work vehicle 100 in advance, and when receiving an execution instruction of the correction process, transmits the body number to the server apparatus 200. With the above configuration, the operator of work vehicle 100 can transmit the machine number of work vehicle 100 to server device 200 only by giving an instruction to execute the correction process to work vehicle 100.

< modification example >

(1) In the above-described embodiment, main controller 150 corrects the design data for calculating the position of cutting edge 139 using the dimensions obtained based on the manufacturing data of the components included in work implement 104, and calculates the position of cutting edge 139 using the corrected design data. However, without performing the above-described correction, design data for calculating the position of cutting edge 139 can be acquired quickly. The above-described structure will be described below.

In the present modification, main controller 150 acquires design data for calculating the position of cutting edge 139 based on the dimensions obtained from the manufacturing data, and calculates the position of cutting edge 139 using the design data. Further, main controller 150 acquires design data for calculating the position of cutting edge 139 based on the size obtained from the image data, and calculates the position of cutting edge 139 using the design data.

To explain with reference to data D9 shown in fig. 9, the main controller 150 uses the dimensions based on the machining data as design data of the dimensions of nos. 3 to 9, and uses the dimensions based on the image data as design data of the dimensions of nos. 1 and 10. For example, regarding the size of No.3, "x.12" as the design data is replaced with "x.35" as the size based on the machining data.

The main controller 150 calculates the position of the cutting edge 139 using design data including 19 values (size and angle) based on the actual size of the machining data and the actual size of the image data. More specifically, for example, the main controller 150 substitutes 10 values in the design data field and 9 values in the size field acquired from the server device 200 in the data D10 shown in fig. 10 into variables in the program for calculating the position of the cutting edge 139, without correcting them. Thus, main controller 150 calculates the position of cutting edge 139.

With the above configuration, the main controller 150 does not need to perform the correction process. Therefore, according to this modification, design data for calculating the position of cutting edge 139 can be acquired more quickly than in the configuration in which the correction process is performed.

In addition, the size based on the manufacturing data and the size based on the image data are utilized, whereby it is not necessary to use a measuring device or the like on the production line of the work vehicle 100. Therefore, design data for calculating the position of cutting edge 139 can be acquired more quickly than in the case of using the above-described measuring device.

(2) In the above description, an example in which the machine body number is used as information for mutually identifying the work vehicles 100 is described. However, the present invention is not limited to the body number as long as the unique identification number is used. The body number may be uniquely determined by the unique identification number.

(3) At sequence S11 in fig. 13, the description has been given of an example configuration in which work vehicle 100 transmits a request signal including a machine number. However, the transmission source of the body number may be not the work vehicle but a tablet terminal.

In the case of the above-described configuration, the work machine system 1 may be configured such that the size acquired by the server device 200 is transmitted to the work vehicle having the body number, not to the transmission source of the body number.

Alternatively, the size acquired in the server apparatus 200 may be transmitted to the tablet terminal of the transmission source of the body number. In this case, the operator refers to the actual size data displayed on the tablet terminal, and stores the data in the storage unit 151 of the main controller 150 through the monitor device 53 by manual input.

In this way, the device that transmits the body number and the device that receives the size data may be the same or different.

(4) In the above description, the server apparatus 200 has been described as storing the data tables D5 and D6, but the present invention is not limited to this.

The server apparatus 200 may store a data table in which the size (numerical value) indicated by the data table D6 is described in the management number column of the data table D5 instead of the data table D5 and the data table D6. In this case, server device 200 can transmit 9 sizes to work vehicle 100 by referring to only one data table.

The embodiments disclosed herein are illustrative, and are not limited to the above. The scope of the present invention is shown by the claims, and all changes that come within the meaning and range of equivalents are intended to be embraced therein.

Description of reference numerals:

1 work machine system, 37 hydraulic cylinder, 51 operating device, 53 monitor device, 54 engine controller, 55 engine, 56A main pump, 56B pilot pump, 57 swash plate drive device, 58 pilot oil path, 59 electromagnetic proportional control valve, 60 main valve, 60A spool, 60B pilot chamber, 62 pressure sensor, 63 tank, 64 hydraulic oil path, 100A, 100B work vehicle, 101 travel body, 103 rotation body, 104 operating device, 107 armrest, 108 cab, 109 receiving antenna, 110 boom, 111 hydraulic cylinder, 120 arm, 121 arm hydraulic cylinder, 130 bucket, 131 bucket hydraulic cylinder, 136, 137 link mechanism, 139 tip, 141 seat frame pin, 142 bucket pin, 150 main controller, 151, 220 storage unit, 152 correction unit, 153 tip position calculation unit, 160, 230 communication unit, 171 display unit, 172 input unit, 200, 400, 500, 171 communication unit, display unit, 172 input unit, 200, 400, 500, and, 600 server device, 201 processor, 202 memory, 203 communication interface, 204 operation key, 205 monitor, 210, 310 control part, 211 measurement data management part, 212 manufacture data management part, 213 data acquisition part, 231 receiving part, 232 transmitting part, 299 memory card, 300 camera, 511 operation lever, 512 operation detector, 700 network, 800 transceiver, 900 casting, 2111, 2121 actual size calculation part, C11, C12, C21, C22 hole, Q1, Q2, Q3 center position.