阅读说明：本技术 工程机械 (Construction machine ) 是由 上村佑介 山崎洋一郎 山下耕治 野田大辅 于 2019-08-08 设计创作，主要内容包括：本发明的工程机械包括:检测上部回转体相对于下部行走体的姿势的第一姿势检测装置；检测推土板的姿势的第二姿势检测装置；被设置于上部回转体,可以接收激光发射器发出的激光的激光接收器；以及,计算推土板的先端相对于施工面的高度位置的计算部。计算部,基于激光接收器接收激光的受光位置、上部回转体相对于下部行走体的姿势、推土板的姿势,计算推土板的先端相对于施工面的高度位置。(The engineering machinery of the invention comprises a first posture detection device for detecting the posture of an upper revolving body relative to a lower walking body; a second attitude detecting device for detecting an attitude of the blade; a laser receiver which is arranged on the upper revolving body and can receive the laser emitted by the laser emitter; and a calculation unit for calculating the height position of the tip of the blade relative to the construction surface. And a calculation unit that calculates the height position of the tip of the blade relative to the work surface based on the light receiving position at which the laser receiver receives the laser light, the posture of the upper revolving structure relative to the lower traveling structure, and the posture of the blade.)

1. A working machine, characterized by comprising:

a lower traveling body;

an upper revolving body rotatably disposed on an upper portion of the lower traveling body;

a dozer plate which is attached to the lower traveling body so as to be rotatable in the vertical direction;

a first attitude detecting device that detects an attitude of the upper slewing body with respect to the lower traveling body;

a second attitude detection device that detects an attitude of the blade;

a laser receiver that is provided in the upper slewing body and that can receive laser light emitted from a laser emitter; and the number of the first and second groups,

a calculation unit that calculates a height position of a tip end of the blade with respect to a construction surface,

the inclination direction of the laser is parallel to the inclination direction of the construction surface,

the calculation unit calculates a height position of the tip of the blade with respect to the work surface based on a light receiving position at which the laser light is received by the laser light receiver, a posture of the upper revolving structure with respect to the lower traveling structure, and a posture of the blade.

2. The work machine of claim 1, further comprising:

a first notification device that can notify an operator of information; and the combination of (a) and (b),

a first notification control unit configured to cause the first notification device to notify the height position of the tip of the blade with respect to the construction surface calculated by the calculation unit.

3. The working machine according to claim 1 or 2, characterized by further comprising:

an attitude changing device for changing the attitude of the blade; and the combination of (a) and (b),

and an attitude control unit configured to control the attitude changing device to excavate the blade into the ground until the blade is excavated to a height of the construction surface, based on the height position of the tip of the blade with respect to the construction surface calculated by the calculation unit.

4. A working machine according to any of claims 1-3,

the upper slewing body is provided with a working mechanism capable of slewing in the up-down direction,

the construction machine further includes a third attitude detection device that detects an attitude of the working device, wherein,

the laser receiver is mounted to the working device,

the calculation unit calculates a height position of the tip of the blade with respect to the work surface based on a light receiving position at which the laser light is received by the laser light receiver, a posture of the upper revolving structure with respect to the lower traveling structure, a posture of the work implement, and a posture of the blade.

5. A working machine according to claim 4,

the work device is provided with:

a boom attached to the upper slewing body so as to be pivotable in the up-down direction; and the combination of (a) and (b),

an arm attached to the boom so as to be rotatable in the vertical direction, wherein,

the laser receiver is attached to the arm so as to extend in the longitudinal direction of the arm.

6. A working machine according to any of claims 1-5, characterized by further comprising:

second notifying means capable of notifying information to the operator; and the combination of (a) and (b),

and a second notification control unit configured to cause the second notification device to notify that the rotation of the upper rotation body is prohibited, after the operation is started in an initial state in which an angle of the upper rotation body with respect to the lower traveling body is a specific angle and an orientation of the upper rotation body with respect to an inclination direction of the laser beam is a specific orientation.

7. A working machine according to claim 6,

the second notification control unit causes the second notification device to notify that the upper revolving structure is prohibited from revolving after the operation is started in a starting state in which the upper revolving structure is caused to further revolve by a predetermined angle from the initial state.

8. The working machine according to claim 6 or 7, characterized by further comprising:

a warning device that can issue a warning; and the combination of (a) and (b),

and a warning control unit that causes the warning device to issue a warning when the upper slewing body is slewing after the start of work.

9. A working machine according to any of claims 1-5,

the first attitude detecting device is a relative angle detecting device that detects a relative angle of the upper slewing body with respect to the lower traveling body,

the calculation unit calculates a height position of the tip of the blade relative to the work surface based on the relative angle detected by the relative angle detection device when the upper revolving structure revolves after the work is started in an initial state in which the angle of the upper revolving structure relative to the lower traveling structure is a specific angle and the direction of inclination of the upper revolving structure relative to the laser beam is a specific direction.

10. A working machine according to any of claims 6-9,

the initial state is a state in which the upper slewing body is oriented in the front direction with respect to the front surface of the lower traveling body, and the orientation of the upper slewing body is parallel to the inclination direction of the laser beam.

11. A working machine according to any of claims 6-10, characterized by further comprising:

an orientation sensor that detects at least one of an orientation of a front surface of the lower traveling structure and an orientation of a front surface of the upper slewing body, and,

and a determination unit that determines whether or not the laser beam is in the initial state based on a direction of inclination of the laser beam, an orientation of a front surface of the lower traveling body, and an orientation of a front surface of the upper revolving body.

Technical Field

The present invention relates to a construction machine including a working device and a blade.

Background

Patent document 1 proposes a technique of leveling soil with a bulldozer while receiving laser light emitted from a laser transmitter with a laser receiver. The technique of patent document 1 improves the accuracy of the flat surface by performing work with the bulldozer along the guide of the laser beam. The laser receiver is mounted on the blade of the bulldozer via a support rod.

However, a construction machine such as a hydraulic excavator includes a blade, and the work of excavating the ground is performed by the blade. Here, it is also conceivable that the construction machine may excavate the ground with a blade while receiving the laser light emitted from the laser transmitter with the laser receiver.

However, in the case of a construction machine, a working device is provided above the blade. For this reason, if the laser receiver is mounted on the blade via the support rod, there is a risk that the laser receiver may be damaged because the working device may come into contact with the laser receiver. In order to avoid this, if the mounting position of the laser receiver to be mounted on the blade is lowered, there is a risk that the laser receiver cannot receive the laser light because the soil is contaminated or the laser receiver is damaged by the soil. Moreover, if the installation position of the laser receiver is low, there is also a risk that the laser light is easily shielded by a shield of a material or the like in the field.

Documents of the prior art

Patent document

Patent document 1 Japanese patent laid-open publication No. 2001-172972.

Disclosure of Invention

The invention aims to provide an engineering machine, which can better receive laser emitted by a laser transmitter by a laser receiver and can better perform ground excavating operation.

One aspect of the present invention relates to a construction machine including: a lower traveling body; an upper revolving body rotatably disposed on an upper portion of the lower traveling body; a dozer plate which is attached to the lower traveling body so as to be rotatable in the vertical direction; a first attitude detecting device that detects an attitude of the upper slewing body with respect to the lower traveling body; a second attitude detection device that detects an attitude of the blade; a laser receiver that is provided in the upper slewing body and that can receive laser light emitted from a laser emitter; and a calculation unit that calculates a height position of a tip of the blade with respect to a construction surface, wherein an inclination direction of the laser beam is parallel to an inclination direction of the construction surface, and the calculation unit calculates the height position of the tip of the blade with respect to the construction surface based on a light receiving position at which the laser beam is received by the laser beam receiver, a posture of the upper revolving structure with respect to the lower traveling structure, and a posture of the blade.

Drawings

Fig. 1 is a side view of a working machine.

Fig. 2 is a block diagram of a work machine.

Fig. 3 is a schematic diagram showing an operation state of the construction machine.

Fig. 4 is a plan view of the construction machine as viewed from above.

Fig. 5 is a plan view of the construction machine as viewed from above.

Fig. 6 is a flowchart of job control.

Fig. 7 is a schematic view showing an example of calculating the height of the tip of the blade relative to the work surface.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

(first embodiment)

(construction machine constitution)

The construction machine according to the first embodiment of the present invention is, for example, a hydraulic excavator. Fig. 1 is a side view of a working machine 1. As shown in fig. 1, the construction machine 1 includes a lower traveling structure 2, an upper revolving structure 3, and a blade 5.

The lower traveling unit 2 causes the construction machine 1 to travel. The upper slewing body 3 is provided above the lower traveling body 2 so as to be pivotable via a slewing device. The upper slewing body 3 has a working mechanism 4 that can be vertically rotated. A cab (cab) 6 is provided in front of the upper revolving structure 3.

The work implement 4 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper slewing body 3 so as to be vertically pivotable. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is attached to the arm 32 so as to be rotatable in the vertical direction.

The blade 5 is attached to the lower traveling body 2 so as to be rotatable in the vertical direction. The blade 5 presses or excavates (levels) the earth against the earth in the direction of travel of the construction machine 1. The attitude of the blade 5 is changed by an attitude changing device 15 (see fig. 2) as an actuator. Specifically, the blade 5 is movable up and down by the attitude changing device 15 and the inclination of the blade 5 is changeable.

Fig. 2 is a block diagram of the working machine 1. As shown in fig. 2, the construction machine 1 includes a first posture detection device 11, a second posture detection device 12, and a third posture detection device 13.

First posture detecting device 11 detects the posture of upper revolving unit 3 with respect to lower traveling unit 2. In the present embodiment, the first posture detecting device 11 detects whether or not the front surface of the upper revolving structure 3 with respect to the lower traveling structure 2 is directed to the front surface.

The third posture detecting device 13 detects the posture of the working device 4. Specifically, the third posture detection device 13 includes a boom angle detection sensor and an arm angle detection sensor. The boom angle detection sensor is provided on the boom 31 and detects the angle of the boom 31 with respect to the upper slewing body 3. The arm angle detection sensor is provided in the arm 32, and detects an angle of the arm 32 with respect to the boom 31.

The second attitude detecting means 12 detects the attitude of the blade 5. Specifically, the second posture detecting device 12 detects the height position of the blade 5 and the inclination angle of the blade 5.

The working machine 1 has a laser receiver 10. The laser receiver 10 may receive laser light emitted from the laser transmitter 50 (refer to fig. 3). In the present embodiment, the laser receiver 10 is provided on one side surface of the arm 32 so as to extend in the longitudinal direction of the arm 32 (see fig. 1). The laser receivers 10 may be provided on both side surfaces of the arm 32. The laser receiver 10 may be provided on the upper slewing body 3 other than the working machine 4, or may be provided at a position other than the arm 32 of the working machine 4.

In the present embodiment, the laser receiver 10 has a rectangular shape that is long in the longitudinal direction, and can receive laser light at any position in the longitudinal direction.

The construction machine 1 includes a controller 21 and a storage device 22 as shown in fig. 2. The controller 21 includes a calculation unit 211, a notification control unit 212, a posture control unit 213, a warning control unit 214, and a determination unit 215.

The calculation unit 211 calculates the height position of the tip of the discharging plate 5 with respect to a construction surface to be described later. Here, the tip of the blade 5 is the lower end 51 of the blade 5 as shown in fig. 3. Further, depending on the shape of the ground or the posture of the construction machine 1 with respect to the construction surface, the lower end 51 of the blade 5 may be inclined with respect to the construction surface. In this case, the height of the tip of the blade 5 relative to the work surface varies depending on its position on the lower end 51. Here, the calculation unit 211 may calculate the height of the predetermined position of the lower end 51 of the blade 5 with respect to the construction surface as the height of the tip of the blade 5, for example. The predetermined position of the lower end 51 of the blade 5 is, for example, the center position of the lower end 51 of the blade 5, the left end of the lower end 51, or the right end of the lower end 51.

The storage device 22 stores information related to the size of the working machine 1. Specifically, the storage device 22 stores information such as at least the machine size of the lower traveling structure 2, the machine size of the upper revolving structure 3, the size of the boom 31, the size of the arm 32, the size of the blade 5, the height from the base end of the boom 31 to the ground contact surface, and the installation position of the laser receiver 10 with respect to the arm 32.

Fig. 3 is a schematic diagram showing an operation state of the construction machine 1. As shown in fig. 3, the construction machine 1 performs an operation of excavating the ground using the blade 5. In this case, the laser receiver 10 can receive the laser beam emitted from the laser emitter 50 and perform the operation, thereby improving the finish surface accuracy.

The laser transmitter 50 is installed perpendicular to the ground and emits laser light in 360 degrees in all directions. The laser light emitted by the laser transmitter 50 has a slope of alpha% relative to the ground. The gradient is the same as the gradient of the construction surface as the target. If the position on the ground where the laser transmitter 50 is installed is set as a reference point, the depth position of the construction surface at the reference point is a position lower by a predetermined length from the height of the laser emitting portion of the laser transmitter 50. Therefore, a position lower by a predetermined length from the height of the laser emitter 50 is a construction surface regardless of the position of the laser emitted from the laser emitter.

The construction surface is a target surface of excavation. In the present embodiment, the construction surface is a plane inclined at a gradient of α%. Therefore, the laser transmitter 50 projects laser light in a direction of 360 degrees on a plane parallel to the construction surface.

As shown in fig. 3, the working machine 1 receives laser light by the laser receiver 10 provided in the arm 32. In this way, since the laser receiver 10 of the construction machine 1 is disposed at a high position, the possibility that the laser light is blocked by the sand or the shade is reduced as compared with the case where the laser receiver 10 is disposed at the same height position as the lower traveling body 2 or the blade 5.

The calculation unit 211 (see fig. 2) calculates the height position of the tip of the blade 5 with respect to the construction surface based on the light receiving position at which the laser beam is received by the laser receiver 10, the posture of the upper revolving structure 3 with respect to the lower traveling structure 2, the posture of the working implement 4, and the posture of the blade 5. Here, in the present embodiment, the posture of the upper revolving structure 3 with respect to the lower traveling structure 2 is a posture in which the upper revolving structure 3 is oriented to the front with respect to the front of the lower traveling structure 2.

The height position of the tip of the blade 5 with respect to the light receiving position of the laser beam is determined using the information on the size of the construction machine 1 stored in the storage device 22 (see fig. 2), the light receiving position at which the laser beam is received by the laser receiver 10, the posture of the upper revolving structure 3 with respect to the lower traveling structure 2, the posture of the working device 4, and the posture of the blade 5. In addition, at any position of the laser beam emitted from the laser emitter 50, a position lower by a predetermined length from the height of the position is the working surface, and therefore the height position of the working surface with respect to the light receiving position of the laser beam is known. Therefore, if the height position of the blade 5 with respect to the light receiving position of the laser light can be obtained, the height position of the tip of the blade 5 with respect to the construction surface can be calculated. Thus, the construction machine 1 can excavate the ground by changing the posture of the blade 5 until the ground is excavated to the height of the construction surface. Therefore, the construction machine 1 can perform the work of excavating the ground well while receiving the laser light emitted from the laser transmitter 50 with the laser receiver 10 well.

Fig. 7 is a schematic view showing an example of calculating the height of the tip of the blade 5 with respect to the construction surface. d is the distance between the laser light receiving position P1 and the front end of the blade 5 in the front-rear direction. Hereinafter, the height direction means a longitudinal direction on the drawing sheet, and the front-rear direction means a lateral direction on the drawing sheet.

The distance d is calculated from the attitude of the blade 5, the attitude of the upper slewing body 3 relative to the lower traveling body 2, the attitude of the working device 4, and the light receiving position P1.

H0 indicates that the distance between laser emitter 50 and the work surface in the height direction is known.

H1 is the distance in the height direction between a position P2 on the construction surface immediately below the light receiving position P1 and a position P3 on the construction surface immediately below the tip of the blade 5. When the light receiving position P1 is shifted in the front-rear direction with respect to the tip of the blade 5, the distance H1 needs to be taken into account in order to calculate the distance H3. The distance H1 can be expressed by the formula H1 ═ d × tan α. Alpha is the slope of the construction surface.

H2 is the distance in the height direction between the laser light receiving position P1 and the tip of the blade 5. Distance H2 is calculated from the attitude of blade 5, the attitude of upper revolving unit 3 relative to lower traveling unit 2, the attitude of work implement 4, and light receiving position P1.

H3 is the distance in the height direction between the work surface and the tip of blade 5. The distance H3 was calculated from H0- (H1 + H2). What is desired is distance H3. Therefore, the calculation unit 211 calculates the distance H1 and the distance H2 and substitutes them into the above formula to obtain the distance H3.

As shown in fig. 2, the construction machine 1 includes a notification device 14 (an example of a first notification device and a second notification device). The notification device 14 may notify information to an operator located in the cab 6. In the present embodiment, the notification device 14 is a display and/or a speaker provided in the driver's seat 6. The notification control unit 212 (an example of the first notification control unit and the second notification control unit) causes the notification device 14 to notify the height position of the tip of the blade 5 calculated by itself with respect to the construction surface. Specifically, information indicating that the tip of the blade 5 is still several centimeters or the like with respect to the work surface is displayed on the display or is outputted as voice from the speaker. Thus, the operator can excavate the ground up to the height of the construction surface by changing the posture of the blade 5 in accordance with the notification.

The attitude control unit 213 may control the attitude changing device 15 based on the height position of the tip of the blade 5 with respect to the construction surface calculated by the calculation unit 211 so that the blade 5 excavates the ground to the height of the construction surface. Thus, the construction machine 1 can automatically change the attitude of the blade 5 so that the blade 5 excavates the ground to the height of the construction surface. For example, the attitude control unit 213 may control the attitude of the blade 5 so that the tip of the blade 5 moves along the construction surface.

Here, as shown in fig. 3, the laser receiver 10 is attached to the working device 4. For this reason, when the laser receiver 10 that receives the laser light becomes not to receive the laser light, the laser light can be easily received again by the laser receiver 10 by moving the working device 4.

The laser receiver 10 may be attached to the arm 32 so as to extend in the longitudinal direction of the arm 32. In general, the construction machine 1 can set the arm 32 to a posture extending in the vertical direction. The laser receiver 10 may be attached to the arm 32 such that the longitudinal direction of the laser receiver 10 is along the longitudinal direction of the arm 32. Therefore, if the boom 32 can be set to a posture extending in the vertical direction, the construction machine 1 can arrange the laser receiver 10 so as to be vertically long. Thus, the construction machine 1 can receive the laser light with the laser receiver 10 well over a wide range in the vertical direction.

(State before work)

As described above, the construction machine 1 can calculate the height position of the tip of the blade 5 with respect to the construction surface, but cannot grasp in which direction the inclination direction of the construction machine itself with respect to the construction surface is directed. Here, before performing work along the laser beam guide, it is necessary to specify in which direction the inclination direction of the construction machine 1 with respect to the construction surface is directed.

Here, in the present embodiment, the attitude control section 213 operates the lower traveling structure 2 and the upper slewing structure 3 to bring the construction machine 1 into an initial state before performing the work. Fig. 4 is a plan view of the working machine 1 as viewed from above. As shown in fig. 4, the initial state is a state in which the angle of the upper revolving structure 3 with respect to the lower traveling structure 2 is a specific angle and the orientation of the upper revolving structure 3 with respect to the inclination direction of the laser beam (the inclination direction of the working surface) is a specific orientation. In this way, after it is clear in which direction the construction machine 1 is tilted with respect to the laser beam, the work is started.

Here, in the present embodiment, the initial state refers to a state in which the upper revolving structure 3 is oriented forward with respect to the front surface of the lower traveling structure 2, and the orientation of the upper revolving structure 3 is parallel to the inclination direction of the laser beam. If the initial state is such a state, the attitude control section 213 can easily bring the construction machine 1 into the initial state by aligning the front surface of the lower traveling structure 2 with the front surface of the upper slewing body 3 and by making the orientation of the upper slewing body 3 parallel to the inclination direction of the laser beam.

In the present embodiment, the attitude control unit 213 may change the upper slewing body 3 from the initial state to the starting state before the work is performed. Fig. 5 is a plan view of the working machine 1 as viewed from above. As shown in fig. 5, the starting state is a state in which the upper slewing body 3 is further slewing by a predetermined angle from the initial state. The predetermined angle is, for example, 45 degrees. By further revolving the upper revolving structure 3 from the initial state, the operator positioned in the cab 6 can more easily observe the blade 5 with the eyes. In this way, the construction machine 1 may start work after the operator positioned in the cab 6 easily observes the posture of the blade 5 with his eyes.

After the start of the work, the lower traveling body 2 can travel in either direction.

Further, if the upper slewing body 3 is slewing during work, the attitude of the upper slewing body 3 relative to the lower traveling body 2 changes, and the calculation unit 211 cannot accurately calculate the height position of the tip end of the blade 5 relative to the construction surface. This is because the first posture detecting device 11 (see fig. 2) is configured by a sensor capable of detecting whether or not the front surface of the upper revolving unit 3 with respect to the lower traveling body 2 is oriented to the front surface, and cannot detect the relative angle of the upper revolving unit 3 with respect to the lower traveling body 2. Although the rotation of upper revolving unit 3 can be detected by the gyro sensor, the gyro sensor cannot know in which direction lower traveling unit 2 faces upper revolving unit 3. This is because the gyro sensor detects the turning operation of the construction machine 1 by the lower traveling structure 2 in the same manner as the turning operation of the upper turning structure 3. Therefore, the gyro sensor cannot distinguish whether the lower traveling body 2 is oriented in a different direction from the upper revolving body 3 or in the same direction. In this case, the same applies to an angle sensor that detects the rotation angle of the upper rotation body 3 based on changes in the pitch angle (pitching angle) and the roll angle (rolling angle) of the upper rotation body 3.

Here, as shown in fig. 2, the notification control unit 212 notifies the notification device 14 of the prohibition of the rotation of the upper slewing body 3 after the operation is started in the initial state or the start state. In the present embodiment, the notification device 14 is a display and/or a speaker provided in the driver's seat 6. Specifically, the notification control unit 212 displays a character intended to prohibit the rotation of the upper rotation body 3 on a display or outputs a character in voice from a speaker. This can prevent the operator from erroneously rotating upper slewing body 3.

As shown in fig. 2, the working machine 1 has a warning device 16. The warning device 16 may issue a warning to the operator. In the present embodiment, the warning device 16 is a display and/or a speaker provided in the driver's seat 6. The warning control unit 214 causes the warning device 16 to issue a warning when the upper slewing body 3 is slewing after the start of work. Specifically, the warning control unit 214 displays a display or outputs a character indicating that an accurate job cannot be performed in a voice form from a speaker. This can prevent the worker from erroneously continuing the work.

Further, after the start of the work, the attitude control section 213 may prohibit the rotation of the upper slewing body 3. For example, the attitude control unit 213 may execute control such as disabling an operation for instructing the revolving of the upper revolving unit 3 or applying a brake to the revolving operation.

Here, it is troublesome for the operator to manually set the state of the construction machine 1 to the initial state. Here, as shown in fig. 2, the working machine 1 includes an orientation sensor 17 and an input device 18. The orientation sensor 17 detects the orientation of the front surface of the lower traveling structure 2 and the orientation of the front surface of the upper revolving structure 3. The input device 18 is, for example, a touch panel, and inputs inclination information indicating an inclination direction of the laser light to the controller 21. Note that a configuration in which the inclination information is manually input is merely an example. For example, the controller 21 may also acquire the inclination information by receiving the inclination information transmitted from the transmitter of the laser transmitter 50 with the input device 18.

The determination unit 215 determines whether the construction machine 1 is in the initial state based on the inclination direction of the laser beam, the orientation of the front surface of the lower traveling structure 2, and the orientation of the front surface of the upper slewing body 3. The judgment result may be displayed on a display or notified by voice from a speaker. The operator can easily set the construction machine 1 in the initial state by moving the lower traveling structure 2 and the upper slewing structure 3 based on the determination result.

(operation of construction machine)

Fig. 6 is a flowchart of job control. The operation of the construction machine 1 will be described with reference to fig. 6. In the present flowchart, a case where the job is started in the start state will be described.

First, the determination unit 215 of the controller 21 determines whether or not the construction machine 1 is in the initial state (step S1). The operator moves the construction machine 1 based on the display of the display and/or the voice from the speaker to set the construction machine 1 in the initial state. In step S1, when determining that the construction machine 1 is not in the initial state (no in S1), the determination unit 215 repeatedly executes the process of step S1. On the other hand, when the construction machine 1 is determined to be in the initial state in step S1 (yes in S1), the determination unit 215 determines whether the construction machine 1 is in the start state (step S2). The operator moves the working machine 1 to set the working machine 1 in the start state. If the construction machine 1 is in the start state, the operator inputs information indicating that the start state is reached to the touch panel or the like. Thus, the determination unit 215 can determine whether or not the start state is present.

In step S2, when determining that the operating machine 1 is not in the start state (S2: no), the determination unit 215 repeatedly executes the process of step S2. On the other hand, when it is determined in step S2 that the construction machine 1 is in the start state (yes in S2), the notification control unit 212 guides the position of the tip of the blade 5 (step S3). That is, the calculation unit 211 calculates the height position of the tip of the blade 5 with respect to the construction surface using the light receiving position at which the laser beam receiver 10 receives the laser beam, the posture of the upper revolving structure 3 with respect to the lower traveling structure 2, the posture of the working device 4, and the posture of the blade 5. Then, the notification control unit 212 notifies the operator located in the cab 6 of the information relating to the calculated height position of the tip of the blade 5 by the notification device 14.

Next, the notification control unit 212 causes the notification device 14 to issue a notification to prohibit the rotation of the upper rotation body 3 (step S4). Then, the warning control unit 214 determines whether or not the upper slewing body 3 has slewing (step S5). In step S5, when determining that the upper slewing body 3 is not slewing (S5: no), the warning control unit 214 returns the process to step S3. On the other hand, when it is determined in step S5 that the upper slewing body 3 has slewing (S5: yes), the warning control unit 214 causes the warning device 16 to issue a warning (step S6).

Then, the warning control portion 214 determines whether or not the warning has been stopped (step S7). The operator can cancel the warning by operating the touch panel or the like. In step S7, if it is determined that the warning has not been stopped (S7: no), warning controller 214 repeatedly executes the process of step S7. On the other hand, in step S7, if it is determined that the warning has stopped (S7: yes), warning control unit 214 returns the process to step S1. In this case, the operator can resume the work of setting the construction machine 1 in the initial state.

(Effect)

As described above, according to the construction machine 1 of the present embodiment, the laser receiver 10 is provided in the upper slewing body 3. In this way, the laser receiver 10 can be installed at a position higher than the lower traveling body 2 or the blade 5 in the construction machine 1. Therefore, the possibility that the laser beam is shielded by sand or a shielding object in the construction machine 1 is reduced. The construction machine 1 calculates the height position of the tip of the blade 5 with respect to the construction surface based on the light receiving position at which the laser receiver 10 receives the laser light, the posture of the upper revolving structure 3 with respect to the lower traveling structure 2, the posture of the working device 4, and the posture of the blade 5. Thus, the operator can excavate the ground up to the height of the construction surface by changing the posture of the blade 5 because he or she knows the height position of the tip of the blade 5 with respect to the construction surface. Therefore, the construction machine 1 can perform the work of excavating the ground appropriately while receiving the laser light emitted from the laser transmitter 50 with the laser receiver 10.

Further, the height position of the tip of the blade 5 with respect to the construction surface is also notified. Thus, the operator can excavate the ground up to the height of the construction surface by changing the posture of the blade 5 in accordance with the notification.

The attitude changing device 15 is also controlled based on the height position of the tip of the blade 5 relative to the construction surface so that the blade 5 excavates the ground to the height of the construction surface. Thus, the construction machine 1 can automatically change the posture of the blade 5 to excavate the ground up to the height of the construction surface.

Further, the laser receiver 10 may be mounted on the working device 4. Thus, when the laser receiver 10 that receives the laser light cannot receive the laser light, the working machine 1 can receive the laser light again with the laser receiver 10 easily by moving the working device 4.

The laser receiver 10 may be attached to the arm 32 so as to extend in the longitudinal direction of the arm 32. In general, the work machine 1 can set the arm 32 in a posture extending in the vertical direction. Therefore, if the boom 32 is oriented to extend in the vertical direction, the construction machine 1 can arrange the laser receiver 10 so as to be vertically long. Thus, the construction machine 1 can appropriately receive the laser light by the laser receiver 10 over a wide range in the vertical direction.

Then, after the work is started in an initial state in which the angle of the upper revolving structure 3 with respect to the lower traveling structure 2 is a specific angle and the orientation of the upper revolving structure 3 with respect to the inclination direction of the laser beam is a specific orientation, a notification is made to prohibit the revolving of the upper revolving structure 3. After the start of the work, if the upper slewing body 3 is slewing, the attitude of the upper slewing body 3 with respect to the lower traveling body 2 changes. Therefore, the calculation unit 211 cannot accurately calculate the height position of the tip of the blade 5 with respect to the construction surface. Here, the construction machine 1 notifies that the rotation of the upper slewing body 3 is prohibited after starting the work in the initial state. This can suppress the occurrence of the situation where the operator erroneously turns the upper turning body 3.

Then, after the work is started in a starting state in which the upper slewing body 3 has further slewed by a predetermined angle from the initial state, a notification is made to prohibit the slewing of the upper slewing body 3. After the start of the work, if the upper slewing body 3 is slewing, the attitude of the upper slewing body 3 with respect to the lower traveling body 2 changes. In this case, the calculation unit 211 cannot accurately calculate the height position of the tip of the blade 5 with respect to the construction surface. Here, the construction machine 1 notifies that the rotation of the upper slewing body 3 is prohibited after the work is started in the start state. This can suppress the occurrence of the operator erroneously rotating upper revolving unit 3.

After the start of the work, a warning is issued if the upper slewing body 3 is slewing. After the work is started, if the upper slewing body 3 is slewing, the calculating section 211 cannot accurately calculate the height position of the tip of the blade 5 with respect to the construction surface. As a result, the construction machine 1 cannot perform accurate work. In this case, the working machine 1 issues a warning. This can prevent the worker from erroneously continuing the work.

The initial state is a state in which the upper revolving structure 3 is oriented to the front of the lower traveling structure 2 and the orientation of the upper revolving structure 3 is parallel to the inclination direction of the laser beam. Thus, the worker can easily set the construction machine 1 in the initial state by aligning the orientation of the front surface of the lower propelling body 2 with the orientation of the front surface of the upper slewing body 3 and making the orientation of the upper slewing body 3 parallel to the inclination direction of the laser beam.

Whether or not the laser beam is in the initial state is determined based on the inclination direction of the laser beam, the orientation of the front surface of lower traveling unit 2, and the orientation of the front surface of upper revolving unit 3. Accordingly, the operator can easily set the construction machine 1 in the initial state by moving the lower traveling structure 2 and/or the upper slewing body 3 based on the determination result.

(second embodiment)

Next, the construction machine 1 according to the second embodiment will be described with reference to the drawings. Note that the configuration common to the first embodiment and the effects produced by the configuration are not described, and the differences from the first embodiment will be mainly described. The same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

(construction machine constitution)

In the first embodiment, the first posture detecting device 11 shown in fig. 2 detects whether or not the front surface of the upper revolving structure 3 with respect to the lower traveling structure 2 is directed to the front surface. Therefore, in the construction machine 1 according to the first embodiment, if the upper slewing body 3 is slewing during operation, the height position of the tip of the blade 5 with respect to the construction surface cannot be accurately calculated.

Here, the construction machine 1 according to the second embodiment employs a relative angle detection device as the first posture detection device 11. The relative angle detecting device detects the relative angle of the upper revolving structure 3 with respect to the lower traveling structure 2. The relative angle detection device is, for example, a resolver (resolver) or an encoder (encoder).

If the relative angle of the upper slewing body 3 with respect to the lower traveling body 2 is used, the calculating section 211 can accurately calculate the height position of the tip of the blade 5 with respect to the work surface even if the upper slewing body 3 is slewing after the start of work. Thus, the operator can freely swing the upper swing body 3 even after the start of the work. As a result, the second embodiment can improve the degree of freedom of operation. In addition, the construction machine 1 according to the second embodiment can rotate the upper rotating body 3 so that the laser receiver 10 can receive the laser beam, and thus the work efficiency can be further improved.

In the case where the first position detecting device 11 is configured by using a relative angle detecting device, the other front direction can be known from either the front direction of the lower traveling structure 2 or the front direction of the upper revolving structure 3. Accordingly, the orientation sensor 17 of the present embodiment may be a sensor that detects any one of the front orientation of the lower traveling structure 2 and the front orientation of the upper revolving structure 3.

The present embodiment starts the work after the construction machine 1 is set to the initial state. Since the calculation unit 211 can continue the calculation of the height position of the tip of the blade 5 with respect to the construction surface even if the upper slewing body 3 is slewing after the start of the work, the position of the tip of the blade 5 can be guided well.

(Effect)

As described above, according to the construction machine 1 of the second embodiment, when the upper slewing body 3 is slewing after the work is started in the initial state, the height position of the tip end of the blade 5 with respect to the construction surface can be calculated based on the relative angle detected by the relative angle detecting means. If the relative angle of the upper slewing body 3 with respect to the lower traveling body 2 is used, the calculating section 211 can accurately calculate the height position of the tip of the blade 5 with respect to the work surface even if the upper slewing body 3 is slewing after the start of work. Accordingly, since the upper slewing body 3 can be freely slewed even after the start of the work, the degree of freedom of the operation can be improved and the work efficiency can be improved by slewing the upper slewing body 3 so that the laser receiver 10 receives the laser beam.

The embodiments of the present invention have been described above, but specific examples are given by way of illustration only, and the present invention is not limited thereto. The operations and effects described in the embodiments of the present invention are merely preferable operations and effects that can be produced by the present invention, and the operations and effects of the present invention are not limited to the operations and effects described in the embodiments of the present invention.

Summary of the invention

One aspect of the present invention relates to a construction machine including: a lower traveling body; an upper revolving body rotatably disposed on an upper portion of the lower traveling body; a dozer plate which is attached to the lower traveling body so as to be rotatable in the vertical direction; a first attitude detecting device that detects an attitude of the upper slewing body with respect to the lower traveling body; a second attitude detection device that detects an attitude of the blade; a laser receiver that is provided in the upper slewing body and that can receive laser light emitted from a laser emitter; and a calculation unit that calculates a height position of a tip of the blade with respect to a construction surface, wherein an inclination direction of the laser beam is parallel to an inclination direction of the construction surface, and the calculation unit calculates the height position of the tip of the blade with respect to the construction surface based on a light receiving position at which the laser beam is received by the laser beam receiver, a posture of the upper revolving structure with respect to the lower traveling structure, and a posture of the blade.

According to this configuration, the laser receiver is provided in the upper revolving structure. In this way, the laser receiver is provided at a position higher than the lower traveling body or the blade in the construction machine. Therefore, the construction machine calculates the height position of the tip of the blade relative to the construction surface based on the light receiving position at which the laser receiver receives the laser light, the posture of the upper revolving structure relative to the lower traveling structure, and the posture of the blade. Thus, the operator can know the height position of the tip of the blade relative to the construction surface, and can change the attitude of the blade so that the blade excavates the ground up to the height of the construction surface. Therefore, the work of excavating the ground can be performed well while the laser emitted from the laser transmitter is received well by the laser receiver.

The above constitution may further include: a first notification device that can notify an operator of information; and a first notification control unit configured to cause the first notification device to notify the height position of the tip of the blade with respect to the construction surface calculated by the calculation unit.

According to this configuration, the height position of the tip of the blade relative to the construction surface is reported. Thus, the operator can change the posture of the blade in accordance with the notification to cause the blade to dig the ground up to the height of the construction surface.

The above constitution may further include: an attitude changing device for changing the attitude of the blade; and an attitude control unit configured to control the attitude changing device to cause the blade to excavate the ground until the blade is excavated to the height of the construction surface, based on the height position of the tip of the blade with respect to the construction surface calculated by the calculation unit.

According to this configuration, the attitude changing device is controlled to cause the blade to dig the ground up to the height of the construction surface based on the height position of the tip of the blade relative to the construction surface. Thus, the construction machine can automatically change the attitude of the blade so that the blade excavates the ground up to the height of the construction surface.

In the above-described configuration, the upper slewing body may further include a working machine that is pivotable in the up-down direction, and the construction machine may further include a third posture detection device that detects a posture of the working machine, wherein the laser receiver is attached to the working machine, and the calculation unit may calculate a height position of the tip of the blade relative to the work surface based on a light receiving position at which the laser receiver receives the laser light, a posture of the upper slewing body relative to the lower traveling body, a posture of the working machine, and a posture of the blade.

According to this configuration, the laser receiver is attached to the working device. For this reason, when the laser receiver that receives the laser light becomes not to receive the laser light, the construction machine can conveniently receive the laser light again with the laser receiver by moving the working device.

In the above configuration, the work device may further include: a boom attached to the upper slewing body so as to be pivotable in the up-down direction; and an arm attached to the boom so as to be rotatable in the vertical direction, wherein the laser receiver is attached to the arm so as to extend in a longitudinal direction of the arm.

According to this configuration, the laser receiver is attached to the arm so as to extend in the longitudinal direction of the arm. In general, a construction machine can have an arm in a posture extending in the vertical direction. Therefore, if the boom is set to a posture extending in the vertical direction, the construction machine can arrange the laser receiver so as to be vertically long. Thus, the construction machine can receive the laser light with the laser receiver over a wide range in the vertical direction.

In the above configuration, the method may further include: second notifying means capable of notifying information to the operator; and a second notification control unit configured to cause the second notification device to notify that the rotation of the upper rotation body is prohibited, after the operation is started in an initial state in which an angle of the upper rotation body with respect to the lower traveling body is a specific angle and an orientation of the upper rotation body with respect to an inclination direction of the laser beam is a specific orientation.

According to this configuration, the notification to prohibit the rotation of the upper revolving structure is performed after the operation is started in the initial state in which the angle of the upper revolving structure with respect to the lower traveling structure is a specific angle and the orientation of the upper revolving structure with respect to the direction of inclination of the laser beam is a specific orientation. After the work is started, if the upper slewing body is slewing, the attitude of the upper slewing body with respect to the lower traveling body changes. Therefore, the calculation unit cannot accurately calculate the height position of the tip of the blade with respect to the construction surface. Here, the construction machine notifies that the rotation of the upper slewing body is prohibited after starting the work in the initial state. Thus, the construction machine can suppress the occurrence of the situation in which the operator erroneously rotates the upper slewing body.

In the above configuration, the second notification control unit may cause the second notification device to notify that the rotation of the upper rotation body is prohibited after the operation is started in a start state in which the upper rotation body is further rotated by a predetermined angle from the initial state.

According to this configuration, after the operation is started in the starting state in which the upper revolving structure is further revolved by the predetermined angle from the initial state, the notification is made to prohibit the revolution of the upper revolving structure. After the work is started, if the upper slewing body is slewing, the attitude of the upper slewing body with respect to the lower traveling body changes. In this case, the calculation unit cannot accurately calculate the height position of the tip of the blade with respect to the construction surface. Here, the construction machine notifies that the rotation of the upper slewing body is prohibited after the work is started in the start state. This can suppress the occurrence of an erroneous turning of the upper revolving structure by the operator.

In the above configuration, the method may further include: a warning device that can issue a warning; and a warning control unit that causes the warning device to issue a warning when the upper slewing body is slewing after the start of work.

According to this configuration, when the upper slewing body is slewing after the start of work, a warning is issued. After the work is started, if the upper slewing body is slewing, the calculating section cannot accurately calculate the height position of the tip of the blade with respect to the work surface. This makes it impossible for the working device to perform an accurate work. In this case, the working device issues a warning. This can prevent the worker from erroneously continuing the work.

In the above-described configuration, the first attitude detecting device may be a relative angle detecting device that detects a relative angle of the upper revolving structure with respect to the lower traveling structure, and the calculating unit may calculate a height position of the tip of the blade with respect to the working surface based on the relative angle detected by the relative angle detecting device when the upper revolving structure revolves after a work is started in an initial state in which an angle of the upper revolving structure with respect to the lower traveling structure is a specific angle and an orientation of the upper revolving structure with respect to an inclination direction of the laser beam is a specific orientation.

According to this configuration, when the upper slewing body is slewing after the work is started in the initial state, the height position of the tip end of the blade with respect to the construction surface is calculated based on the relative angle detected by the relative angle detecting device. Accordingly, since the upper revolving structure can be freely revolved even after the start of the work, the degree of freedom of the work can be improved and the work efficiency can be improved by revolving the upper revolving structure so that the laser receiver receives the laser beam.

In the above configuration, the initial state may be a state in which the upper revolving structure is oriented to the front of the lower traveling structure and the orientation of the upper revolving structure is parallel to the inclination direction of the laser beam.

According to this configuration, the initial state is a state in which the upper revolving structure is oriented forward with respect to the front surface of the lower traveling structure and the orientation of the upper revolving structure is parallel to the inclination direction of the laser beam. Thus, the worker can easily set the construction machine in the initial state by aligning the orientation of the front surface of the lower traveling structure with the orientation of the front surface of the upper revolving structure and making the orientation of the upper revolving structure parallel to the inclination direction of the laser beam.

In the above configuration, the method may further include: and a determination unit that determines whether or not the vehicle is in the initial state based on a direction of inclination of the laser beam, the orientation of the front surface of the lower traveling body, and the orientation of the front surface of the upper revolving body.

According to this configuration, whether or not the laser beam is in the initial state is determined based on the inclination direction of the laser beam, the orientation of the front surface of the lower traveling structure, and the orientation of the front surface of the upper revolving structure. Accordingly, the operator can easily set the construction machine in the initial state by moving the lower traveling structure and/or the upper slewing structure based on the determination result.