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公开(公告)号：US20220170243A1
公开(公告)日：2022-06-02
申请号：US17436431
申请日：2020-09-18
摘要： A working machine 1 includes a design data obtainment unit 29, a topography measuring device 30, and a controller 21. The controller 21 extracts peripheral area shape data from the design data in the construction-site coordinate system, maps similar shape portions between the extracted peripheral area shape data and the current topography data in the current topography coordinate system, calculates a coordinate transformation matrix to transform from the current topography coordinate system to the construction-site coordinate system so that a difference in coordinate values of the mapped shape portions is minimized, and transforms the self-position and posture of the working machine 1 and the current topography data from coordinates in the current topography coordinate system to coordinates in the construction-site coordinate system using the calculated coordinate transformation matrix.
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公开(公告)号：US20210156121A1
公开(公告)日：2021-05-27
申请号：US16644229
申请日：2018-09-25
发明人： Naoki HAYAKAWA , Kohei HIROMATSU , Daito SAKAI , Shiho IZUMI
IPC分类号： E02F9/26 , G01B11/24 , G01B11/00 , G05B19/19 , G06T7/64 , G06T7/70 , H04N5/247 , G06T11/00 , E02F3/32 , B60R1/00
摘要： A measurement controller (20): computes the position of a plane (S1) representing a side surface of a work implement (1A) in an image-capturing-device coordinate system (Co1) on the basis of an image of the side surface of the work implement captured by an image-capturing device (19) and an internal parameter of the image-capturing device; computes the coordinate values of a point on the work implement in the image-capturing-device coordinate system (Co1), the point corresponding to any pixel constituting the work implement on the captured image, on the basis of positional information on the pixel on the captured image and the position of the plane (S1); and converts the coordinate values of the point on the work implement in the image-capturing-device coordinate system, the point corresponding to the pixel, to coordinate values in a work-implement coordinate system (Co3) to output the coordinate values in the work-implement coordinate system (Co3) to a work-machine controller (50) of a hydraulic excavator (1).
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公开(公告)号：US20230313504A1
公开(公告)日：2023-10-05
申请号：US18022803
申请日：2021-12-17
发明人： Naoki HAYAKAWA , Shiho IZUMI
摘要： The invention of the present application intends to provide a completed-work information processing system that can generate terrain profile data that is easy to associate with the contents of work and a work area, on the basis of working history data that can be acquired in work execution by a work machine. For this purpose, a computation device computes movement loci of a work device when the work device is executing work of the ground and acquires working information from a working information acquiring device when determining that the work device is executing the work of the ground, records data in which the working information is associated with the movement loci of the work device, as the working history data, and outputs the terrain profile data to which the working information is added, with use of a movement locus assumed to be the current terrain profile among the movement loci of the work device included in the working history data and the working information associated with the movement locus assumed to be the current terrain profile.
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公开(公告)号：US20220333338A1
公开(公告)日：2022-10-20
申请号：US17639921
申请日：2021-03-05
发明人： Naoki HAYAKAWA , Shiho IZUMI
摘要： A controller determines whether or not a work device is in a ground contact state, by using detection data of a pressure sensor and at least one balance relation between forces or moments acting on the work device, and generate partial shape data of a work object formed by the work device, on the basis of a movement locus of a monitoring point set to the work device and an external shape of the work device in a ground contact period in which the work device is determined to be in the ground contact state, and update the present-condition shape data of the work object on the basis of the partial shape data.
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公开(公告)号：US20230313503A1
公开(公告)日：2023-10-05
申请号：US18022776
申请日：2022-03-08
发明人： Naoki HAYAKAWA , Shiho IZUMI
IPC分类号： E02F9/26
摘要： A work machine management system includes a terrain profile data generating system configured to generate terrain profile data representing a finished shape produced by a work device of a work machine, on the basis of a sensing result of a posture sensor that senses a posture of the work machine. The terrain profile data generating system computes a trajectory of the work device on the basis of the posture of the work machine, computes information about a plane constituting the trajectory of the work device on the basis of the trajectory, generates construction history data by recording positional information of the trajectory of the work device and the information about the plane constituting the trajectory for each of a plurality of grids obtained by dividing a predetermined area in a lattice manner, and generates the terrain profile data on the basis of the positional information of the trajectory of the work device and the information about the plane constituting the trajectory, the positional information and the plane information being included in the construction history data.
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公开(公告)号：US20220026587A1
公开(公告)日：2022-01-27
申请号：US17274923
申请日：2019-06-06
发明人： Naoki HAYAKAWA , Shiho IZUMI
摘要： A coordinate conversion system including a controller that converts geographic-coordinate-system coordinates of a certain point into site-coordinate-system coordinates includes: an image-capturing device that captures an image of a reference point; and a GNSS antenna that receives a navigation signal. The controller calculates geographic-coordinate-system coordinates of the image-capturing device on the basis of the navigation signal received at the GNSS antenna, and a distance between the image-capturing device and the GNSS antenna; calculates a distance and direction from the image-capturing device to the reference point by performing image processing on the image of the reference point captured by the image-capturing device; calculates the geographic-coordinate-system coordinates of the reference point on the basis of the calculated distance and direction from the image-capturing device to the reference point, and the calculated geographic-coordinate-system coordinates of the image-capturing device; and calibrates the coordinate conversion parameter on the basis of the calculated geographic-coordinate-system coordinates of the reference point, and the site-coordinate-system coordinates of the reference point.
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