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US 12,668,945 B2Granted
Automatic leveling system
AssigneeKobelco Construction Machinery Co., Ltd.
InventorsNobuhiro Fukuo, Daisuke Noda
Life of this patent
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Abstract
Provided is an automatic leveling system restraining leveling-objects from collapsing. The automatic leveling system includes a work machine that performs leveling motion, an imaging device, and a controller. The imaging device acquires three-dimensional information about the shape and position of at least one of the leveling-objects and a peripheral object. The work machine is provided with a work attachment including a tip attachment. The controller sets a leveling area based on the acquired three-dimensional information and makes the work machine perform the leveling motion by the tip attachment within the leveling area.
Claims12
An automatic leveling system for automatically leveling leveling-objects, comprising:
- a work machine capable of performing a leveling motion of leveling leveling-objects;
- an imaging device that acquires three-dimensional information about a position and a shape of at least one of the leveling-objects and a peripheral object around the leveling-objects;
- and
- a controller that makes the work machine perform the leveling motion, wherein:
- the work machine includes a lower traveling body, an upper turning body turnably supported by the lower traveling body, and a work attachment attached to the upper turning body capably of rising and falling, the work attachment including an attachment body having a distal end and being operable to move the distal end at least in an upper-turning-body front-rear direction and a tip attachment held by the distal end of the attachment body and being capable of leveling the leveling-objects by movement of the tip attachment in contact with the leveling-objects, the upper-turning-body front-rear direction being a front-rear direction of the upper turning body;
- the controller is configured to set a leveling area based on the three-dimensional information detected by the imaging device and configured to make the work machine perform the leveling motion by the tip attachment within the leveling area;
- the peripheral object is a container that stores the leveling-objects, and the controller is configured to set the leveling area based on the three-dimensional information of the container;
- the controller is configured to set the leveling area with respect to the upper-turning-body front-rear direction and configured to set a position of an end of the leveling area in the upper-turning-body front-rear direction to a position deviated in the upper-turning-body front-rear direction from an end of the container with respect to the upper-turning-body front-rear direction;
- and
- the controller is configured to set a leveling motion start position to a position on an outer side of the end of the container with respect to the upper-turning-body front-rear direction, in the upper-turning-body front-rear direction, and the leveling motion start position is a position of an end of the leveling area with respect to the upper-turning-body front-rear direction, being a position at which the leveling motion is started.
7 more elements
An automatic leveling system for automatically leveling leveling-objects, comprising:
- a work machine capable of performing a leveling motion of leveling leveling-objects;
- an imaging device that acquires three-dimensional information about a position and a shape of at least one of the leveling-objects and a peripheral object around the leveling-objects;
- a height detection unit that detects a height of the leveling-objects;
- and
- a controller that makes the work machine perform the leveling motion, wherein:
- the work machine includes a lower traveling body, an upper turning body turnably supported by the lower traveling body, and a work attachment attached to the upper turning body capably of rising and falling, the work attachment including an attachment body having a distal end and being operable to move the distal end at least in an upper-turning-body front-rear direction and a tip attachment held by the distal end of the attachment body and being capable of leveling the leveling-objects by movement of the tip attachment in contact with the leveling-objects, the upper-turning-body front-rear direction being a front-rear direction of the upper turning body,
- the controller is configured to set a leveling area based on the three-dimensional information detected by the imaging device and configured to make the work machine perform the leveling motion by the tip attachment within the leveling area,
- the peripheral object is a container that stores the leveling-objects, and the controller is configured to set the leveling area based on the three-dimensional information of the container, and
- the controller is configured to set the leveling area with respect to a height direction from a position of an apex of the leveling-objects to a position lower than the apex by a predetermined height dimension, as a leveling height.
6 more elements
Dependencies are inferred from the claim text.