CN-117043419-B - Abnormality determination system for work machine and abnormality determination method for work machine

Abstract

The abnormality determination system for a working machine is provided with a stereo camera (22) mounted on a wheel loader having a working machine (10), a position data calculation unit (83) for estimating the position of the working machine (10) in a captured image of the stereo camera (22) based on the posture of the working machine (10) when the stereo camera (22) is capturing images, and a determination unit (91) for determining whether the stereo camera (22) is normal based on the estimated position of the working machine (10).

Inventors

• Guan Yangping
• Cao Xiangxiao II
• Danda yuu

Assignees

• 株式会社小松制作所

Dates

Publication Date

20260508

Application Date

20220314

Priority Date

20210319

Claims (15)

1. 1. An abnormality determination system for a working machine, comprising: A photographing device mounted on a work machine having a work implement; a position calculation unit that estimates a position of the working machine in a captured image of the imaging device based on a posture of the working machine when the imaging device performs imaging, and A determination unit that determines whether or not the imaging device is normal based on the estimated position of the work implement, The position calculating unit estimates a position of the working machine in the photographed image based on the posture of the working machine and the size data of the working machine when the photographing device photographs, and the determining unit determines that the photographing device is normal when the estimated position of the working machine matches an actual position of the working machine in the photographed image or when an error is within a predetermined range.
2. 2. The abnormality determination system for a working machine according to claim 1, wherein, The size data is position data of a plurality of positions on the outer periphery of the work machine.
3. 3. The abnormality determination system for a working machine according to claim 2, wherein, The size data is position data of five positions on the outer periphery of the work machine.
4. 4. The abnormality determination system for a working machine according to any one of claims 1 to 3, wherein, The determination unit determines when the work implement is within a predetermined area and within a predetermined angle.
5. 5. The abnormality determination system for a working machine according to claim 1, wherein, The determination unit compares the estimated position of the work implement in the captured image, which is defined by the posture of the work implement when the imaging device is imaging, with the actual position of the work implement in the captured image to determine whether the imaging device is normal.
6. 6. The abnormality determination system for a working machine according to any one of claims 1 to 3, wherein, The judging unit judges whether or not the mounting position of the photographing device is normal.
7. 7. The abnormality determination system for a working machine according to any one of claims 1 to 3, comprising: an angle detection unit mounted on the work machine for detecting the posture of the work machine, and And a position data calculation unit that calculates position data indicating the posture of the work implement based on the detection result of the angle detection unit.
8. 8. The abnormality determination system for a working machine according to claim 7, wherein, The judging unit judges whether or not the imaging device and the angle detecting unit are normal.
9. 9. The abnormality determination system for a working machine according to claim 8, wherein, The determination unit determines whether or not the positional relationship of the work implement obtained based on the imaging device and the angle detection unit is normal.
10. 10. The abnormality determination system for a working machine according to any one of claims 1 to 3, comprising: A storage unit for storing work machine data including size data and shape data of the work machine, The determination unit determines the estimated position of the work implement in the captured image, which is defined based on the posture of the work implement at the time of capturing the image by the imaging device and the work implement data stored in the storage unit.
11. 11. The abnormality determination system for a working machine according to any one of claims 1 to 3, comprising: and an output unit that outputs a determination result of the determination unit.
12. 12. The abnormality determination system for a working machine according to claim 11, wherein, The output part is a buzzer.
13. 13. The abnormality determination system for a working machine according to claim 11, wherein, The output part is a lamp.
14. 14. An abnormality determination method for a work machine, comprising: Estimating a position of a work implement in a captured image of a work machine mounted on the work machine, based on a posture of the work machine when the work machine is captured by a capturing device of the work machine; based on the calculated position of the working machine, whether the photographing device is normal is judged, And estimating a position of the working machine in the photographed image based on the posture of the working machine and the size data of the working machine when the photographing device performs photographing, and determining that the photographing device is normal when the estimated position of the working machine coincides with an actual position of the working machine in the photographed image or when an error is within a predetermined range.
15. 15. The abnormality determination method for a working machine according to claim 14, characterized in that, And comparing the estimated position of the working machine in the photographed image, which is defined by the posture of the working machine when photographing by the photographing device, with the actual position of the working machine in the photographed image to determine whether the photographing device is normal.

Description

Abnormality determination system for work machine and abnormality determination method for work machine Technical Field The present disclosure relates to an abnormality determination system for a work machine and an abnormality determination method for a work machine. Background Patent document 1 discloses an example of a working machine that can satisfactorily measure a relative position to a work object in order to implement work automation of the working machine. In patent document 1, the relative position between the wheel loader and the work object is measured based on measurement data of a three-dimensional measurement device. Patent document 1 Japanese patent application laid-open No. 2019-132068 Disclosure of Invention In work automation, it is necessary to measure the position of a work machine in a work machine with high accuracy. Therefore, at the start of the work machine, it is necessary to appropriately determine whether or not the three-dimensional measuring device for measuring the position of the work machine is normal. An object of an aspect of the present disclosure is to appropriately determine whether or not a three-dimensional measuring device for measuring a position of a work implement of a work machine is normal. According to an aspect of the present disclosure, there is provided an abnormality determination system for a working machine, the abnormality determination system including an imaging device mounted on the working machine having a working machine, a position calculation unit configured to estimate a position of the working machine in a captured image of the imaging device based on a posture of the working machine when the imaging device is capturing images, and a determination unit configured to determine whether the imaging device is normal based on the estimated position of the working machine. According to an aspect of the present disclosure, there is provided a method for determining abnormality of a working machine, including estimating a position of the working machine in a captured image of a working machine based on a posture of the working machine when the working machine is captured by a capturing device mounted on the working machine having the working machine, and determining whether the capturing device is normal based on the estimated position of the working machine. According to the aspect of the present disclosure, it is possible to appropriately determine whether or not a three-dimensional measuring device for measuring the position of a work implement of a work machine is normal. Drawings Fig. 1 is a side view showing an example of a work machine according to the present embodiment. Fig. 2 is a schematic diagram showing an operation of the work machine according to the present embodiment. Fig. 3 is a schematic view showing a loading operation mode of the working machine according to the present embodiment. Fig. 4 is a functional block diagram showing a control system of the work machine according to the present embodiment. Fig. 5 is a diagram for explaining one example of size data of a work implement of the work machine according to the present embodiment. Fig. 6 is a diagram showing one example of image data acquired by a stereo camera. Fig. 7 is a view for explaining a predetermined region and a predetermined angle range of a work implement of the work machine. Fig. 8 is a flowchart showing a method of determining abnormality of the work machine according to the present embodiment. FIG. 9 is a block diagram representing one example of a computer system. Detailed Description Embodiments according to the present disclosure will be described below with reference to the drawings, but the present disclosure is not limited thereto. The constituent elements of the embodiments described below can be appropriately combined. In addition, some of the constituent elements may not be used. The abnormality determination system of the work machine is a system that appropriately determines whether or not an imaging device for measuring the position of the work machine 10 is normal when the work machine starts work. The abnormality determination system of the work machine is installed by combining the parts of the work machine. Description of the embodiments Wheel loader Fig. 1 is a side view showing an example of a wheel loader 1 according to the present embodiment. The work machine 1 performs a predetermined work on a work object in a work site. In the present embodiment, a wheel loader 1, which is one type of articulated work machine, will be described as an example of the work machine 1. The predetermined work includes an excavating work and a loading work. The work object includes an excavation object and a loading object on which an excavated excavation object is loaded. The wheel loader 1 performs an excavating operation for excavating an excavation target and a loading operation for loading an excavation target excavated by the excavating operation onto a loadi