KOBELCO CONSTRUCTION MACHINERY CO., LTD.

There is provided a device, etc. that generates construction assistance data that can be used for generating an image that allows a user to easily understand a position and posture of an underground buried object, and for controlling operation of a construction machine to avoid contact with the buried object. In at least part of a plurality of underground search areas S i1 , S i2 , . . . , S im , S im+1 , underground search points P 1 , . . . . P i−1 , P i , P i+1 , . . . . P n−1 , P n of the underground buried objects each have a depth position from the ground surface, measured by an underground search machine 60 , and the depth positions are consolidated into a representative depth position. Then, construction assistance image data is generated that represents a three-dimensional image including closed surfaces m 1 , m 2 as objects each representing the representative depth position arranged at each of the plurality of underground search areas S i1 , S i2 , . . . , S im , S im+1 .

An estimative load determination part included in a work machine determines, based on a load acquired by a load acquisition section, an estimative load of an object of a work held by an attachment when an estimative load determinative criterion is satisfied. The estimative load determinative criterion includes at least one of a criterion that a predetermined first reduction manipulation is detected in a holding task and a criterion that the first reduction manipulation is detected after the holding task, the first reduction manipulation being for reducing an amount of the object held by the attachment.

A controller ( 30 ) of an excavation system controls a bucket ( 15 c ) to excavate an excavation object (O) along an excavation row (C). In a case where the bucket ( 15 c ) is located forward (X 1 ) of a border ( 53 ) at completion of one excavation performed by the bucket ( 15 c ), the controller ( 30 ) causes the bucket ( 15 c ) to perform next excavation without changing the excavation row (C). In a case where the bucket ( 15 c ) is located on the border ( 53 ) or rearward (X 2 ) of the border ( 53 ) at the completion of one excavation performed by the bucket ( 15 c ), the controller ( 30 ) changes the excavation rows (C) and causes the bucket ( 15 c ) to perform the next excavation.

An excavation position determination system achieves appropriate determination of an excavation start position in accordance with a shape or contour of an excavation target. The excavation position determination system includes: a photographing device that photographs an excavation target having a mountain shape and a bucket included in a working machine; a start position determinator that determines an excavation start position of the bucket to the excavation target. The start position determinator determines, on the basis of detected data from the photographing device, a position of the bucket where the bucket is not wholly hidden by the excavation target but a part of the excavation target and a part of the bucket overlap each other when the bucket is seen from a machine body of the working machine as the excavation start position.

A property calculation section of the controller calculates a horizontal distance between a boom proximal end portion and an arm distal end portion based on a detection signal input from an attitude detector, calculates a weight of the distal end attachment based on the horizontal distance and a detection signal input from a holding pressure detector in a state where a distal end attachment is disposed at a pressure release position, and calculates a gravity center position of the distal end attachment based on the weight of the distal end attachment, a detection signal input from the holding pressure detector, and a detection signal input from the attitude detector in a state where the distal end attachment is disposed at a displacement position that is a position different from the pressure release position.

A bucket information acquisition device for acquiring information regarding the shape of a bucket that rotates about a rotational center axis along a predetermined moving plane in a construction machine includes: a distance distribution acquisition unit that acquires the three-dimensional distance distribution of the bucket with respect to a reference point; a reference cross section extraction unit that extracts, from the distance distribution acquired by the distance distribution acquisition unit, a reference cross section which is a cross section of the bucket obtained by cutting the bucket along a plane parallel to the moving plane; an approximate line identification unit that identifies, based on the reference cross section, an approximate line approximating the reference cross section composed of a straight line and a curve; and a bucket shape calculation unit that calculates bucket shape information regarding the shape of the bucket based on the approximate line.

A work machine includes: a load acquisition section which acquires a load of an object held by an attachment; and an estimative load determination part which determines, based on the load acquired by the load acquisition section, an estimative load of the object estimated to be discharged at a position above a destination in a discharge task when a predetermined estimative load determinative criterion is satisfied. The estimative load determinative criterion includes at least one of a criterion that a boom rising speed at which a boom rises in a rising direction reduces in a holding task, and a criterion that the boom rising speed reduces in a carrying task.

An excavation data processing method includes: a first acquisition step of acquiring position data of a reference part of an excavating body, position data of a plurality of measuring parts with respect to the reference part in the excavating body, and data indicative of an excavation depth; a second acquisition step of acquiring inclination angle data of the plurality of measuring parts of the excavating body; a first deriving step of deriving a plurality of measurement positions as positions of the plurality of measuring parts from the reference part position data, the plurality of measuring part positions data and inclination angles data; a second deriving step of deriving an excavation bottom position by interpolation processing based on the plurality of measurement positions and the excavation depth; and an output step of outputting information of the excavation bottom position.

A work machine includes: a reference posture setting part which sets a reference posture which is one of postures of a working device in a holding task; an estimative load determination part which determines, based on a load acquired by a load acquisition section, an estimative load of an object of a work estimated to be discharged at a position above a loading destination in a discharge task when a predetermined estimative load determinative criterion is satisfied; an output part which outputs an estimative result which is information about the estimative load determined by the estimative load determination part. The estimative load determinative criterion includes a criterion that a posture change amount representing a changed degree of the posture of the working device from the reference posture is equal to or larger than a predetermined change amount threshold for determination of the estimative load.

Provided are a soil quality information acquisition system that enables acquisition of soil quality information at an appropriate time on a worksite, and a working machine including the system. The soil quality information acquisition system includes a body position detection part, an acquisition time determination part, a soil quality information acquisition part, and a storage part. The body position detection part acquires position information about a hydraulic excavator on the worksite. The acquisition time determination part determines an acquisition time on the basis of soil quality relevant information being information related a change in a quality on the worksite. The soil quality information acquisition part receives an acquisition signal output from the acquisition time determination part, and acquires the soil quality information in response to the acquisition signal. The storage part stores the position information and the soil quality information in association with each other.