JP6745839B2 - Excavator control system for hydraulic excavator - Google Patents

Description

The present invention relates to an excavation control system for a hydraulic excavator in a construction machine including a work machine.

BACKGROUND ART Conventionally, in a construction machine including a front device including a bucket, excavation area limit control for moving the bucket along a boundary surface indicating a target shape of an excavation target has been proposed (for example, see Patent Document 1).

There is also known a method of calculating design surface data in a hydraulic excavator computer based on size and gradient data transmitted from the office computer (see Patent Document 2).

International publication WO95/30059 JP, 2006-265954, A

However, in Patent Document 2, the construction machine-side computer calculates the design surface data regardless of whether or not the bucket of the hydraulic excavator is located in the excavable range, so that the processing load on the construction machine-side computer is large, and In some cases, it may be necessary to discard the calculated design surface data without using it.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an excavation control system for a hydraulic excavator that can easily obtain desired design surface data.

An excavation control system for a hydraulic excavator according to a first aspect includes a boom swingably attached to a vehicle body, an arm swingably attached to a tip end portion of the boom, and a tip end portion of the arm. A work machine having a bucket that is swingably mounted, a design terrain data storage unit that stores design terrain data that indicates a target shape of an excavation target, and a bucket position that generates bucket position data that indicates the current position of the bucket. Based on the data generation unit, the design topography data, and the bucket position data, main design surface data indicating a main design surface corresponding to a specified position on the bucket, and a plurality of subordinates connected to the main design surface. A design surface data generation unit that generates sub-design surface data indicating a design surface and generates shape data indicating the shapes of the main design surface and the plurality of sub-design surfaces, and the shape data and the bucket position data. Based on the main design surface and the plurality of sub design surfaces, the excavation restriction control unit automatically adjusts the position of the bucket.

According to the excavation control system for a hydraulic excavator according to the first aspect, since the main design surface is set with the position of the bucket as a reference, desired design surface data required for excavation work can be easily acquired. it can. Therefore, it is possible to reduce the processing load required to generate the design surface data and suppress the generation of the design surface data that is not required for the excavation work. Further, when the hydraulic excavator excavates the soil excavated on the main design surface, it is possible to suppress the bucket from being driven in a direction unintended by the operator.

The excavation control system of the hydraulic excavator according to the second aspect is updated at any time, and the design surface data generation unit, in accordance with the update of the bucket position data by the bucket position data generation unit, the main design surface data, The sub-design surface data and the shape data are updated.

According to the excavation control system for a hydraulic excavator according to the second aspect, for example, when the excavation of the first design surface is switched to the excavation of the second design surface, the second design surface is promptly updated to the first design surface. Further, another design surface continuous with the third design surface is newly set. Therefore, it is possible to more reliably prevent the bucket from being driven in an unintended direction.

An excavation control system for a hydraulic excavator according to a third aspect is according to the first or second aspect, wherein the design surface data generation unit sequentially connects the main surface of the main design surface to the vehicle body. A surface is set, and two design surfaces are set so as to be sequentially connected to the side opposite to the vehicle body of the main design surface.

According to the excavation control system for a hydraulic excavator according to the third aspect, since two design surfaces are set on both sides of the first design surface, the soil excavated from the groove is discharged to the front side of the groove or the back side of the groove. When soiling, the bucket can be prevented from being driven in an unintended direction. Specifically, when the first design surface is the bottom surface of the groove, the two design surfaces on both sides of the first design surface are both wall surfaces of the groove, and they are located within the movable range of the working machine, The operator determines whether to remove the soil on the front side of the groove or on the back side of the groove. Therefore, by setting two design surfaces on both sides of the first design surface in advance, it is possible to deal with the case where soil is discharged either on the front side of the groove or on the back side of the groove.

According to the present invention, it is possible to provide an excavation control system for a hydraulic excavator that can easily obtain desired design surface data.

It is a perspective view of a hydraulic excavator. (A) is a side view of the hydraulic excavator 100, and (b) is a rear view of the hydraulic excavator 100. It is a block diagram showing functional composition of an excavation control system of a hydraulic excavator. It is a block diagram which shows the structure of a display controller. It is a schematic diagram which shows a candidate surface. It is a schematic diagram which shows a design side. It is a block diagram which shows the structure of a work machine controller. It is a schematic diagram which shows the positional relationship between a bucket and the design surface S. It is a graph which shows the relationship between speed limit and distance. It is a schematic diagram for demonstrating operation|movement of a bucket.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Below, a hydraulic excavator is demonstrated as an example of a "construction machine."

[Overall structure of hydraulic excavator 100]
FIG. 1 is a perspective view of a hydraulic excavator 100 according to the embodiment. The hydraulic excavator 100 has a vehicle body 1 and a work implement 2. Further, the excavator 100 is equipped with an excavation control system 200. The configuration and operation of the excavation control system 200 will be described later.

The vehicle body 1 includes a revolving structure 3, a driver's cab 4, and a traveling device 5. The revolving unit 3 is arranged on the traveling device 5 and can revolve around a revolving axis along the up-down direction. The revolving structure 3 accommodates an engine, a hydraulic pump, and the like (not shown). A first GNSS antenna 21 and a second GNSS antenna 22 are arranged on the rear end of the revolving unit 3. The first GNSS antenna 21 and the second GNSS antenna 22 are antennas for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system). The cab 4 is mounted on the front part of the revolving structure 3. Various operating devices are arranged in the cab 4. The traveling device 5 has a pair of crawler belts 5a and 5b, and the hydraulic excavator 100 travels by rotation of each of the pair of crawler belts 5a and 5b.

The work machine 2 is mounted on the revolving structure 3. The work machine 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The base end portion of the boom 6 is swingably attached to the front portion of the revolving structure 3 via the boom pin 13. The base end portion of the arm 7 is swingably attached to the tip end portion of the boom 6 via the arm pin 14. The bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are hydraulic cylinders driven by hydraulic oil. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8.

Here, FIG. 2A is a side view of the hydraulic excavator 100, and FIG. 2B is a rear view of the hydraulic excavator 100. As shown in FIG. 2A, the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14 is L1. The length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15 is L2. The length of the bucket 8, that is, the length from the bucket pin 15 to the tip of the tooth of the bucket 8 (hereinafter, referred to as "bucket blade edge 8a") is L3.

Moreover, as shown in FIG. 2A, the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are provided with first to third stroke sensors 16 to 18, respectively. The first stroke sensor 16 detects a stroke length of the boom cylinder 10 (hereinafter, referred to as “boom cylinder length N1”). A display controller 28 (see FIG. 4) described later calculates the tilt angle θ1 of the boom 6 with respect to the vertical direction of the vehicle body coordinate system from the boom cylinder length N1 detected by the first stroke sensor 16. The second stroke sensor 17 detects the stroke length of the arm cylinder 11 (hereinafter referred to as “arm cylinder length N2”). The display controller 28 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length N2 detected by the second stroke sensor 17. The third stroke sensor 18 detects the stroke length of the bucket cylinder 12 (hereinafter, referred to as “bucket cylinder length N3”). The display controller 28 calculates the inclination angle θ3 of the bucket blade edge 8a of the bucket 8 with respect to the arm 7 from the bucket cylinder length N3 detected by the third stroke sensor 18.

The vehicle body 1 is provided with a position detector 19. The position detector 19 detects the current position of the hydraulic excavator 100. The position detection unit 19 includes the above-described first and second GNSS antennas 21 and 22, a global coordinate calculator 23, and an IMU (Inertial Measurement Unit) 24. The first and second GNSS antennas 21 and 22 are separated from each other in the vehicle width direction. The signals corresponding to the GNSS radio waves received by the first and second GNSS antennas 21 and 22 are input to the global coordinate calculator 23. The global coordinate calculator 23 detects the installation positions of the first and second GNSS antennas 21 and 22. As shown in FIG. 2B, the IMU 24 detects an inclination angle θ4 in the vehicle width direction of the vehicle body 1 with respect to the gravity direction (vertical line) and an inclination angle θ5 in the front-rear direction of the vehicle body 1. The global coordinate calculator 23 updates the current position information of the first and second GNSS antennas 21 and 22 as the hydraulic excavator 100 moves and turns.

[Configuration of excavation control system 200]
FIG. 3 is a block diagram showing a functional configuration of the excavation control system 200. The excavation control system 200 includes an operating device 25, a work machine controller 26, a proportional control valve 27, a display controller 28 (an example of an “excavation control system for a hydraulic excavator”), and a display unit 29.

The operation device 25 receives an operator operation for driving the work machine 2 and outputs an operation signal according to the operator operation. Specifically, the operating device 25 includes a boom operating tool 31, an arm operating tool 32, and a bucket operating tool 33. The boom operation tool 31 includes a boom operation lever 31a and a boom operation detection unit 31b. The boom operation lever 31a receives the operation of the boom 6 by the operator. The boom operation detection unit 31b outputs a boom operation signal M1 according to the operation of the boom operation lever 31a. The arm operation lever 32a receives the operation of the arm 7 by the operator. The arm operation detection unit 32b outputs an arm operation signal M2 according to the operation of the arm operation lever 32a. The bucket operation tool 33 includes a bucket operation lever 33a and a bucket operation detection unit 33b. The bucket operation lever 33a receives the operation of the bucket 8 by the operator. The bucket operation detection unit 33b outputs a bucket operation signal M3 according to the operation of the bucket operation lever 33a.

The work machine controller 26 obtains the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3 (hereinafter collectively referred to as “operation signal M” as appropriate) from the operation device 25. Further, the work machine controller 26 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16 to 18. The work machine controller 26 drives the work machine 2 by outputting a control signal to the proportional control valve 27 based on these pieces of information. The function of the work machine controller 26 will be described later.

Proportional control valve 27 is arranged between each of boom cylinder 10, arm cylinder 11, and bucket cylinder 12 and a hydraulic pump (not shown). The proportional control valve 27 supplies hydraulic oil to each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 while adjusting the opening degree of the valve according to a control signal from the work machine controller 26.

The display controller 28 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16-18. Further, the display controller 28 acquires the tilt angle θ4 from the IMU 24 and acquires the installation positions of the first and second GNSS antennas 21 and 22 from the global coordinate calculator 23. Then, the display controller 28 determines the candidate surface S0 (see FIG. 5) and the first to fifth design surfaces based on the current position of the bucket 8 calculated from these information and the design terrain that is the target shape of the excavation target. S1 to S5 (see FIG. 6) are generated. The display controller 28 displays the candidate surface S0 on the display unit 29 and transmits the first to fifth design surfaces S1 to S5 to the work machine controller 26. The function of the display controller 28 will be described later.

[Configuration of display controller 28]
FIG. 4 is a block diagram showing the configuration of the display controller 28. FIG. 5 is a schematic diagram showing an example of the candidate surface S0. FIG. 6 is a schematic diagram showing an example of the first to fifth design surfaces S1 to S5.

The display controller 28 includes a design topography data storage unit 281, a bucket position data generation unit 282, a candidate surface data generation unit 283, and a design surface data generation unit 284.

The design terrain data storage unit 281 stores design terrain data Dg indicating the target shape of the excavation target in the work area (hereinafter referred to as “design terrain”). The design terrain data Dg may include coordinate data and angle data required to generate the three-dimensional shape of the candidate surface S0 and the first to fifth design surfaces S1 to S5.

The bucket position data generation unit 282 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16 to 18, acquires the inclination angle θ4 from the IMU 24, and calculates the global coordinate calculator. The installation positions of the first and second GNSS antennas 21 and 22 are acquired from 23. The bucket position data generation unit 282 calculates the tilt angles θ1 to θ3 based on the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3. Then, the bucket position data generation unit 282 generates bucket position data Dp indicating the current position of the bucket 8 based on the inclination angles θ1 to θ4 and the installation positions of the first and second GNSS antennas 21 and 22. The bucket position data generation unit 282 transmits the generated bucket position data Dp to the work machine controller 26. Further, the bucket position data generation unit 282 updates the bucket position data Dp as needed according to the update of the current position information of the first and second GNSS antennas 21 and 22 by the global coordinate calculator 23.

The candidate surface data generation unit 283 acquires the design terrain data Dg stored in the design terrain data storage unit 281 and the bucket position data Dp generated by the bucket position data generation unit 282. The candidate surface data generation unit 283 acquires the bucket neighboring design terrain indicating the area near the bucket blade tip 8a in the design terrain based on the design terrain data Dg and the bucket position data Dp. Next, the candidate surface data generation unit 283 determines the intersection line between the bucket near design topography and the operation plane of the work implement 2 as the candidate surface S0 that is a candidate for the design surface, and the candidate surface data D _S0 indicating the candidate surface _S0. To generate. The candidate surface data generation unit 283 transmits the candidate surface data D _S0 to the display unit 29 and causes the operator to display the candidate surface S0. The candidate surface data generation unit 283 also transmits the candidate surface data D _S0 to the design surface data generation unit 284. The candidate surface data generation unit 283 updates the candidate surface data D _S0 as needed in response to the bucket position data generation unit 282 updating the bucket position data Dp.

The design surface data generation unit 284 acquires the bucket position data Dp generated by the bucket position data generation unit 282 and the candidate surface data D _S0 generated by the candidate surface data generation unit 283. As shown in FIG. 6, the design surface data generation unit 284 determines, as the first design surface S1, a surface of the candidate surfaces S0 that is closest to the bucket 8 based on the bucket position data Dp and the candidate surface data D _S0. , First design surface data D _S1 indicating the first design surface _S1 . The design surface data generation unit 284 also generates second to fifth design surface data D _{S2 to} D _S5 indicating the second to fifth design surfaces _{S2 to S5} connected to the first design surface S1. The design surface data generation unit 284 includes a second design surface S2 connected to one end of the first design surface S1 (for example, the vehicle body 1 side), and a third design surface further connected to the second design surface S2. S3 is set, and a fourth design surface S4 is connected to the other end of the first design surface S1 (for example, the opposite side of the vehicle body 1), and a fifth design surface is further connected to the fourth design surface S4. Set S5 and.

In the present embodiment, the first design surface S1 is an example of a main design surface, and the second to fifth design surfaces S2 to S5 are an example of a plurality of sub design surfaces. The first design surface data D _S1 indicating the first design surface _S1 is an example of main design surface data, and the second to fifth design surface data D _S2 to the second to fifth design surfaces _S2 to S5. D _S5 is an example of the sub-design surface data.

The design surface data generation unit 284 also generates shape data Df indicating the shapes of the first to fifth design surfaces _{S1 to S5} based on the generated first to fifth design surface data D _{S1 to} D _S5 .

As shown in FIG. 6, the first design surface data D _S1 includes coordinate data P1, coordinate data P2, and angle data θ1, which define the first design surface S1. The coordinate data P1 and the coordinate data P2 define the dimensions of the first design surface S1, and the angle data θ1 define the gradient of the first design surface S1 with respect to the horizontal line.

Further, the second design surface data D _S2 includes coordinate data P3 and angle data θ2, and these define the second design surface S2. The coordinate data P1 and the coordinate data P3 define the dimensions of the second design surface S2, and the angle data θ2 define the gradient of the second design surface S2 with respect to the horizontal line.

In addition, the third design surface data D _S3 includes angle data θ3 (θ3=0° in the example of FIG. 6), which defines the third design surface S3. The angle data θ3 defines the gradient with respect to the horizontal line of the third design surface S3 starting from the coordinate data P3. The dimensions of the third design surface S3 may not be specified.

In addition, the third design surface data D _S4 includes coordinate data P4 and angle data θ4, and these define the fourth design surface S4. The coordinate data P4 and the coordinate data P2 define the dimensions of the fourth design surface S4, and the angle data θ4 define the gradient of the fourth design surface S4 with respect to the horizontal line.

Further, the fifth design surface data D _S5 includes angle data θ5, which defines the fifth design surface S5. The angle data θ5 defines the gradient with respect to the horizontal line of the fifth design surface S5 starting from the coordinate data P4. The size of the fifth design surface S5 may not be specified.

The design surface data generation unit 284 transmits the shape data Df indicating the first to fifth design surfaces S1 to S5 generated as described above to the work machine controller 26. In addition, the design surface data generation unit 284, in response to the bucket position data generation unit 282 updating the bucket position data Dp or the candidate surface data generation unit 283 updating the candidate surface data D _S0 , the first to fifth designs. The surface data D _{S1 to} D _S5 and the shape data Df are updated.

[Configuration of work machine controller 26]
FIG. 7 is a block diagram showing the configuration of the work machine controller 26. FIG. 8 is a schematic diagram showing the positional relationship between the bucket 8 and the design surface S (including the first to fifth design surfaces S1 to S5).

As shown in FIG. 7, the work machine controller 26 includes a relative distance acquisition unit 261, a speed limit determination unit 262, a relative speed acquisition unit 263, and an excavation restriction control unit 264.

The relative distance acquisition unit 261 acquires the bucket position data Dp from the bucket position data generation unit 282, and acquires the shape data Df of the first to fifth design surfaces S1 to S5 from the design surface data generation unit 284. The relative distance acquisition unit 261 acquires the distance d from the bucket blade edge 8a in the vertical direction with respect to the first design surface S1 based on the bucket position data Dp and the shape data Df. The relative distance acquisition unit 261 outputs the distance d to the speed limit determination unit 262. In the example shown in FIG. 8, the distance d is smaller than the line distance h to the excavation restriction control intervention line C, and the bucket blade edge 8a penetrates inside the excavation restriction control intervention line C.

The speed limit determining unit 262 acquires the speed limit V corresponding to the distance d. When the speed limit determination unit 262 compares the distance d with the line distance h and determines that the bucket blade edge 8a exceeds the excavation restriction control intervention line C, the speed limit determination unit 262 limits the relative speed Q1 of the bucket blade edge 8a with respect to the design surface S. Obtain the velocity V. Here, FIG. 9 is a graph showing the relationship between the speed limit V of the relative speed Q1 and the distance d. As shown in FIG. 9, the speed limit V becomes maximum when the distance d is greater than or equal to the line distance h, and becomes slower as the distance d becomes smaller than the line distance h. Then, when the distance d is "0", the speed limit V is also "0". The speed limit determination unit 262 outputs the speed limit V to the excavation speed limit control unit 264.

The relative speed acquisition unit 263 calculates the speed Q of the bucket blade tip 8a based on the operation signal M acquired from the operation device 25. Further, the relative speed acquisition unit 263 acquires the relative speed Q1 (see FIG. 8) of the bucket blade tip 8a with respect to the design surface S based on the speed Q. The relative speed acquisition unit 263 outputs the relative speed Q1 to the excavation limit control unit 264. In the example shown in FIG. 8, the relative speed Q1 is larger than the speed limit V.

The excavation restriction control unit 264 determines whether the relative speed Q1 of the bucket blade edge 8a with respect to the design surface S exceeds the speed limit V. When it is determined that the relative speed Q1 exceeds the speed limit V, the excavation limit control unit 264 suppresses the relative speed Q1 to the speed limit V to automatically adjust the position of the bucket blade edge 8a with respect to the design surface S. Executes excavation limit control. On the other hand, when the excavation limit control unit 264 determines that the relative speed Q1 does not exceed the speed limit V, the output to the proportional control valve 27 is directly output to the proportional control valve 27 without correction, so that the operator The working machine 2 is driven as intended.

[Action and effect]
(1) The excavation control system 200 according to the present embodiment, based on the bucket position data Dp and the candidate surface data D _S0 , the first design surface data D _S1 indicating the first design surface S1 closest to the bucket 8, Second to fifth design surface data D _{S2 to} D _S5 indicating second to fifth design surfaces _{S2 to S5} connected to the first design surface S1 are generated, and first to fifth design surface data D _{S1 to} D _S5. Based on the above, shape data Df indicating the shapes of the first to fifth design surfaces S1 to S5 is generated.

In this way, since the first design surface S1 is set with the position of the bucket 8 as a reference, desired design surface data D _S (first to fifth design surface data D _{S1 to} D _S5) required for excavation work is obtained. Can be easily obtained. Therefore, it is possible to suppress the can be reduced processing load on the generation of the design surface data D _S, thus generating a designed surface data D _S which are not required to drilling operations.

Further, as shown in FIG. 6, since the second to fifth design surfaces S2 to S5 are set with the first design surface S1 as a reference, for example, the second and fourth design surfaces with the first design surface S1 as a reference. Compared with the case where only S2 and S4 are set, it is possible to suppress the bucket 8 from being driven in an unintended direction. Specifically, when only the second and fourth design surfaces S2 and S4 are set, when the excavation of the second design surface S2 is performed from the first design surface S1, the second design surface S2 If the data of the third design surface S3 cannot be acquired by the time the excavation is completed, the work machine controller 26 recognizes that the second design surface S2 is extended, and the bucket 8 moves to the second position as shown in FIG. It is driven upward while keeping the operation along the design surface S2. Then, since the bucket 8 is guided to the third design surface S3 when the data of the third design surface S3 is acquired, there is a possibility that the excavation in accordance with the target shape cannot be performed. On the other hand, in the present embodiment, since the second to fifth design surfaces S2 to S5 based on the first design surface S1 are set, the first design surface S1 shifts to the excavation of the second design surface S2. When this is done, the third design surface S3 has already been set, so that the bucket 8 can be reliably guided from the second design surface S2 to the third design surface S3.

(2) The design surface data generation unit 284 updates the first to fifth design surface data D _{S1 to} D _S5 and the shape data Df in response to the bucket position data generation unit 282 updating the bucket position data Dp. ..

Therefore, for example, when the excavation of the first design surface S1 to the second design surface S2 is performed, the second design surface S2 is promptly updated to the first design surface S1 and is connected to the third design surface S3. Other design aspects are newly set. Therefore, it is possible to more reliably prevent the bucket 8 from being driven in an unintended direction.

(3) The design surface data generation unit 284 sets the second and third design surfaces S1 and S2 so as to be sequentially connected to one side of the first design surface S1 (for example, the vehicle body 1 side), and the fourth and third design surfaces S1 and S2 are sequentially connected. The five design surfaces S4 and S5 are set to be sequentially connected to the other side of the first design surface S1 (for example, the side opposite to the vehicle body 1).

In this way, since two design surfaces are set on both sides of the first design surface S1, when the soil excavated from the groove is discharged to the front side of the groove or the back side of the groove, the bucket 8 moves in an unintended direction. It can be suppressed from being driven. Specifically, the first design surface S1 is the bottom surface of the groove, the two design surfaces S2 and S4 on both sides of the first design surface S1 are both wall surfaces of the groove, and are located within the movable range of the working machine 2. In this case, whether to excavate the excavated soil on the front side of the groove or on the rear side of the groove is determined by the operator each time. Therefore, by setting two design surfaces on both sides of the first design surface S1 in advance, it is possible to deal with the case where soil is discharged either on the front side of the groove or on the back side of the groove.

[Other Embodiments]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention.

(A) In the above embodiment, the display controller 28 generates shape data Df indicating the shapes of the first to fifth design surfaces _{S1 to S5} based on the first to fifth design surface data D _{S1 to} D _S5. However, it is not limited to this. Display controller 28, based on the six or more design surface data D _S, may generate shape data Df indicating the shape of the six or more design surface S.

On the other hand, when the area indicated by the design terrain data Dg is small, only four or less design surfaces may be set. In this case, the display controller 28, based on the four following design surface data D _S, may generate shape data Df indicating the shape of the four following design surface S.

(B) In the above-described embodiment, the display controller 28 sets the second and third design surfaces S1 and S2 so as to be sequentially connected to one side of the first design surface S1, and sets the second design surface S1 to the other side of the first design surface S1. Although the fourth and fifth design surfaces S4 and S5 are set to be sequentially connected, the present invention is not limited to this. The display controller 28 may be set such that the second to fifth design surfaces S2 to S5 are sequentially arranged on one side of the first design surface S1 or the second to fourth surfaces on one side of the first design surface S1. The design surfaces S2 to S4 may be sequentially connected, and the fifth design surface S5 may be connected to the other side of the first design surface S1.

(C) Although not particularly mentioned in the above embodiment, the display controller 28 may generate the shape data Df indicating the design surface included in the movable range of the bucket 8. In this case, it is possible to reduce the processing load on the display controller 28 that is required to set the design surface S that clearly indicates that the excavation work by the bucket 8 is not performed.

(D) In the above-described embodiment, the work machine controller 26 executes the speed limitation based on the position of the bucket blade tip 8a of the bucket 8, but the present invention is not limited to this. The work machine controller 26 can execute the speed limitation based on an arbitrary position of the bucket 8 (for example, the lowest point of the bucket 8).

(E) In the above embodiment, the predetermined position at which the bucket blade edge 8a stops is set on the design surface S, but it is not limited to this. The predetermined position may be set to an arbitrary position separated from the design surface S to the hydraulic excavator 100 side.

(F) Although not particularly mentioned in the above embodiment, the excavation control system 200 may suppress the relative speed Q1 to the speed limit V only by decelerating the rotation speed of the boom 6, or the boom 7 as well as the arm 7 and The relative speed Q1 may be suppressed to the speed limit V by adjusting the rotation speed of the bucket 8.

(G) In the above embodiment, the excavation control system 200 calculates the speed Q of the bucket blade edge 8a based on the operation signal M acquired from the operation device 25, but the invention is not limited to this. The excavation control system 200 can calculate the speed Q based on the amount of change over time of the cylinder lengths N1 to N3 acquired from the first to third stroke sensors 16 to 18. In this case, compared to the case where the speed Q is calculated based on the operation signal M, the speed Q can be calculated more accurately.

(H) In the above embodiment, as shown in FIG. 9, the speed limit and the vertical distance have a linear relationship, but the present invention is not limited to this. The relationship between the speed limit and the vertical distance can be set appropriately, and may not be linear or may not pass through the origin.

(I) In the above embodiment, as shown in FIG. 6, the first design surface data D _S1 includes the coordinate data P1, the coordinate data P2, and the angle data θ1. The angle data θ1 may not be included in D _S1 . Even in this case, the first design surface S1 can be defined by the coordinate data P1 and the coordinate data P2.

(J) In the above embodiment, the excavation control system 200 determines the surface of the candidate surfaces S0 that is closest to the bucket 8 as the first design surface S1, but the invention is not limited to this. The first design surface S1 may be determined based on the position defined on the bucket 8. Therefore, the excavation control system 200 may determine, for example, a surface of the candidate surfaces S0 that is located vertically below the bucket 8 as the first design surface S1.

DESCRIPTION OF SYMBOLS 1... Vehicle main body, 2... Working machine, 3... Revolving body, 4... Driver's cab, 5... Traveling device, 5a, 5b... Crawler belt, 6... Boom, 7... Arm, 8... Bucket, 8a... Bucket edge, 10... Boom cylinder, 11... Arm cylinder, 12... Bucket cylinder, 13... Boom pin, 14... Arm pin, 15... Bucket pin, 16... First stroke sensor, 17... Second stroke sensor, 18... Third stroke sensor, 19... Position Detection unit, 21... First GNSS antenna, 22... Second GNSS antenna, 23... Global coordinate calculator, 24... IMU, 25... Operating device, 26... Work machine controller, 261... Relative distance acquisition unit, 262... Speed limit determination unit 263... Relative speed acquisition unit, 264... Excavation restriction control unit, 27... Proportional control valve, 28... Display controller, 281... Design terrain data storage unit, 282... Bucket position data generation unit, 284... Design surface data generation unit, 29... Display unit, 31... Boom operation tool,... 32 Arm operation tool, 33... Bucket operation tool, 100... Hydraulic excavator, 200... Excavation control system, S... Design surface, T... Slope, U... Slope, C... Excavation restriction control intervention line, h... Line distance

Claims (2)

Based on design terrain data indicating the design terrain, and bucket position data indicating the current position of the bucket, generate data indicating the line of intersection between the design terrain and the operation plane of the bucket,
Based on the data indicating the intersecting line and the bucket position data, a plurality of coordinate data indicating intersecting lines existing in the vertical direction below the bucket among the intersecting lines are generated,
Based on the plurality of coordinate data, a distance between the bucket and a vertical line below the bucket in the direction perpendicular to the vertical line below the bucket is calculated. ,
Drill based on the distance ,
Excavation control method for hydraulic excavator. Based on the design terrain data indicating the design terrain, and the current position of the hydraulic excavator having the working machine including the bucket, generate data indicating the line of intersection between the design terrain and the working plane of the working machine,
Based on the data indicating the intersecting line and the bucket position data, generate shape data indicating a design surface existing vertically below the bucket ,
Based on the shape data, in a direction perpendicular to the design surface existing vertically below the bucket, a distance between the design surface existing vertically below the bucket and the bucket is calculated,
Drill based on the distance ,
Excavation control method for hydraulic excavator.

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