JPH09328774A - Automatic locus control device of hydraulic construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic locus control device, by which the input operation for special operation information is not needed, so that the operational continuity is not damaged, smooth transition to the locus control is enabled and smooth separation is enabled not to require careful operation of an operation rod more than needed, and which is very excellent in operability. SOLUTION: A control device 11 always operates the coordinates (x, y) of the edge C of a bucket 18 according to the information on the turning angles of a boom 16, an arm 17 and the bucket 18 detected by each turning angle sensor 12-14 of a working machine, and conducts automatic locus control for initial motion transition work for smooth transition to the horizontal towing and flattening work automatic locus control when the coordinates (x, y) of the edge C are within a designated flattening work start position area R, and it is judged that the pilot pressure Pb on the boom and the arm towing pilot pressure Pa detected by pressure sensors 6, 7 and the time fluctuation of those are in the initial motion operating state at the work start. If the conditions of stopping flattening work automatic locus control are satisfied in the course of the above control, it transits to the horizontal towing and flattening work release automatic locus control for smooth transition to normal general work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of hydraulic construction machines such as hydraulic excavators, and more particularly to the technical field of automatic trajectory control for automatically controlling the movement trajectory of a work body such as a bucket to be a desired plane. Belong to.

[0002]

2. Description of the Related Art Work contents of construction machines, for example, hydraulic shovels are various, but typical work is digging work,
There are loading and dumping work and leveling work. Among these operations, the leveling operation is a fairly frequent operation, and
High work accuracy is required. FIG. 19 is an explanatory diagram showing a state in which a hydraulic shovel is used for leveling work. As shown in the figure, in the leveling work, after the bucket 18 has reached a position far away as shown by the broken line, the arm 17 is rotated so as to be pulled toward the front side, and the boom 16 is fast at the beginning and rearward. By performing a complex operation of slowly raising, the blade edge of the bucket 18 is set to the reference plane S ₀ or the reference plane S _0.
It is a work of moving along a plane parallel to the surface of the bucket 18 to scrape and even the earth and sand contacting the blade edge of the bucket 18 to form a flat reference plane S ₀ or a plane parallel to the reference plane S ₀ .

When the components of the working machine, for example, the boom 16 and the arm 17 are independently operated, the arrows A,
As indicated by B, the boom 16 is pivotally moved about the pivot of the hydraulic excavator main body and the pivot of the arm 17 on the boom 16, and the blade edge of the bucket 18 draws an arc locus. In this way, the bucket 18 can be operated by the combined operation of the components such as the boom 16 and the arm 17 that originally cause the blade edge of the bucket 18 to draw an arc locus.
The leveling work in which a straight or flat trajectory is drawn on the blade edge of the work can be achieved only by independently operating different operation rods for operating the movements of the boom 16 and the arm 17 with a balanced operation amount. Therefore, it took a considerable amount of skill to achieve an excellent work-leveling work.

If the operator is inexperienced, he or she may have performed a leveling operation to make a flat surface, but rather may make a large uneven surface. 20 and 21 are an explanatory view showing an example of an operation when an unskilled operator operates a hydraulic excavator to perform a leveling work, and an explanatory view showing a work surface formed as a result.

In the leveling operation shown in the drawing, the movement of the boom 16 is a rotating operation that rises against its own weight, while the movement of the arm 17 is a rotating operation that descends in cooperation with its own weight. In some cases, as shown in FIG. 20, the movement of the arm 17 becomes too fast, and the blade edge of the bucket 18 bites into the reference plane S ₀ . Therefore, the operator hurriedly operates the operation rod so as to rapidly raise the boom 16, but this time, the boom 16 rises too fast, and the blade edge of the bucket 18 jumps upward from the reference plane S ₀ . As a result of repeating such a rough operation, the large uneven surface S _R shown in FIG. 21 is formed.

As described above, many attempts have heretofore been made to precisely perform the leveling work which requires a high manipulating ability manually by computer control. For example, some of them are listed in JP-A-58-36.
There are inventions disclosed in Japanese Patent No. 135, Japanese Patent Application Laid-Open No. 55-30038, and Japanese Patent Publication No. 3-13378.

[0007]

In any of the above-mentioned prior arts, when performing excavation work or leveling work along a plane, numerical input by operating the operation panel for setting the work area and work surface, Position setting input with the work machine maintained at a desired operating position, or input of a work start command at the start of automatic work and a work end command at the end of automatic work must be performed. In this case, the heavy excavation work, the soil discharge work, the suspended load work, etc. that have been performed up to that point will be interrupted, which significantly impairs the operator's sense of operation with respect to the machine, and These input operations, which are completely different from the operations, impair the continuity of the operations and make the operator feel distracted and annoyed. Ikoto are many, as the automatic control system for a construction machine not be said to be very practical.

Further, as described above, when the leveling operation is started, the retracting operation of the arm has a cooperative relationship with the rotation moment due to the weight of the arm. Therefore, even if the operation of the arm operating rod is slightly accelerated, The bucket blade immediately descends, the automatic trajectory control device detects the operation of the arm operating rod, raises the boom following the movement of the arm, and causes the bucket blade edge to move along a predetermined plane for leveling work. such even if a control, not completely follow the upward movement of the arm movements of the boom for operation delay in the hydraulic control mechanism, the reference plane S ₀ cutting edge of the bucket 18 as shown in FIG. 20 The locus becomes a biting bite, and as a result of the locus control by the automatic locus control device after that, the work locus for supplementing the work locus by an inexperienced operator can be obtained only with almost no difference. Bug that say occurs.

To prevent the occurrence of such a problem,
By carefully operating the operating rod for the arm, it is possible to easily follow the movement of the boom with the movement of the arm, but this will reduce the work efficiency, and thus also reduce the practical value of the automatic trajectory control. I will end up. The present invention eliminates such a problem in the prior art, does not require special operation information input operation for that purpose and careful operation of the operating rod more than necessary, and only performs a normal trajectory forming operation by operating the operating rod. Can be smoothly moved to the desired standard trajectory automatic control, or can be smoothly departed from the automatic trajectory control, so that the continuity of the operation is not impaired and the manual operation is switched to the automatic trajectory control or the automatic trajectory control is performed. It is an object of the present invention to provide an automatic trajectory control device for a hydraulic construction machine, which is comfortable and has excellent operability when shifting from control to manual operation.

[0010]

In order to solve the above problems, the present invention determines whether or not a representative point set on a part of a work body is within a predetermined area, and an operator operates the representative point. The operating state of the operated operating rod was monitored, and it was determined whether or not the operating amount of the operating rod and the amount of change in the operating amount of the operating rod were within a predetermined range, and the determination results were both correct. Sometimes
The operation state is judged to be an initial operation for drawing a predetermined standard movement locus, and the automatic locus control for controlling the hydraulic drive mechanism to automatically draw the standard movement locus on the work body is started, During the course of the trajectory control operation, when it is determined that the absolute value of the change amount of the vertical coordinate component with respect to the standard trajectory of the representative point is larger than a predetermined value, the initial standard trajectory is automatically corrected. If the automatic operation to correct the trajectory is performed and the operating rods operated by the operator are the operating rod for the arm and the operating rod for the boom, the absolute value of the amount of change in the operating amount of the operating rod for the arm or operating rod for the boom When it is determined that the operation amount of the boom operation rod is higher than the predetermined value, the operation amount of the arm operation rod or the boom operation rod is extremely small, the operator does not A standard movement trajectory It is determined that the unintended continuation of the trajectory control is obtained by controlling to terminate the automatic trajectory control.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Automatic trajectory control is usually performed by a microcomputer mounted on a construction machine. In the present invention, the construction machine is typically a hydraulic excavator, in which case the work body is a bucket. A typical track forming operation in a hydraulic excavator is leveling work on the ground. In the following description, the automatic locus control for leveling the ground by the hydraulic excavator, which is the above-described typical example, is taken into consideration, but the same can be applied to other automatic locus controls in other construction machines.

As a means for transmitting the operating direction and the operating amount of the operated operating rod, which is the operating information of the operating rod, a pilot control system in which pilot oil is interposed and an electrical control system in which electric-mechanical conversion is performed via an electrical signal However, since the control form is essentially unchanged by any of the transmission means and the pilot control system is generally used, the pilot control system will be used in the following description. Therefore, in this case, the operation amount of the operating rod is the pressure of the pilot oil flowing out from the pilot valve connected to the operating rod, that is,
The pilot pressure is converted to the pressure value of the electric signal detected by the pressure sensor, and the automatic trajectory control switches the direction and flow rate of the hydraulic oil supplied to the actuator based on the pilot pressure converted to this electric signal. That is, current control is performed on the electromagnetic pressure reducing valve directly connected to the pilot pump or the electromagnetic pressure reducing valve directly connected to the pilot valve connected to the operating rod, which reduces the pilot pressure transmitted to the pilot receiving portion.

To perform automatic trajectory control, the position and speed of the work must be detected. The position of the work is detected by a rotation angle sensor that detects the rotation angle of the joint of the rigid structure of the work machine. By detecting the relative angle of each rigid structure and performing well-known coordinate conversion based on the detected relative angle, the three-dimensional coordinates of the working body can be easily calculated by the microcomputer. In addition, the standard area information that should be present as a prerequisite for starting the automatic control of the standard trajectory, the predetermined state information that the operating state of the operating rod should be, and the operating state of the operating rod are standard. The reference information, which is a basis for determining whether or not the trajectory control is deviated and whether or not the operation state of the operating rod should stop the trajectory control operation, is stored in advance in the memory of the microcomputer.

Next, an outline of the basic operation of the present invention will be described. FIG. 2 is an operation conceptual diagram for explaining the outline of the operation of automatic trajectory control. In the automatic trajectory control according to the present invention, a general work by a normal manual operation and a leveling work automatic trajectory control are performed in a form that can be executed without being clearly distinguished by the operator.

As shown in the figure, while general work is being performed by normal manual operation (S1), it is judged whether or not to start the automatic leveling work automatic trajectory control (S2). If the determination result is correct, the smoothing work automatic trajectory control is executed (S
3) If the result of the determination in step S2 is negative, normal general work is continued. While the automatic leveling work automatic trajectory control is being executed, it is always determined whether or not to stop the automatic leveling work automatic trajectory control (S4). If the determination result is correct, the leveling work automatic trajectory control is stopped and the process returns to the control of the general work by the normal manual operation in step S1. If the determination result in step S4 is negative, the procedure returns to step S3 to continue the leveling work automatic trajectory control. The automatic leveling work automatic trajectory control in step S3 includes leveling work correction control that changes the leveling work trajectory when it is determined that the operator has performed an operation intended to correct the leveling work trajectory.

As described above, in the present invention, when the leveling work start condition determined in step S2 or the leveling work stop condition determined in step S4 is satisfied, the procedure from the normal general manual operation work control of step S1 is performed. To the smoothing work automatic trajectory control of S3, conversely, from the smoothing work automatic trajectory control of step S3 to the procedure S1
It is possible to switch to the normal general manual operation work control of any time, which is very different from the conventional case where these work controls are processed independently.

That is, while the general work is being controlled, the contents of the operation by the operator are examined to determine whether it is intended for the general work or for the leveling work. Then, when it is determined that the leveling work is intended, the automatic leveling work automatic trajectory control is immediately started so that the leveling work trajectory manually operated by the operator is the path intended by the operator. It is designed to perform control to correct the operation of the actuator, and when it is determined that an operation intended to stop the leveling work was performed while the leveling work automatic trajectory control was being performed. In this system, the leveling work automatic trajectory control is immediately stopped, and the control is returned to the general work control in which the control faithfully follows the manual operation of the operator.

Next, the leveling work start condition [A] and the leveling work stop condition [B] determined in the steps S2 and S4 will be described. First, the leveling work start condition [A] will be described. As described above, the leveling work start condition [A] is the leveling work start region condition [A1 that the work body, specifically, the blade edge of the bucket is in a predetermined region, that is, the leveling work start position region. ], And the operation state of the operation rod of the operator is in a range in which it can be determined that the intention to start the leveling work is divided into the leveling work start operation range condition [A2].

First, the leveling work start area condition [A1] will be described. FIG. 3 is an explanatory view showing the leveling work start position area. In the figure, the hatched area is the leveling work start position area R. This work start position region R is set as a region where the leveling work start frequency is considerably high by examining the blade edge positions of the buckets at the start of the leveling work by a number of operators and performing statistical processing. In addition, in this figure, for reference, some initial positions of the buckets when the blade edges of the buckets are not within the leveling work start position region R are illustrated. As described above, the position of the blade edge of the bucket is calculated based on the relative angle of the joint portion of the rigid structure of the working machine detected by the rotation angle sensor. Then, it is determined whether or not the blade edge position of the bucket obtained by the calculation is within the preset work start position region R, and the equalization work start region condition [A
The content of the judgment of 1] is obtained.

Next, the leveling work start operation range condition [A2]
Will be described. FIG. 4 is an explanatory diagram showing the specific contents of the leveling work start operation range condition [A2]. The leveling work start operation range condition [A2] is a range in which the leveling work start frequency is large by investigating and statistically processing the initial operation state at the start of leveling work by many operators. As a result of the above-mentioned investigation by the present inventors, the leveling work start operation range condition [A2] further includes three operation range conditions [A2α] and [A2].
It was found that it can be divided into 2β] and [A2γ]. That is,
These three operating range conditions [A2α], [A2β], [A2α]
The operation contents of [2γ] are as follows. [A2α]; When the operator increases the operation amount at a medium speed from a state in which the operating rod of the arm and the boom is slightly operated in the neutral position or in the boom raising and arm pulling direction, [A2β]; After operating the operating rod of the arm with a medium amount of operation in the arm pulling direction, maintaining or slightly changing the operating amount, and operating the operating rod of the boom in the neutral position or slightly in the boom raising direction from the neutral position. When the operation amount is increased at a moderate speed from [A2γ]; the operator operates the operation rod of the boom in the boom raising direction with a medium operation amount, and then the operation amount is maintained or slightly changed. In addition, when the operation amount is increased at a medium speed from the state in which the operation rod of the arm is operated in the neutral position or slightly in the arm pulling direction, the reference symbols (a) and (b) in FIG. ), c) each described above in the operating range conditions [A2α], [A2β],
It corresponds to [A2γ].

Under the operation range condition [A2α] in (a), the operation amount in the boom raising and arm pulling directions at the time of initial movement is 0 or small, so that the initial movement position of the blade edge of the bucket as shown in the attention area (a). And the reference plane S on which the linear trajectory control is performed
_Since the distance from ₀ is short, after the automatic locus control for leveling work, the control immediately shifts to the straight locus control along the reference plane S ₀ .
Under the operation range condition [A2β] in (b), the amount of operation in the arm pulling direction at the time of initial movement is medium, and the amount of operation is almost maintained, and the amount of operation in the boom raising direction at initial movement is 0 or very small. As indicated by the area (i), the blade edge of the bucket descends by a certain distance ΔHβ, and then shifts to the linear trajectory control along the reference plane S ₀ . In the operation range condition [A2γ] of (c), the operation amount in the boom raising direction at the time of initial movement is medium, and the operation amount is almost maintained, and the operation amount in the arm pulling direction at initial movement is 0 or a little. As indicated by the area (U), the blade edge of the bucket once rises, falls by a certain distance ΔHγ by the leveling work automatic trajectory control, and then shifts to the linear trajectory control along the reference plane S ₀ .

As described above, when the operation amount in the boom raising or arm pulling direction at the time of initial movement is larger than the middle level, the leveling work start operation range condition [A2] is not satisfied, but the work having a large inertia is performed. When moving the rigid structure of the machine at high speed, for example, when performing excavation work operations,
In general, it is theoretically extremely difficult to perform an accurate bucket trajectory forming operation by switching to a linear trajectory movement along a reference plane S _{0 in} which the moving direction of the bucket is different. It is unlikely to be done.

On the other hand, even when the operation amounts in the boom raising and arm pulling directions at the time of initial movement are both 0 or a small value, the leveling work start operation range condition [A2] is not satisfied, but in such a case Since the boom and arm of the work implement are moved at a slow speed, even an inexperienced operator can perform sufficiently accurate leveling work, and there is little need to intentionally perform leveling work automatic trajectory control. , The leveling work start operation range condition [A2] is excluded. Therefore, in the present invention, the blade edge of the bucket is within the work start position region R shown in FIG. 3, and the operating state of the operating rod of the operator is the operating range conditions shown in FIGS. 4 (a), 4 (b) and 4 (c). [A2
When [α], [A2β], and [A2γ] are satisfied, the leveling work start condition [A] is satisfied, and the determination result of the conceptual procedure S2 of the automatic track control in FIG. Is executed.

Next, the leveling operation stop condition [B] will be described. Even when the leveling work stop condition [B] is set, the operating states of the operating rods during the leveling work performed by a large number of operators are checked, and three operating states with extremely low frequency of operation are performed during the leveling work execution. Leveling operation stop operation condition [Bα],
[Bβ] and [Bγ]. The contents of the operation conditions [Bα], [Bβ], and [Bγ] for canceling the leveling work are as follows. [Bα]; when the operator operates the operating rod with a large operation amount in the boom raising direction, [Bβ]; when the operator operates the operating rod in the boom raising or arm pulling direction to return it to the neutral position, [Bγ]; when the operator increases or decreases the operating rod at a high speed, these leveling operation stop operation conditions [Bα], [Bβ],
When any one of [Bγ] is satisfied, the leveling work automatic trajectory control is immediately stopped, and the process returns to the general work control (S1) in which the control faithfully follows the manual operation of the operator.

As described above, the operator finishes the leveling work by always determining whether or not the leveling work can be stopped in the conceptual procedure S4 of the automatic level control of FIG. 2 during execution of the leveling work automatic locus control. , When the operating rod is operated to shift to another work, not only can the automatic trajectory control of the leveling work be quickly terminated, but also the operating state of the operating rod is leveled against the operator's intention. Even if it is determined that the start operation range condition [A2] is satisfied and the smoothing work automatic trajectory control is executed, the operation state of the operating rod by the operator thereafter satisfies the smoothing work stop condition [B], so that It is possible to end the smoothing work automatic trajectory control and return to the general work control (S1). An embodiment in which the present invention is applied to automatic locus control for leveling work of a hydraulic excavator will be described in detail below with reference to the drawings.

[0026]

FIG. 1 is a hydraulic control circuit diagram according to an embodiment of the present invention. In the figure, 1 is a hydraulic control valve including a boom directional switching valve and an arm directional switching valve, 2 is a high pressure selection valve, and 3 is a boom solenoid that reduces the hydraulic pressure of pilot oil flowing out from a boom pilot valve described later. A (proportional) pressure reducing valve 4, a hydraulic pressure of pilot oil discharged from a pilot pump, which will be described later, is reduced to supplement a boom raising pilot pressure, and a complementary pressure generating electromagnetic (proportional) pressure reducing valve 5 for generating a complementary pilot pressure is provided. It is an arm pull electromagnetic (proportional) pressure reducing valve for reducing the hydraulic pressure of pilot oil flowing out from an arm pull pilot valve described later.

6 is a boom pressure sensor for detecting the oil pressure of the pilot oil flowing out from the boom pilot valve, 7
Is an arm pulling pressure sensor for detecting the oil pressure of pilot oil flowing out from the arm pulling pilot valve, 8 is a pilot pump which is a supply source of pilot oil, 9 is a boom in which pilot oil flows out according to the operation amount during boom raising operation The upper pilot valve, 9a is a boom operation rod, 10 is an arm pull pilot valve through which the pilot oil flows out according to the amount of operation when the arm is retracted, 10a is an arm control rod, and 11 is a microcomputer. It is a control device that executes work automatic trajectory control.

In each constituent element of the hydraulic excavator body and the working machine, 12 is provided at a pivot fulcrum of a boom 16 in the hydraulic excavator body, which will be described later, and a pivot angle θ _{b of the} boom 16 is set.
Rotation angle sensor for boom that detects
The arm rotation angle sensor is provided at the rotation fulcrum of the arm 17 at the tip of the arm 17 and detects the rotation angle θ _a of the arm 17, and 14 is provided at the rotation fulcrum of the bucket 18 at the tip of the arm 17. bucket rotational angle sensor for detecting the rotational angle theta _bu of the bucket 18, 15 is a hydraulic excavator body, 19 an oil discharge flow rate detection for detecting a discharge flow rate Q _{ma x} of the hydraulic pump (not shown) serving as a supply source of hydraulic fluid It is a vessel.
The same parts as those in the conventional example are denoted by the same reference numerals, and redundant description will be omitted.

In the automatic trajectory control of the leveling work, the bucket 18 only adopts a well-known posture control method for keeping its posture constant with respect to the reference plane, and therefore its control circuit is not shown. Further, the boom directional switching valve and the arm directional switching valve included in the hydraulic control valve 1 have a specific configuration, and the hydraulic circuits that connect the boom 16 and the boom cylinder, and the arm 17 and the arm cylinder, respectively, have no new features. Since it is not included and only makes the figure complicated, the illustration is also omitted.

As shown in the figure, the control device 11 includes a boom rotation angle sensor 12, an arm rotation angle sensor 13,
The rotation angle θ _{b of} the boom 16, the arm 17, and the bucket 18 detected by the rotation angle sensor 14 for bucket,
The coordinates (x, y) of the cutting edge C of the bucket 18 are calculated based on the information of θ _a and θ _bu , and the coordinates (x, y) of this cutting edge C are calculated.
, The boom pilot pressure p _b and the arm pull pilot pressure p _a detected by the boom pressure sensor 6 and the arm pull pressure sensor 7, respectively, and the oil discharge flow rate detector 19
There based on the discharge flow rate Q _max of the hydraulic pump detected, respectively control current to the boom on the solenoid pressure reducing valve 3, the complementary pressure generating solenoid pressure reducing valve 4 and the arm pulling solenoid pressure reducing valve 5 e _b, e _c, e
By outputting _a and controlling the pilot pressure so that the hydraulic pressure of the pilot oil flowing out from each electromagnetic pressure reducing valve 3 to 5 does not exceed the throttle pressures SV _b , SV _c , SV _a , it flows into the hydraulic pressure control valve 1. The automatic leveling work control is performed to control the hydraulic pressure of the pilot oil, that is, the boom actual pilot pressure p _br and the arm pull actual pilot pressure p _ar , respectively.

The program for the automatic leveling work automatic trajectory control is stored in the ROM incorporated in the control device 11. Further, in order to simplify the explanation, the hydraulic excavator is on a level ground, and the leveling reference plane S for performing automatic leveling work trajectory control is provided.
_{Although 0} is a plane parallel to the horizontal plane, in the present embodiment, even when the hydraulic excavator is in an inclined posture on the ground inclined with respect to the horizontal plane, or when the leveling reference plane S ₀ is not parallel to the ground. The method described can be applied in the same manner, and an arithmetic expression in that case can be easily obtained by applying well-known coordinate conversion to the arithmetic expression described later.

As will be described later, the control device 11 controls the rotation angles θ _b , θ _a and θ _{bu of} the boom 16, the arm 17 and the bucket 18 detected by the rotation angle sensors 12 to 14 of the working machine.
Based on the information of the coordinates of the cutting edge C of the bucket 18 (x,
y) is calculated to determine whether the coordinates (x, y) of the cutting edge C are within a predetermined leveling work start position region R, and the boom pressure sensor 6 and the arm pulling pressure sensor 7 respectively The detected values of the on-boom pilot pressure p _b and the arm pulling pilot pressure p _a and their rates of change are monitored to determine whether or not they are within a preset leveling work start operation range.

When both are judged to be correct, the operator manually smoothes the boom operating rod 9a and the arm operating rod 10a, that is, the bucket 18
The horizontal smoothing work automatic trajectory control (II) is smoothed by correcting the operation command of the horizontal smoothing work that pulls horizontally to the hydraulic excavator side while keeping the posture of In order to be able to make a transition, the initial transition work automatic locus control (I) is performed in which the bucket 18 is smoothly moved from the start position of the smoothing work automatic locus control to the horizontal reference plane S ₀ where the horizontal leveling work is performed.

Further, even after the automatic leveling work automatic trajectory control is started, the control device 11 monitors the values of the boom upper pilot pressure p _b and the arm pulling pilot pressure p _a , and their change rates, and any one of them is monitored. Is outside the leveling work continuation operation area, and if it is determined that it is out of the leveling work continuation operation area, the content of the manual operation of the operating rods 9a, 10a by the operator is the trajectory of horizontal pulling. It is determined that it was intended to correct the movement of the bucket 18, and the horizontal pulling position correction control (III) is performed to smoothly shift the movement locus of the bucket 18 to a new horizontal pulling locus parallel to the original locus. The values of the pilot pressure p _b and the arm pulling pilot pressure p _a and the rates of change thereof are monitored to determine whether or not it is intended to stop the automatic trajectory control of the smoothing work.

If the result of the determination is correct, the horizontal leveling work automatic trajectory control (II) is stopped, and the operator's manual operation of the boom operation rod 9a and the arm operation rod 10a is performed. Perform horizontal leveling work release automatic trajectory control (IV) to smoothly return to control. In addition, horizontal leveling work automatic trajectory control during leveling work automatic trajectory control (II)
Is equivalent to the horizontal leveling work automatic trajectory control proposed by the conventional example, and a detailed description thereof will be omitted in this specification.

Next, the operation of this embodiment will be described. 5 to 8 are flowcharts of the automatic leveling work automatic trajectory control according to the present embodiment. The operation of the automatic leveling work automatic trajectory control will be described with reference to these drawings. When the smoothing work automatic trajectory control mode is selected, this smoothing work automatic control is started.
However, even if the automatic leveling work automatic trajectory control mode is selected, the operator manually operates the boom operation rod 9a and the arm operation rod 10a to perform general work other than leveling work as normal manual operation work. It can be performed with exactly the same operation. That is, the procedure S11 is a processing procedure that allows the operator to perform a normal general work other than the leveling work in the same operation as the manual operation of the normal boom operation rod 9a and the arm operation rod 10a. Shows.

That is, when the operator performs a normal general work, the control device 11 controls the control current e output to the on-boom electromagnetic pressure reducing valve 3, the complementary pressure generating electromagnetic pressure reducing valve 4 and the arm pulling electromagnetic pressure reducing valve 5, respectively. _b, e _c, diaphragm pressure SV _b values each solenoid pressure reducing valves 3-5 e _a, SV _c, SV _a additional pressure of smaller value to the boom on the pilot pressure p _b of the boom on the pressure sensor 6 detects each It is controlled so as to be a value obtained by adding Δp _b , 0, and a value obtained by adding a small additional pressure Δp _a to the arm pulling pilot pressure p _a detected by the arm pulling pressure sensor 7 (S11). SV _a = p _a + Δp _a (Δp _a > 0) SV _b = p _b + Δp _b (Δp _b > 0) SV _c = 0 (1) Thus, during the general work in step S11, the electromagnetic pressure reduction on the boom is performed. Throttle pressure S of valve 3 and arm pull solenoid pressure reducing valve 5
The values of V _b and SV _a are always higher than the boom pilot pressure p _b and the arm pull pilot pressure p _a , respectively, and the additional pressure Δp _b ,
By making the value larger by Δp _a , the on-boom pilot pressure p _b and the arm-pull pilot pressure p _{a of} the pilot oil that has flown out from the boom-on pilot valve 9 and the arm-pull pilot valve 10, respectively, are set to the boom-on electromagnetic pressure reducing valve 3 and the arm. The pilot pressure reduced by the pull solenoid pressure reducing valve 5 and transmitted to the hydraulic control valve 1 is suppressed to a value smaller than the boom pilot pressure p _b and the arm pull pilot pressure p _a , and the movement of the boom 16 and the arm 17 is for the boom. It does not differ from the movement intended by the operator who operated the operating rod 9a and the operating rod for arms 10a.

Since the complementary pilot pressure p _c generated by the complementary pressure generating electromagnetic pressure reducing valve 4 is unnecessary in this case, the value of the throttle pressure SV _c is set to 0. In addition, the additional pressure Δ
The small values of p _b and Δp _a are that the boom top electromagnetic pressure reducing valve 3 and the arm pulling electromagnetic pressure reducing valve 5 are set when the general work control of step S11 is completed and the process shifts to the initial motion transition work automatic trajectory control described later. This is because the rise time of the control operation can be shortened as much as possible by shortening the moving distance of the spool so that the operation can be quickly shifted to the initial movement transition work automatic trajectory control operation.

FIG. 9 shows the control current e of the arm pulling electromagnetic pressure reducing valve 5.
FIG. 4 is a characteristic diagram showing _a relationship between _a and the throttle pressure SVa. As shown in the figure, the control current e _a so that the equation (1) is always satisfied.
By controlling the value of, the arm pull pilot pressure p _a can always be transmitted downstream of the arm pull electromagnetic pressure reducing valve 5. The same applies to the relationship between the throttle pressure SV _b and the control current e _b . In addition, the additional pressure Δ
Since p _b and Δp _a have small values, the control current e
_a small control current e _a 'to quickly move the spool of the arm pull solenoid pressure reducing valve 5 when it is a pressure diaphragm SV
can be transferred to _a '.

Next, in step S12, the bucket 18
It is determined whether the cutting edge C (x, y) of No. 1 is within the leveling work start position region R, that is, whether the leveling work start region condition [A1] is satisfied (C (x , Y) ∈ R?). The control device 11 controls the bucket 18 based on the information about the rotation angles θ _b , θ _a , and θ _bu of the boom 16, the arm 17, and the bucket 18 detected by the rotation angle sensors 12 to 14 of the work machine.
The coordinates (x, y) of the blade edge C of the blade are constantly calculated, and it is determined whether or not the coordinates (x, y) of the blade edge C are within the predetermined leveling operation start position area R read from the ROM. .

If the result of the determination is yes, the procedure goes to step S13 to determine whether or not the leveling work start area condition [A1] is satisfied. That is, the operating range conditions [A2α], [A2β], and [A2γ] shown in (a), (b), and (c) of FIG.
It is determined whether or not the condition is satisfied. Specifically, a change in the boom pilot pressure p _b and the arm pull pilot pressure p _a with time, that is, _a time derivative of these pilot pressures p _b and p _a is _a boom pilot pressure fluctuation v _b and an arm pull. If the pilot pressure fluctuation is v _a , the operating range condition [A
2α] is p _a1 ≦ p _a ≦ p _a2 , p _b1 ≦ p _b ≦ p _b2 and v _a3 ≦ v _a ≦ v _a4 , v _b3 ≦ v _b ≦ v _b4 where p _a1 , p _a2 ≪p _amax ( Arm pull maximum pilot pressure), p _b1 , p _b2 << p _bmax (boom maximum pilot pressure), v _a3 , v _a4 ≈ v _amax (arm pull maximum pilot pressure fluctuation) / 2, v _b3 , v _b4 ≈ v _bmax (Maximum pilot pressure fluctuation on boom) / 2 (2 '). When the operation range condition [A2α] is satisfied, the value becomes 1, and when the operation range condition [A2α] is not satisfied, the value becomes 0.
_a, p _b, v _a, by defining a v _b), the operation range condition [A2α] is easy, Ψα = 1
It can be expressed as (2).

[0042] Similarly, the operating range conditions [A2β] is however _{p a3 ≦ p a ≦ p a4} , p b1 ≦ p b ≦ p b2 and _{v a1 ≦ v a ≦ v a2} , v b3 ≦ v b ≦ v b4 _{, p a3, p a4 ≒ p} amax / 2, v a1, v becomes _{a2 «v amax ...... (3 ')} . When the operation range condition [A2α] is satisfied, the value becomes 1, and when the operation range condition [A2α] is not satisfied, the value becomes 0.
_a, p _b, v _a, by defining a v _b), the operation range condition [A2β] can be expressed as Ψβ = 1 ...... (3).

[0043] Similarly, the operating range conditions [A2γ] is however _{p a1 ≦ p a ≦ p a2} , p b3 ≦ p b ≦ p b4 and _{v a3 ≦ v a ≦ v a4} , v b1 ≦ v b ≦ v b2 , the _{p b3, p b4 ≒ p bmax} / 2, v b1, v b2 «v bmax ...... (4 '). When the operation range condition [A2γ] is satisfied, the value becomes 1, and when the condition is not satisfied, the value becomes 0.
_a, p _b, v _a, by defining a v _b), the operation range condition [A2γ] can be expressed as Ψγ = 1 ...... (4). After all, the leveling work start operation range condition [A2] is Ψα = 1, Ψβ = 1 or Ψγ = 1 (5).

Note that p _ai , p _bi , v _ai , v _bi (i = 1
As described above, the values of (4) to (4) are statistically processed by examining the initial operation state of the operating rod at the start of the smoothing work by a large number of operators, and the arm pulling pilot pressure p _a and the boom that frequently start the smoothing work are increased. Upper pilot pressure p _b , arm pull pilot pressure fluctuation v
_a , is set as a boundary value of the range of the on-boom pilot pressure fluctuation v _b . Therefore, as a result of statistically processing the initial operation state at the start of the leveling work, the operation range condition [A2α],
In some cases, [A2β] and [A2γ] cannot be clearly distinguished from each other.

If the judgment results of the steps S12 and S13 are the same, that is, the leveling work start area condition [A1]
If both of the equalization work start operation range conditions [A2] are satisfied, the process proceeds to step S14 in FIG. 6 to start the main control of the automatic equalization work trajectory control. In this procedure, the initial trajectory transfer work automatic trajectory control (I) is performed to correct the operation of the horizontal leveling transfer work manually performed by the operator to correct the bucket 18.
The blade edge C is smoothly moved to the horizontal reference plane S ₀ so that the horizontal smoothing work automatic locus control (II) can be smoothly moved. As a result, the automatic control of the horizontal leveling work fails due to the operation delay of the hydraulic control system or the like when the rapid leveling work automatic trajectory control is introduced, and the vertical vibration of the bucket 18 occurs due to the control signal feedback delay of the control system. Can be prevented.

FIG. 13 shows the blade edge C of the bucket 18 at the start of the horizontal leveling work according to the value of the arm pull pilot pressure p _a.
Illustrations depicting trajectory of varies, FIG. 14 is a pressure waveform view of an arm pulling pilot pressure p _a in each case. As shown in FIG. 13, when the horizontal leveling operation is started, the pulling and pushing operation of the arm 17 influences the vertical movement of the blade edge C of the bucket 18. Particularly, in the case of the pulling operation of the arm 17, a rotational moment due to the weight of the arm 17 is added. Therefore, as described above, once the fast pulling operation of the arm 17 is commanded, for example, the arm pulling pilot pressure p automatic trajectory calculated in the control device of the boom on the pilot pressure p _b that allows horizontal pulling leveling trajectory control, horizontal pulling leveling by outputting the boom on the pilot pressure p _b from boom proportional solenoid valve according to _a Even if an attempt is made to perform control, the boom 16 is quickly moved following the pulling operation of the arm 17 as shown in (ii) of FIG. 13 due to the limit of the computing capacity of the control device and the response capacity of the proportional solenoid valve for the boom. In practice, it is extremely difficult to control the raising, and if it is forced to follow, a large impact force will be generated in the proportional solenoid valve for the arm.

Therefore, the horizontal leveling locus control for forming a proper water leveling surface as shown in (i) is suddenly performed automatically by the automatic control without generating a large impact force during the operation of the working machine. If so, it can be realized only at an extremely slow working speed. In order to improve work efficiency and perform horizontal leveling work at a work speed that is rather fast, in the end, there is no choice but to rely on manual operation. In this case, the boom pilot pressure p _b is in the excessive state shown in (i), or It is extremely difficult to avoid any of the understated conditions shown in iii).

FIG. 10 shows control currents e _b and e output to the boom top electromagnetic pressure reducing valve 3 and the arm pulling electromagnetic pressure reducing valve 5 in the initial transition work automatic trajectory control (I) of this embodiment.
signal waveform diagram for explaining the generation process of _a, FIG. 11 is an explanatory diagram of the initial trajectory of the cutting edge C of the bucket 18 shown in comparison with the conventional example due to initial migration automatic trajectory control (I), 1
2 control current e _b shown in FIG. 11, the diaphragm pressure SV _b each generation on the solenoid pressure reducing valve 3 and the arm pulling solenoid pressure reducing valve 5 boom by e _a, SV _a and hydraulic control valve 1
FIG. 3 is a pressure waveform diagram of an on-boom actual pilot pressure p _br and an arm actual pilot pressure p _ar applied to the vehicle. In this example, the state at the time of initial movement when an unskilled operator operates a hydraulic excavator to perform leveling work is shown in a slightly exaggerated manner. For convenience of description, it is assumed here that the initial movement work automatic trajectory control (I) is performed as a result of satisfying the leveling work start area condition [A1] and the operation range condition [A2α] at time t = 0.

At this time, the boom pilot pressure p _b and the arm pulling pilot pressure p _a are respectively p _b0 and p _a0 , and the boom top pilot pressure fluctuation v _b and the arm pulling pilot pressure fluctuation v _a are respectively v _b0 and v _a0 . Then, since the expression (2) is established, p _a1 ≤ p _a0 ≤ p _a2 , p _b1 ≤ p _b0 ≤ p _b2 and v _a3 ≤ v _a0 ≤ v _a4 , v _b3 ≤ v _b0 ≤ v _b4 ... (2 '') Holds.

At the start of the operation, the operator operates the boom operation stick 9a.
Operation rod 1 for arm that is too strong for lifting operation
When the pulling operation of 0a is performed, in the conventional example in which the initial movement transition work automatic trajectory control (I) is not performed, as shown in FIG. 11 (b), the subsequent sudden raising operation of the boom operation rod 9a, etc. As a result, the initial locus of the blade edge C of the bucket 18 undulates up and down. Therefore, in this embodiment, the control device 11
Is a control current e _b , respectively, to the on-boom electromagnetic pressure reducing valve 3, the complementary pressure generating electromagnetic pressure reducing valve 4 and the arm pulling electromagnetic pressure reducing valve 5.
e _c, and outputs the e _a, hydraulic squeezing pressure of the pilot oil that flows out of the electromagnetic pressure reducing valves 3~5 SV _b, SV _c, SV
By controlling the pilot pressure so as not to exceed _a , as shown in FIG.
Is moved from the initial movement state to the horizontally moving state along the smooth horizontal reference plane S ₀ . The period during which the automatic trajectory control (I) for the initial transition work is performed is Δt _I.

In order to carry out the initial movement work automatic locus control (I), first, the initial value SV _a0 = p _a0 + Δp _a of the throttle pressure SV _a of the arm pull electromagnetic pressure reducing valve 5 and the initial movement work automatic locus control (I ), The function formula of the auxiliary curve that smoothly connects the two points of the target value p _ae of the arm pull pilot pressure p _a at the end of In the present embodiment, this function is approximated by a straight line for simplification, but the period Δt from the initial motion state of the blade edge C of the bucket 18 is
The smoothest horizontal smoothing work after _I Automatic trajectory control (I
If an auxiliary curve that can realize a trajectory that can shift to I) is experimentally obtained and a functional expression of the auxiliary curve is used, a better initial movement transition work automatic trajectory control (I) becomes possible.

Here, the function of the above auxiliary curve is given by λ (p
It is represented by _a0 , p _ae , t). In the horizontal leveling work automatic trajectory control (II), the maximum pulling operation of the arm operating rod 10a may be performed, so that even in that case, it is possible to smoothly shift to the horizontal leveling work automatic trajectory control (II). to control such, the value of the target value p _ae arm pulling pilot pressure p _a is set to the value of the maximum value near the arm pulling pilot pressure p _a.

In this way, when the functional expression of the function λ (p _a0 , p _ae , t) can be calculated, the throttle pressure SV _a generated for the arm pull electromagnetic pressure reducing valve 5 at the time of performing the normal general work in step S11. = P _a + Δp _{a The} same value of the throttle pressure SV _{a and} the value of the function λ (p _a0 , p _ae , t) are compared and the smaller value is selected, which is the initial movement work automatic trajectory control (I). Throttle pressure S generated for the arm pulling electromagnetic pressure reducing valve 5 in
Let V _aI . That is, SV _aI = min [p _a + Δp _a , λ (p _a0 , p _ae , t)] (6) In the specific example shown in FIG. 10, the arm pulling electromagnetic pressure reducing valve 5 detected by the pressure sensor 7 A curve showing the arm pull pilot pressure p _a which is the output, a curve showing (p _a + Δp _a ) where the additional pressure Δp _a is added thereto, and a function λ (p _a0 , p
_{From the} auxiliary curve indicating _ae , t), the curve indicating the throttle pressure SV _aI shown in FIG. 12 is obtained. The actual arm pilot pressure p _ar actually applied to the hydraulic control valve 1 is not the throttle pressure SV _aI shown by this curve, but the value shown by the curve. _{That, p ar = min (p a} , SV aI) ...... (7) Next, control of the boom on the pilot pressure applied to the hydraulic control valve 1 in the initial migration automatic trajectory control (I) will be described. As shown in FIG. 1, the boom actual pilot pressure p _br applied to the hydraulic control valve 1 is the higher of the pilot oil pressures flowing out of the boom electromagnetic pressure reducing valve 3 and the complementary pressure generating electromagnetic pressure reducing valve 4. The pressure is generated by being selected by the high pressure selection valve 2. Throttling pressure S at the boom top electromagnetic pressure reducing valve 3 in the initial trajectory transition work automatic trajectory control (I)
V _bI is the initial value SV _b0 = p _b0 + Δp _b of the throttle pressure SV _b , similar to the throttle pressure SV _aI for the arm pull solenoid pressure reducing valve 5.
And an auxiliary curve that smoothly connects the two points of the target value p _be of the boom pilot pressure p _b at the end of the initial transition work automatic trajectory control (I).

That is, when the function of the auxiliary curve is κ, the function κ is a function of the initial value p _b0 of the boom pilot pressure p _b , the target value p _be, and the time t, and is approximated by a straight line in this embodiment. . The target value p _be is the boom pilot pressure p _b after the period Δt _I when the relatively slow horizontal pulling trajectory control is performed, and actually the minimum boom pilot after the experimental period Δt _I. It is set as pressure p _b .

On the other hand, the diaphragm pressure to supplement pressure generating solenoid pressure reducing valve 4, i.e., complementary pilot pressure is correlated with the arm引実pilot pressure p _ar actually applied to the hydraulic control valve 1,
Pilot pressure p on the horizontal pulling boom for performing normal horizontal pulling trajectory control for horizontally moving the blade edge C of the bucket 18
_bL . The pilot pressure p _bL on the horizontal boom can be obtained by the following procedure. In the present embodiment, only the combined operation of the boom 16 and the arm 17 is taken into consideration, and the leveling operation takes into consideration the case where the load is light. Therefore, the blade edge C (x,
The speed V (V _x , V _y ) in _y ) is determined by the arm-pilot pilot oil flow rate Q _{a of} the pilot oil flowing out from the arm-draw solenoid pressure reducing valve 5 and the boom pilot oil flow rate Q _b during general work. Further, since the discharge flow rate Q _max of the hydraulic pump is known by the oil discharge flow rate detector 19, the arm pull pilot oil flow rate Q _a and the boom top pilot oil flow rate Q _b are the arm pull pilot pressure p _a and the boom top pilot pressure p a. _b
Is determined by

Therefore, the x, y components of the velocity V of the blade edge C of the bucket 18, V _x , V _y are V _x = f (x, y, Q _a , Q _b ) = F (x, y, p _a , _{p b, Q max) V y} = g (x, y, Q a, Q b) = G (x, y, p a, p b, can be expressed as Q _max) ... (8). Therefore, the function (curve) representing the horizontal pulling trajectory control can be obtained by setting the vertical direction velocity component V _y = 0 of the blade edge C of the bucket 18 in the equation (8). That, G (x, y, p a, p b, Q max) = 0 By solving this equation for the boom on the pilot pressure p _b, a function representing the horizontal pulling trajectory control curve H, i.e., p _bL = H (X, y, p _a , Q _max ) (9) can be obtained. This means that, in the horizontal pulling trajectory control of the blade edge C (x, y) of the bucket 18, the boom pilot pressure p _bL is naturally determined to be the arm pulling pilot pressure p _a as _a matter of course. Shows.
In practice, the function H by measuring the arm pulling pilot pressure p _a and the boom on the pilot pressure p _b at the time of performing horizontal pulling trajectory control experimentally in advance _{(x, y, p a,} Q max) is determined.

Then, this function H (x, y, p _a , Q
_(max ) data is stored in the memory, and when performing horizontal leveling work automatic trajectory control (II), the control device 11 reads the data of the function H from the memory and operates the arm at a desired work speed. The data of the boom pilot pressure p _b corresponding to the arm pull pilot pressure p _a when operating the rod 10a to perform the horizontal pull trajectory control is calculated, and the control current e _b that gives the boom pilot pressure p _b is calculated. Output to the electromagnetic valve 3 on the boom. In the above-mentioned initial trajectory transition work automatic trajectory control (I), the data of the function H is the complementary pressure that generates the horizontal pulling boom upper pilot pressure p _bL with respect to the arm pulling actual pilot pressure p _ar actually applied to the hydraulic control valve 1. It is used to create a control current e _c for the generated electromagnetic pressure reducing valve 4.

Therefore, in the specific example shown in FIG. 10, the throttle pressure SV _bI for the boom top electromagnetic pressure reducing valve 3 is a function κ.
_{(P b0, p be, t} ) is determined by actually boom on the pilot pressure supplied to the high pressure selection valve 2 from the boom on the solenoid pressure reducing valve 3 actually p _b 'boom on the pilot pressure p _b the function kappa (p It becomes a curve shown in FIG. 12 in which a large value is limited by _b0 , p _be , t). And the high pressure selection valve 2
Then, the boom top pilot pressure p _b ′ is selected for a short time Δt ₀ immediately after the start of control, and thereafter the horizontal pull boom top pilot pressure p _bL shown by the curve is selected and applied to the hydraulic control valve 1. The actual pilot pressure p _br on the boom indicated by the curved line (X). That is, p _br = max (p _b ′, p _bL ) ... (10) Note that the above-mentioned short time Δt _0, as shown in FIG. It corresponds to the transition period. As described above, in the present embodiment, after the start of the initial transition work automatic trajectory control (I), a short time Δt _0.
The transition from the initial operating state to the horizontal trajectory control is gradually performed through the control during the transition period, so that there is no impact or vibration when shifting to the horizontal trajectory leveling work automatic trajectory control (II). Smooth automatic control can be performed without causing

That is, in the specific example shown in FIG. 10, the arm pull pilot pressure p _a and the boom pilot pressure p _b are manually operated by the operator for a short period after starting the initial motion transition work automatic trajectory control (I). The actual arm pilot pressure p _ar and the horizontal boom boom pilot pressure p _bL that follow the output are output to the function λ (p _a0 , p _ae , t) and the function κ (p _b0 , p _be , t). Respectively, a large value is limited by SV _a = λ, (p _a + Δp _a ) and SV _b = p
_The control will be shifted to the actual horizontal trajectory control by _bL . During this process, there is no discontinuity or sudden change in the arm pull pilot pressure p _a and the boom pilot pressure p _b ,
No impact occurs on the cylinder that drives the boom 16 or the arm 17.

Next, returning to FIG. 6, the description of the operation of the automatic leveling work automatic trajectory control will be continued. In step S15, step S14
It is determined whether or not the condition for stopping the smoothing work automatic trajectory control is satisfied while continuing the initial movement transition work automatic trajectory control (I). That is, if the condition for stopping the automatic leveling work automatic trajectory control is represented by Φ _I , it is determined whether or not Φ _I = 1. The details of the cancellation condition Φ _I are as follows:
When the amount of raising operation of a is considerably large, when the raising and lowering speed is considerably large, or when the boom operating rod 9a is returned to the neutral position, or when the raising and lowering speed of the arm operating rod 10a is considerably large, or for the arm Operating rod 10a
When it was returned to the neutral position.

In the operation of the leveling work, since the boom and arm operation rods 9a and 10a are rarely operated in this way, the operator stops the leveling work when the above operation is performed. Attempting to do so, or judging that there was no intention to perform the leveling work from the beginning, the initial movement work automatic locus control (I) or horizontal leveling work automatic locus control (II) was stopped, and the normal Move to automatic trajectory control (IV) for horizontal leveling work release for general work. When the operation contents of the boom and arm operation rods 9a and 10a for horizontal leveling automatic trajectory control cancellation are formulated, p _b ≧ p _b5 (p _b5 >>0); p _b = 0; v _b ≧ v _b5 (V _b5 >>0); v _b ≤v _b6 (v _b6 <<0); v _a ≥v _a5 (v _a5 >>0); v _a ≤v _a6 (v _a6 <<0); p _a = 0 ( 11)

If the determination result of step S15 is negative, that is,
When the stop condition Φ _I of the leveling work automatic trajectory control is 0, it is determined whether the time t has passed by Δt _I (S).
16). When the time t has elapsed by Δt _I, the required period of the initial motion transition work automatic trajectory control (I) ends, so the procedure moves to step S17 in FIG. 7, and when the time t has not yet elapsed by Δt _I , the procedure is performed. Returning to S14, the initial movement work automatic trajectory control (I) is continued. In step S17, horizontal leveling work automatic trajectory control (II) is performed. In the automatic trajectory control (II) for horizontal leveling work, the arm pull solenoid pressure reducing valve 5
For the diaphragm pressure SV _a The _{SV a = p a + Δp a} , squeezing pressure of the boom on the solenoid pressure reducing valve 3 SV _b and aperture complementary pressure generating solenoid pressure reducing valve 4 pressure SV _c, initial migration in steps S14 Automatic trajectory control (I), function H
_{(X, y, p a,} Q max) and for the儘転horizontal pulling boom on the pilot pressure p _bL made with, the throttle pressure SV _b, SV _c of the electromagnetic pressure reducing valve 3,4. As a result, horizontal leveling work automatic trajectory control (II) that horizontally moves the blade edge C (x, y) of the bucket 18 at a work speed corresponding to the amount of pulling operation of the arm operating rod 10a by the operator can be realized. .

By the way, there are cases where the horizontal movement of the blade edge C (x, y) of the bucket 18 cannot be controlled with sufficient accuracy due to detection errors of the respective rotation angle sensors 12 to 14 and calculation errors of the control device 11. Therefore, the control device 11 constantly monitors the vertical velocity component V _y of the blade edge C of the bucket 18, and when the value of | V _y | becomes larger than a predetermined value, the throttle pressure SV of the on-boom electromagnetic pressure reducing valve 3 is increased. The value of the pilot pressure p _bL on the horizontal pulling boom that defines the throttle pressure SV _c of _b and the complementary pressure generating electromagnetic pressure reducing valve 4 is corrected. That is, as shown in FIG. 15, when the value of V _y is V _{y +} more since, (V _y -
Adding correction value [Delta] P _SS proportional to V y ₊₎ in the horizontal pulling the boom on the pilot pressure p _bL, when the value of V _y becomes below V _y-,
The correction value ΔP _SS proportional to (V _y-− V _y ) is subtracted from the horizontal pulling boom boom pilot pressure p _bL . However, the maximum and minimum values of the correction value ΔP _SS are ΔP _{SS +} , Δ
P _SS- .

In the next step S18, similarly to the case of the initial movement work automatic locus control (I), it is judged whether or not the condition for stopping the leveling work automatic locus control is satisfied. That is, the cancellation condition of the leveling work automatic trajectory control is expressed as [Phi _II, [Phi _II
= 1 is determined. The specific content of the stop condition Φ _II is that when the amount of raising operation of the boom operation rod 9a is considerably large, when the raising and lowering speed is considerably high, or when the boom operation rod 9a is returned to the neutral position or is quite small,
Alternatively, it is when the raising / lowering speed of the arm operating rod 10a is considerably high, or when the arm operating rod 10a is returned to the neutral position or is quite small. Horizontal leveling work Boom and arm operation rods 9a, 1 for automatic trajectory control release
When formulating operation content _{0a, p b ≧ p b6 (} p b6 »0); 0 ≦ p b ≦ p b7 (p b7 ≒ 0); v b ≧ v b8 (v b8 »0); v b ≦ v _b10 (v _b10 <<0); v _a ≧ v _a7 (v _a7 >>0); v _a ≦ v _a8 (va ₈ <<0); 0 ≦ p _a ≦ p _a5 (p _a5 ≈0). ).

If the result of the determination in step S18 is correct, that is, if the leveling work automatic trajectory control stop condition Φ _II = 1, then
The horizontal leveling work automatic trajectory control (II) is stopped, and the horizontal leveling work release automatic trajectory control (IV) for shifting to normal general work is performed. If the result of the determination in step S18 is negative, whether the correction condition M (v _b ) for correcting the horizontal movement locus drawn by the blade edge C of the bucket 18 is satisfied, that is, the horizontal pulling position change control (III) is performed. Correction condition M (v _b ) =
It is determined whether it is 1 (S19). In this way, the correction of the horizontal movement locus drawn by the blade edge C of the bucket 18 is taken into consideration when the horizontal trajectory leveling work automatic locus control (II) is actually performed, resulting in the horizontal movement of the blade edge C of the drawn bucket 18. This is because the movement locus may not match the reference plane S ₀ intended by the operator, or may be a plane deviated from the reference plane S ₀ due to an error in the device.

The specific operation content of the correction condition M (v _b ) is that the operation speed for raising or lowering the boom operation rod 9a is high to some extent (medium). Boom and arm operation rods 9a, 10 for horizontal leveling and automatic trajectory control correction
When the operation content of a is formulated, v _b7 ≤ v _b <v _b8 (0 << v _b7 <v _b8 ); v _b10 <v _b ≤ v _b9 (v _b10 <v _b9 << 0) ... (13) Become. If the determination result in step S19 is negative, step S17
Returning to step S2, the horizontal leveling work automatic locus control (II) is continued, and if the judgment result of step S19 is correct, that is, if the horizontal movement locus correction condition M (v _b ) = 1, the horizontal pulling described below is performed. Position change control (III) is performed.

[0067] That is, it is determined whether or not the pilot pressure variation v _b is positive boom (S20), the determination result if Yea, the boom on the pilot pressure p _b corresponding to the boom on the pilot pressure variation v _b The increase amount Δp _bu is added to the horizontal boom boom pilot pressure p _bL , and the throttle pressure SV _{b of the} boom top electromagnetic pressure reducing valve 3 and the throttle pressure S of the complementary pressure generating electromagnetic pressure reducing valve 4 are added.
And V _c (S21), if not the determination result in Step S19 is subtracted reduction Delta] p _bd boom on the pilot pressure p _b corresponding to the boom on the pilot pressure variation v _b from the horizontal pulling the boom on the pilot pressure p _bL the throttle pressure SV _b and diaphragm pressure SV _c complementary pressure generating solenoid pressure reducing valve 4 of the boom on the solenoid pressure reducing valve 3 Te (S22). Step S21 or step S22
When the process of (1) is completed, the process returns to step S17 and the horizontal leveling work automatic trajectory control (II) is continued. As is apparent from the above description, if v _b9 <v _b <v _b7 , that is, if the raising or lowering operation speed of the boom operating rod 9a is lower than medium, the horizontal leveling work automatic trajectory control ( II)
Is maintained.

In FIG. 16, the operator operates the boom operation rod 9 while the horizontal leveling work automatic trajectory control (II) is being performed.
Pilot on the boom detected by the pressure sensor 6 when the boom operation rod 9a is lowered at a speed higher than the middle level after performing a raising operation of the speed a above a middle level and maintaining a predetermined operation amount. Pressure p _b and control currents e _b , e _c
Pressure SV of boom top solenoid pressure reducing valve 3 controlled by
6 is a waveform diagram showing the course of _b and the throttle pressure SV _c of the complementary pressure generating electromagnetic pressure reducing valve 4. FIG. As shown in the figure, since the boom on-pilot pressure fluctuation v _b due to the operator's pushing operation of the boom operation rod 9a was large to some extent, the throttle pressure SV _{b of the} boom on-board electromagnetic pressure reducing valve 3 and the complementary pressure generating electromagnetic pressure reducing valve 4 were obtained. once the throttle pressure SV _c, the increase amount Delta] p _bu only after increasing the horizontal pulling boom on the pilot pressure p _bL, the relatively large retraction operation subsequent boom joystick 9a, reduction Delta] p _bd only horizontal pulling boom on the pilot Pressure p
_The horizontal pulling position change control (III) is performed so as to decrease from _bL .

Next, if the determination result of step S15 or step S18 is yes, step S23 to step S of FIG.
Horizontal leveling work release automatic trajectory control (I
Explain the contents of V). FIG. 17 shows that when the initial transition work automatic trajectory control (I) is being performed, the amount of lifting operation of the boom operating rod 9a gradually increases, and the boom pilot pressure p _b detected by the pressure sensor 6 becomes p _b5 or more. And as a result,
[Phi _I = 1, and the leveling work automatic boom on the pilot pressure in the specific example in the case of trajectory control to stop conditions are met p _b, the control current e _b, the boom on the solenoid pressure reducing valve 3 which is controlled by e _c waveform diagram showing changes in throttle pressure SV _b and aperture complementary pressure generating solenoid pressure reducing valve 4 pressure SV _c, 18
Is a boom on the actual pilot pressure p _br applied to the hydraulic control valve 1 at that time, the horizontal pulling leveling work release automatic trajectory control (IV)
FIG. 6 is a waveform diagram showing a change in virtual actual pilot pressure p _br ′ on the boom when the above is not performed.

Hereinafter, description will be given in accordance with this specific example. As shown in FIG. 17, it is assumed that the boom top pilot pressure p _b increases during the initial transition work automatic trajectory control (I), and p _b ≧ p _b5 at t = T ₀ . At this time, the operator is trying to stop the leveling work, or
Judging that there was no intention to perform leveling work from the beginning, the initial movement work automatic trajectory control (I) is stopped,
If the general work control of step S11 is immediately returned at the time of t = T ₀ , for example, the boom actual pilot pressure p _{brI applied} to the hydraulic control valve 1 shown in FIG. 18 is shown by the curve (XV). Since the actual pilot pressure p _brIV ′ on the boom becomes discontinuous at t = T ₀ , a large impact force is applied to the boom cylinder connected to the hydraulic control valve 1, and the operator is surprised and feels anxiety. , The device may be damaged.

Therefore, in the horizontal leveling work release automatic locus control (IV), the locus of the blade edge C of the bucket 18 should be along the horizontal plane as quickly as possible in the initial motion transition work automatic locus control (I). , the control device 11 or adding a restriction to the operation command by manual operation of an operator of the boom operation lever 9a and arm control lever 10a, the boom control current e _b as to urge the contrary, e _c, the e _a The output to the upper electromagnetic pressure reducing valve 3, the complementary pressure generating electromagnetic pressure reducing valve 4 and the arm pulling electromagnetic pressure reducing valve 5 is stopped, and the control smoothly shifts to the control in accordance with the operation command by the operator's manual operation. Control is performed.

In the following description, the control of the raising operation of the boom 16 will be described, but the control of the pulling operation of the arm 17 is performed in exactly the same manner as described later. Canceling horizontal leveling work During the period when automatic trajectory control (IV) is performed, the automatic trajectory control that had been performed up to that point is canceled and the control smoothly transitions to control that faithfully complies with the operation command manually operated by the operator. a transitional period Delta] t ₁ to consist of complementary pressure decay time Delta] t ₂ Metropolitan attenuate diaphragm pressure SV _c complementary pressure generating solenoid pressure reducing valve 4 to 0.

[0073] First, in the transitional period Delta] t _1, the control unit 11 at time t = boom on throttle pressure solenoid pressure reducing valve 3 at the time t = T ₀ was discontinued initial migration automatic trajectory control (I) in T ₀ Starting from the coordinate point SV _bI = SV _bIV ⁰ ,
The sum of the boom on the pilot pressure _{p b} = SV cIV ¹ at time t = T ₁ after period Delta] t ₁ and the additional pressure Δp _b (p _b + Δ
p _b ) = SV _bIV ¹ A straight line (XI) whose end point is the coordinate point and the supplementary pressure generating electromagnetic pressure reducing valve 4 at time t = T ₀ is the throttle pressure SV _cI = SV _cIV ⁰ t = T ₁
A straight line (XII) whose end point is the coordinate point of the on-boom pilot pressure p _b = SV _cIV ¹ is calculated. Then, a straight line in a transient period Δt ₁ (XI), the control current e _b, the boom on the solenoid pressure reducing valve e _c 3 and as represented pressure is respectively throttle pressure SV _BIV and diaphragm pressure SV _CIV in (XII) Output to the complementary pressure generating electromagnetic pressure reducing valve 4. That is, SV _bIV = p _b + [t · (Δp _b + Δs ₁ ) / Δt ₁ ] −Δs ₁ = p _b + (t / Δt ₁ ) · Δp _b + [(t / Δt ₁ ) −1] · Δs ₁ (however, Δs ₁ = p _b ⁰ _{−SV bIV} ⁰ , where p _b ⁰ is the boom pilot pressure p _{b at} t = T ₀ ) SV _cIV = p _b + t · Δs ₂ / Δt ₁ −Δs ₂ = p _b + [(T / Δt ₁ ) −1] · Δs ₂ (where Δs ₂ = p _b ⁰ _{−SV cIV} ⁰ ) ... (14) In the specific example shown in FIG. 17, the horizontal leveling work release automatic trajectory control ( Immediately after the start of (IV), since SV _bIV ⁰ <SV _cIV ⁰ , the actual boom on- _board pilot pressure p _{br applied} to the hydraulic control valve 1 is controlled by the throttle pressure SV _cIV of the complementary pressure generating electromagnetic pressure reducing valve 4, and then SV _{bIV When} the values of _bIV and SV _cIV are reversed, the throttle pressure SV _bIV of the boom top electromagnetic pressure reducing valve 3 governs. When the throttle pressure SV _bIV becomes higher than the boom-in- _plot pilot pressure p _b , the boom-in-actual pilot pressure p _b
br is consistent with the boom on the pilot pressure p _b. Therefore, the actual boom pilot pressure _pbr becomes as shown by the curve (XIV) in FIG.

In the complementary pressure decay period Δt ₂ , the control device 11 _{starts from} the coordinate point of the throttle pressure SV _cIV ¹ at time t = T ₁ and starts at the throttle pressure SV at time t = T ₂ .
A straight line (XIII) with the coordinate point of _cIV = 0 as the end point is calculated, and the pressure represented by this straight line (XIII) becomes the throttle pressure SV _cIV , and (p _b + Δp _b ) becomes the throttle pressure SV _bIV. control current e _b, and outputs the e _c to the boom on the solenoid pressure reducing valve 3 and complementary pressure generating solenoid pressure reducing valve 4. That is, SV _cIV = p _b ¹ −p _b ¹ · (t−Δt ₁ ) / Δt ₂ (where p _b ¹ is the boom pilot pressure p _{b at} t = T ₁ ) ... (15) Pulling the arm 17 in the control operation, the operation expression for calculating equation for calculating the SV _aIV is to calculate the _SV bIV (13) equation, the on pilot pressure p _b the arm pulling pilot pressure p _a boom, an additional pressure Delta] p _b The pressure difference Δp _a
It is no different from replacing s ₁ with the differential pressure Δs ₃ . That is, SV _aIV = p _a + t · (Δp _a + Δs ₃ ) / Δt ₁ −Δs ₃ = p _a + (t / Δt ₁ ) · Δp _a + [(t / Δt ₁ ) −1] · Δs ₃ (however, , Δs ₃ = p _a ⁰ _{−SV aIV} ⁰ , p _a ⁰ is the arm pull pilot pressure p _{a at} t = T ₀ ) (16) Horizontal leveling work release automatic trajectory according to the flowchart shown in FIG. to explain the control (IV), the control device 11 the boom on the solenoid pressure reducing valve 3, respectively control current e _b complementary pressure generating solenoid pressure reducing valve 4 and the arm pulling solenoid pressure reducing valve 5, e _c, and outputs the e _a, throttle pressure SV _b of the solenoid pressure reducing valves 3~5, SV _c, S
V _a is (14) for controlling the pilot pressure so that the computed values to (16) (S23). Next, it is determined whether or not the time has reached t = T ₁ (S24). If the determination result is negative, the control for smoothly shifting to the control faithfully following the operation command by the operator's manual operation in the transition period Δt ₁ of step S23 is continued.

[0075] Then, if the determination result in Step S24 is Yea, the control device 11 throttle pressure SV _b of the boom on the solenoid pressure reducing valve 3 and the arm pulling solenoid pressure reducing valve 5, SV _a is (1), a diaphragm pressure SV _The pilot pressure is controlled so that _c becomes the value calculated by the equation (15) (S25). After that, the time is t = T
_It is determined whether or not it has become ₂ (S26). If the determination result is negative, the control for damping the throttle pressure SV _c of the complementary pressure generating electromagnetic pressure reducing valve 4 in the complementary pressure decay period Δt ₂ of step S25 to 0 is continued. If the determination result of step S26 is correct, the procedure returns to the general work control of the first step S11.

[0076]

As described above, according to the first aspect of the present invention, it is determined whether or not the representative point set on a part of the work body is within a predetermined area, and the operation is performed by the operator. The operating state of the operated operating rod was monitored, and it was determined whether or not the operating amount of the operating rod and the amount of change in the operating amount of the operating rod were within a predetermined range, and the determination results were both correct. Sometimes, the operation state is judged to be an initial operation for drawing a predetermined standard movement locus, and automatic locus control for controlling the hydraulic drive mechanism to automatically draw a standard movement locus on the work body is started. Since the hydraulic drive mechanism is controlled so that it does not require special operation information input operation or more careful operation of the operating rod than necessary, it is possible to perform the normal trajectory forming operation by operating the operating rod. The smooth transition to automatic control of the dynamic trajectory ensures continuous operation. Warez, no discomfort during the transition from the manual operation to the automatic trajectory control, can be provided with extremely excellent operability. According to the second aspect of the invention, when it is determined that the absolute value of the change amount of the vertical coordinate component with respect to the standard movement locus of the representative point set on a part of the work body is larger than the predetermined value, the operator Determined that it was intended to correct the trajectory of automatic trajectory control and automatically corrected the initial standard movement trajectory, so when the movement trajectory of the work body was not appropriate, or the operator When it is desired to change to a different movement locus, the movement locus can be easily corrected and a desired predetermined movement locus can be automatically drawn.

According to the third aspect of the present invention, the absolute value of the change amount of the operation amount of the arm operating rod or the boom operating rod is larger than a predetermined value, or the value of the raising operating amount of the boom operating rod is When it is determined that it is larger than a predetermined value or the operation amount of the arm operating rod or boom operating rod is extremely small,
The operator decides that it is not intended to continue the automatic trajectory control of the initial standard movement trajectory and terminates the automatic trajectory control, so there is no need for the operator to input special operation information. By simply performing a normal trajectory forming operation by operating the operation rod, it is possible to smoothly depart from the automatic trajectory control and shift to the manual operation. According to the fourth aspect of the invention, the automatic trajectory control for the arm has the operation amount of the operation rod at the time when the control is started as an initial value, and the operation amount of the predetermined operation rod after a predetermined time as a target value, and during that period, the initial value is set. Since the flow rate corresponding to the operation amount of the operation rod of the arm is suppressed so as not to exceed the initial movement transition arm suppression command corresponding to the operation amount with the operation amount of the operation rod gradually changing from the value to the target value, Even when the operator performs an inappropriate arm operation when starting the automatic trajectory control, it is possible to automatically and smoothly move to a desired movement trajectory. According to the fifth aspect of the invention, the automatic trajectory control for the boom is performed by the initial standard trajectory command corresponding to the operation amount of the operating rod that gives the movement trajectory corresponding to the flow rate command for the arm, and the operation at the time when the automatic trajectory control is started. The operation amount of the operating rod is set to the initial value, and the operating amount of the operating rod that is close to the minimum amount that allows a standard movement trajectory after a predetermined time is set to the target value, during which the operating rod gradually shifts from the initial value to the target value. Since the flow rate command that suppresses the flow rate so that it does not exceed the initial transition boom suppression command that corresponds to the operation amount that uses the operation amount as the elapsed value, the larger flow rate command is selected and output. Even if an inappropriate boom operation is performed at the time of starting the automatic trajectory control, it is possible to automatically and smoothly shift to a desired movement trajectory.

According to the sixth aspect of the invention, when it is determined that the operating state of the operating rod by the operator does not intend to continue the initial standard movement trajectory control operation, the operating rod is operated at that time. The initial value is the amount, the actual operation amount of the operating rod after a predetermined time is the target value, and during that period, the trajectory control gradual release command is used, in which the operating amount of the operating rod that gradually shifts from the initial value to the target value is the elapsed value. Since it is output as a flow rate command corresponding to the operation amount of the operating rod, the initial standard automatic trajectory control can be smoothly completed without impact on the hydraulic drive mechanism, and it can be used for general work by manual operation. Can be migrated. According to the seventh aspect of the invention, when the standard automatic movement trajectory control is not performed, the throttle amount of the proportional pressure reducing valve provided downstream of the pilot valve connected to the operating rod is reduced to be slightly larger than the pilot pressure. Since the control is performed so as to apply the pressure, it is possible to quickly shift to the desired movement trajectory control operation when starting the standard automatic trajectory control operation.

[Brief description of drawings]

FIG. 1 is a hydraulic control circuit diagram according to an embodiment of the present invention.

FIG. 2 is an operation conceptual diagram for explaining an outline of operation of automatic trajectory control.

FIG. 3 is an explanatory view showing a leveling work start position area.

FIG. 4 is an explanatory diagram showing specific contents of a leveling work start operation range condition.

FIG. 5 is a flowchart of leveling work automatic trajectory control according to the embodiment.

FIG. 6 is a flowchart of the leveling operation automatic trajectory control following FIG. 5;

FIG. 7 is a flowchart of the leveling operation automatic trajectory control continued from FIG. 6;

FIG. 8 is a flowchart of leveling work automatic trajectory control following FIG. 7;

[9] characteristic diagram showing the relationship between the control current e _a and the throttle pressure SV _a arm pull solenoid pressure reducing valve

FIG. 10 is a signal waveform diagram showing the generation process of the control current output to the boom on-board electromagnetic pressure reducing valve and the arm pulling electromagnetic pressure reducing valve in the initial trajectory transition work automatic trajectory control.

FIG. 11 is an explanatory diagram showing the initial motion locus of the blade edge C of the bucket by the automatic motion control of the initial motion transition work in comparison with the conventional example.

FIG. 12 is a pressure waveform diagram of the actual boom pilot pressure and the actual arm pilot pressure applied to the throttle control pressure and hydraulic control valve generated on the boom electromagnetic pressure reducing valve and the arm pulling electromagnetic pressure reducing valve.

FIG. 13 is an explanatory view showing how the trajectory of the blade edge C of the bucket at the start of the horizontal leveling work changes according to the value of the arm pull pilot pressure.

FIG. 14 is a pressure waveform diagram of arm pull pilot pressure in each case in FIG.

FIG. 15 is a characteristic diagram showing the relationship between the vertical velocity component V _y of the blade edge C of the bucket and the correction value ΔP _SS of the horizontal pulling boom upper pilot pressure p _bL .

[Fig. 16] Fig. 16 is a view showing the pilot pressure p _b on the boom and the throttle pressure SV _b on the boom at the time of performing the raising operation of the operating rod for the boom at a speed higher than the middle level during the automatic trajectory control for the horizontal leveling work. Pressure waveform diagram

FIG. 17 is a pilot pressure waveform diagram for explaining the content of automatic trajectory control for horizontal leveling work release.

FIG. 18 is a pressure waveform diagram of pilot pressure applied to the hydraulic control valve.

FIG. 19 is an explanatory diagram showing a state in which leveling work is performed by a conventional example.

FIG. 20 is a schematic diagram showing an example of an operation when an unskilled worker performs leveling work.

FIG. 21 is a schematic diagram showing a work surface formed as a result of the same.

[Explanation of symbols] 1 hydraulic control valve 2 high pressure selection valve 3 electromagnetic boom pressure reducing valve 4 complementary pressure generating electromagnetic pressure reducing valve 5 arm pulling electromagnetic pressure reducing valve 6,7 pressure sensor 8 pilot pump 9a boom operating rod 10a arm operating rod 11 Control Device 12-14 Rotation Angle Sensor 15 Hydraulic Excavator Main Body 16 Boom 17 Arm 18 Bucket

Claims (7)

[Claims] 1. A plurality of elongated rigid structures, such as arms and booms, which are connected by articulated bending parts and are driven by a cylinder or the like, and rotatably connected to the tip end thereof, and are driven by a cylinder or the like. In an automatic trajectory control device for a hydraulic construction machine, which automatically controls a working machine configured with a working body such as a bucket by a hydraulic drive mechanism so that the moving locus of the working body becomes a desired one. It is determined whether or not the representative point set in a part of the operation rod is within a predetermined area, and the operation state of the operation rod operated by the operator is monitored to determine the operation amount of the operation rod and the operation rod. It is determined whether or not the change amount of the operation amount of is within a predetermined range, and when both of the determination results are the same, the operation state is an initial operation for drawing a predetermined standard movement trajectory. The hydraulic drive mechanism. An automatic trajectory control device for a hydraulic construction machine, wherein automatic trajectory control for automatically drawing the standard movement trajectory on the work body is started. 2. The amount of change in the vertical coordinate component with respect to the standard movement locus of the representative point set on a part of the work body is monitored, and the absolute value of the amount of change in the vertical coordinate component is larger than a predetermined value. When it is determined that the operator intends to correct the trajectory of the automatic trajectory control, the automatic trajectory correction control that automatically corrects the initial standard trajectory according to the amount of change in the vertical coordinate component. The automatic trajectory control device for the hydraulic construction machine according to claim 1, wherein 3. The long rigid structure constituting the working machine is an arm and a boom, and the operating state of the operated operating rod is monitored to operate the operating rod for the arm or the operating rod for the boom. The absolute value of the amount of change in the amount is larger than a predetermined value, the value of the raising operation amount of the boom operating rod is larger than a predetermined value, or the operating amount of the arm operating rod or the boom operating rod is extremely large. When it is determined to be small, it is determined that the operation state of the operating rod by the operator does not intend to continue the original standard movement trajectory control operation, and control is performed to end the initial standard movement trajectory automatic control. The automatic trajectory control device for a hydraulic construction machine according to claim 1, wherein: 4. The long rigid structure constituting the working machine is an arm and a boom, and the automatic trajectory control for the arm is set to a predetermined value by using an operation amount of an operating rod at a time point when the automatic trajectory control is started as an initial value. The operation amount of the operation rod close to the maximum amount that enables a predetermined standard movement trajectory after a time is set as a target value, and the operation amount of the operation rod that gradually shifts from the initial value to the target value is set as an elapsed value during that time. The initial movement automatic trajectory control is performed to output a flow rate command that suppresses the flow rate corresponding to the operation amount of the operation rod of the arm so as not to exceed the initial movement arm suppression command that corresponds to the operation amount. An automatic trajectory control device for a hydraulic construction machine according to claim 1. 5. In the initial movement automatic locus control, the automatic locus control for the boom includes an initial movement standard locus command corresponding to an operation amount of an operating rod that gives a predetermined standard movement locus corresponding to a flow rate command for the arm, The operation amount of the operating rod at the time of starting the automatic trajectory control is the initial value, and the operating amount of the operating rod that is close to the minimum amount that enables a predetermined standard movement trajectory after a predetermined time is the target value, during which the initial value is set to the initial value. Flow rate that corresponds to the operation amount of the operating rod of the boom so as not to exceed the initial transition boom suppression command that corresponds to the operating amount of which the operating amount of the operating rod that gradually shifts from the value to the target value The automatic trajectory control device for a hydraulic construction machine according to claim 5, wherein initial movement automatic trajectory control for selecting and outputting a larger flow rate instruction of the instructions is performed. 6. When it is determined that the operating state of the operating rod by the operator does not intend to continue the initial standard movement trajectory control operation, the operating amount of the operating rod at that time is set as an initial value for a predetermined time. A target value is the actual operation amount of the operation rod after that, and a locus control gradual cancellation command in which the operation amount of the operation rod that gradually shifts from the initial value to the target value is an elapsed value during the operation is an operation of the operation rod. The automatic trajectory control device for a hydraulic construction machine according to claim 3, wherein a trajectory control gradual release control that outputs a flow rate command corresponding to the amount is performed. 7. A proportional pressure reducing valve provided in a pilot oil pipeline between a pilot valve operated by each operating rod and a hydraulic control valve whose flow rate is suppressed by pilot oil flowing out from each pilot valve. When the standard automatic movement trajectory control is not performed, the throttle amount of the proportional pressure reducing valve is controlled so as to give a throttle pressure slightly larger than the pilot pressure of each pilot oil.
An automatic trajectory control device for the hydraulic construction machine described.