JP2017214816A5

JP2017214816A5 -

Info

Publication number: JP2017214816A5
Application number: JP2017030336A
Authority: JP
Filing date: 2017-02-21
Publication date: 2019-07-04
Anticipated expiration: 2036-05-31

Claims

A control system for a construction machine comprising a work machine including a boom, an arm, and a bucket rotatable about a tilt axis, the control system comprising:
A storage unit for storing a target construction topography indicating a target shape to be excavated ;
A tilt control command determination unit that outputs a command for performing tilt control of the bucket about the tilt axis based on a distance between the bucket and the target construction topography and a tilt rotation state of the bucket;
Control system for construction machinery comprising.

A tilt operation plane calculation unit that calculates a tilt operation plane that passes through the bucket and is orthogonal to the tilt axis;
A tilt target topography calculation unit that calculates a tilt target topography at which the target construction topography and the tilt operation plane intersect;
A tilt target speed determination unit that determines a tilt target speed of the bucket on the tilt operation plane based on a distance between the bucket and the tilt target topography;
The tilt control command determination unit outputs the command based on the tilt target speed.
The control system of the construction machine according to claim 1.

The tilt control command determination unit outputs a command for driving a tilt cylinder that tilts and rotates the bucket based on the tilt target velocity determined by the tilt target velocity determination unit.
The control system of the construction machine according to claim 2.

The tilt target speed determination unit calculates the tilt target speed of the bucket in the normal direction of the target construction topography.
The control system of the construction machine according to claim 2 or claim 3.

The work machine is driven in a work machine operation plane orthogonal to at least one of the rotation axes of the work machine based on the distance between the bucket and the target construction topography and the operating state of at least one of the arm and the bucket A work machine control command determination unit that outputs a command to
Based on the shortest distance between the bucket and the target construction terrain in the normal direction of the target construction terrain and a working machine target speed determining section for determining a working machine target speed of the working machine in the working machine operation plane The
The control system of the construction machine according to any one of claims 2 to 4.

The work machine control command determination unit outputs a command for driving a hydraulic cylinder that drives at least one of the boom and the arm in the work machine operation plane based on the work machine target speed.
The control system of the construction machine according to claim 5.

The work machine control command determination unit outputs the command based on the tilt target speed and the work machine target speed.
The control system of the construction machine according to claim 5 or 6.

Upper swing body,
A lower traveling body supporting the upper revolving superstructure;
A working machine including the boom, the arm, and the bucket and supported by the upper rotating body;
A control system for a construction machine according to any one of claims 1 to 7;
Construction equipment equipped with.

A control method for a construction machine comprising a work machine including a boom, an arm, and a bucket rotatable about a tilt axis, the control method comprising:
Storing a target construction topography indicating a target shape to be excavated;
Outputting a command for tilt control of the bucket about the tilt axis based on a distance between the bucket and the target construction topography and a tilt rotation state of the bucket;
Control method of construction machinery including.