JP2018024997A - Work machine path correction system for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine path correction system for a construction machine, capable of efficiently supporting an operator's operation to a front work device with respect to an obstacle even when the obstacle's position and direction vary.SOLUTION: A work machine path correction system for correcting a path of a bucket 13C in a revolving superstructure 12 revolving and carrying an excavated object to a cargo bed 25 includes a controller 19 including: a determination unit 195 for determining whether or not the bucket 13C's path created by a path creation unit 194 crosses a dump truck 102's area identified by an area identification unit 293; and a control unit 196 that when it is determined by the determination unit 195 that the bucket 13C's path crosses the dump truck 102's area, performs at least either of control of decreasing revolving speed of the revolving superstructure 12 and control of increasing rising speed of a front work device 13.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a construction machine track correction system for a construction machine that supports an operator's operation so that the construction machine work machine does not interfere with an obstacle.

  In general, in a construction machine represented by a hydraulic excavator, when an excavated material excavated by a front working device is transported to a dump truck, an operator uses a work machine at the tip of the front working device, for example, a bucket and a loading platform of the dump truck. It is necessary to operate the front work device so as to avoid interference. In particular, since construction machines often operate for 24 hours, it is necessary for an operator to operate the front working device while paying more attention at night when visibility is poor.

  Therefore, as one of the prior arts for assisting the operator's operation with respect to such a front work device, when there are obstacles above, below, or in front of the construction machine, the contact of the work machine with these obstacles is prevented. Therefore, there has been proposed a work machine operation range limiting device that automatically reduces the speed of the work machine in front of an obstacle and then stops the work machine (see, for example, Patent Document 1).

JP-A-5-321290

  The prior art disclosed in Patent Document 1 described above sets a danger area and a deceleration area for limiting the speed of the work machine in advance above, below, in front of a construction machine such as a hydraulic excavator, and within these areas. Therefore, it is intended for obstacles such as utility poles and electric wires. Therefore, even after the danger zone and deceleration zone are set, for obstacles that change the position and orientation of the vehicle body every time the digging is loaded onto the loading platform by a construction machine, such as a dump truck, Hazardous area and deceleration area must be set again.

  Therefore, at a site such as a mine, one construction machine transports and loads excavated material to a loading platform in a short time on a plurality of dump trucks. Since setting takes time, it is not suitable for the loading work of excavated material which a construction machine and a dump truck cooperate.

  The present invention has been made based on the actual situation of the prior art as described above. The purpose of the present invention is construction that can efficiently support the operation of the operator with respect to the front work device even if the position and orientation of the obstacle are changed. The object is to provide a work implement trajectory correction system for a machine.

  In order to achieve the above object, a working machine track correcting system for a construction machine according to the present invention includes a revolving structure, and a front including a revolving structure provided at a front portion of the revolving structure and capable of being raised and lowered and attached to a tip. A construction machine having a work device, and a dump truck having a loading platform for loading a load as a work object, and the track of the working machine when the swiveling body turns to transport the work object to the bed A work machine track correction system for a construction machine that corrects a work machine position detection device that detects a position of the work machine, a dump truck position detection device that detects a position of the dump truck, and a direction of the dump truck For detecting the direction of the dump truck, the basic information storage unit for storing the basic information indicating the dimensions of the construction machine and the dump truck, and the position detector for the working machine The operation of the construction machine is controlled based on the position of the work machine detected by the apparatus, the position of the dump truck detected by the dump truck position detection device, and the basic information stored in the basic information storage unit. A control device that samples the position of the work implement at regular intervals using the work implement position detection device, and calculates the speed and acceleration of the work implement from the sampled position. A track generation unit that generates a track of the work implement predicted from the speed and acceleration of the work implement calculated by the calculation unit, and the position of the dump truck detected by the dump truck position detection device, The direction of the dump truck detected by the dump truck direction detection device, and stored in the basic information storage unit An area specifying unit for specifying an area where the dump truck is present from the basic information obtained, and a track of the work machine generated by the track generating unit is an area of the dump truck specified by the area specifying unit A determination unit that determines whether or not to intersect, and a control that reduces a turning speed of the revolving body and the front work when the determination unit determines that the track of the work implement intersects the area of the dump truck And a control unit that performs at least one of the controls for increasing the rising speed of the apparatus.

  According to the construction machine track correction system for a construction machine of the present invention, even if the position and orientation of the obstacle change, it is possible to efficiently support the operation of the operator with respect to the front work device. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

It is the schematic which shows the structure of the hydraulic shovel and dump truck in 1st Embodiment of the working machine track correction system which concerns on this invention. It is a functional block diagram which shows the main functions of each control apparatus of the hydraulic excavator and dump truck which concern on 1st Embodiment of this invention. It is a figure explaining the content of the basic information regarding the hydraulic excavator memorize | stored in the basic information storage part shown in FIG. It is a figure explaining the condition where the bucket shown in FIG. 1 cross | intersects a dump truck. It is a figure which shows the structure of the hydraulic circuit mounted in the hydraulic shovel shown in FIG. It is a flowchart which shows the flow of control processing of the track correction of the bucket by the control apparatus of the hydraulic shovel which concerns on 1st Embodiment of this invention. It is a functional block diagram which shows the main functions of each control apparatus of the hydraulic excavator, dump truck, and control station which concern on 2nd Embodiment of this invention.

  EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the working machine track correction system of the construction machine which concerns on this invention is demonstrated based on figures.

[First Embodiment]
As shown in FIG. 1, a first embodiment of a work machine trajectory correcting system according to the present invention includes a hydraulic excavator 101 as a construction machine that performs excavation and the like, earth and sand, crushed stone, and the like excavated by the excavator 101. And a dump truck 102 that transports the excavated material (work object).

  First, a specific configuration of the excavator 101 will be described in detail with reference to FIG.

  The excavator 101 is provided so as to be capable of turning on the traveling body 11 and a turning device 12A on the traveling body 11, and the revolving body 12 constituting the vehicle body (main body) and the front part of the revolving body 12 are raised and lowered. And a front working device 13 that is attached to be capable of rotating and working in the vertical direction. The revolving structure 12 includes a driver's cab 14 on which an operator who operates the front working device 13 is boarded, and a counterweight 15 which is disposed on the rear and keeps the balance of the vehicle body so that the vehicle body does not tilt. ing.

  The front work device 13 has a base end rotatably attached to the turning frame 12a of the turning body 12, and is attached to the boom 13A that rotates in the vertical direction with respect to the vehicle body, and to the distal end of the boom 13A. And an arm 13B that rotates in the vertical direction with respect to the vehicle body, and a work machine that is rotatably attached to the tip of the arm 13B and rotates in the vertical direction with respect to the vehicle body, for example, a bucket 13C. .

  The front working device 13 is connected between the swing body 12 and the boom 13A, and is connected between the boom cylinder 13a that rotates the boom 13A by extending and contracting, and the boom 13A and the arm 13B, and expands and contracts. This includes an arm cylinder 13b that rotates the arm 13B, and a bucket cylinder 13c that is connected between the arm 13B and the bucket 13C and rotates the bucket 13C by expanding and contracting.

  A boom angle sensor 13A1 for detecting an angle (inclination angle of the boom 13A with respect to the turning body 12) α of the boom 13A in the vertical direction is attached to the turning center of one end on the turning body 12 side of both ends of the boom 13A. It has been. An arm angle sensor 13B1 for detecting an angle (an inclination angle of the arm 13B with respect to the boom 13A) β of the arm 13B is attached to a rotation center of one end on the boom 13A side of both ends of the arm 13B. At the rotation center of the bucket 13C, a bucket angle sensor 13C1 that detects an angle (an inclination angle of the bucket 13C with respect to the arm 13B) γ is attached.

  The cab 14 is provided with an operation seat (not shown) on which an operator is seated, and a turning hydraulic motor (not shown), a boom cylinder 13a, an arm cylinder, which are provided in the vicinity of the operation seat and are mounted on the turning device 12A. 13b, and the hydraulic actuators such as the bucket cylinder 13c are capable of desired operations, and have operating devices 14A and 14B (see FIG. 2) that are gripped and operated by an operator in the cab 14.

  The operating device 14A is installed in the vicinity of the operator's left side in the cab 14 and is composed of a left hand side operating lever that the operator holds with the left hand. The operating device 14B is installed in the vicinity of the operator's right side in the cab 14 and is composed of an operating lever on the right hand side that the operator holds with the right hand.

  When the operation device 14A is operated in the front-rear direction, the revolving body 12 is set to turn left and right in accordance with the operation amount. The operation to the rear side of the operation device 14B is an operation for turning the revolving body 12 to the left via the turning device 12A, and the operation on the front side of the operation device 14B turns the revolving body 12 to the right via the turning device 12A. Operation.

  Further, the operation device 14A is set to rotate the arm 13B in the vertical direction corresponding to the operation amount when operated in the horizontal direction. The operation to the left side of the operation device 14A is an operation of the arm cloud that draws the arm 13B toward the vehicle body side by the extension of the arm cylinder 13b, and the operation to the right side of the operation device 14A is due to the shortening of the arm cylinder 13b. This is an arm dump operation in which the arm 13B is moved away from the vehicle body side.

  When the operation device 14B is operated in the front-rear direction, the operation device 14B is set to rotate the boom 13A in the vertical direction corresponding to the operation amount. The operation to the front side of the operation device 14B is a boom lowering operation that rotates the boom 13A downward by shortening the boom cylinder 13a, and the operation to the rear side of the operation device 14B extends the boom cylinder 13a. This is a boom raising operation for rotating the boom 13A upward.

  Further, the operation device 14B is set to rotate the bucket 13C in the vertical direction according to the operation amount when operated in the left-right direction. The operation to the left side of the operation device 14B is a bucket cloud operation that draws the bucket 13C toward the vehicle body side by the extension of the bucket cylinder 13c, and the operation to the right side of the operation device 14B is due to the shortening of the bucket cylinder 13c. This is a bucket dump operation in which the bucket 13C is moved away (separated) from the vehicle body side.

  Further, the swivel body 12 is installed in the upper part of the cab 14 and is connected to a wireless communication line (not shown) and wirelessly communicates with the dump truck 102 and detects the position of the excavator 101. Hydraulic excavator position detecting device 17, hydraulic excavator direction detecting device 18 detecting the direction of hydraulic excavator 101, boom angle sensor 13A1, arm angle sensor 13B1, bucket angle sensor 13C1, antenna 16, hydraulic excavator position detecting device 17, And a control device 19 (see FIG. 2) that is connected to the excavator direction detection device 18 and the like and that processes various types of information for controlling the entire operation of the excavator 101.

  The excavator position detection device 17 is attached to a predetermined position of the vehicle body, for example, receives a positioning radio wave from a GPS (Global Positioning System) satellite, and is represented by the position of the vehicle body (for example, real coordinates in a three-dimensional space). It consists of a GPS receiver that acquires the absolute position.

  The excavator direction detection device 18 is composed of, for example, at least two GPS receivers mounted at predetermined positions on a vehicle body, and is based on a plurality of pieces of position information obtained from these GPS receivers. Then, the direction (for example, azimuth) of the excavator 101 is calculated. In the first embodiment of the present invention, the excavator direction detection device 18 also serves as the GPS receiver used in the excavator position detection device 17 as one of the two GPS receivers.

  The excavator direction detection device 18 is not limited to this case, and a GPS receiver may be added to the excavator 101 separately from the excavator position detection device 17. In addition, the two GPS receivers of the hydraulic excavator direction detection device 18 are, for example, arranged in the same vertical plane as the rotation surface of the front working device 13 in the vehicle body, and are separated from each other in the front-rear direction. Has been.

  Although not shown, for example, the control device 19 includes a CPU (Central Processing Unit) that performs various calculations for controlling the overall operation of the vehicle body, and a ROM (Read Only Memory) that stores a program for executing calculations by the CPU. And hardware including a storage device such as an HDD (Hard Disk Drive) and a RAM (Random Access Memory) that is a work area when the CPU executes a program.

  In such a hardware configuration, a program stored in a recording medium such as a ROM, an HDD, or an optical disk (not shown) is read into the RAM, and operates according to the control of the CPU. Cooperate to form a functional block for realizing the function of the control device 19. Details of the functional configuration of the control device 19 will be described later.

  Next, a specific configuration of the dump truck 102 will be described in detail with reference to FIG.

  The dump truck 102 includes a frame 21 that forms the base of the vehicle, a front wheel 22 that is disposed on each of the left and right ends of the front portion of the frame 21, and two wheels that are rotatably disposed on the left and right ends of the rear portion of the frame 21. A rear wheel 23 provided above the front wheel 22 and a driver's cab 24 on which an operator gets on. A loading platform 25 provided so as to be able to undulate with respect to the frame 21 and loading excavated materials such as earth and sand and crushed stone as loads. It has.

  The dump truck 102 is installed in the upper part of the cab 24, connected to a wireless communication line and wirelessly communicated with the excavator 101, and a dump truck position detection for detecting the position of the dump truck 102. The apparatus 27, the dump truck direction detecting device 28 for detecting the direction of the dump truck 102, the antenna 26, the dump truck position detecting device 27, the dump truck direction detecting device 28 and the like are connected in communication, and the entire operation of the dump truck 102 is performed. And a control device 29 (see FIG. 2) for processing various types of information for control.

  The dump truck position detection device 27 is, for example, like the hydraulic excavator 101, and is configured by a GPS receiver that is attached to a predetermined position of the vehicle and receives a positioning radio wave from a GPS satellite to acquire the position of the own vehicle. The dump truck direction detection device 28 includes, for example, at least two GPS receivers mounted at predetermined positions on a vehicle so as to be separated from each other, and is based on a plurality of pieces of position information obtained from these GPS receivers. Thus, the direction of the dump truck 102 is calculated. The control device 29 has the same hardware configuration as that of the control device 19 of the hydraulic excavator 101 described above, and thus the description overlapping that of the control device 19 is omitted.

  Next, the configuration showing the functions of the control devices 19 and 29 of the excavator 101 and the dump truck 102, which are the main parts of the work implement trajectory correcting system according to the first embodiment of the present invention, will be described in detail with reference to FIG. Explained.

  As shown in FIG. 2, the control device 19 of the excavator 101 includes a basic information storage unit 191, an information communication unit 192, a calculation unit 193, a trajectory generation unit 194, a determination unit 195, and a control unit 196. On the other hand, the control device 29 of the dump truck 102 includes a basic information storage unit 291, an information communication unit 292, and an area specifying unit 293.

  The basic information storage unit 191 stores in advance basic information indicating the dimensions of the vehicle body and the dimensions of the boom 13A, the arm 13B, and the bucket 13C. Specifically, the basic information storage unit 191 has, as basic information, a distance between the pivot fulcrum of the boom 13A and the pivot fulcrum of the arm 13B as shown in FIG. 3 in addition to the GPS receiver mounting position on the vehicle body. The length LA of the boom 13A, the length LB of the arm 13B, which is the distance between the rotation fulcrum of the arm 13B and the rotation fulcrum of the bucket 13C, and the distance between the rotation fulcrum of the bucket 13C and the lower end of the bucket 13C. The length LC of a certain bucket 13C is stored.

  The basic information storage unit 191 is realized by a storage device such as a ROM or an HDD. The information communication unit 192 communicates various information with the dump truck 102 via the antenna 16, and transfers the information received from the dump truck 102 to the determination unit 195.

  The calculation unit 193 includes the position of the excavator 101 detected by the excavator position detection device 17, the orientation of the excavator 101 detected by the excavator direction detection device 18, and the tilt angle of the boom 13A detected by the boom angle sensor 13A1. Based on α, the inclination angle β of the arm 13B detected by the arm angle sensor 13B1, the inclination angle γ of the bucket 13C detected by the bucket angle sensor 13C1, and the basic information stored in the basic information storage unit 191, the bucket 13C Is calculated (for example, an absolute position E represented by real coordinates in a three-dimensional space). That is, the hydraulic excavator position detection device 17, the hydraulic excavator direction detection device 18, the angle sensors 13A1 to 13C1, the basic information storage unit 191, and the calculation unit 193 function as a work implement position detection device.

  The calculation unit 193 calculates the speed and acceleration of the lower end of the bucket 13C from a plurality of positions at the lower end of the sampled bucket 13C by sampling the obtained position information of the lower end of the bucket 13C at regular intervals. The trajectory generation unit 194 generates a trajectory at the lower end of the bucket 13C predicted from the speed and acceleration at the lower end of the bucket 13C calculated by the calculation unit 193 (for example, a function F (E) in a three-dimensional space).

  The determination unit 195 acquires the region information of the dump truck 102 from the information communication unit 192, and the dump track in which the track F (E) at the lower end of the bucket 13C generated by the track generation unit 194 is specified by the region specifying unit 293. It is determined whether or not it intersects with a region 102 (for example, a region R represented by real coordinates in a three-dimensional space). As shown in FIG. 4, the control unit 196 reduces the turning speed of the revolving structure 12 when the determination unit 195 determines that the track F (E) at the lower end of the bucket 13C intersects the region R of the dump truck 102. And control to increase the rising speed of the front work device 13.

  The basic information storage unit 291 stores basic information indicating the dimensions of the vehicle in advance. Specifically, the basic information storage unit 291 stores, as basic information, a vehicle length La, a vehicle width Lb (not shown), and a vehicle height Lc, in addition to the GPS receiver mounting position in the vehicle. The basic information storage unit 291 is realized by a storage device such as a ROM or an HDD. The information communication unit 292 communicates various types of information with the excavator 101 via the antenna 26, and transmits the area information of the dump truck 102 specified by the area specifying unit 293 to the excavator 101.

  The area specifying unit 293 includes the position of the dump truck 102 detected by the dump truck position detection device 27, the direction of the dump truck 102 detected by the dump truck direction detection device 28, and basic information stored in the basic information storage unit 291. From this, the region R where the dump truck 102 exists is specified.

  Next, the configuration of the hydraulic circuit 31 mounted on the excavator 101 according to the first embodiment of the present invention will be described in detail with reference to FIG.

  The hydraulic circuit 31 shown in FIG. 5 includes a hydraulic oil tank 311 that stores hydraulic oil, a pilot hydraulic pump 312 that draws hydraulic oil from the hydraulic oil tank 311 and discharges the drawn hydraulic oil as pilot pressure oil. A motor 313 that drives the hydraulic pump 312; variable displacement hydraulic pumps 314 and 315 that draw hydraulic oil from the hydraulic oil tank 311 and discharge the hydraulic oil into the turning hydraulic motor and the boom cylinder 13a as pressure oil; , And a motor 316 that drives these variable displacement hydraulic pumps 314 and 315.

  The hydraulic circuit 31 is provided in regulators 317 and 318 for controlling the discharge flow rates of the variable displacement hydraulic pumps 314 and 315, and pipelines 319 and 320 for connecting the pilot hydraulic pump 312 and the regulators 317 and 318, respectively. Electromagnetic proportional valves 321 and 322 for supplying pilot pressure oil from the pilot hydraulic pump 312 to the regulators 317 and 318 as control pressures are provided.

  Among the pipes 319 and 320 connecting the pilot hydraulic pump 312 and the regulators 317 and 318, before and after the electromagnetic proportional valves 321 and 322, when the pressure in the pipes 319 and 320 is equal to or higher than a predetermined set value. Relief valves 323 and 324 are provided to prevent the pressure oil in the pipelines 319 and 320 from flowing out to the hydraulic oil tank 311 and opening the pipelines 319 and 320 to an overpressure state by opening.

  The variable displacement hydraulic pumps 314 and 315 have, for example, a swash plate (not shown) as a variable displacement mechanism, and control the flow rate of discharged hydraulic oil by adjusting the tilt angle of the swash plate. doing. The variable displacement hydraulic pumps 314 and 315 will be described as being swash plate type hydraulic pumps. However, the present invention is not limited to this case, and any type having a function of controlling the flow rate of the pressure oil to be discharged may be an oblique axis type. It may be a hydraulic pump or the like.

  The electromagnetic proportional valves 321 and 322 are electrically connected to the control device 19 and increase or decrease the opening amount in proportion to the magnitude of the command current received from the control device 19. When the regulators 317 and 318 receive a control pressure from the electromagnetic proportional valves 321 and 322, the variable displacement hydraulic pump 314 is changed by changing the tilt angle of the swash plate of the variable displacement hydraulic pumps 314 and 315 by the control pressure. , 315 capacity (displacement volume) is adjusted, and the absorption torque of the variable displacement hydraulic pumps 314, 315 can be controlled.

  Next, the control processing for correcting the trajectory of the bucket 13C by the control device 19 according to the first embodiment of the present invention will be described in detail based on the flowchart of FIG.

  As shown in FIG. 6, first, the control device 19 confirms whether or not an operation signal is input from the operation device 14 </ b> A, and determines whether or not a turning operation of the operation device 14 </ b> A by an operator who has boarded the cab 14 has been performed. Judgment (step (hereinafter referred to as S) 601). At this time, if the control device 19 determines that the turning operation of the operation device 14A is not performed (S601 / NO), the processing of S601 is repeated.

  In S601, when the control device 19 determines that the turning operation of the operation device 14A has been performed (S601 / YES), the information communication unit 192 of the control device 19 communicates with the information communication unit 292 of the dump truck 102 by wireless communication. The transmission of the area information is requested, and the area information of the dump truck 102 is acquired from the information communication unit 292 (S602).

  Next, the calculation unit 193 of the control device 19 includes the position and direction of the excavator 101 from the excavator position detection device 17, the excavator direction detection device 18, and the basic information storage unit 191, and the GPS receiver mounting position on the vehicle body. Is acquired (S603). Subsequently, the calculation unit 193 receives the boom angle sensor 13A1, the arm angle sensor 13B1, the bucket angle sensor 13C1, and the basic information storage unit 191 from the inclination angles α, β, γ, and the length LA of the boom 13A, the arm 13B, and the bucket 13C. -LC is acquired (S604).

  Next, the calculation unit 193 acquires the position and direction of the excavator 101 acquired in S603 and S604, the GPS receiver mounting position on the vehicle body, and the inclination angles α, β, γ, and lengths of the boom 13A, arm 13B, and bucket 13C. The position E of the lower end of the bucket 13C is calculated using the lengths LA to LC (S605).

  Then, the calculation unit 193 samples the calculated position information of the lower end of the bucket 13C at regular intervals, calculates the speed and acceleration of the lower end of the bucket 13C (S606), and transmits the calculation result to the trajectory generation unit 194. To do. Upon receiving the calculation result of the calculation unit 193, the trajectory generation unit 194 generates a trajectory F (E) of the lower end of the bucket 13C predicted from the speed and acceleration of the lower end of the bucket 13C indicated by the calculation result (S607). The generation result is transmitted to the determination unit 195.

  Next, when the determination unit 195 receives the area information of the dump truck 102 and the generation result of the trajectory generation unit 194, the trajectory F (E) at the lower end of the bucket 13C indicated by the generation result is specified by the area specifying unit 293. It is determined whether or not it intersects with the region R of the dump truck 102, that is, whether or not there is a portion included in the region R of the dump truck 102 in the track F (E) at the lower end of the bucket 13C (S608). .

  At this time, if the determination unit 195 determines that the track F (E) at the lower end of the bucket 13C intersects the region R of the dump truck 102 (S608 / YES), the control unit 196 performs the bucket 13C for the turning operation of the operation device 14A. Is transmitted to the electromagnetic proportional valve 321 (S609), and the command current controlled so that the movement amount of the bucket 13C with respect to the boom raising operation of the operation device 14B is increased. It transmits to the electromagnetic proportional valve 322 (S610), and the process from S602 is repeated.

  By the process of S609, when the electromagnetic proportional valve 321 receives a command current from the control unit 196, the electromagnetic proportional valve 321 operates according to the command current, and the flow rate of the pilot pressure oil discharged from the pilot hydraulic pump 312 corresponds to the opening amount of the electromagnetic proportional valve 321. Controlled. As a result, as the flow rate of the pilot pressure oil passing through the electromagnetic proportional valve 321 decreases, the discharge flow rate of the pressure oil from the variable displacement hydraulic pump 314 also decreases, and the swing speed of the swing body 12 decreases.

  By the process of S610, when the electromagnetic proportional valve 322 receives a command current from the control unit 196, the electromagnetic proportional valve 322 operates according to the command current, and the flow rate of the pilot pressure oil discharged from the pilot hydraulic pump 312 corresponds to the opening amount of the electromagnetic proportional valve 322. Controlled. As a result, as the flow rate of pilot pressure oil passing through the electromagnetic proportional valve 322 increases, the discharge flow rate of pressure oil from the variable displacement hydraulic pump 315 also increases, and the boom raising speed of the boom 13A increases.

  On the other hand, in S608, when the determination unit 195 determines that the track F (E) at the lower end of the bucket 13C does not intersect the region R of the dump truck 102 (S608 / NO), the control device 19 starts from the operation device 14A. It is checked again whether or not the operation signal is input, and it is determined whether or not the turning operation of the operation device 14A by the operator is performed (S611).

  At this time, if the control device 19 determines that the turning operation of the operation device 14A is performed (S611 / YES), the processing from S602 is repeated. In S611, when the control device 19 determines that the turning operation of the operation device 14A has not been performed (S611 / NO), the control process for correcting the trajectory of the bucket 13C is terminated, and an operation signal is input from the operation device 14A. It will be in a waiting state.

  According to the working machine trajectory correction system of the excavator 101 according to the first embodiment of the present invention configured as described above, when the excavator 101 loads the excavated material on the loading platform 25 of the dump truck 102, the trajectory generating unit 194 When the trajectory F (E) of the bucket 13C is predicted from the change in the position E of the lower end of the bucket 13C, and the determination unit 195 determines that the trajectory F (E) of the bucket 13C and the region R of the dump truck 102 intersect In addition, the control unit 196 prevents the bucket 13C from coming into contact with the dump truck 102 by decreasing the turning speed of the revolving structure 12 during turning and increasing the boom raising speed of the boom 13A. it can.

  That is, in the first embodiment of the present invention, it is not necessary to set a danger zone or a deceleration zone for limiting the speed of the bucket 13C as in the prior art, so that the operator operates the operation devices 14A and 14B for excavation. Goods can be loaded smoothly. As described above, the first embodiment of the present invention can efficiently support the operation of the operator with respect to the front work device 13 even with the dump truck 102 whose position and orientation change, so that workability at the site such as a mine is improved. Can be improved.

[Second Embodiment]
In addition to the configuration of the first embodiment described above, the work implement trajectory correction system for the hydraulic excavator 101 according to the second embodiment of the present invention is located at a place away from the excavator 101 and the dump truck 102 as shown in FIG. A control station 103 that is installed and manages the operating state of the excavator 101 and the dump truck 102 is provided.

  In this case, the control station 103 is connected to a wireless communication line (not shown) to perform wireless communication between the excavator 101 and the dump truck 102, and the hydraulic excavator 101 and the dump truck 102. Has a control device 39 for processing various kinds of information for controlling the entire operation. Since the control device 39 has the same hardware configuration as the control device 19 of the excavator 101 and the control device 29 of the dump truck 102, the description overlapping with these control devices 19 and 29 is omitted.

  Here, in the first embodiment of the present invention, the control device 19 of the excavator 101 includes the basic information storage unit 191, the calculation unit 193, the trajectory generation unit 194, and the determination unit 195. In the second embodiment of the invention, instead of them, the control device 39 of the control station 103 has basic information storage units corresponding to the basic information storage unit 191, the calculation unit 193, the trajectory generation unit 194, and the determination unit 195, respectively. 391, a calculation unit 393, a trajectory generation unit 394, and a determination unit 395 are provided.

  Further, in the first embodiment of the present invention, the control device 29 of the dump truck 102 includes the basic information storage unit 291 and the area specifying unit 293, whereas in the second embodiment of the present invention, these devices Instead, the control device 39 of the control station 103 includes the basic information storage unit 391 and the region specifying unit 396 that correspond to the basic information storage unit 291 and the region specifying unit 293, respectively. Hereinafter, with respect to the configuration of the control station 103 according to the second embodiment of the present invention, portions different from the first embodiment will be described in detail.

  The control device 39 of the control station 103 includes an information communication unit 392 that performs communication of various types of information between the excavator 101 and the dump truck 102 via an antenna. The information communication unit 392 acquires the position and direction of the excavator 101 and the inclination angles α, β, and γ of the boom 13A, arm 13B, and bucket 13C from the information communication unit 192 of the excavator 101, and calculates these information. The position and direction of the dump truck 102 are acquired from the information communication unit 292 of the dump truck 102 and the information is transferred to the area specifying section 396.

  Further, the information communication unit 392 transmits the determination result of the determination unit 395 to the information communication unit 192 of the excavator 101. As a result, the information communication unit 192 transfers the determination result of the determination unit 395 received from the information communication unit 392 to the control unit 196, so that the control unit 196 follows the instruction F from the control station 103. Control for correcting (E) can be performed.

  The basic information storage unit 391 includes a dump truck 102 that indicates the dimensions of the vehicle of the dump truck 102 in addition to basic information about the hydraulic excavator 101 that indicates the dimensions of the body of the hydraulic excavator 101 and the dimensions of the boom 13A, the arm 13B, and the bucket 13C. The basic information regarding is stored in advance. Other configurations of the second embodiment are the same as the configurations of the first embodiment, and the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted.

  According to the working machine trajectory correction system for the excavator 101 according to the second embodiment of the present invention configured as described above, the same operational effects as those of the first embodiment described above can be obtained, and the bucket 13C of the excavator 101 can be Since the control station 103 performs calculations necessary for performing control for correcting the track, the processing load on the control devices 19 and 29 of the excavator 101 and the dump truck 102 can be reduced. Can do. Thereby, power saving of each control device 19 and 29 can be achieved.

  The above-described embodiments of the present invention have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.

  In addition, the control unit 196 of the excavator 101 according to the present embodiment, when the determination units 195 and 395 determine that the track F (E) at the lower end of the bucket 13C intersects the region R of the dump truck 102, Although the case where the control for decreasing the turning speed of 12 and the control for increasing the rising speed of the front working device 13 have been described, the present invention is not limited to this case.

  For example, when the determination units 195 and 395 determine that the track F (E) at the lower end of the bucket 13C intersects the region R of the dump truck 102, the control unit 196 reduces the turning speed of the revolving structure 12 and Any of the controls for increasing the rising speed of the front working device 13 may be performed.

DESCRIPTION OF SYMBOLS 12 ... Revolving body, 13 ... Front working apparatus, 13A ... Boom, 13A1 ... Boom angle sensor (working machine position detection apparatus), 13a ... Boom cylinder, 13B ... Arm, 13B1 ... Arm angle sensor (working machine position detection apparatus), 13b ... arm cylinder, 13C ... bucket, 13C1 ... bucket angle sensor (working machine position detection device), 13c ... bucket cylinder, 14A, 14B ... operation device, 16 ... antenna, 17 ... hydraulic excavator position detection device (working machine position detection) Device), 18 ... hydraulic excavator direction detection device (work machine position detection device), 19 ... control device, 25 ... cargo bed, 26 ... antenna, 27 ... dump truck position detection device, 28 ... dump truck direction detection device, 29 ... control 39, control device 101 ... hydraulic excavator (construction machine), 102 ... dump truck, 1 91: Basic information storage unit (work machine position detection device), 192 ... Information communication unit, 193 ... Calculation unit (work machine position detection device), 194 ... Trajectory generation unit, 195 ... Determination unit, 196 ... Control unit, 291 ... Basic information storage unit, 292... Information communication unit, 293... Area specifying unit, 391... Basic information storage unit (work machine position detection device), 392... Information communication unit, 393. ... orbital generator, 395 ... determining unit, 396 ... region specifying unit

Claims (1)

A dump truck having a revolving structure, a construction machine having a front working device including a working machine attached to the tip of the revolving structure, and a loading platform for loading a load as a work object. And
A work machine track correction system for a construction machine that corrects the track of the work machine when the revolving body turns to transport the work object to the loading platform,
A work machine position detecting device for detecting the position of the work machine;
A dump truck position detecting device for detecting the position of the dump truck;
A dump truck direction detecting device for detecting the direction of the dump truck;
A basic information storage unit for storing basic information indicating the dimensions of the construction machine and the dump truck;
Based on the position of the work implement detected by the work implement position detection device, the position of the dump truck detected by the dump truck position detection device, and the basic information stored in the basic information storage unit, A control device for controlling the operation of the construction machine,
The controller is
Sampling the work implement position at regular intervals using the work implement position detecting device, and calculating the speed and acceleration of the work implement from the sampled position;
A trajectory generation unit that generates a trajectory of the work implement predicted from the speed and acceleration of the work implement calculated by the calculation unit;
The dump truck is determined from the position of the dump truck detected by the dump truck position detector, the direction of the dump truck detected by the dump truck direction detector, and the basic information stored in the basic information storage unit. An area specifying unit for specifying an existing area;
A determination unit that determines whether or not the track of the work implement generated by the track generation unit intersects the region of the dump truck specified by the region specifying unit;
When the determination unit determines that the track of the work implement intersects the dump truck region, at least one of control for decreasing the turning speed of the revolving structure and control for increasing the ascent speed of the front working device is performed. A work machine track correction system for a construction machine.