JP2024013027A - Method for controlling construction machine, control program for construction machine, control system for construction machine, and construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling in a simple way a construction machine capable of protecting a hydraulic oil device with low durability without deteriorating work efficiency, a control program for a construction machine, a control system for a construction machine, and a construction machine.

SOLUTION: A method for controlling a construction machine comprises the steps of: controlling a discharge flow rate of a hydraulic pump 511 so that a pressure is equal to or less than a target pressure; when a specific operation is performed on at least a specific directional switching valve 514b, determining a target pressure from among setting pressures set for the specific directional switching valve 514b corresponding to the specific operation; and when only a normal operation is performed for the other directional switching valve 514a, determining the target pressure from among the setting pressures set for the other directional switching valve 514a corresponding to the normal operation.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a construction machine control method, a construction machine control program, a construction machine control system, and a construction machine.

As related technology, in a hydraulic excavator that has a hydraulic circuit device that can be equipped with a hydraulic breaker, which is a front attachment of a hydraulic excavator, when the hydraulic breaker is installed, pressure oil is supplied to the hydraulic breaker from the directional control valve of the hydraulic circuit for the front attachment. Hydraulic excavators are known in which a variable relief valve is installed in the actuator circuit portion on the high-pressure side to prevent damage to the hydraulic breaker from excessive pressure from the hydraulic pump. (See Patent Document 1) Also, as a control system for a hydraulic device of a hydraulic excavator, the hydraulic pressure of a hydraulic excavator is controlled based on the required pressure of the actuator that requests the maximum pressure among the pressures required from the equipment (actuator). Control systems for devices are known. (See Patent Document 2)

JP2004-076411A JP 2021-110461 Publication

In order to protect the hydraulic breaker, installing a variable relief valve in the actuator circuit section on the high pressure side where pressure oil is supplied from the directional control valve of the front attachment hydraulic circuit to the hydraulic breaker only increases manufacturing costs. However, there is a problem in that energy loss occurs.

In addition, the hydraulic circuit of a hydraulic excavator supplies oil from the hydraulic pump in the upper rotating body to the travel motor in the lower rotating body via a swivel joint. If the upper limit of the pressure resistance of the hydraulic hose connecting the travel motor is lower than the upper limit of the pressure resistance set for the actuator on the upper revolving structure, the actuator of the upper revolving structure with higher pressure resistance and the travel motor are operated simultaneously, and the pump's target pressure is If this is controlled in accordance with an actuator with high pressure resistance, a problem may occur in which the swivel joint or hydraulic hose may be damaged.

In order to solve the above problem, there is a method of increasing the upper limit of the pressure resistance of the swivel joint or the upper limit of the pressure resistance of the hydraulic hose, but this raises the problem of increased manufacturing costs. If a hydraulic pump is always controlled in accordance with hydraulic equipment with low pressure resistance, a problem may occur in which work efficiency decreases.

The present invention has been made in view of the problems of the prior art described above, and the object is to provide a construction machine control method and a construction machine control program that can protect hydraulic equipment with low pressure resistance without reducing work efficiency in a simple manner. , to provide construction machinery control systems and construction machinery.

A method for controlling a construction machine according to one aspect of the present invention includes controlling the flow rate of oil discharged by a hydraulic pump to a plurality of actuators so that the pressure becomes equal to or less than a target pressure, and the target pressure is adjusted to A control method for a construction machine, comprising: determining a pressure from among setting pressures set for each directional control valve that controls an actuator; The target pressure is determined from among the set pressures set for the specific directional control valve corresponding to the operation, and when only normal operation is performed for the other directional control valve, the other pressure corresponding to the normal operation is determined. The target pressure is determined from among the set pressures set in the directional switching valve.

A construction machine control program according to one aspect of the present invention causes one or more computing devices to execute the construction machine control method.

A control system for construction machinery according to one aspect of the present invention includes: a flow rate control unit that controls the flow rate of oil discharged by a hydraulic pump to a plurality of actuators so that the pressure becomes equal to or less than a target pressure; A control system for construction machinery, comprising: a target pressure determination unit that determines from among set pressures set for each directional control valve that controls each of the actuators corresponding to an operation, the target pressure determination unit comprising at least When a specific operation is performed on a specific directional control valve, the target pressure is determined from among the set pressures set in the specific directional control valve corresponding to the specific operation, and normal operations are performed on other directional control valves. If only is performed, the target pressure is determined from among the set pressures set in the other directional control valves corresponding to the normal operation.

A construction machine according to one aspect of the present invention includes the construction machine control system.

According to the present invention, it is possible to provide a construction machine control method, a construction machine control program, a construction machine control system, and a construction machine that can protect hydraulic equipment with low pressure resistance in a simple manner without reducing work efficiency. .

FIG. 1 is a left side view of a hydraulic excavator according to a first embodiment of the present invention. FIG. 1 is a perspective view of a driver's seat of a hydraulic excavator according to a first embodiment of the present invention. 1 is a schematic diagram of a control system for a hydraulic excavator according to a first embodiment of the present invention. It is a flowchart figure of the control flow of the control device of the hydraulic excavator concerning the 1st embodiment of the present invention. It is a left side view of the hydraulic excavator concerning the modification of the 1st embodiment of the present invention. FIG. 3 is a schematic diagram of a control system for a hydraulic excavator according to a second embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking a hydraulic excavator 100 as a representative example of a construction machine according to the present invention. Note that the direction in which the working device 400 is attached to the upper revolving structure 300 is defined as the front, and the opposite direction is defined as the rear.

As shown in FIG. 1, the hydraulic excavator 100 includes a self-propelled lower traveling body 200, an upper rotating body 300 rotatably supported on the lower traveling body 200, and a rotating upper body 300 that rotates up and down in front of the upper rotating body 300. It is configured to include a freely supported working device 400, and further includes a control system 500 of FIG.

The lower traveling body 200 has a center frame (not shown) and a side frame 210 that is symmetrically paired with the center frame and extends in the front and rear direction. A driving wheel 211 driven by a motor (not shown) is installed, and a plurality of idler wheels 212 are arranged toward the front, and a crawler belt 213 is wrapped around the driving wheel 211 and the idler wheel 212. An earth removal device 220 is installed in front of the center frame, and the earth removal device 220 is moved up and down by a blade cylinder (not shown) installed to connect the back surface of the earth removal plate of the earth removal device 220 and the center frame. Go up and down.

The upper revolving body 300 includes a cabin 310 arranged on the left side from the front to the rear end of the fuselage, and an engine room 320 formed to fill a cutout at the lower rear of the cabin 310 from the rear end of the fuselage. The swing post 330 is rotatably supported in the left and right directions on a protrusion at the front end of the machine body, and supports the working machine 400 in a vertically rotatable manner.

The work device 400 includes a boom 420 that is supported by a swing post 330 so as to be rotatable up and down, an arm 430 that is rotatably mounted on the tip of the boom 420, and a boom 430 that is rotatably attached to the tip of the arm 430. A swing cylinder (not shown) for moving the swing post 330 is arranged on the attached attachment 450 and on the right side of the frame of the upper revolving body 300, and a boom cylinder 460 for moving the boom 420 installed in front and below the boom 420. , an arm cylinder 470 that is installed above the boom 420 and moves the arm 430 , and a bucket cylinder 480 that is installed in front of the arm 430 and moves the attachment 450 via the bucket link 440 .

The attachment 450 can be removably replaced for each work purpose, and in addition to the bucket used as standard, the attachment can be operated inside the main body like the breaker, crusher, tilt fork, bush cutter, etc. of this embodiment. An actuator may be incorporated.

The engine room 320 includes an engine (not shown) and a variable displacement pump 511 that is driven by the engine and that pumps hydraulic fluid to a plurality of actuators that move the hydraulic excavator 100, such as the boom cylinder 460 and the arm cylinder 470. The control valve 514 is a collection of directional valves that control the actuator, the control signal pressure (pilot pressure) input to the control valve 514, and the pilot pressure input to the regulator 511a that controls the flow rate of the variable displacement pump 511. A plurality of devices such as a pilot pump 512 that generates primary pressure are arranged.

A driver's cab 340 is installed inside the cabin 310 above the engine room 320.

As shown in FIG. 2, the driver's seat 340 includes a seat 341, a floor material 343 extending forward from the lower front surface of a seat mount 342 below the seat 341, an operating device 344, and a driver's seat 340 arranged on the right front side of the seat 341. It is formed from a display device 345.

The operating device 344 is arranged in front of the driver's seat 340 on the left and right, and is installed upright on a left travel lever 344a and a right travel lever 344b protruding from the floor material 343, and console boxes located on the left and right sides of the seat 341. The left operating lever 344c, the right operating lever 344d, the right operating lever 344d, and the blade lever 344e extending upward from the right side of the console box in which the right operating lever 344d is installed, are adjacent to the right side of the right traveling lever 334b. The PTO pedal 344g includes a swing pedal 344f, which is disposed as shown in FIG.

Next, the control system 500 of the hydraulic excavator 100 will be described using FIG. 3.

The control system 500 includes a hydraulic circuit 510, a control device 520, an operating device 344, and a display device 335.

The operating device 344 outputs the operating direction and operating amount of each operating lever to the control device 520 as an operating signal, so that the control device 520 outputs an electric signal to the electromagnetic proportional valve 517, and the electromagnetic proportional valve 517 Pressure can be output to the input port of control valve 514 to operate each actuator.

In the hydraulic circuit 510, a high-pressure hydraulic oil pipe extending from the variable displacement pump 511 is represented by a solid line, and a low-pressure hydraulic oil (pilot pressure) pipe extending from the pilot pump 512 is represented by a dotted line.

The hydraulic circuit 510 includes a center bypass passage 513 extending from a variable displacement pump 511 that controls the discharge flow rate by inputting pilot pressure reduced by an electromagnetic proportional valve 518 to a regulator 511a, and an oil passage extending from the center bypass passage 513. The hydraulic circuit 510 includes a control valve 514 composed of a directional switching valve that controls each actuator connected to the directional switching valve, and a hydraulic circuit 510 that controls the flow from the center bypass passage 513 to the tank 515 regardless of the sliding position of the spool of the directional switching valve. This is a so-called closed center circuit in which no path is formed, but it is not limited to this.

The control valve 514 includes a directional switching valve 514a that controls the boom cylinder 460, a directional switching valve 514b that controls the breaker 450, and a plurality of other actuators, such as an arm cylinder 470, left and right travel motors, a bucket cylinder 480, and a blade cylinder. , a swing motor (not shown), etc., and the description of the plurality of other actuators and the plurality of other directional control valves is omitted in the hydraulic circuit 510. There is. Further, a pilot pressure corresponding to the operation amount of the operating device 344 is input from the electromagnetic proportional valve 517 to the pilot pressure input port of the directional switching valve constituting the control valve 514 .

The pilot pressure input ports 514a1 and 514a2 of the directional switching valve 514a have outputs from the electromagnetic proportional valves 517a1 and 517a2 depending on the direction and amount of operation (tilting amount) of the left operating lever 344c or the right operating lever 344d. When the pilot pressure is input, the spool of the directional control valve 514a slides, and oil according to the opening amount of the corresponding spool flows to the rod side or the bottom side of the boom cylinder 460, raising and lowering the boom 420.

The pilot pressure output from the electromagnetic proportional valve 517b1 is input to the pilot pressure input port 514b1 of the directional control valve 514b according to the amount of depression of the PTO pedal 344g, so that the spool of the directional control valve 514b slides and responds accordingly. The oil corresponding to the opening amount of the spool drives the breaker 450.

In other words, the operation of the operating device 344 corresponding to the actuator is synonymous with the operation of the operating device 344 for the directional switching valve 514.

The pressure in the hydraulic circuit 510 is detected by a pressure sensor 519, and the detection result is transmitted to the control device 520.

In accordance with the detection result of the pressure sensor 519, the control device 520 controls the discharge flow rate of the variable displacement pump 511 so as not to exceed an arbitrarily set target pressure in order to prevent damage to the hydraulic circuit 510.

The control device 520 controls the discharge flow rate of the variable displacement pump 511 according to the operation amount of the operating device 344 in order to improve the operability of the hydraulic excavator 100.

The actuators in the hydraulic circuit 510 have different pressure resistance settings, for example, the pressure resistance of the breaker 450 is set lower than that of the arm cylinder 470, left and right travel motors, bucket cylinder 480, blade cylinder, and swing motor. There is.

If the pressure of the hydraulic circuit 510 is increased to near the pressure resistance of other actuators other than the breaker 450, the breaker 450 may be damaged. Therefore, the pressure of the hydraulic circuit 510 when operating the breaker 450 is The flow rate of the variable displacement pump 511 is controlled at a target pressure set so that the pressure is equal to or lower than the withstand pressure of the breaker 450.

When operating the boom 420 alone or together with the arm 430, in order to increase the workability of the hydraulic excavator 100, the pressure in the hydraulic circuit 510 must be higher than the pressure resistance of the breaker 450 and lower than the pressure resistance performance of other actuators other than the breaker 450. The flow rate of the variable displacement pump 511 is controlled at the target pressure set so as to satisfy the target pressure.

When operating the boom 420 and the breaker 450 together, in order to prevent damage to the breaker 450, the pressure in the hydraulic circuit 510 is set to a target pressure equal to or lower than the withstand pressure of the breaker 450, and the variable displacement pump 511 is operated. The flow rate of is controlled.

The control device 520 is an ECU (electronic control unit), and includes an input buffer that converts the signal level of a digital input signal, an AD converter that converts an analog input signal to digital, and a microcomputer that calculates control amounts from various input signals. The output driver converts the output signal from the microcomputer into a drive signal for driving the actuator, a communication driver, a communication receiver, and the like.

A signal input to the control device 520 is represented by a dashed-dotted line with an arrow pointing toward the control device 520, and a signal output from the control device 520 is represented by a dotted line with an arrow pointing toward the device into which the signal is input. Represented by a dashed line.

The calculation section 521 includes a storage section 522, a target pressure determination section 523, and a pump flow rate calculation section 524.

The storage unit 522 stores a set pressure table that is a set value of a target pressure that is the upper limit of the pressure of the hydraulic circuit 510 for each operation for each actuator (operation for each directional control valve) and a combination of these operations. There is.

The set pressure table can be used to perform the operation of the directional control valve of the breaker 450 (attachment) or the operation of the directional control valve of the attachment and the directional control valve of other actuators (boom 420, arm 430, swing, travel, blade). In the case of simultaneous execution, there is a first table in which the set pressure is set to P1, and in the case in which the operations of the directional switching valves of other actuators are carried out singly or simultaneously, there is a second table in which the set pressure is set to P2.

P1 is set to a value smaller than P2, and is set to a value lower than the withstand pressure of the breaker 450.

P2 is set to a value greater than the withstand pressure of the breaker 450 and less than the withstand pressure of other actuators.

The target pressure determination unit 523 determines which directional control valve 514 has been operated based on the operation signal from the operation device 344, and determines the target pressure from the table of set pressures.

When the breaker 450 is operated independently, the target pressure determining unit 523 determines the target pressure to be P1 from the first table.

When the breaker 450 and the boom 420 are operated at the same time, the target pressure determining unit 523 determines the target pressure as P1 from the first table.

When the boom 420 is operated, the target pressure determining unit 523 determines the target pressure to be P2 from the second table.

When the boom 420 and arm 430 are operated, the target pressure determining unit 523 determines the target pressure to be P2 from the second table.

The pump flow rate calculation section 524 calculates the discharge flow rate of the variable displacement pump 511 based on the operation amount calculated from the operation signal from the operation of the operation device 344, and further, the pressure of the pressure sensor 519 is determined by the target pressure determination section 523. The discharge flow rate is corrected so that the flow rate does not exceed the set target pressure, and the signal amount output by the control device 520 to the electromagnetic proportional valve 518 is calculated. (The control based on the target pressure P1 is called the first flow rate control, and the control based on the target pressure P2 is called the second flow rate control.)

The control flow will be explained using FIG. 4. FIG. 4 is a flowchart relating to the control method.

The right operating lever 344d is tilted forward and the boom 420 is lowered. (S1) The control device 520 sets the target pressure to P2 and executes the second control. (S2)

While tilting the right operating lever 344d forward (continuing to lower the boom 420), step forward on the PTO pedal 344g. Execute the operation of breaker 450. (S3) The control device 520 sets the target pressure to P1 and executes the first control. (S4)

The right operating lever 344d and the PTO pedal 344g are placed in a neutral state. Operation of boom 420 and breaker 450 is discontinued. (S5) Stop the first control. (S6)

The flowchart shown in FIG. 4 is only an example, and processes may be added or omitted as appropriate, processes may be repeatedly executed, and the order of processes may be changed as appropriate.

According to the control method of the present invention, the discharge flow rate of the variable displacement pump 511 is prevented from exceeding the withstand pressure of the breaker 450 in accordance with the operation of a specific directional control valve 514 corresponding to an attachment such as the breaker 450 with low pressure resistance. Since the hydraulic equipment with low pressure resistance can be controlled, it is possible to protect the hydraulic equipment with low pressure resistance. When the directional switching valve 514 is operated, the discharge flow rate of the variable displacement pump 511 can be controlled so as not to exceed the withstand pressure of other actuators with high pressure resistance, so that the workability of the hydraulic excavator 100 can be improved.

Next, a modification of the first embodiment of the present invention will be described, but a description of common parts with the first embodiment will be omitted.

FIG. 5 shows a hydraulic excavator 101 as a modification of the first embodiment. The difference from the hydraulic excavator 100 of the first embodiment is that the attachment attached to the tip of the working machine 400 is a crusher 451.

As shown in FIG. 6, pilot pressure input ports 514b1 and 514b2 of the directional switching valve 514b are connected to an electromagnetic proportional valve 517b1 and an electromagnetic proportional valve depending on the direction and amount of depression of the PTO pedal 344g. By inputting the pilot pressure output from 517b2, the spool of the directional control valve 514b slides, and oil according to the opening amount of the corresponding spool flows to the built-in actuator, thereby opening and closing the crusher 451.

The set pressure table is used to perform the operation of the directional control valve of the crusher 451 (attachment) or the directional control valve operation of the attachment and the directional control valve operation of other actuators (boom 420, arm 430, swing, travel, blade). When executed simultaneously, a third table is provided in which the set pressure is set to P2.

The display device 335 can be operated to prohibit execution of the first control.

When an operation to prohibit execution of the first control is performed from the display device 335 and at least the crusher 451 is operated, the target pressure determining unit 523 determines the target pressure to be P2 from the third table.

The pump flow rate calculation unit 524 operates the variable displacement pump 511 based on the operation amount calculated from the operation signal from the operation of the operating device 344 so that the pressure of the pressure sensor 519 does not exceed P2 determined by the target pressure determination unit 523. A second control is performed in which the discharge flow rate is calculated and the amount of signal output by the control device 520 to the electromagnetic proportional valve 518 is calculated.

According to the above configuration, since the maximum pressure of the hydraulic circuit 510 can be selected according to the pressure resistance of the attachment, it is possible to protect hydraulic equipment with low pressure resistance using a simple method without reducing work efficiency.

As yet another modification, instead of prohibiting execution of the first control using the display device 335, the target pressure in the first table may be arbitrarily rewritten using the display device 335. In this case, the maximum pressure of the hydraulic circuit 510 can be selected more flexibly according to the pressure resistance of the attachment, so that hydraulic equipment with low pressure resistance can be protected by a simple method without reducing work efficiency.

Next, a second embodiment of the present invention will be described, but a description of common parts with the first embodiment will be omitted.

The actuator of the hydraulic circuit 510 includes a swing cylinder, a boom 420, a boom cylinder 460, an arm cylinder 470, an arm 430, a bucket cylinder 480, a breaker 450, and a swing motor are arranged in the upper revolving structure 300, and in the lower revolving structure 200, A travel motor and a blade cylinder are arranged.

A hydraulic oil pipe flowing through a control valve 514 disposed on the upper revolving structure, a hydraulic oil pipe flowing through the travel motor, and the blade cylinder are rotatably connected via a swivel joint (not shown).

The pressure resistance of the breaker 450 is set lower than that of other actuators, and the pressure resistance of the swivel joint is set higher than that of the breaker 450, but lower than that of the other actuators.

It is not possible to flow hydraulic oil that exceeds the pressure resistance of the swivel joint into the travel motor and blade cylinder.

The table of set pressures stored in the storage unit 522 includes the execution of the operation of the directional control valve of the breaker 450 (attachment) or the operation of the directional control valve of the attachment and other actuators (swing cylinder, boom 420 boom cylinder 460, arm cylinder 470, arm 430, bucket cylinder 480, breaker 450) and the blade cylinder (or travel motor), a fourth table with the set pressure set to P1. , when operating the directional control valves of other actuators (swing cylinder, boom 420, boom cylinder 460, arm cylinder 470, arm 430, bucket cylinder 480, breaker 450) singly or at the same time, set the set pressure to P2. A fifth table that executes the operation of the directional switching valve of the blade cylinder (or the traveling motor) or the operation of the directional switching valve of the blade cylinder (or the traveling motor) and other actuators (swing cylinder, boom 420 boom cylinder 460, arm When operating the directional switching valves of the cylinder 470, arm 430, bucket cylinder 480, and breaker 450) at the same time, a sixth table is provided in which the set pressure is set to P3.

The set pressure is set with P2 as the maximum value and P1 as the minimum value.

When the breaker 450 and another actuator or blade cylinder (or travel motor) are operated simultaneously, the target pressure determining unit 523 sets the target pressure to P1 from the fourth table.

When the blade cylinder (or travel motor) and other actuators are operated at the same time, the target pressure determining unit 523 sets the target pressure to P3 from the sixth table.

When other actuators are operated at the same time, the target pressure determining unit 523 sets the target pressure to P2 from the sixth table.

The pump flow rate calculation unit 524 operates the variable displacement pump 511 based on the operation amount calculated from the operation signal from the operation of the operating device 344 so that the value of the pressure sensor 519 does not exceed the target pressure determined by the target pressure determination unit 523. The discharge flow rate is calculated, and the signal amount output by the control device 520 to the electromagnetic proportional valve 518 is calculated.

According to the above configuration, hydraulic equipment with low pressure resistance can be protected by a simple method without reducing work efficiency.

Subsequently, as a modification of the second embodiment of the present invention, the pressure resistance of the piping connecting the swivel joint and the travel motor or the swivel joint and the blade cylinder may be set lower than that of the swivel joint and lower than that of other actuators.

The invention according to the embodiment of the present invention can be specified as in the following additional notes.

<Additional Note 1> Controlling the flow rate of oil discharged by a hydraulic pump to a plurality of actuators so that the pressure is below a target pressure, and setting the target pressure for each directional control valve that controls the actuators according to the operation. the control method for a construction machine, wherein when a specific operation is performed on at least a specific directional control valve, the specific directional control valve corresponding to the specific operation is determined. The target pressure is determined from among the set pressures set in A construction machine control method for determining the target pressure from among.

<Additional Note 2> The method of controlling a construction machine according to Additional Note 1, wherein the set pressure set to the specific directional control valve is smaller than the set pressure set to the other directional control valve.

<Additional Note 3> When two or more specific operations are performed on the specific directional control valve at the same time, the smallest of the set pressures set for the specific directional control valve corresponding to the two or more specific operations The method for controlling a construction machine according to appendix 1 or 2, wherein the target pressure is determined as a value.

<Supplementary Note 4> Control of the construction machine according to any one of Supplementary Notes 1 to 3, wherein at least one of the actuators corresponding to the specific directional control valve is part of an attachment that can be detachably attached to the construction machine. Method.

<Additional Note 5> The construction machine includes a swivel joint that rotatably connects a hydraulic pipe extending from the other directional switching valve disposed on the upper rotating body and a hydraulic pipe extending from the lower actuator installed on the lower traveling body, The method for controlling a construction machine according to any one of appendices 1 to 4, wherein the lower actuator is controlled by the specific direction switching valve.

<Supplementary Note 6> A control program for a construction machine for causing one or more computing devices to execute the method for controlling a construction machine according to any one of Supplementary Notes 1 to 5.

<Additional Note 7> A flow rate control unit that controls the flow rate of oil discharged by a hydraulic pump to a plurality of actuators so that the target pressure is equal to or less than the target pressure; A control system for construction machinery, comprising: a target pressure determining unit that determines a pressure from among set pressures set for each directional valve to be controlled, the target pressure determining unit determining at least a specific operation for a specific directional valve; Then, the target pressure is determined from among the set pressures set for the specific directional control valve corresponding to the specific operation, and when only normal operations are performed for other directional control valves, the normal operation is performed. A control system for construction machinery that determines the target pressure from among the set pressures set for the other directional control valve corresponding to the set pressure.

<Supplementary Note 8> The construction machine according to claim 7, further comprising a control system for the construction machine.

The various configurations described in the first and second embodiments and their modifications described above can be employed in appropriate combinations.

The above explanation uses a hydraulic excavator as an example of a construction machine, but the work machine is not limited to a hydraulic excavator, and can include not only construction machines such as compact track loaders and wheel loaders, but also other work machines such as tractors. Further, although the explanation has been given using an engine as the prime mover, an electric motor may also be used.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and can be expanded or modified without departing from the spirit of the invention.

The present invention relates to a construction machine control method, a construction machine control program, a construction machine control system, and a construction machine, and has industrial applicability.

100 Hydraulic excavator (construction machine) 511 Variable displacement pump (hydraulic pump) 514a Directional switching valve (other directional switching valve) 514b Directional switching valve (specific directional switching valve) 520 Control device 522 Storage unit 523 Target pressure determination unit 524 Pump Flow rate calculation section

Claims (8)

Controlling the flow rate of oil discharged by a hydraulic pump to a plurality of actuators so that the pressure is equal to or less than a target pressure, and the target pressure being a set pressure set for each directional control valve that controls the actuators according to the operation. A control method for construction machinery has the following: when a specific operation is performed on at least a specific directional control valve, a control method is set for the specific directional control valve corresponding to the specific operation. When the target pressure is determined from among the set pressures and only normal operation is performed on another directional control valve, the target pressure is determined from among the set pressures set for the other directional control valves corresponding to the normal operation. A construction machinery control method that determines target pressure. 2. The construction machine control method according to claim 1, wherein the set pressure set to the specific directional switching valve is smaller than the set pressure set to the other directional switching valve. When two or more specific operations are performed on the specific directional control valve at the same time, the target is set to the smallest value of the set pressures set in the specific directional control valve corresponding to the two or more specific operations. 3. The method of controlling a construction machine according to claim 2, wherein the pressure is determined. 4. The method of controlling a construction machine according to claim 3, wherein at least one of the actuators corresponding to the specific directional control valve is part of an attachment that can be detachably attached to the construction machine. The construction machine includes a swivel joint that rotatably connects a hydraulic pipe extending from the other directional control valve disposed on the upper revolving body and a hydraulic pipe extending from a lower actuator installed on the lower traveling body, and the lower actuator 5. The method of controlling a construction machine according to claim 4, wherein the control method is performed using the specific direction switching valve. A construction machine control program for causing one or more computing devices to execute the construction machine control method according to any one of claims 1 to 5. a flow rate control unit that controls the flow rate of oil discharged by the hydraulic pump to a plurality of actuators so that the pressure becomes equal to or less than a target pressure; and a directional control valve that controls each of the actuators so that the target pressure corresponds to the operation of the actuator. A control system for construction machinery, comprising: a target pressure determining unit that determines a target pressure from among set pressures set for each time, the target pressure determining unit determines when a specific operation is performed on at least a specific directional control valve; The target pressure is determined from among the set pressures set for the specific directional control valve corresponding to the specific operation, and when only the normal operation for the other directional control valve is performed, the other pressure corresponding to the normal operation is determined. A control system for construction machinery that determines the target pressure from among the set pressures set in a directional control valve. The construction machine according to claim 7, comprising a control system for the construction machine.