JP3499681B2 - Hydraulic excavator work type identification device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for discriminating a work type of a hydraulic excavator.

[0002]

2. Description of the Related Art Hydraulic excavators are equipped with hydraulic actuators (hydraulic cylinders) for driving a boom, an arm and a bucket and hydraulic actuators (hydraulic motors) for turning and traveling as actuators for work. There is. Then, at the time of work, by operating the operation lever corresponding to each actuator, pressure oil is supplied from the hydraulic pump to each actuator to operate each hydraulic actuator, and various work is performed. .

The work carried out by the hydraulic excavator includes various work types such as spreading work, dusting work, slope finishing work, crane work, excavation work, loading work, turning leveling work, etc. The work includes work types such as pressing excavation work, simple excavation work, groove excavation work, and horizontal excavation work.

By the way, in these various works, the required operations and load states of the hydraulic excavator are often different, and therefore the hydraulic pump and the engine for driving the hydraulic pump are operated in an appropriate operating mode according to the type of work. Is preferably operated.

For example, since excavation work generally has a larger load than other works, the engine, the hydraulic pump, etc. are controlled so that the driving force of the engine can be sufficiently transmitted to each actuator via the hydraulic pump. Preferably. On the other hand, in the case of crane work and loading work, on the other hand, since the load is small, it is not necessary to draw out the driving force of the engine so much, and it is possible to control the engine, hydraulic pump, etc. to reduce the fuel consumption of the engine as much as possible. preferable.

For this reason, in the conventional hydraulic excavator, an operator operates an operation mode switch provided in a driver's cab or the like, so that, for example, the absorption ratio of the driving force (output) of the engine by the hydraulic pump (so-called hydraulic pump absorption). It is known that the horsepower) can be set to a plurality of types so that a hydraulic excavator suitable for the work type can be operated.

However, in such a conventional hydraulic excavator, in order to operate the hydraulic excavator suitable for the work type intended by the worker, the worker himself / herself distinguishes the work type from other work types and determines the predetermined type. Since the switch operation must be performed, the switch operation is often forgotten and the switch operation is not performed in many cases. In such a case, it is possible to operate the hydraulic excavator suitable for the work type. In addition to this, there is an inconvenience that the capacity of the hydraulic excavator cannot be fully brought out. In addition, even if an operator performs a switch operation in a certain work, he / she often forgets to release the switch operation when performing a different type of work. In such a case, the hydraulic pressure desired by the operator is used. There was the inconvenience that the shovel could not be driven.

Therefore, in order to eliminate such inconvenience, the inventors of the present invention detect the operation amount of each operation lever, and automatically determine the type of work performed by the hydraulic excavator based on the detected operation amount. Has been previously proposed (Japanese Patent Application No. 8-28266) that controls the operation of the engine, the hydraulic pump, and the like according to the determined work type.
No.).

In this device, based on the operation amount detected by each operation lever, the average value of the operation amount of each operation lever within a predetermined time, the operation amount of the boom or bucket operation lever, and the like. By grasping the degree of increase or decrease within a fixed time as the characteristic amount indicating the operating state of the hydraulic excavator, and comparing the characteristic amount with a predetermined value, and obtaining the magnitude relationship, the magnitude relationship can be obtained. Based on this, the work type is automatically determined. Then, the operation of the engine, the hydraulic pump, or the like is controlled according to the determined work type.

By automatically discriminating the work types in this way, it is possible to operate the hydraulic excavator suitable for various work types without requiring the operator to perform a switch operation such as an operation mode switch.

However, it was found by further study of the present invention that the following inconveniences may occur in the work type discrimination method as described above.

That is, even for the same work type, there is some variation in the operation form of each operation lever depending on the operator's preference, work environment, etc. Therefore, the operation amount of each operation lever varies. The characteristic amount such as an average value within a fixed time also varies to some extent. Therefore, by simply comparing the feature quantities with the predetermined value as described above, the magnitude of the feature quantity and the predetermined value may differ depending on the operator's preference, work environment, etc. There is a possibility that the relationship may be different, and in such a case, the work type is erroneously determined.

[0013]

In view of the above background, the present invention discriminates various work types with high accuracy without depending on the variation of the operation form of the operation lever according to the preference of the operator or the work environment. An object of the present invention is to provide a work type discrimination device for a hydraulic excavator.

[0014]

In order to achieve such an object, a work type discriminating apparatus for a hydraulic excavator according to the present invention has a plurality of work actuators including a boom actuator, an arm actuator, a bucket actuator and a swing actuator. In a hydraulic excavator that performs a required work by operating each of the actuators in accordance with the operation of an operation lever corresponding to each of the work actuators, the device for determining the work type at the time of work by the hydraulic excavator, Of the operation levers corresponding to the operation amount detecting means for detecting the operation amount of at least one operation lever, and the hydraulic excavator for determining the work type based on the operation amount detected by the operation amount detecting means. A feature amount calculating means for obtaining at least one feature amount indicating the operating state of From each feature amount obtained by the feature amount calculation means, each work type of each feature amount based on a plurality of membership functions for fuzzy inference determined in advance corresponding to each feature amount for each work type to be discriminated And a suitability calculating unit for determining a suitability for the hydraulic excavator, based on the suitability calculated by the suitability calculating unit. It is characterized by doing.

According to the present invention, when the work is performed by the hydraulic excavator, the work amount is discriminated by the characteristic amount calculation means based on the operation amount of the operation lever detected by the operation amount detection means. A characteristic amount indicating the operating state of the hydraulic excavator is calculated. Then, the suitability calculating means obtains the suitability of each feature amount obtained for each work type on the basis of the fuzzy inference membership function. At this time, the suitability of each feature amount thus obtained for each work type is the highest for the work type that is actually performed, and is less for other work types. In addition, the suitability is obtained by using a membership function for fuzzy inference, and in consideration of the variation of the operation form of the operation lever according to the operator's preference, work environment, etc., each work of each feature quantity is considered. It indicates the suitability for the type. Therefore, based on the goodness of fit obtained by the goodness of fit calculating means, the work type most suitable for each feature amount is determined as the work type being performed by the hydraulic excavator, so that the preference of the worker and the work environment can be improved. It is possible to highly accurately discriminate various work types without depending on the variation in the operation mode of the operation lever.

In the present invention, the types of work to be discriminated are simple excavation work, slope finishing work, groove excavation work, horizontal excavation work, turning leveling work, sand trimming work, spreading work, pressing excavation work, and crane. It includes at least one work type of work and loading work.

In the present invention, more specifically, the feature amount calculating means is a bucket operation complexity display amount indicating a rate at which the operation amount of the boom operation lever changes within a predetermined time, and a bucket operation complexity display amount. The bucket operation complexity display amount that indicates the rate at which the operation amount of the operation lever for operation increases or decreases within a predetermined time period, and the time when the magnitude of the operation amount of the operation lever for turning exceeds a predetermined value within the predetermined time period. The high-speed turning time shown, and the operation amount of the boom operation lever becomes equal to or greater than a predetermined value on the ascending side of the boom within the predetermined time, and the operation amount of each of the arm and bucket operation levers on the arm and bucket retracting side The boom reverse operation time that indicates a time that is equal to or greater than a predetermined value, and the magnitude of the operation amount of the boom operation lever that is equal to or greater than the predetermined value within the predetermined time Bucket arm stop time, which indicates the time when the amount of operation of the operation lever is below a specified value, and the operation of the boom operation lever within the specified time.
Boom operation amount average value that shows the average value of the amount of work
The amount of operation of the arm operation lever within a fixed time
The average value of arm operation amount that shows the average value of
The average value of the amount of operation of the bucket operation lever
At least one of the bucket operation amount average values shown is obtained as the feature amount, and the operation amount detection means detects the operation amount of the operation lever corresponding to the at least one feature amount.

That is, the operating modes of the operating levers corresponding to the boom actuator, the arm actuator, the bucket actuator, and the turning actuator respectively define the operating state of the hydraulic excavator corresponding to the work being performed. Of the forms, especially the boom operation complexity display amount, the bucket operation complexity display amount,
High-speed turning time, boom reverse operation time, bucket / arm stop time, boom operation amount average value, arm operation amount average value, bucket operation amount average value, or a combination thereof is unique to the type of work being performed. Therefore, the membership function that defines the suitability of each feature amount with each work type also tends to be unique to the set of each feature amount and each work type.

Therefore, the feature amount such as the boom operation complexity display amount is obtained from the operation amount of the operation lever corresponding to the feature amount, and the suitability of each obtained feature amount to each work type is determined by the member. Based on the ship function,
By distinguishing the work type most suited to each feature amount among the work types as the work type performed by the hydraulic excavator, various work types such as excavation work and spreading work can be accurately determined. it can.

By the way, in the present invention, when there are many work types to be discriminated, the suitability is calculated for each of the many work types with respect to each of the above-mentioned characteristic amounts obtained during the work. Therefore, the calculation load of the fitness calculation means becomes large.

On the other hand, among the types of work performed by the hydraulic excavator, for example, in the case of distributing work, in general, the bucket operation lever is frequently increased and decreased at short time intervals, and the operation mode of such bucket operation lever is also increased. The tendency of is not easily influenced by the preference of the worker, the work environment, and the like, and is extremely remarkable as compared with other work types.

In addition, for example, in dusting work, in general, the operation amount of the boom operation lever is frequently increased and decreased at short time intervals, and the arm and arm are operated in comparison with the operation amount of the boom operation lever. The time when the operation amount of the bucket operation lever is small is relatively long, and high-speed turning by the turning operation lever is rarely performed. Further, such a tendency of the operation mode of each operation lever is hardly affected by the preference of the operator, the work environment, and the like, and is extremely remarkable as compared with other work types.

Therefore, in the present invention, the feature amount calculated by the feature amount calculating means includes the bucket operation complexity display amount, and when the bucket operation complexity display amount is equal to or more than a predetermined value, the adaptability is The work type performed by the hydraulic excavator is determined to be scattered work, regardless of the degree of conformity obtained by the calculation means.

Further, the feature amount calculated by the feature amount calculating means includes the boom operation complexity display amount, the bucket arm stop time, and the high-speed turning time, and the boom operation complexity display amount is a predetermined value or more. And the bucket arm stop time is greater than or equal to a predetermined value and the high speed turning time is less than or equal to a predetermined value, the type of work performed by the hydraulic excavator regardless of the goodness of fit obtained by the goodness of fit calculating means. Is determined to be dusting work.

In this way, when the bucket operation complexity display amount, the boom operation complexity display amount, the bucket / arm stop time, and the high-speed turning time are compared with a predetermined value, and the magnitude relation satisfies the above condition. On the other hand, by discriminating the type of work being performed as a scattering work or a dusting work, it is not necessary to obtain the degree of suitability for each work type of each of the feature amounts when discriminating these work types. It is possible to accurately determine the spreading work and the dusting work without obtaining the suitability.

Therefore, various work types can be accurately discriminated while appropriately reducing the calculation load of the fitness calculating means.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to FIGS.

Referring to FIG. 1, the hydraulic excavator according to the present embodiment includes an engine 1, two hydraulic pumps 2 and 3 having the engine 1 as a drive source, and a boom actuator 4 (hydraulic cylinder) which is a working actuator. , Arm actuator 5 (hydraulic cylinder), bucket actuator 6
(Hydraulic cylinder), turning actuator 7 (hydraulic motor), right-side traveling actuator 8 (hydraulic motor) and left-side traveling hydraulic actuator 9 (hydraulic motor). ) Is included in the controller 10.

The hydraulic pump 2 is for supplying pressure oil to the boom actuator 4, the bucket actuator 6, and the right traveling actuator 8 among the working actuators to operate them, and The actuators 4, 6 and 8 are respectively connected via a boom control valve 11, a bucket control valve 12 and a right traveling control valve 13, which are directional control valves.

Similarly, the hydraulic pump 3 is for supplying pressure oil to the arm actuator 5, the turning actuator 7 and the left traveling actuator 9 to operate them, and the respective actuators 5, 7 , 9
Are respectively connected via an arm control valve 14, a turning control valve 15 and a left traveling control valve 16.

Each of the control valves 11 to 16 has
Pilots (not shown) of operating devices 17a to 22a each having a boom operating lever 17, a bucket operating lever 18, a right traveling operating lever 19, an arm operating lever 20, a turning operating lever 21, and a left traveling operating lever 22, respectively. A pilot pressure corresponding to the operation amount and operation direction of each operation lever 17 to 22 is applied from the valve to perform switching operation or the like.

In the figure, for the sake of convenience, each operation lever 17-
22 is described as being provided separately, but in reality, the boom operation lever 17 and the bucket operation lever 18 are configured by one operation lever,
The actuators 4 and 6 are operated separately by operating the operating lever in the front-rear direction and operating in the left-right direction. Similarly, the arm operating lever 20 and the turning operating lever 21 are operated. Is composed of one operating lever.

The hydraulic pumps 2 and 3 are of the variable displacement type, and the tilt angles that regulate the discharge flow rate are generated by the first proportional solenoid valve 23 and the second proportional solenoid valve 24, respectively. The pressure can be adjusted via a regulator (not shown). Each proportional solenoid valve 23, 24 is
The secondary pressure is generated according to the energization amount, and the discharge flow rates of the hydraulic pumps 2 and 3 can be controlled by controlling the energization of the proportional solenoid valves 23 and 24. The energization control of the proportional solenoid valves 23, 24 is performed by the controller 10 as described later.

On the other hand, in the hydraulic excavator of this embodiment, the boom operation amount sensor 25 and the bucket operation amount sensor 26, which are operation amount detecting means for detecting the operation amounts (including the operation direction) of the operation levers 17 to 21, respectively. , A right traveling operation amount sensor 27, an arm operation amount sensor 28, a turning operation amount sensor 29, and a left traveling operation amount sensor 30. These operation amount sensors 25 to 30 correspond to the operation amounts of the operation levers 17 to 21, respectively. The corresponding signal is output to the controller 10. Further, pressure sensors 31 and 32 for detecting the discharge pressure (load pressure) of the hydraulic pumps 2 and 3, and a rotation speed sensor 33 for detecting the rotation speed of the engine 1 are provided. The number sensor 33 outputs signals to the controller 10 according to the discharge pressures of the hydraulic pumps 2 and 3 and the rotation speed of the engine 1, respectively.

In this case, each of the operation amount sensors 25 to 30
Is a pressure sensor, and indicates the operation amount of the pilot pressure generated by the operation devices 17a to 22a including the operation levers 17 to 21 according to the operation amount of the operation levers 17 to 21. Detect as a thing.

In FIG. 1, in the present embodiment, the boom actuator 4 is appropriately supplied with pressure oil discharged from the hydraulic pump 3 via a boom confluence valve 34 provided in a conduit on the hydraulic pump 3 side. The discharge pressure oil of the hydraulic pump 2 is joined and supplied. Similarly, the arm actuator 5 is appropriately supplied to the arm actuator 5 via an arm merging valve 35 provided in a conduit on the hydraulic pump 2 side. The discharge pressure oil of the hydraulic pump 2 merges with the discharge pressure oil of the hydraulic pump 2 and is supplied.

Further, the pressure oil discharged from the hydraulic pump 2 is directly returned to a hydraulic oil tank (not shown) through the cut valve 36 when the boom actuator 4, the bucket actuator 6 and the right traveling actuator 8 are in the non-operating state. The cut valve 36 is configured to shut off the recirculation when any one of the actuators 4, 6 and 8 is operated. A cut valve 37 similar to this is also provided on the hydraulic pump 3 side.

Reference numeral 38 in FIG. 1 is for adjusting the hydraulic pumps 2 and 3 to supply the same amount of pressure oil to the right-side traveling actuator 8 and the left-side traveling actuator 9 when the hydraulic excavator is traveling straight ahead. It is a valve.

Next, referring to FIG. 2, the controller 10
Is configured by using a microcomputer, and as the functional configuration thereof, each of the operation amount sensors 25-
An A / D converter 39 for A / D converting the output signal of 30;
A data holding unit 40 that holds the A / D-converted data indicating the operation amount of each operation lever 17 to 21, and a work type determination unit that determines the work type performed by the hydraulic excavator based on the held data. 41 and an operation mode control unit 42 that sets the operation modes of the hydraulic pumps 2, 3 and the engine 1 according to the determined work type and controls the operations of the hydraulic pumps 2, 3 and the engine 1 accordingly. I have it.

The data holding unit 40 stores data indicating the operation amounts of the operation levers 17 to 21 obtained from the operation amount sensors 25 to 30 via the A / D converter 39 for a predetermined continuous time (for example, 20 seconds). ) Hold and update it, for example, every 5 seconds.

The work type discriminating section 41 is an essential part of the present invention. In order to discriminate the work type, a plurality of types (eight types in the present embodiment) of characteristic quantities, which will be described later, are stored in the data holding section 40.
The boom operation complexity grasping section 43, the bucket operation complexity grasping section 44, the high-speed turning time grasping section 45, and the boom reverse operation time grasping which are grasped from the operation amount data of the respective operation levers 17 to 21 held for a predetermined time respectively. Part 46, bucket arm stop time grasping part 47, boom operation average value grasping part 4
8. An arm operation average value grasping section 49 and a bucket operation average value grasping section 50 are provided as feature amount calculating means. Further, the work type discriminating unit 41 is configured so that the above-mentioned grasping units 43 to 5
In addition to 0, a memory 51 that previously stores and holds a plurality of membership functions for fuzzy inference, and this memory 5
1. Using the membership function stored and stored in No. 1, the fitness calculation unit 52 (the fitness calculation unit) that finds the fitness of each feature amount grasped by each grasping unit 43 to 50 at the time of work to each work type. And a comparison unit 53 that compares a plurality of specific feature amounts of the feature amounts grasped by the grasping units 43 to 50 with a predetermined value.

In this embodiment, the work type discriminating unit 4
The work types to be distinguished by 1 are simple excavation work, slope finishing work, groove excavation work, horizontal excavation work, turning leveling work, shredding work, spreading work, pressing excavation work,
There are ten types of work, crane work and loading work. The outline of the work contents of each work type is as follows.

The simple excavation work is a work in which a bucket is pressed against the ground at a position in front of a vehicle, and the bucket is pulled forward by the operation of an arm and a boom to dig a hole in the ground.

The slope finishing work is a work in which the bucket is moved along the slope by the simultaneous operation of the bucket, the arm, and the boom, and the arm and the boom are operated in this state to cut the slope by the bucket.

The groove excavation operation is an operation of pressing a bucket against the ground at a front portion of the vehicle and pulling the bucket toward you by the operation of the arm and the boom to dig a groove in the ground.

The horizontal excavation work is a work in which a bucket is pressed against a convex portion of the ground at a front portion of the vehicle and the bucket is pulled forward by the operation of an arm and a boom to scrape the convex portion of the ground.

The turning leveling work is a leveling work by bringing the bucket into contact with the ground and performing a turning motion in this state.

The dusting work is a work in which the bucket is struck on the ground by repeating the vertical movement of the boom to harden the ground.

The scattering operation is an operation of scooping soil in the bucket by the simultaneous operation of the bucket, the arm and the boom and scattering the soil by the operation of the bucket at high speed.

The pressing and excavating work is a work for excavating by excavating the bucket by pushing the bucket against the ground while performing a turning operation, when excavating a groove in a lateral position of the vehicle in the front-rear direction of the vehicle.

The crane work is a work of suspending a transported object on the blade edge of a bucket via a rope or the like and moving the transported object.

The loading operation is an operation of loading the hydraulic excavator on a trailer or the like when the hydraulic excavator is transported.

The boom operation complexity grasping section 43 of the work type discriminating section 41 for discriminating between the work types is operated from the operation amount data of the boom operation lever 17 for the predetermined time, and the operation lever 17 is operated within the predetermined time. The rate at which the operation amount of is increased or decreased is grasped as the complexity display amount indicating the complexity of the boom operation. Similarly, the bucket operation complexity grasping unit 44
From the operation amount data of the bucket operation lever 18 for the predetermined time, within the predetermined time, the operation lever 18
The rate at which the operation amount of is increased or decreased is grasped as the complexity display amount indicating the complexity of the boom operation.

More specifically, referring to FIG. 3, in the present embodiment, the boom operation complexity grasping section 43 changes the operation amount of the boom operation lever 17 for the predetermined time (20 seconds) with time. Waveform a (which corresponds to the time-series data of the operation amount data held in the data holding unit 40 for the predetermined time) indicates a straight line b1 representing a plurality of predetermined operation amounts S1 to S5. The number of intersection points P1 to P5 intersecting with each of b5, in other words, the operation amount of the boom operation lever 17 within the predetermined time is the predetermined operation amount S.
The number of times of changing from the operation amount smaller than 1 to S5 or the larger operation amount to the operation amount larger than the predetermined operation amount S1 to S5 or smaller than the predetermined operation amount (the number of times of changing each predetermined operation amount S1 to S5 up and down) is predetermined. It is calculated for each manipulated variable S1 to S5. Then, the average value of the numbers of the intersections P1 to P5 corresponding to the respective predetermined operation amounts S1 to S5 is obtained as the complexity display amount of the boom operation.

For example, in the waveform a of the operation amount of the boom operation lever 17 shown in FIG. 3, the number of intersections P1 to P5 with the straight lines b1 to b5 corresponding to the respective predetermined operation amounts S1 to S5 are:
There are eight, eight, eight, eight, and sixteen, respectively, and in this case, the complexity display amount of the boom operation is “9.6”.
Becomes

The method of obtaining the complexity display amount is exactly the same for the bucket operation complexity grasping section 44.
However, the predetermined operation amounts S1 to S5 are determined by the operation levers 1
It is defined separately for every 7 and 18.

The complexity display amounts of the boom operation and the bucket operation thus obtained indicate the extent to which the boom operation lever 17 and the bucket operation lever 18 are frequently increased and decreased within the predetermined time. The larger the complexity display amount, the more frequently the operating levers 17 and 18 are increased / decreased, and the more complicated the boom operation and the bucket operation are performed.

In this case, a plurality of predetermined manipulated variables S1 ...
By using the average value of the number of intersections P1 to P5 with the straight lines b1 to b5 corresponding to S5 as the complexity display amount of the boom operation and the bucket operation, each operation can be performed according to the operator's preference and work environment in the same work. Even if the amount of increase or decrease in the amount of operation of the levers 17 and 18 varies, each operating lever 1
The extent to which 7 and 18 are frequently increased and decreased (complexity of operation)
Can be properly grasped from the complexity display amount. Further, as shown in the right side portion of FIG. 3, each operation lever 17, 18 is slightly increased or decreased by a simple vibration or the like.
When the operation amount of is increased or decreased, the operation lever 17,
It is possible to eliminate a situation in which 18 is mistakenly recognized as being frequently increased or decreased.

As for the complexity display amount, the minimum value of the number of the intersections P1 to P5 may be obtained as the complexity display amount. In this case, in the waveform a in FIG. 3, the complexity display amount is “8”.

The high-speed turning time grasping section 45 determines beforehand the magnitude (absolute value) of the operation amount of the operation lever 21 within the predetermined time from the operation amount data of the operation lever 21 for turning for the predetermined time. The total time for which the operation amount is greater than or equal to the predetermined operation amount is calculated, and the total is grasped as the high speed turning time. The high-speed turning time thus obtained means the total time during which the high-speed turning operation of the hydraulic excavator is performed within the predetermined time.

The boom reverse operation time grasping section 46 is provided with boom, arm, and bucket operation levers 17 and 2.
Based on the operation amount data of 0 and 18 for the predetermined time, the operation amount of the boom operation lever 17 becomes equal to or larger than the predetermined operation amount on the rising side of the boom within the predetermined time,
Moreover, the total of the times when the respective operation amounts of the arm operation lever 20 and the bucket operation lever 18 are equal to or more than the predetermined operation amounts which are respectively set in advance on the retracting sides of the arms and the buckets are obtained, and the total is set as the boom reverse operation time. Figure out The boom reverse operation time calculated in this way is
It means the total time within the predetermined time when the boom and the bucket are driven upward while the arm and the bucket are driven retracted.

The bucket arm stop time grasping section 47 includes the operation levers 17 for boom, arm and bucket.
From the operation amount data of the predetermined time of 20 and 18, the magnitude (absolute value) of the operation amount of the boom operation lever 17 is equal to or more than a predetermined operation amount within the predetermined time,
In addition, the total time during which the amount of each operation amount of the arm operation lever 20 and the bucket operation lever 18 is equal to or less than a predetermined operation amount is calculated, and the total time is grasped as the bucket arm stop time. The bucket / arm stop time thus obtained means the total time within the predetermined time in which only the boom is driven while the bucket and arm are substantially stopped.

Boom operation average value grasping section 48, arm operation average value grasping section 49 and bucket operation average value grasping section 50.
Is the operation levers 17, 2 within the predetermined time from the operation amount data for the predetermined time of the operation levers 17, 20, 18 for the boom, the arm, and the bucket, respectively.
Obtain the average value of the magnitudes (absolute values) of the manipulated variables 0, 18,
It is grasped as a boom operation amount average value, an arm operation amount average value, and a bucket operation amount average value, respectively.

In the present embodiment, each of these grasping sections 43-.
Boom operation complexity display amount grasped by 50, bucket operation complexity display amount, high-speed turning time, boom reverse operation time, bucket arm stop time, boom operation amount average value,
The average value of the arm operation amount and the average value of the bucket operation amount are used as the characteristic amount indicating the operating state of the hydraulic excavator.

As shown in FIGS. 4 to 11, the membership function stored and held in the memory 51 is the value of each of the eight types of characteristic quantities such as the complexity display quantity of the boom operation, and the above-mentioned respective operations. It shows a predetermined relationship with the suitability of the feature amount with respect to the type, and for each work type,
The membership function corresponding to each of the above-mentioned feature amounts is stored and held in the memory 51. That is, the membership function is set for each set of each work type and each feature amount. In this case, the membership function corresponding to each set of each work type and each feature amount basically has a range of values that each feature amount can usually take during actual work of each work type. , The degree of goodness of fit corresponding to the value of the characteristic amount becomes the maximum value (“1” in the present embodiment), and the degree of goodness of fit is set to gradually decrease as the value of the characteristic amount deviates from the above range. There is.

Specifically, for example, regarding the simple excavation work and the turning ground leveling work, the membership functions corresponding to the above eight kinds of characteristic amounts are set as shown by the solid line and the broken line in FIGS. 4 to 11, respectively. ing.

In this case, in the simple excavation work in which the membership function is shown by the solid line in FIGS. 4 to 11, normally,
Boom operation lever 17 and bucket operation lever 18
However, since it is rare that it is frequently increased or decreased in a short time,
As shown in FIGS. 4 and 5, the values of the complexity display amount of the boom operation and the complexity display amount of the bucket operation are in a relatively low range including “0”, and the matching degree is “1” which is the maximum. The membership function is set so that

In the simple excavation work, normally,
Since the operation of performing a high-speed turn, the operation of driving only the boom with the bucket and the arm substantially stopped, and the state of driving the bucket and the arm to the retracting side while driving the boom to the upward side are less frequent, the operation shown in FIG. As shown in FIG. 8, the adaptability is set to the maximum "1" within the range of relatively low values including the high-speed turning time, the bucket arm stop time, and the boom reverse operation time including "0". The membership function is set. In addition, the time on the horizontal axis in FIGS. 6 to 8 is represented by a scale in which a predetermined unit time is “1”.

Further, in the simple excavation work, the boom operation lever 17 and the bucket operation lever 18 are usually operated with a relatively large operation amount, and therefore, as shown in FIGS. 9 and 11. As described above, the membership function is set so that the fitness becomes maximum "1" in a range of relatively high magnitudes of the boom operation amount average value and the bucket operation amount average value which are equal to or more than a certain value. . Since the arm operation lever 20 is often operated with a medium amount of operation, as shown in FIG. 10, when the average value of the arm operation amount is in the range of medium size, the compatibility is high. The membership function is set so that is the maximum "1".

On the other hand, in the turning leveling work for which the membership function is shown by broken lines in FIGS. 4 to 11, normally,
Boom operation lever 17 and bucket operation lever 18
However, although it is rare that it is increased or decreased extremely frequently,
The increase / decrease operation has more opportunities than in the case of the simple excavation work described above. Therefore, as shown in FIGS. 4 and 5, the values of the boom operation complexity display amount and the bucket operation complexity display amount are “0”. The membership function is set so that the fitness becomes maximum "1" in a relatively low size range including "and in a wider range than in the simple excavation work.

Further, in the turning ground leveling work, the state in which the high speed turning is performed is usually higher than in the case of the simple excavation work. Therefore, as shown in FIG. The membership function is set so that the goodness of fit is "1", which is the maximum in a medium size range that is larger than that in the case of simple excavation work.

Further, in the turning leveling work, in contrast to the simple excavation work, it is relatively common that only the boom is driven with the bucket and the arm almost stopped. As shown in the figure, the membership function is set so that the suitability becomes maximum "1" in the range where the value of the bucket arm stop time is relatively large.

In the turning leveling work, the frequency of driving the boom and the bucket and the arm to the retracting side while driving the boom to the up side is not so high, but the frequency is higher than that in the simple excavation work. Therefore, the value of the boom reverse operation time is, as shown in FIG.
"1" has the highest compatibility in a relatively low size range including "0" and in a wider range than in the case of simple excavation work.
The membership function is set so that

In the turning leveling work, the arm operating lever 20 and the bucket operating lever 18 are often operated with a relatively small amount of operation.
As shown in FIG. 10 and FIG. 11, the adaptability becomes the maximum “1” in a range of relatively low values including the arm operation amount average value and the bucket operation amount average value including “0”. Has a membership function set to. Since the boom operation lever 17 is often operated with a medium operation amount, as shown in FIG. 9, when the boom operation amount average value is in a medium size range, the compatibility is good. The membership function is set so that is the maximum "1".

The membership function setting for each feature amount for each work type is the same for the other work types of the simple excavation work and the turning leveling work.
Each membership function is set so that the degree of conformity corresponding to the value of the feature amount becomes the maximum value “1” within the range of values that the above-mentioned feature amounts can normally take during the actual work of each work type. Has been done. Then, as the value of each feature amount for each work type deviates from the normal value range, each membership function is set so that the fitness gradually decreases as shown in FIGS. 4 to 11. ing. still,
For each work type, if the normal value range of the feature amount covers the entire range of the feature amount, the membership is such that the goodness of fit is "1" over the entire range of the feature amount. The function is set.

The goodness-of-fit calculation unit 52 uses the membership function set as described above for each work type from the value of each feature quantity actually grasped by each of the grasping units 43 to 50 at the time of work. , The degree of conformity of each feature amount to each work type is obtained. Further, the goodness-of-fit calculation unit 52 calculates the goodness-of-fit of the smallest value of the goodness-of-fit calculated for each feature amount for each work type as a comprehensive goodness-of-fit (hereinafter, This is called the overall goodness of fit).

Concretely, referring to, for example, FIGS. 4 to 11, the above-mentioned eight types of characteristic amounts (complex display amount of boom operation, complexity of bucket operation) grasped by the grasping portions 43 to 50 are described. Display amount, high-speed turning time, boom reverse operation time, bucket arm stop time, boom operation amount average value, arm operation amount average value, and bucket operation amount average value) as shown in ch1, ch2, ch3, and ch4, ch5, ch6, ch7, ch8
Then, the fitness values of the feature value values ch1 to ch8 for simple excavation work are 1, 0.6, 0.5, 0.6, respectively.
1, 0.8, 1, 0.4, and at this time, the comprehensive fitness for the simple excavation work is the minimum value “0.4” of the fitness values for each of the feature amounts. is there. Similarly, the suitability for the turning ground leveling work of the feature value values ch1 to ch8 is 1, 1, 1, 1, 1, 1, 0.9, 1 respectively, and at this time, The goodness of fit is the minimum value “0.9” of the values of the goodness of fit for each of the above feature amounts.

The overall goodness of fit thus obtained is
The larger the value, the higher the relevance of each feature amount to the work type corresponding to the total degree of conformity, and the higher the probability that the work of the work type is being performed. Therefore, in the above case, there is a high possibility that the turning excavation work with a total fitness of 0.9 is performed, compared to the simple excavation work with a total fitness of 0.4. If the total degree of conformity corresponding to the work type is smaller than 0.9, it means that the turning leveling work is most likely to be performed among all the work types.

The comparing section 53 includes the boom operation complexity grasping section 43, the bucket operation complexity grasping section 44, the high-speed turning time grasping section 45, and the bucket arm stop time grasping section 47 among the grasping sections 43 to 50, respectively. The magnitude relationship between each grasped feature amount and a predetermined value predetermined for each feature amount is compared. This comparison is performed in order to discriminate between the spreading work and the dusting work among the above work types, as described later.

The work type discriminating unit 41 having the above-mentioned configuration uses the hydraulic excavator based on the above-mentioned total conformance for each work type obtained by the conformance calculating unit 52 or the comparison result obtained by the comparing unit 53. The type of work currently being performed is determined as described below.

The operation mode control section 42 operates the hydraulic pumps 2 and 3 in accordance with the work type discriminated by the work type discriminating section 41.
Absorption horsepower setting unit 54, maximum supply flow rate setting unit 5
5, flow rate variation setting unit 56 and response time constant setting unit 57
According to the set operation mode, the hydraulic pump control unit 58 that controls the hydraulic pumps 2 and 3 via the first proportional solenoid valve 23 and the second proportional solenoid valve 24, respectively, and the work type determination unit 41 determine. An automatic deceleration control unit 59 that performs the later-described automatic deceleration control of the engine 1 according to the work type.
It has and.

The absorption horsepower setting unit 54 sets the so-called hydraulic pump absorption horsepower, which is the ratio of absorbing the output of the engine 1 by the hydraulic pumps 2 and 3, according to the work type, for example, as shown in FIG. In addition, the hydraulic pump absorption horsepower is set to 100%, 80%, and 70% according to the work type. Here, 100% of the hydraulic pump absorption horsepower is equal to the product of the output torque at each rotation speed of the engine 1 and the generated torque of the hydraulic pumps 2 and 3 (this is the product of the discharge flow rate and the discharge pressure of the hydraulic pumps 2 and 3). ), The output of the engine 1 is converted into the outputs of the hydraulic pumps 2 and 3 for driving the actuators 4 to 9 as they are. The hydraulic pump absorption horsepower of 80% or 70% indicates that the torque generated by the hydraulic pumps 2 and 3 at each rotation speed of the engine 1 becomes 80% or 70% of the output torque of the engine 1. In the state, 80% or 70% of the output of the engine 1 is converted into the output of the hydraulic pumps 2 and 3 for driving the actuators 4 to 9.

In order to operate the hydraulic pumps 2 and 3 according to the set value of the hydraulic pump absorption horsepower, for example, the rotation speed of the engine 1 detected by the rotation speed sensor 33 and the data as shown in FIG. The generated torque of the hydraulic pumps 2 and 3 corresponding to the set value of the hydraulic pump absorption horsepower is obtained from the table, and the generated torque is calculated based on the discharge pressure of the hydraulic pumps 2 and 3 (this is the load of each actuator 4 to 9). , Which is detected by the pressure sensors 31 and 32), and the discharge flow rate are equal to each other.
It is performed by adjusting the discharge flow rate of No. 3.

The maximum supply flow rate setting unit 55 sets the maximum supply flow rate of the pressure oil from the hydraulic pumps 2 and 3 to the actuators 4 to 9 (upper limit discharge flow rate of the hydraulic pumps 2 and 3) according to the work type. For example, as shown in FIG. 13, the maximum supply flow rate equal to the allowable maximum discharge flow rate of the hydraulic pumps 2 and 3 is 100%, and the maximum supply flow rate is 100%.
%, 80% and 70% are set. As the maximum supply flow rate increases, the operating levers 17-
The maximum operating speed of each actuator 4 to 9 is increased by operating 22.

As shown in FIG. 13, the flow rate change degree setting unit 56 changes the flow rate of the pressure oil from the hydraulic pumps 2 and 3 to the actuators 4 to 9 with respect to the change amount of the operation amounts of the operation levers 17 to 22. The ratio of the amount (static change amount) (gradients of the straight lines c, d, and e in FIG. 13) is set as the flow rate change degree according to the work type. As shown in FIG. The degree is set to, for example, three types of large, medium and small. The larger the flow rate change degree, the greater the increase / decrease change in the operating speed of each actuator 4-9 with respect to the increase / decrease in the operation amount of each operation lever 17-22.

The response time constant setting unit 57 is provided for each operation lever 1
The response time constant that defines the changing speed of the operating speed of each actuator 4 to 9 with respect to the changing speed of the operation amount of 7 to 22 is set according to the work type, and the response time constant is, for example, 0 s, 0.2 s. , 0.3 s, and 0.5 s. The smaller this response time constant, the higher the followability (responsiveness) of the operating speed of each actuator 4-9 to the change in the operation amount of each operation lever 17-22.

The operation in accordance with the set response time constant is for causing a change in the flow rate of the hydraulic pumps 2 and 3 when the operation amount of each operation lever 17 to 22 is changed. This is performed by delaying the timing of energizing the proportional solenoid valves 23, 24 by the time of the response time constant.

As described above, the hydraulic pump control unit 58 controls each operating lever in accordance with the hydraulic pump absorption horsepower, the maximum supply flow rate, the flow rate change rate and the response time constant which are set by the setting sections 51 to 54 according to the work type. The amount of energization to the first and second proportional solenoid valves 23 and 24 is determined so that the pressure oil having a flow rate according to the momentary operation amount of 17 to 22 is supplied to each actuator 4 to 9 and the proportional solenoid is supplied. The valves 23 and 24 are energized to control the discharge flow rates of the hydraulic pumps 2 and 3.

The automatic deceleration controller 59 reduces the fuel consumption of the engine 1 by lowering the engine speed of the engine 1 to the low speed engine when the work is stopped. Basically, the operation amount sensors 25 to 30 are used. Each operating lever 17 to be detected
When all the operation amounts of 22 become "0" (when all the operation levers 17 to 22 are operated to the neutral position), when a predetermined time has passed in that state,
The rotation speed of the engine 1 is controlled to a predetermined low speed rotation speed which is set in advance.
When 7 to 22 are operated, the rotation speed of the engine 1 is returned to the original rotation speed (hereinafter, this control is referred to as auto decel control). Then, in this case, the auto decel control unit 56 validates the auto decel control (performs the auto decel control) or invalidates the auto decel control (does not perform the auto decel control) depending on the work type determined by the work type determination unit 41. I am trying.

Next, the operation of the hydraulic excavator of this embodiment will be described.

When the work by the hydraulic excavator is started, the data held by the operation amount sensors 25 to 30 are held in the data holding unit 40 for the predetermined time, for example, 5
It is updated every second. Then, the work type determination unit 41
Based on the data stored in the data storage unit 40 as described above, the grasping units 43 to 50 display the complexity of the boom operation, the complexity of the bucket operation, the high-speed turning time, and the boom reverse operation time. , Bucket arm stop time,
A boom operation amount average value, an arm operation amount average value, and a bucket operation amount average value are obtained, and the type of work currently being performed is discriminated from these characteristic amounts as shown in the flowchart of FIG.

That is, the work type discriminating section 41 first
The comparison unit 53 compares the bucket operation complexity display amount grasped by the grasping unit 44 with a predetermined value Th1 corresponding thereto (STEP 1), and the comparison result indicates the bucket operation complexity display amount. If ≧ Th1, it is determined that the type of work being performed is a scattering work (S
TEP2).

As described above, this scattering operation is an operation in which the operation of scooping the soil in the bucket and scattering it by the operation of the bucket is repeated at high speed. In such operation, in particular, the operation lever 18 for the bucket is operated. The amount is frequently increased / decreased with a relatively large increase / decrease range, and such an operation form of the bucket operation lever 18 is not significantly affected by the preference of the operator, the work environment, etc. and is remarkable in the spreading work. Becomes For this reason, the complexity display amount of the bucket operation becomes a remarkably large value as compared with other work. Therefore, by appropriately setting the predetermined value Th1, the condition of STEP1 is satisfied during the spreading work, and the spreading work is performed. You can determine that you are doing.

If the condition of STEP 1 is not satisfied,
Next, the work type determination unit 41 preliminarily sets the complexity display amount of the boom operation, the high-speed turning time, and the bucket arm stop time, which are grasped by the grasping units 43, 45, and 47, by the comparing unit 53, respectively. Predetermined value
Compared with Th2, Th3, and Th4 (STEP3 to 5), the comparison results show that the complexity of the boom operation is ≧ Th2, the high-speed turning time is ≦ Th3, and the bucket arm stop time is ≧ Th4.
If so, it is determined that the type of work being performed is a sandblasting work (STEP 6).

As described above, the sand hammering work is a work of hitting the bucket against the ground to harden the ground by repeating the vertical movement of the boom. In such work, particularly, the boom operation lever is used. The operation amount of 17 is frequently increased / decreased with a relatively large increase / decrease width, the high-speed turning operation is hardly performed, and the bucket and the arm are stopped for a relatively long time when the boom is moved up and down. In addition, the operation modes of the boom operation lever 17, the arm operation lever 20, and the bucket operation lever 18 become remarkable in the spreading work without being influenced by the preference of the operator or the work environment. . Therefore, the complexity display amount of the boom operation becomes a larger value than other work, the high-speed turning time is relatively short, and
Bucket arm stop time is relatively long. Therefore,
By appropriately setting the predetermined values Th2, Th3, and Th4, it is possible to determine that the conditions of STEP 3 to 5 are satisfied during the sand blasting work and that the sand blasting work is being performed.

If any of the conditions of STEP 3 to STEP 5 is not satisfied, then the work type discriminating unit 41, for each feature quantity grasped by each grasping unit 43 to 50 by the suitability calculating unit 52. Based on the membership function stored and held in the memory 51, the fitness for each work type is obtained, and further, the total fitness obtained by summing the fitness is obtained for each work type (STEP 7).

Then, the work type discriminating unit 41 determines the work type corresponding to the total goodness of fit, which is the largest value, out of the total goodness of fit for each work type, as the work type currently being performed (STEP 8). . For example, as described above, the overall suitability corresponding to the turning leveling work is "0.
9 "(in this case, the suitability for each feature amount for turning ground leveling work is all" 0.9 "or more), and the overall suitability corresponding to each of the other work types is more than" 0.9 ". If it is small (including “0”), it is determined that the type of work currently being performed is turning ground leveling work, whereby the type of work to which each feature value is the best is the type of work currently being performed. It will be judged that there is.

In STEP 8, when there are a plurality of work types corresponding to the highest overall fitness among the overall fitness for each work type, for example, the simple fitness work and the horizontal excavation work are collectively adapted. When the degrees are both “1”, the work type determination unit 41 determines that the work type cannot be determined.

In this way, by using the membership function, the degree of conformity of each feature amount to each work type is obtained, and the work type is discriminated by this, and at the time of the discrimination, each operation lever 17 to 22 in each work type is determined. By taking into account the operation mode or the variation in the value of each feature amount corresponding thereto, each work type can be discriminated with high accuracy. Further, when the work type is discriminated by using the above-mentioned adaptability, the adaptability is obtained for each set of 10 kinds of work types and 8 kinds of features. Therefore, calculation for obtaining the adaptability is performed. Although the amount becomes large, when performing scattering work or dusting work, a specific feature amount such as the complexity display amount of the boom operation is simply set to a predetermined value without performing a calculation to obtain the goodness of fit. By comparing with the above, it is possible to accurately discriminate the scattering work or the dusting work, so that the calculation load can be reduced.

The above work type discrimination is performed every time the data in the data holding unit 40 is updated.

Next, based on the work type thus determined, the setting units 54 to 57 and the automatic deceleration control unit 59 of the operation mode control unit 42 respectively change the hydraulic pump absorption horsepower, the maximum supply flow rate, and the flow rate change. Frequency, response time constant and auto decel control are set as shown in Table 1 below. Then, the hydraulic pump control unit 58 follows the set values of the hydraulic pump absorption horsepower and the like set for each work type in this way.
The discharge flow rates of the hydraulic pumps 2 and 3 are controlled via the proportional solenoid valves 23 and 24, and the auto decel control unit 59 enables or disables the auto decel control.

[0102]

[Table 1]

By doing so, the hydraulic excavator can be operated in an operation mode suitable for each work type.

That is, as shown in Table 1, the hydraulic pump absorption horsepower is 100% of the maximum in excavation work (simple, groove, horizontal, push excavation work) that is a heavy load work compared to other works. Since it is set to, it is possible to perform work by using the output of the engine 1 to the maximum, and conversely, in crane work and loading work, which are light load work compared to other work, the minimum is 70%. Since the setting is made, it is possible to operate the engine 1 with good fuel efficiency. And in the work other than these, the hydraulic pump absorption horsepower is 80% in the middle.
Since it is set to%, the fuel consumption of the engine 1 can be made relatively good while the output of the engine 1 is sufficiently drawn out to the required extent.

Further, the maximum supply flow rate is 100% of the maximum in excavation work and turning leveling work in which a high operating speed of each actuator 4 to 9 is required as compared with other works.
Therefore, the required operating speed of each actuator 4 to 9 can be reliably ensured. On the contrary, in slope finishing work, crane work, and loading work in which the required operating speed of each actuator 4 to 9 is lower than other works, the maximum supply flow rate is set to 70%, which is the minimum.
It is possible to avoid a situation in which the operating speeds of the actuators 4 to 9 become unnecessarily high when the operating levers 17 to 22 are inadvertently operated large. And in the work other than these, the maximum supply flow rate is 8
Since it is set to 0%, it is possible to obtain a sufficient operation speed of each actuator 4 to 9 that is necessary for each work.

Further, the flow rate change degree is determined by the operation lever 1
Each actuator 4 with respect to the change amount of the operation amount of 7 to 22
Since the maximum flow rate change rate is set in the spreading work, the sand blasting work, and the excavation work, which are required to have a large change in the operating speed of ~ 9 compared with other works, those works are performed quickly. On the contrary, in the crane work and the loading work in which the boom, the arm, the bucket, and the like need to be operated at a very low speed as compared with other works, the minimum flow rate change rate is set, so that the operation levers 17 to 22 are set. It is possible to perform work at a desired operating speed without causing the operating speeds of the actuators 4 to 9 to change significantly even with a slight change in the operation amount. Then, in the work other than these, since the flow rate change degree is set to a medium flow rate change degree, the change in the operating speed of each actuator 4 to 9 with respect to the change amount in the operation amount of each operation lever 17 to 22 is performed in the work. Can be suitable for.

The response time constant is the same as that of each operation lever 1
Since the quick response of the operating speed of each actuator 4 to 9 to the operating speed of 7 to 22 is set to the minimum 0 s in the spreading work and the dusting work, which is required as compared with other works, each operation is set. If the operation amount of the levers 17 to 22 is quickly increased or decreased, the operating speed of each actuator 4 to 9 is immediately changed to follow the operation amount.
The operation can be performed by operating the actuators 4 to 9 with good responsiveness. On the contrary, in the crane work, the loading work and the slope finishing work in which the momentary movements of the actuators 4 to 9 may hinder the work, the response time constant is set to the maximum 0.5 s.
Even if the operating levers 17 to 22 are momentarily moved, the actuators 4 to 9 do not move in accordance with the movement, and stable work can be performed. And
For all other tasks, the response time constant is a moderate 0.3.
Since it is set to s or 0.2s, the operating lever 17
It is possible to sufficiently secure the responsiveness and stability of the operations of the actuators 4 to 9 depending on the operation to the necessary extent.

Also, in crane work and loading work,
Although it is often the case that all the operating levers 17 to 22 are continuously operated to the neutral position for a certain period of time during work, the auto decel control is disabled in these works, so during work, It is possible to avoid a situation where the engine speed of the engine 1 is controlled to a low engine speed contrary to the intention of the person. Then, in the work other than these, the auto deceleration control is enabled, so if the worker returns all the operation levers 17 to 22 to the neutral position and pauses the work, the rotation speed of the engine 1 will soon be changed. The engine speed is controlled to a low speed by 56, so that the fuel efficiency of the engine 1 can be improved, and thereafter the operator further operates one of the operation levers 17 to restart the work.
By operating ~ 22, the rotation speed of the engine 1 returns to the original rotation speed, and the work can be performed without any trouble.

As described above, according to the hydraulic excavator of this embodiment, various work types can be automatically and accurately discriminated, so that each work can be performed without requiring a switch operation by an operator. The hydraulic excavator can be operated in an operation mode suitable for the type.

In this embodiment, there are many types (10 types).
Although the work type is determined, it is needless to say that the work type to be determined may be smaller than this. For example, only one work type is determined, and the hydraulic excavator is operated in an operation mode corresponding to that. This may be done, and in this case, it suffices to selectively provide only the sensors necessary for determining the work type.

Further, in the present embodiment, with respect to the spreading work and the dusting work, the work types can be discriminated without calculating the fitness using the membership function. Also in the case of the above determination, it may be possible to determine by determining the conformity.

Further, in the present embodiment, when the work type cannot be determined, the hydraulic pump absorption horsepower and the like are fixedly set as shown in Table 1, but the hydraulic pump absorption horsepower and the like are already set. The set state may be maintained.

Further, in the present embodiment, when the work type is discriminated, the detection data of the traveling operation amount sensors 27 and 30 are not used, but the work type may be discriminated also by using the detection data. It is possible.

[Brief description of drawings]

FIG. 1 is an overall system configuration diagram of a hydraulic excavator including a work type determination device according to an embodiment of the present invention.

FIG. 2 is a block diagram of the control device of the hydraulic excavator shown in FIG.

FIG. 3 is a diagram for explaining the operation of the control device in FIG.

FIG. 4 is a diagram for explaining the operation of the control device of FIG.

5 is a diagram for explaining the operation of the control device of FIG.

FIG. 6 is a diagram for explaining the operation of the control device of FIG.

FIG. 7 is a diagram for explaining the operation of the control device of FIG.

FIG. 8 is a diagram for explaining the operation of the control device of FIG.

FIG. 9 is a diagram for explaining the operation of the control device in FIG.

FIG. 10 is a diagram for explaining the operation of the control device in FIG.

FIG. 11 is a diagram for explaining the operation of the control device in FIG. 2.

FIG. 12 is a diagram for explaining the operation of the control device in FIG.

FIG. 13 is a diagram for explaining the operation of the control device in FIG.

14 is a flowchart for explaining the operation of the control device in FIG.

[Explanation of symbols]

2, 3 ... hydraulic pump, 4-9 ... work actuator,
17 to 22 ... Operation lever, 25 to 30 ... Operation amount sensor (operation amount detection means), 41 ... Work type determination unit, 43-5
0 ... Grasping unit (feature amount calculation means), 52 ... Fitness calculation unit.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Atsushi Onishi 1-5-5 Takatsukadai, Nishi-ku, Kobe-shi, Hyogo Prefecture Kobe Steel Co., Ltd. Kobe Research Institute of Technology (72) Inventor Takahiro Kobayashi Funatsu, Himeji-shi, Hyogo Prefecture Town 566 (72) Inventor Hideki Kinukawa 3-12-4 Gion, Asanan-ku, Hiroshima-shi, Hiroshima (56) References JP 63-187311 (JP, A) JP 2-93905 (JP, A) Special Kaihei 4-83026 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E02F 9/20-9/22 E02F 3/43 G06N 5/00-7/06

Claims (5)

(57) [Claims] 1. A plurality of work actuators including a boom actuator, an arm actuator, a bucket actuator, and a swing actuator are operated according to the operation of an operation lever corresponding to each work actuator to perform a required work. In a hydraulic excavator to perform, a device for determining a work type at the time of work by the hydraulic excavator, the operation amount detection detecting an operation amount of at least one operation lever among the operation levers corresponding to the work actuators. Means, a feature quantity calculating means for obtaining at least one feature quantity indicating an operation state of the hydraulic excavator for determining a work type based on the operation quantity detected by the operation quantity detecting means, and the feature quantity calculating means From each feature amount obtained by And a fitness calculation means for determining the fitness of each feature amount for each work type based on a plurality of membership functions for fuzzy inference determined in advance, and the fitness calculated by the fitness calculation means. On the basis of the above, a work type discriminating apparatus for a hydraulic excavator, which discriminates a work type to which each characteristic amount is most suitable as a work type performed by the hydraulic excavator. 2. The types of work to be discriminated are simple excavation work, slope finishing work, trench excavation work, horizontal excavation work, swiveling leveling work, shredding work, spreading work, push excavation work, crane work and loading. 2. The work type discriminating apparatus for a hydraulic excavator according to claim 1, wherein at least one work type among the works is included. 3. The characteristic amount calculating means sets a boom operation complexity display amount indicating a rate at which the operation amount of the boom operation lever changes within a predetermined time and a predetermined operation amount of the bucket operation lever. The bucket operation complexity display amount indicating the rate of increase / decrease change within the time, the high-speed turning time indicating the time when the magnitude of the operation amount of the operation lever for turning becomes a predetermined value or more within the predetermined time, and the predetermined time In the boom, the operation amount of the boom operation lever is above a predetermined value on the boom rising side, and the operation amount of each of the arm and bucket operation levers is above the predetermined value on the arm and bucket retracting side. The reverse operation time and the operation amount of the boom operation lever within a predetermined time are equal to or more than a predetermined value and the operation amounts of the arm and bucket operation levers are different. Bucket that shows the following become time value -
The arm stop time and the boom operation level within the specified time.
Boom operation amount average showing the average value of the operation amount of the bar
Value and the amount of operation of the arm operation lever within the specified time
The average value of arm operation amount that indicates the average value of the
Of the amount of operation of the bucket operating lever within
At least one of the bucket operation amount average value indicating the average value is obtained as the feature amount, and the operation amount detection means detects the operation amount of the operation lever corresponding to the at least one feature amount. The control device for a hydraulic excavator according to claim 1 or 2, wherein. 4. The characteristic amount calculated by the characteristic amount calculation means includes the bucket operation complexity display amount, and when the bucket operation complexity display amount is a predetermined value or more, the conformity calculated by the conformity degree calculation means. 4. The work type discriminating device for a hydraulic excavator according to claim 3, wherein the work type discriminated by the hydraulic excavator is discriminated regardless of the degree as work being distributed. 5. The feature amount calculated by the feature amount calculating means includes the boom operation complexity display amount, the bucket arm stop time, and the high-speed turning time, and the boom operation complexity display amount is a predetermined value or more. And the bucket arm stop time is greater than or equal to a predetermined value and the high speed turning time is less than or equal to a predetermined value, the type of work performed by the hydraulic excavator regardless of the goodness of fit obtained by the goodness of fit calculating means. 5. The work type discriminating apparatus for a hydraulic excavator according to claim 3, wherein the discriminating work is discriminated as a sand blasting work.