JP5752350B2 - Construction machine working method and construction machine - Google Patents

Description

  The present invention relates to an operation method performed by an operator while operating a construction machine.

  Generally, a construction machine is designed to perform various operations by being operated by an operator. Many of the operations performed using construction machines are the same operations repeated. For example, excavation / loading operation performed by an excavator as an example of a construction machine is a repetition of a series of operations of excavating soil with a bucket and loading it onto a transport vehicle. Excavation and loading operations performed by such shovels are performed by the operator operating the levers of the shovel cab and operating the bucket, arm, boom, and cabin swivel.

  Construction machines often use arm power, hydraulic pressure, etc. to move their arms, etc. with great force, and if the operator accidentally commands unintentional movement, the moving part is within the work range. There is a risk of damaging the object by interfering with the object. In view of this, there has been proposed an interference prevention device for a work machine that can perform only the operation of retracting the bucket from the interference prevention region by restricting the movement of the arm when the tip of the shovel bucket enters the interference prevention region. (For example, refer to Patent Document 1). This interference preventing device limits the movement of the tip of the shovel by determining the locus of the tip of the shovel in the coordinate system and determining that the tip of the shovel has entered the interference preventing area.

JP 2004-27835 A

  By setting the interference prevention area as described above, for example, even when an unskilled operator steers the construction machine, it is possible to prevent the working part from interfering with another object by mistake in maneuvering. However, for example, in a construction machine that itself moves, such as an excavator, the surrounding situation changes due to movement, so it is difficult to set an interference prevention region each time it moves.

  In addition to the interference problem described above, when an unskilled operator controls the construction machine, it may not be possible to move the work part to the target position. For example, in the excavation / loading operation performed by the excavator described above, it is necessary to move the bucket to the target excavation depth each time excavation is performed, but when an unskilled operator controls the bucket, the bucket moves to the target excavation depth. There may be a problem that the operation may be shifted to the next operation before, resulting in a decrease in work efficiency.

According to one embodiment of the present invention, there is provided a working method for a construction machine that moves a work part including a boom and a swivel disposed on an upper swing body by an operation of an operation lever by an operator . series of operations is repeatedly performed by the working portion whose operation is controlled according to the operation divided into a plurality of operation sections for each operation period, and sets the operation target value for the operation to be performed in each operation period, the When the operation lever is operated by an operator, a current value representing a current operation state including a height is calculated using an angle detected by an angle sensor provided in each joint, and when the operation target value is achieved , When the operator by allowing the transition to the next operation period in response to operation of the operating lever, divided was operating section is completed, the operator To repeat the next cycle in accordance with the operation of the operation lever by construction machine working method characterized by performing again the first operation section is provided.

Before SL construction machine is a hydraulic excavator, and set the operation target value relative to the height of the bucket, based on the height of the bucket, boom, arm, and the detection value from the angle sensor for detecting an angle of the bucket It is good also as calculating. The construction machine may have a turning mechanism for turning the work portion, and the turning position may be detected by an angle sensor provided in the turning mechanism.

According to another embodiment of the present invention, there is provided a construction machine for moving a work element including a boom and a swivel arranged on an upper swing body by an operation of an operation lever by an operator , wherein the control controls the operation of the work element. possess an angle sensor provided on the apparatus and each joint, the control device divides the series of operations is repeatedly performed by the working element whose operation is controlled in response to operation of the operating lever by the operator to a plurality of operation sections The operation target value for the operation to be executed is set for each operation section, and when the operation lever is operated by the operator in each operation section, the height is detected using the angle detected by the angle sensor. current calculates the current value representing the operating state, upon achieving the operation target value, the next operation period in response to operation of the operating lever by the operator, including Allow the migration, the divided was operating section is completed, in order to repeat the next cycle in accordance with operation of the operating lever by the operator, the construction machine and to execute again the first operation period Provided .

  According to the above-described invention, it is possible to reliably execute an operation that must be achieved in each operation section. Therefore, even if an unskilled operator controls the construction machine, it is possible to prevent the movement to the next operation section without completely executing the operation in each operation section.

It is a side view of a hydraulic excavator. It is a figure which shows the parameter which prescribes | regulates operation | movement of a hydraulic shovel. It is a figure for demonstrating excavation and loading operation. It is a flowchart of the working method performed with the construction machine by one Embodiment of this invention. It is a flowchart of an initial state setting process. It is a flowchart of the operation | movement completion determination process in an excavation operation area. It is a flowchart of the operation | movement completion determination process in a boom raising turning operation area. It is a flowchart of the operation | movement completion determination process in a dump operation area. It is a flowchart of the operation | movement completion determination process in a boom lowering turning operation area.

  Embodiments of the present invention will be described with reference to the drawings.

  First, a hydraulic excavator will be described as an example of a construction machine that performs a working method according to the present invention. The construction machine to which the working method according to the present invention is applied is not limited to a hydraulic excavator.

  FIG. 1 is a side view of a hydraulic excavator. An upper swing body 3 is mounted on the lower traveling body 1 of the hydraulic excavator via a swing mechanism 2. A boom 4 extends from the upper swing body 3, and an arm 5 is connected to the tip of the boom 4. Further, the bucket 6 is connected to the tip of the arm 5. The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. The upper swing body 3 is mounted with a cabin 10 as a cab and an engine (not shown) as a power source. The upper swing body 3 is equipped with a control device 20 as a control unit that controls the operation of each part of the hydraulic excavator. The control device 20 is a device composed of a microcomputer and a memory.

  The boom 4 is supported so as to be able to turn up and down with respect to the upper swing body 3, and a boom angle sensor (not shown) is attached to the swing support portion (joint). The boom angle sensor may be any known angle detector, but an inexpensive rotary encoder is preferably used. The boom angle θ1 can be detected by the boom angle sensor. The boom angle θ1 is an inclination angle of the boom 4 from the horizontal direction. Note that the boom angle θ1 is positive in the counterclockwise direction (the direction in which the boom opens) in FIG.

  The arm 5 is supported at the tip of the boom 4 so as to be able to turn, and an arm angle sensor (not shown) is attached to the turning support portion (joint). The arm angle sensor may be any known angle detector, but an inexpensive rotary encoder is preferably used. The arm angle θ2, which will be described later, can be detected by the arm angle sensor. The arm angle θ2 is an inclination angle of the arm 5 from the horizontal direction. Note that the arm angle θ2 is positive in the counterclockwise direction (the direction in which the arm opens) in FIG.

  The bucket 6 is supported at the tip of the arm 5 so as to be able to turn, and a bucket angle sensor (not shown) is attached to the turning support portion (joint). The bucket angle sensor may be any known angle detector, but it is preferable to use an inexpensive rotary encoder. A bucket angle θ3 described later can be detected by the bucket angle sensor. Bucket angle θ <b> 3 is an inclination angle of bucket 6 with respect to arm 5. The bucket angle θ3 is positive in the counterclockwise direction (the direction in which the bucket opens) in FIG.

  The turning mechanism 2 for turning the upper turning body 3 is provided with a turning angle sensor (not shown). The turning angle sensor may be any known angle detector, but it is preferable to use an inexpensive rotary encoder. A turning angle θ4 described later can be detected by the turning angle sensor. The turning angle θ4 is an angle from the position where the upper turning body 3 faces the front.

  The positions of the boom 4, the arm 5 and the bucket 6 can be obtained by calculation using the boom angle θ1, the arm angle θ2, the bucket angle θ3, and the turning angle θ4 as parameters. FIG. 2 is a diagram showing the boom angle θ1, the arm angle θ2, the bucket angle θ3, and the turning angle θ4. In FIG. 2, the height H1 from the ground to the turning support portion of the boom 4 is a known constant value. The distance L1 from the turning support portion of the boom 4 to the turning support portion of the arm 5 is also a known constant value. Furthermore, the distance L2 from the turning support portion of the arm 5 to the turning support portion of the bucket 6 is also a known constant value. The thickness T1 of the bucket 6 is also a known constant value. Therefore, the height HB from the ground to the bucket 6 can be easily obtained by calculating the values of the parameters (θ1 to θ3) in the following formula.

HB = H1 + L1 · sin θ1 + L2 · sin θ2−T1
Further, the height DB of the tip of the bucket 6 can be obtained by the following equation.

DB = H1 + L1 · sin θ1 + L2 · sin θ2 + L3 · sin (θ2 + θ3)
The position of the bucket 6 in the turning direction is represented by a turning angle θ4 detected by a turning angle sensor provided in the turning mechanism 2.

  Next, an example of work performed using a hydraulic excavator will be described. A typical operation performed using a hydraulic excavator is excavation / loading operation. The excavation / loading operation is a series of operations including an excavation operation and a loading operation. The excavation / loading operation is an operation of excavating and scooping up soil with a bucket and discharging the soil to a predetermined place such as a dump truck bed. Excavation and loading operations are stipulated in detail in the Japan Construction Mechanization Association Standard (JCMAS).

  Excavation / loading operation will be described in more detail with reference to FIG. First, as shown in FIG. 3A, in the state where the upper swing body 3 is turned and the bucket 6 is positioned above the excavation position, and the arm 5 is opened and the bucket 6 is also opened, the operator Lowers the boom 4 and lowers the bucket 6 so that the tip of the bucket 6 reaches the target excavation depth D. Usually, turning and boom lowering are operated by an operator, and the position of the bucket 6 is visually confirmed. Further, the turning of the upper swing body 3 and the lowering of the boom 4 are generally performed simultaneously. The above operation is referred to as a boom lowering / turning operation, and this operation section is referred to as a boom lowering / turning operation section.

  If the operator determines that the tip of the bucket 6 has reached the target excavation depth D, then the process moves to a horizontal pulling operation as shown in FIG. In the horizontal pulling operation, the arm 5 is closed until the arm 5 is perpendicular to the ground so that the tip of the bucket 6 moves substantially horizontally. By this horizontal pulling operation, soil having a predetermined depth is excavated and scraped by the bucket 6. When the horizontal pulling operation is completed, the bucket 6 is then closed until it reaches 90 degrees with respect to the arm 5 as shown in FIG. That is, the bucket 6 is closed until the upper edge of the bucket 6 becomes horizontal, and the collected soil is accommodated in the bucket 6. The above operation is called excavation operation, and this operation section is called excavation operation section.

  If the operator determines that the bucket 6 is closed until 90 degrees, then the boom 4 is kept until the bottom of the bucket 6 reaches a predetermined height H with the bucket 6 closed as shown in FIG. Raise. Subsequent to or simultaneously with this, the bucket 6 is swung to a position where the upper swivel body 3 is swung to discharge the earth. The above operation is referred to as a boom raising and turning operation, and this operation section is referred to as a boom raising and turning operation section.

  The boom 4 is raised until the bottom of the bucket 6 reaches a predetermined height H. For example, when the earth is dumped to the loading platform of the dump truck, the bucket 6 becomes the loading platform unless the bucket 6 is lifted higher than the loading platform. This is because they collide. For example, when an unskilled operator is maneuvering, there is a risk of turning without lifting the bucket 6 to a predetermined height H. In such a case, there is a risk of hitting the bucket 6 against the loading platform of the dump truck.

  When the operator determines that the boom raising and turning operation is completed, the operator then opens the arm 5 and the bucket 6 as shown in FIG. 3 (e) and discharges the soil in the bucket 6. This operation is called a dump operation, and this operation section is called a dump operation section. In the dumping operation, only the bucket 6 may be opened and discharged.

  When the operator determines that the dumping operation is completed, the operator then turns the upper swing body 3 to move the bucket 6 directly above the excavation position as shown in FIG. At this time, the boom 4 is lowered simultaneously with the turning to lower the bucket 6 to the excavation start position. This operation is a part of the boom lowering turning operation described with reference to FIG. As shown in FIG. 3A, the operator lowers the bucket 6 from the excavation start position to the target excavation depth D, and performs the excavation operation shown in FIG. 3B again.

  The above “boom lowering turning operation”, “excavation operation”, “boom raising turning operation”, “dump operation”, “boom lowering turning operation” are repeated as one cycle, and excavation / loading is advanced. . Whether or not each operation is completed, that is, whether or not the operation to be performed in each operation section is completed depends on the judgment of the operator. If the operator makes a mistake, one operation section is not completed. In addition, there is a risk of shifting to the next operation section. In such a case, it is possible not only to reduce the work efficiency by redoing the operation section that has not been completed, but also to cause a problem that, for example, the bucket 6 hits the dump truck's loading platform and is damaged.

  Therefore, in the working method according to an embodiment of the present invention, an operation target value is determined in each of the above-described operation sections, and the operation cannot proceed to the next operation section unless the operation target value is cleared. For example, in the boom lowering swivel operation section shown in FIG. 3A, the target value of the excavation depth is set, and the operation is performed so that the next excavation operation section cannot be performed unless the position of the bucket 6 reaches the target value. Limit.

  Here, a working method according to an embodiment of the present invention will be described with reference to the flowchart of FIG. FIG. 4 is a flowchart of an operation method performed by the construction machine according to the embodiment of the present invention. The working method shown in FIG. 4 uses the above-described hydraulic excavator as a construction machine and performs the above-described excavation / loading operation.

  To start the excavation / loading operation, the operator first selects a work operation to be performed (in this case, excavation / loading operation). In the hydraulic excavator that executes the work method according to the present embodiment, the basic operation of the work operation performed by the hydraulic excavator is set, and the operation target value in each operation section can be set. Therefore, the operator inputs the operation target value in each operation section to the control device 20 of the hydraulic excavator. The operation target value is a set value determined in advance in each operation section. In the present embodiment, the operation target value is the excavation depth D to be excavated in the boom lowering / turning operation section. In addition, the operation target value in the excavation operation section is the value of the arm angle θ2 (for example, −90 degrees) and the value of the bucket angle θ3 (for example, −90 degrees). The operation target value in the boom raising and turning operation section is the height HB from the ground to the bucket 6. The operation target value in the dump operation section is a value (for example, 0 degree) of the bucket angle θ3. The operation target value in each operation section described above is a set value for determining whether or not an operation that must be achieved in the operation section is completed, and is not limited to the above-described set value.

  When the setting of the operation target value is completed, in step S1, the operator operates the hydraulic excavator to set an initial state for starting the excavation / loading operation, and determines whether or not the initial state setting has been completed.

  FIG. 5 is a flowchart of the initial state setting process. When the initial state setting process is started, first, in step S15, the excavator control device 20 calculates the current excavation depth. In step S16, the control device 20 determines whether or not the tip of the bucket 6 has reached the excavation start depth. If it is determined in step S16 that the tip of the bucket 6 has not reached the excavation start depth, it is determined that the boom lowering turning operation has not been completed, and the process proceeds to step S17. In step S17, the control device 20 performs a process that does not permit the end of the boom lowering turning operation. After the process of step S17, the process returns from step S15 to step 16, and the control device 20 determines again whether or not the tip of the bucket 6 has reached the excavation start depth, and whether or not the boom lowering turning operation has been completed. Determine whether.

  On the other hand, if it is determined in step S16 that the tip of the bucket 6 has reached the excavation start depth, it is determined that the boom lowering turning operation has been completed, and the process proceeds to step S18. In step S18, the control device 20 permits the end of the boom lowering turning operation. As a result, the operator can operate the control lever to lower the boom 4 and start the excavation operation.

  As described above, the operator moves the bucket 6 to the excavation start position and then lowers the bucket 6 to the excavation depth. The excavation depth at this time is the above-described operation target value. The operator operates the arm 5 and the bucket 6 to perform excavation. During the excavation operation, it is an excavation operation section.

  Returning to FIG. When the excavation operation section starts, in step S2, the excavator control device 20 determines whether or not the excavation operation section has ended. This determination is made based on the above-described operation target value. That is, in the excavation operation section, the hydraulic excavator control device 20 compares the arm angle θ2 and the bucket angle θ3 with the operation target values, and both the arm angle θ2 and the bucket angle θ3 reach the respective operation target values. It is determined whether or not.

  If it is determined in step S2 that the arm angle θ2 and the bucket angle θ3 have not reached the respective operation target values, it is determined that the excavation operation section has not ended yet, and the process proceeds to step S3. In step S3, the control device 20 performs a control process that does not permit the transition to the boom raising and turning operation section. That is, in step S <b> 3, the control device 20 prohibits execution of the operation of raising the boom 4 and the operation of turning the upper swing body 3. Therefore, even if the operator operates the control lever to raise the boom 4, the boom 4 does not rise, and even if the operation lever is operated so as to turn the upper swing body 3, the upper swing body 3 does not swing. Thereby, the operator recognizes that the excavation operation section has not ended yet and continues the excavation operation. When the process of step S3 ends, the process returns to step S2, and again determines whether or not the excavation operation section has ended.

  On the other hand, if it is determined in step S2 that the arm angle θ2 and the bucket angle θ3 have reached the respective operation target values, it is determined that the excavation operation section has ended, and the process proceeds to step S4. In step S4, it is permitted to shift to the boom raising and turning operation section. That is, in step S <b> 3, the control device 20 permits execution of the operation of raising the boom 4 and the operation of turning the upper swing body 3. Therefore, if the operator operates the control lever to raise the boom 4, the boom 4 is raised as operated, and if the operation lever is operated so as to turn the upper swing body 3, the upper swing body is operated as operated. 3 turns. Thereby, the operator can operate the operation lever to perform the boom raising and turning operation.

  The process from the above steps S2 to S4 is the operation end determination process in the excavation operation section. The operation end determination process in this cutting operation section will be described in more detail with reference to FIG. FIG. 6 is a flowchart of the operation end determination process in the excavation operation section.

  When the excavation operation section is entered, in step S21, the excavator control device 20 obtains the current excavation depth by the bucket 6 by calculation. In step S22, the control device 20 determines whether or not the arm angle θ2 is −90 degrees. The arm angle θ2 being −90 degrees means that the arm 5 is perpendicular to the ground. The horizontal pulling operation of the bucket 6 is defined to end when the arm 5 becomes vertical.

  If it is determined in step S22 that the arm angle θ2 is not −90 degrees, it is determined that the leveling operation has not been completed, and the process proceeds to step S23. In step S23, the control device 20 performs processing that does not permit bucket excavation. Bucket excavation means that the bucket 6 is closed to −90 degrees with respect to the arm 5 and the soil is scooped up by the bucket 6. After the process of step S23, the process returns to step S22, and the control device 20 determines again whether or not the leveling operation has been completed.

  On the other hand, if it is determined in step S22 that the arm angle θ2 has reached −90 degrees, it is determined that the horizontal pulling operation has been completed, and the process proceeds to step S25. In step S25, the control device 20 permits bucket excavation. Thereby, the operator can close the bucket 6 by operating the control lever.

  When the operation of closing the bucket 6 is performed, in step S25, the control device 20 determines whether or not the bucket angle θ3 has become −90 degrees. The bucket angle θ3 being −90 degrees means that the bucket 6 is closed until the upper edge of the bucket 6 becomes horizontal, and that the bucket 6 soil has been scooped up. Therefore, it can be determined that the bucket excavation is completed at this point.

  If it is determined in step S25 that the bucket angle θ3 is not −90 degrees and the bucket excavation is not completed, the process proceeds to step S26. In step S26, the control device 20 performs a process not permitting the boom raising turning operation. That is, in step S26, control processing is performed so that the operation of raising the boom 4 and the operation of turning the upper swing body 3 cannot be performed. When this control process is performed, even if the operator operates the operation lever to raise the boom 4, the boom 4 does not operate. Further, even if the operator operates the operation lever to turn the upper swing body 3, the upper swing body does not swing. As a result, the operator recognizes that the bucket excavation has not yet been completed, and continues the operation to close the bucket 6. After the process of step S26, the process returns to step S25, and the control device 20 determines again whether or not the bucket excavation has been completed.

  On the other hand, when it is determined in step S25 that the bucket angle θ3 is −90 degrees and the bucket excavation is completed, the process proceeds to step S27. In step S27, the control device 20 performs a process of permitting the boom raising turning operation. Accordingly, the operator can operate the operation lever to raise the boom 4 and turn the upper swing body 3. That is, it is possible to shift to the boom raising and turning operation section.

  The above processing corresponds to the processing from step S2 to step S4 in FIG. 4 (processing in the excavation operation section). If the boom raising and turning operation is permitted in step S4, then in step S5, the control device 20 of the hydraulic excavator determines whether or not the boom raising and turning operation section has ended. This determination is made based on the above-described operation target value. That is, in the boom raising and turning operation section, the control device 20 of the hydraulic excavator compares the height HB of the bucket 6 with the operation target value, and determines whether the height HB of the bucket 6 has reached the operation target value. judge.

  If it is determined in step S5 that the height HB of the bucket 6 has not reached the operation target value, it is determined that the boom raising and turning operation section has not yet ended, and the process proceeds to step S6. In step S6, the control device 20 performs a control process that does not allow the transition to the dump operation section. That is, in step S <b> 6, the control device 20 prohibits execution of the operation of opening the bucket 6 and the arm 5. Therefore, even if the operator operates the control lever to open the bucket 6, the bucket 6 does not open, and even if the operation lever is operated to open the arm 5, the arm 5 does not open. As a result, the operator recognizes that the boom raising and turning operation section has not yet ended, and continues the boom raising and turning operation. When the process of step S6 is completed, the process returns to step S5, and it is determined again whether or not the boom raising turning operation is completed.

  On the other hand, if it is determined in step S5 that the height HB of the bucket 6 has reached the operation target value, it is determined that the boom raising and turning operation section has ended, and the process proceeds to step S7. In step S <b> 7, the control device 20 performs a control process that permits the transition to the dump operation section. Therefore, when the operator operates the control lever to open the bucket 6, the bucket 6 opens, and when the operator operates the operation lever to open the arm 5, the arm 5 opens. Thereby, the operator can operate the operation lever to perform the boom raising turning operation.

  The process from the above steps S5 to S7 is the operation end determination process in the boom raising and turning operation section. The operation end determination process in the boom raising and turning operation section will be described in more detail with reference to FIG. FIG. 7 is a flowchart of the operation end determination process in the boom raising and turning operation section.

  When the boom raising and turning operation section is entered, the control device 20 of the hydraulic excavator detects the current height HB of the bucket 6 in step S31. In step S32, the control device 20 determines whether or not the height HB of the bucket 6 has reached the height set as the operation target value. That is, it is determined whether or not the bucket 6 has been raised to the target height. This determination process is, for example, a process of determining whether or not the lowermost part of the bucket 6 is lifted above the dump truck's loading platform. The dumping operation is defined to end when the height HB of the bucket 6 reaches the height set as the operation target value.

  If it is determined in step S32 that the height HB of the bucket 6 is not the height set as the operation target value, it is determined that the dumping operation has not been completed, and the process proceeds to step S33. In step S33, the control device 20 performs a process that does not permit the dump operation. The process of step S33 corresponds to the process of step S6 in FIG. After the process of step S33, the process returns to step S32, and the control device 20 determines again whether or not the height HB of the bucket 6 has reached the height set as the operation target value.

  On the other hand, if it is determined in step S32 that the height HB of the bucket 6 has reached the height set as the operation target value, it is determined that the boom raising turning operation is completed, and the process proceeds to step S34. In step S34, the control device 20 permits the dump operation. The process in step S34 corresponds to the process in step S7 in FIG. Thereby, the operator can operate the control lever to open the bucket 6 and perform soil removal.

  The above processing corresponds to the processing from step S5 to S7 in FIG. 4 (processing in the boom raising and turning operation section). When the dumping operation is permitted in step S7, subsequently, in step S8, the excavator control device 20 determines whether or not the dumping operation section has ended. This determination is made based on the above-described operation target value. That is, in the dump operation section, the hydraulic shovel control device 20 compares the bucket angle θ3 with the operation target value, and determines whether or not the bucket angle θ3 has reached the operation target value of 0 degrees.

  If it is determined in step S7 that the bucket angle θ3 has not reached the operation target value of 0 degrees, it is determined that the dump operation section has not ended yet, and the process proceeds to step S9. In step S9, the control device 20 performs a control process that does not permit the transition to the boom lowering turning operation section. That is, in step S9, the control device 20 prohibits execution of an operation of turning the boom 4 downward. Therefore, even if the operator operates the control lever to lower the boom 4, the boom 4 does not lower, and even if the operation lever is operated to rotate the upper swing body 3, the upper swing body 3 does not swing. As a result, the operator recognizes that the dumping operation has not ended yet, and continues the dumping operation. When the process of step S9 is completed, the process returns to step S8, and it is determined again whether the dumping operation has been completed.

  On the other hand, if it is determined in step S8 that the bucket angle θ3 has reached 0 ° which is the operation target value, it is determined that the dump operation section has ended, and the process proceeds to step S10. In step S10, the control device 20 performs a control process for permitting transition to the boom lowering turning operation section. Therefore, if the operator operates the control lever to lower the boom 4, the boom 4 is lowered, and if the operation lever is operated so as to turn the upper swing body 3, the upper swing body 3 turns. It becomes. As a result, the operator can operate the operation lever to perform the boom lowering turning operation.

  The process from the above steps S8 to S10 is the operation end determination process in the dump operation section. The operation end determination process in the dump operation section will be described in more detail with reference to FIG. FIG. 8 is a flowchart of the operation end determination process in the dump operation section.

  When entering the dumping operation section, in step S41, the excavator control device 20 detects the current value of the bucket angle θ3. In step S42, the control device 20 determines whether or not the bucket angle θ3 has reached 0 ° which is the operation target value.

  If it is determined in step S42 that the bucket angle θ3 is not 0 degree, it is determined that the dumping operation has not been completed, and the process proceeds to step S43. In step S43, the control device 20 performs a process not permitting the boom lowering turning operation. The process in step S43 corresponds to the process in step S9 in FIG. After the process of step S43, the process returns from step S41 to step S42, and the control device 20 determines again whether or not the dumping operation is completed by determining whether or not the bucket angle θ3 has reached 0 degrees.

  On the other hand, if it is determined in step S42 that the bucket angle θ3 has become 0 degrees, it is determined that the dumping operation has been completed, and the process proceeds to step S44. In step S44, the control device 20 permits the boom lowering turning operation. The process in step S44 corresponds to the process in step S10 in FIG. As a result, the operator can operate the control lever to lower the boom 4 and turn the upper swing body 3.

  The above processing corresponds to the processing from Steps S8 to S10 in FIG. 4 (processing in the boom lowering turning operation section). If the boom lowering turning operation is permitted in step S10, then in step S11, the control device 20 of the hydraulic excavator determines whether or not the boom lowering turning operation section has ended. This determination is made based on the above-described operation target value. That is, in the boom lowering swing operation section, the hydraulic excavator control device 20 compares the height of the tip of the bucket 6 with the operation target value, and the excavation depth at which the height of the tip of the bucket 6 is the operation target value. It is determined whether it has been reached.

  If it is determined in step S11 that the height of the tip of the bucket 6 has not reached the excavation depth that is the operation target value, it is determined that the boom lowering / turning operation section has not yet ended, and the process proceeds to step S12. move on. In step S12, the control device 20 performs a control process that does not permit the end of the boom lowering turning operation.

  The process from the above steps S11 to S12 is the operation end determination process in the boom lowering turning operation section. The operation end determination process in the boom lowering turning operation section will be described in more detail with reference to FIG. FIG. 9 is a flowchart of the operation end determination process in the boom lowering turning operation section.

  When entering the boom lowering turning operation section, in step S51, the excavator control device 20 calculates the current excavation depth. In step S52, the control unit determines whether or not the tip of the bucket 6 has reached the excavation start depth. When excavating at the same excavation depth at a position deviated from the excavation position this time, the excavation start depth may be set to the depth set in the initial state setting. Alternatively, if deeper excavation is performed at the same position as the current excavated position, the excavation start depth may be set to a deeper value.

  If it is determined in step S52 that the tip of the bucket 6 has not reached the excavation start depth, it is determined that the boom lowering turning operation has not been completed, and the process proceeds to step S53. In step S53, the control device 20 performs a process that does not permit the end of the boom lowering turning operation. The process in step S53 corresponds to the process in step S12 in FIG. After the process of step S53, the process returns from step S51 to step 52, and the control device 20 determines whether or not the tip of the bucket 6 has reached the excavation start depth again, and whether or not the boom lowering turning operation is completed. Determine whether.

  On the other hand, if it is determined in step S52 that the tip of the bucket 6 has reached the excavation start depth, it is determined that the boom lowering turning operation has been completed, and the process proceeds to step S54. In step S54, the control device 20 permits the end of the boom lowering turning operation. Thus, the operator can operate the control lever to lower the boom 4 and start the excavation operation again.

  Note that when one cycle of excavation / loading operation is completed and the next cycle is executed, the excavation depth may be set to be automatically increased based on the number of cycles executed so far. Alternatively, the excavation depth can be automatically increased based on the width of the excavated part by the cycle executed so far.

  Returning to FIG. 4, if it is determined in step S11 that the height of the tip of the bucket 6 has reached the excavation depth which is the operation target value, the process proceeds to step S13. In step S13, it is determined whether or not the current excavation work is completed. If it is determined in step S13 that the current excavation work has not been completed, the process returns to step S2 to continue the excavation work. If it is determined in step S13 that the current excavation work has been completed, the processing for excavation / loading operation ends.

  As described above, according to the work method according to the present embodiment, the work performed using the construction machine is divided into operation sections, the operation target value is set for each operation section, and whether or not the operation target value is achieved. judge. If the operation target value is not achieved, the operation that must be achieved in each operation interval can be surely executed by preventing the operation from proceeding to the next operation interval. Therefore, even if an unskilled operator controls the construction machine, it is possible to prevent the movement to the next operation section without completely executing the operation in each operation section. The working method according to the present embodiment does not require a complicated operation for obtaining and controlling the bucket trajectory, and can be achieved by simple control.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Turning mechanism 3 Upper turning body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 20 Control device

Claims (4)

A working method of a construction machine that moves a work part including a boom and a swivel arranged on an upper swing body by operation of an operation lever by an operator,
Divided series of operations is repeatedly performed by the working portion whose operation is controlled in response to operation of the operating lever by the operator to a plurality of operation sections,
For each motion section, set the motion target value for the motion to be executed,
When the operation lever is operated by the operator in each operation section, a current value representing a current operation state including a height is calculated using an angle detected by an angle sensor provided in each joint,
When the operation target value is achieved, the shift to the next operation section according to the operation of the operation lever by the operator is permitted, and when all the divided operation sections are completed, the operation lever is operated by the operator. In order to repeat the next cycle, the construction machine working method is characterized in that it is executed again from the first operation section. A construction machine working method according to claim 1 ,
The construction machine is a hydraulic excavator including a boom, an arm, and a bucket as the working part,
Setting the operation target value relative to the height of the bucket,
A working method for a construction machine, characterized in that the height of the bucket is calculated based on detection values from an angle sensor for detecting angles of the boom, the arm, and the bucket. A construction machine working method according to claim 1 ,
The construction machine has a turning mechanism for turning the working part,
A work method for a construction machine, characterized in that a turning position is detected by an angle sensor provided in the turning mechanism. A construction machine that moves a working element including a boom and a swing disposed on an upper swing body by operating an operation lever by an operator ,
Possess an angle sensor provided to the controller and each joint for controlling the operation of the working element,
The controller is
Divided series of operations is repeatedly performed by the working element whose operation is controlled in response to operation of the operating lever by the operator to a plurality of operation sections,
For each motion section, set the motion target value for the motion to be executed,
In each operation section, when the operation lever is operated by the operator, a current value representing a current operation state including a height is calculated using an angle detected by the angle sensor,
When the operation target value is achieved, the shift to the next operation section according to the operation of the operation lever by the operator is permitted, and when all the divided operation sections are completed, the operation lever is operated by the operator. The construction machine is characterized in that it is executed again from the first operation section in order to repeat the next cycle.

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