JP6345080B2 - Work machine turning support device - Google Patents

Description

  The present invention relates to a turning support device for a work machine that supports a turning operation of a work machine such as a hydraulic excavator.

  In general, a work machine such as a hydraulic excavator includes a traveling body, a swivel body provided so as to be able to swivel above the traveling body, an operation room provided on the swivel body, on which an operator is boarded, and a front of the swivel body. And a front work machine that is provided so as to be able to move up and down and performs excavation and loading work by the operation of an operator in the operation room.

  In excavation and loading work using this front work machine, for example, after excavating excavated material such as earth and sand with a work tool attached to the tip of the front work machine, the held excavated material is loaded on a transport vehicle such as a dump truck. In order to do this, the turning body turns from the excavation position toward the transport vehicle. A complex operation of moving the work tool to a predetermined position on the transporting vehicle is performed while moving the work tool in the vertical direction during the turning operation.

  Normally, when such a combined operation is performed, the operator adjusts the operation of the swing body and the front work machine while alternately checking the position of the work implement and the transport vehicle at the turn destination. It is difficult for a person to keep track of the positional relationship between the work implement and the transport vehicle. Therefore, in the unlikely event that the work tool is brought into contact with the transporting vehicle due to an excessive or insufficient amount of operation by the operator, the work machine or the transporting vehicle may be damaged.

  Therefore, when the first operation detection unit that detects the operation of the work implement of the front work machine, the second operation detection unit that detects the operation of the revolving unit, and the operation of the revolving unit are detected by the second operation detection unit. When the lifting operation of the work tool is detected by the first operation detection unit, the turning speed of the revolving body is decreased below the turning speed when the front work machine is not operated, and the operation of the revolving body is detected by the second operation detecting unit. When the lowering operation of the work tool is detected by the first operation detection unit at this time, the hybrid type has a turning drive control unit that increases the turning speed of the turning body more than the turning speed when the front work machine is not operated. Construction machines have been proposed (see, for example, Patent Document 1).

Japanese Patent No. 5074432

  In the hybrid-type construction machine of the prior art disclosed in Patent Document 1 described above, while the operator operates and moves the swivel, the work tool of the front work machine is operated to raise or lower, The turning body is decelerated by the turning drive control unit, and accordingly, the moving speed of the work tool is relatively accelerated. As described above, the hybrid type construction machine according to the related art can correct the operation amount of the operator with respect to the work tool, but since the correction value of the operation amount is fixed regardless of the work content, There is a possibility that the moving speed of the work tool necessary to avoid contact with the transport vehicle cannot be secured. In addition, since the moving speed of the work tool is controlled by the operation of the operator, if the operation amount of the operator is excessive or insufficient even if the turning body is decelerated by the turning drive control unit, There is a problem that contact cannot be avoided.

  The present invention has been made based on the actual situation of the prior art as described above, and an object of the present invention is to provide a work machine capable of accurately avoiding contact between the work tool of the front work machine and the transport vehicle in the turning operation of the turning body. It is in providing a turning support device.

  In order to achieve the above object, a turning support device for a work machine according to the present invention is provided with a traveling body, a turning body provided so as to be able to turn above the traveling body, and a revolving support system provided at a front portion of the turning body. Applied to a work machine including a front work machine including a work tool attached to the tip and an operation device for operating the front work machine, and supporting a turning operation of the work machine. A work tool position detection unit for detecting the position of the work tool, and a target position of the work tool for moving the work tool to a position above a transport vehicle that transports a work object of the work tool. A target position setting unit, a turning speed detecting unit for detecting a turning speed of the turning body, a moving speed detecting unit for detecting a moving speed of the working tool, and the working tool position detected by the working tool position detecting unit. Position, eye Based on the target position set by the position setting unit, the turning speed of the turning body detected by the turning speed detecting unit, and the moving speed of the working tool detected by the moving speed detecting unit, the working tool And a contact determination unit that determines whether or not the transport vehicle is in contact, and when the contact determination unit determines that the work tool and the transport vehicle are in contact, the contact between the work tool and the transport vehicle is avoided. A speed relationship setting unit that sets a relationship between a turning speed of the revolving body and a moving speed of the work tool, and a relationship between the turning speed of the revolving body set by the speed relationship setting unit and the moving speed of the work tool And a speed control unit that controls at least one of the turning speed of the revolving structure and the moving speed of the work tool.

  According to the turning support device for a work machine of the present invention, it is possible to accurately avoid contact between the work implement of the front work machine and the transport vehicle in the turning operation of the turning body. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

It is a figure showing composition of a hydraulic excavator mentioned as an example of a work machine to which a 1st embodiment of a turning support device concerning the present invention is applied. It is a functional block diagram which shows the structure within the turning body which concerns on 1st Embodiment of this invention. It is a figure explaining the excavation loading work mentioned as an example of the operation | work of the hydraulic shovel shown in FIG. 1, (a) A figure which shows the state in which excavation operation is complete | finished and the bucket hold | maintains an excavation thing, b) The figure shows a state in which the excavated material is discharged after the revolving body has turned and moved the bucket onto the transporting vehicle. It is a functional block diagram which shows the structure of the control apparatus shown in FIG. It is a side view which shows the state of the excavation loading work of the hydraulic shovel shown in FIG. 1, (a) figure is a figure which shows the state which excavation operation is complete | finished, and the bucket is holding the excavation thing, (b) figure It is a figure which shows the state which has discharged | emitted excavated material after the turning body turns and moves a bucket on a transport vehicle. It is a top view which shows the mode of the excavation loading work of the hydraulic shovel shown in FIG. 1, (a) figure is a figure which shows the state which excavation operation is complete | finished, and the bucket is holding the excavation thing, (b) figure It is a figure which shows the state which has discharged | emitted excavated material after the turning body turns and moves a bucket on a transport vehicle. It is a figure explaining the relationship between the turning speed of the turning body set by the speed relationship setting part shown in FIG. 2, and the moving speed of a bucket, (a) The figure shows the target turning angle of the turning body 3 in excavation loading work. The figure which shows the lower limit of the speed ratio in the work state in a middle, (b) figure is a figure which shows the work state where the target turning angle of the turning body 3 is relatively large compared with the movement distance of a perpendicular direction in excavation loading work (C) is a figure which shows the work state whose target turning angle of the turning body 3 is comparatively small compared with the moving distance of a perpendicular direction in excavation loading work. It is a figure explaining the setting of the target moving speed of the vertical direction of the bucket by the setting of the target turning speed of the turning body by the target turning speed setting part which concerns on 1st Embodiment of this invention, and the target moving speed setting part. It is a functional block diagram which shows the structure of the speed control part which concerns on 2nd Embodiment of this invention. It is a figure explaining the setting of the target moving speed of the vertical direction of the bucket by the setting of the target turning speed of the turning body by the target turning speed setting part which concerns on 2nd Embodiment of this invention, and the target moving speed setting part. It is a functional block diagram which shows the structure of the speed control part which concerns on 3rd Embodiment of this invention. It is a figure explaining the setting of the target turning speed of the turning body by the target speed setting part which concerns on 3rd Embodiment of this invention, and the setting of the target moving speed of the vertical direction of a bucket. It is a functional block diagram which shows the structure of the speed control part which concerns on 4th Embodiment of this invention. It is a figure explaining the setting of the target turning speed of the turning body by the target speed setting part which concerns on 4th Embodiment of this invention, and the setting of the target moving speed of the vertical direction of a bucket. It is a figure which shows the structure of the hydraulic shovel mentioned as an example of the working machine with which 5th Embodiment of this invention is applied. It is a functional block diagram which shows the structure of the target position setting part which concerns on 5th Embodiment of this invention. It is a figure which shows the structure of the hydraulic shovel mentioned as an example of the working machine with which 6th Embodiment of this invention is applied. It is a figure which shows the structure of the hydraulic shovel mentioned as an example of the working machine with which 7th Embodiment of this invention is applied. It is a functional block diagram which shows the structure of the drive control part which concerns on 8th Embodiment of this invention. It is a figure which shows the entry prohibition area | region set by the entry prohibition area | region setting part which concerns on 8th Embodiment of this invention. It is a functional block diagram which shows the structure of the target turning speed setting part which concerns on 9th Embodiment of this invention. It is a figure explaining the restriction | limiting of the turning speed of the turning body by the target stop turning speed restriction part which concerns on 9th Embodiment of this invention. It is a figure which shows a mode that a bucket is moved to the target position lower than an excavation position in turning operation | movement of the excavation loading work of the hydraulic shovel which concerns on this embodiment. In the turning operation of excavation loading work of the hydraulic excavator according to the present embodiment, it is a diagram showing a state in which the bucket is moved from the excavation position to the target position in the place where there is an obstacle on the way from the excavation position of the bucket to the target position is there. It is a figure explaining the other example of the setting of the target position by the target position setting part which concerns on this embodiment. It is a figure which shows the external appearance of the lifting magnet working machine mentioned as another example of the working machine with which this embodiment is applied.

  EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the turning assistance apparatus of the working machine which concerns on this invention is demonstrated based on figures.

  1st Embodiment of the turning assistance apparatus which concerns on this invention is applied to a working machine, for example, the hydraulic shovel 1 shown in FIG. The hydraulic excavator 1 includes a traveling body 2 driven by a traveling hydraulic motor (not shown), and a revolving body 3 provided on the traveling body 2 via a revolving frame (not shown) so as to be able to revolve. A turning device (not shown) that is interposed between the traveling body 2 and the revolving body 3 and that turns the revolving body 3 with respect to the traveling body 2, and one side of the front part of the revolving body 3 (facing forward). And a front work machine 4 that excavates the work object 8 (see FIG. 3) and loads the excavated object 8a (see FIG. 3) onto the transport vehicle. I have.

  The turning device includes a turning hydraulic motor 3a (see FIG. 2) that drives the turning body 3, and an angle sensor 3a1 that is provided in the turning hydraulic motor 3a and detects a turning angle of the turning body 3. The revolving unit 3 includes an operation chamber 5 disposed on the other side of the front part of the vehicle body (on the left side facing forward), a counter weight 6 disposed on the rear part of the vehicle body and maintaining the weight balance of the vehicle body, The engine room 7 is provided between the operation chamber 5 and the counterweight 6 and accommodates an engine (not shown) described later.

  The front work machine 4 includes a boom 4A whose base end is pivotally attached to the revolving frame and pivots in the vertical direction, an arm 4B pivotally attached to the distal end of the boom 4A, and the arm 4B. It consists of a multi-joint structure having a bucket 4C as a working tool rotatably attached to the tip.

  The front work machine 4 connects the revolving body 3 and the boom 4A, connects the boom cylinder 4a that rotates the boom 4A by extending and contracting, the boom 4A and the arm 4B, and extends and contracts the arm 4B. The arm cylinder 4b that rotates the bucket 4C and the bucket cylinder 4c that connects the arm 4B and the bucket 4C and rotates the bucket 4C by expanding and contracting are provided.

  Furthermore, the front work machine 4 is provided on the boom cylinder 4a, and is provided on the arm cylinder 4b and an angle sensor 4a1 that detects a rotation angle between the swing body 3 and the boom 4A, and the boom 4A and the arm 4B are rotated. An angle sensor 4b1 that detects an angle and an angle sensor 4c1 that is provided in the bucket cylinder 4c and detects a rotation angle between the arm 4B and the bucket 4C are provided.

  The operation chamber 5 is provided in the vicinity of an operation seat (not shown) on which an operator is seated, and the operation seat, and includes a traveling hydraulic motor, a turning hydraulic motor 3A1, a boom cylinder 4a, an arm cylinder 4b, and a bucket cylinder. 4c and other hydraulic actuators 3A1, 4a to 4c that enable desired operation, and operating levers 5A and 5B as operating devices that are held and operated by an operator in the operating chamber 5, and these operating levers 5A and 5B Display device 5C (see FIG. 2) for displaying various information related to the operation of the hydraulic excavator 1 including the operation information and information indicating that the control by the speed control unit 30, which will be described later, is performed, and the work target of the bucket 4C The target position 51 (see FIGS. 5 and 6) of the bucket 4C for moving the bucket 4C to the upper side of the transport vehicle that transports the vehicle 8, that is, the swing axis C ( 5, and a target position setting section 5D (see FIG. 2) for setting a target height position of the target angle and the bucket 4C around see Figure 6).

  The operation lever 5A is disposed, for example, on the left side of the driver's seat, and performs an operation of turning the revolving body 3 left and right or turning the arm 4B in the vertical direction. The operation lever 5B is disposed, for example, on the right side of the driver's seat, and performs an operation of rotating the boom 4A in the vertical direction or rotating the bucket 4C in the vertical direction. The target position setting unit 5D includes, for example, a target position input unit that inputs the target position 51 using information displayed on the display device 5C.

  FIG. 2 is a diagram showing details of the internal configuration of the revolving structure 3 including the operation chamber 5. In the following description, the configuration and operation of the hydraulic drive circuit that drives the traveling hydraulic motor, the arm cylinder 4b, and the bucket cylinder 4c are the same as those of the hydraulic drive circuit that drives the swing hydraulic motor 3a and the boom cylinder 4a. Therefore, each configuration and operation of the hydraulic drive circuit that drives the swing hydraulic motor 3a and the boom cylinder 4a will be described in detail, and description of each configuration and operation of the traveling hydraulic motor, the arm cylinder 4b, and the bucket cylinder 4c will be omitted. ing. Accordingly, FIG. 2 shows the swing hydraulic motor 3a and the boom cylinder 4a among the hydraulic actuators 3a and 4a to 4c.

  As shown in FIG. 2, the revolving structure 3 is a variable displacement type that is disposed on the engine (not shown) and a driving shaft of the engine, and discharges pressure oil by operating with the driving force of the engine. A hydraulic pump (hereinafter referred to as a hydraulic pump for convenience) 11 and a pilot that is arranged on the engine drive shaft and operates with the driving force of the engine to generate pilot pressure oil, similarly to the hydraulic pump 11. The hydraulic pump 11 is connected between the pump 12, the hydraulic oil tank 13 for storing the hydraulic oil sucked into the hydraulic pump 11 and the pilot pump 12, and the hydraulic pump 11, each swing hydraulic motor 3a and the boom cylinder 4a. 11 and control valves 15 and 16 for controlling the flow of the pressure oil discharged from the cylinder 11.

  The hydraulic pump 11 has, for example, a swash plate (not shown) as a variable displacement mechanism, and controls the flow rate of the discharged pressure oil by adjusting the tilt angle of the swash plate. Further, although not shown, the hydraulic pump 11 includes a discharge pressure sensor that measures the pressure of the discharged pressure oil, a discharge flow sensor that measures the flow rate of the discharged pressure oil, and a tilt of the swash plate of the hydraulic pump 11. A tilt angle sensor or the like for measuring the angle is provided. The hydraulic pump 11 is described as a variable displacement swash plate hydraulic pump. There may be.

  The control valves 15 and 16 constitute a hydraulic drive circuit between the hydraulic pump 11 and the hydraulic actuators 3a and 4a. Although not shown, the control valves 15 and 16 discharge from the hydraulic pump 11 by stroke in a housing forming an outer shell. And a pressure receiving portion 15a, 15b, 16a, 16b that is formed at the left and right ends of the spool and to which the pilot pressure oil generated by the pilot pump 12 is guided. Yes.

  The revolving unit 3 is connected to an oil passage between the hydraulic pump 11 and the control valves 15 and 16, and when the hydraulic oil discharged from the hydraulic pump 11 becomes excessive, the hydraulic oil is supplied to the hydraulic oil tank 13. Is connected to the oil passage between the relief valve 17 that flows out to the pressure pump and the pressure receiving portions 15a, 15b, 16a, 16b of the pilot pump 12 and the control valves 15, 16, and the pilot pressure oil discharged from the pilot pump 12 is excessive. And a relief valve 18 that causes the pilot pressure oil to flow out to the hydraulic oil tank 13. Therefore, by changing the set pressures of the relief valves 17 and 18, the oil passages between the hydraulic pump 11 and the control valves 15 and 16 and the pressure receiving portions 15a and 15b of the pilot pump 12 and the control valves 15 and 16 are obtained. , 16a, 16b, the maximum pressure in the oil passage can be adjusted.

  The swing body 3 is provided in an oil passage between the pressure receiving portions 15a, 15b, 16a, 16b of the control valves 15, 16 and the pilot pump 12, and is guided to the pressure receiving portions 15a, 15b, 16a, 16b. Electric pilot pressure reducing valves (hereinafter referred to as pressure reducing valves for convenience) 19a, 19b, 20a, 20b, operation levers 5A, 5B, angle sensors 3a1, 4a1, display device 5C, target position The input unit 5D and the pressure reducing valves 19a, 19b, 20a, and 20b are connected, and a control device 21 that controls the operation of the swing body 3 and the front work machine 4 according to the operation amount of the operation levers 5A and 5B is provided. Yes.

  The pressure reducing valve 19a receives a control command corresponding to the operation amount of the operation levers 5A and 5B from the control device 21, and the pressure of the pilot pressure oil supplied to the pressure receiving chamber 15a on the left side of the control valve 15 according to the control command, That is, the pilot pressure is adjusted. The pressure reducing valve 19b receives a control command corresponding to the operation amount of the operation levers 5A and 5B from the control device 21, and the pressure of the pilot pressure oil supplied to the pressure receiving chamber 15b on the right side of the control valve 15 according to the control command, That is, the pilot pressure is adjusted.

  Therefore, if the pilot pressure reduced by the pressure reducing valves 19a and 19b acts on the pressure receiving portions 15a and 15b of the control valve 15, respectively, the pilot pressure on the pressure receiving portion 15a side is larger than the pilot pressure on the pressure receiving portion 15b side, If the spool of the control valve 15 moves to the right and the switching position of the control valve 15 switches from the neutral position to the left position, and the pilot pressure on the pressure receiving portion 15a side is smaller than the pilot pressure on the pressure receiving portion 15b side, The spool moves to the left, and the switching position of the control valve 15 is switched from the neutral position to the right position.

  Thereby, when the pressure oil discharged from the hydraulic pump 11 flows through the control valve 15, the flow rate and direction of the pressure oil are adjusted according to the operation amount of the operation levers 5A and 5B. Then, the pressure oil that has passed through the control valve 15 flows into the boom cylinder 4a, whereby the boom cylinder 4a is driven by the pressure oil, and the vertical movement speed of the boom 4A is controlled.

  The pressure reducing valve 20a receives a control command corresponding to the operation amount of the operation levers 5A and 5B from the control device 21, and the pressure of the pilot pressure oil supplied to the pressure receiving chamber 16a on the left side of the control valve 16 according to the control command, That is, the pilot pressure is adjusted. The pressure reducing valve 20b receives a control command corresponding to the operation amount of the operation lever 5A, 5B from the control device 21, and supplies the pressure of the pilot pressure oil supplied to the pressure receiving chamber 16b on the right side of the control valve 16 according to the control command, That is, the pilot pressure is adjusted.

  Therefore, if the pilot pressure reduced by the pressure reducing valves 20a and 20b acts on the pressure receiving portions 16a and 16b of the control valve 16, respectively, and the pilot pressure on the pressure receiving portion 16a side is larger than the pilot pressure on the pressure receiving portion 16b side, If the spool of the control valve 16 moves to the right and the switching position of the control valve 16 switches from the neutral position to the left position, and the pilot pressure on the pressure receiving portion 16a side is smaller than the pilot pressure on the pressure receiving portion 16b side, The spool moves to the left, and the switching position of the control valve 16 is switched from the neutral position to the right position.

  Thereby, when the pressure oil discharged from the hydraulic pump 11 flows through the control valve 16, the flow rate and direction of the pressure oil are adjusted according to the operation amount of the operation levers 5A and 5B. The pressure oil that has passed through the control valve 16 flows into the swing hydraulic motor 3a, whereby the swing hydraulic motor 3a is driven by the pressure oil, and the swing speed of the swing body 3 is controlled.

  FIG. 3 is a diagram showing a state where excavation and loading work, which is an example of work of the hydraulic excavator 1, is performed. FIG. 3 (a) shows a state in which the excavation operation is completed and the bucket 4C holds the excavated material 8a. (B) is a figure which shows the state which discharge | releases the excavated material 8a, after the turning body 3 turns and moves the bucket 4C on a conveyance vehicle. In the first embodiment of the present invention, for example, a dump truck 100 is used as a transport vehicle for transporting the excavated material 8a.

  In the excavation and loading operation of the hydraulic excavator 1 configured as described above, for example, as shown in FIG. 3A, the operator in the operation chamber 5 operates the operation levers 5A and 5B, and the excavated material is stored in the bucket 4C. After excavating 8a, the revolving structure 3 is turned while lifting the bucket 4C while holding the excavated material 8a in the bucket 4C.

  3B, when the bucket 4C reaches the loading platform 101 of the dump truck 100, the operator operates the operation levers 5A and 5B to move the excavated material 8a from the bucket 4C to the loading platform of the dump truck 100. 101 is released. In the turning operation of the excavation and loading work from the work state of FIG. 3A to the work state of FIG. 3B, the moving speed in the vertical direction of the bucket 4C is insufficient with respect to the turning speed of the turning body 3. Then, there is a possibility that the bucket 4C and the loading platform 101 come into contact with each other because the bucket 4C cannot secure a height sufficient for the bucket 4C to exceed the loading platform 101 of the dump truck 100 upward. Therefore, in the first embodiment of the present invention, a turning support device that supports the turning operation of the hydraulic excavator 1 is provided in the hydraulic excavator 1.

  The configuration of the control device 21 according to such a turning support device will be described with reference to FIG. 4, and a part of these configurations will be described in detail with reference to FIGS.

  As shown in FIG. 4, the control device 21 converts a signal from the angle sensor 3 a 1 to calculate the turning angle and turning speed of the turning body 3, and transmits the information about the calculated turning angle and turning speed as a signal. A conversion unit 22a; and a signal conversion unit 22b that converts signals from the angle sensors 4a1 to 4c1 to calculate the height position and movement speed of the bucket 4C and transmits information on the calculated height position and movement speed. doing.

  The signal converter 22b stores the dimension data of the hydraulic excavator 1, and calculates the coordinates and moving speed of the bucket 4C at a predetermined reference position from the angles detected by the angle sensors 4a1 to 4c1. Yes. In the first embodiment of the present invention, the signal converter 22a functions as a turning speed detector that detects the turning speed of the swing body 3, and the signal converter 22b detects a moving speed of the bucket 4C. Both of the signal converters 22a and 22b function as a work tool position detector that detects the position of the bucket 4C, that is, the swing angle of the swing body 3 and the height position of the bucket 4C.

  Further, the control device 21 receives signals from the target position input unit 5D and the signal conversion unit 22a, and the target angle around the turning axis C of the swing body 3 input by the target position input unit 5D and the signal conversion unit 22a. A difference calculation unit 23a that calculates a turning angle of the swing body 3 required for the bucket 4C to reach the target position (hereinafter referred to as a target swing angle for convenience) from the difference from the calculated swing angle of the swing body 3. And the signal from the target position input unit 5D and the signal conversion unit 22b, the target height position of the bucket 4C input by the target position input unit 5D and the height position of the bucket 4C calculated by the signal conversion unit 22b Difference calculation for calculating the vertical movement amount of the bucket 4C required for the bucket 4C to reach the target position (hereinafter referred to as the target movement amount for convenience) It is equipped with and 23b.

  FIGS. 5 and 6 are diagrams for explaining the calculation of the target turning angle and the target movement amount by the difference calculation units 23a and 23b. FIG. 5 (a) shows that the excavation operation is completed and the bucket 4C holds the excavated material 8a. FIG. 5B is a side view showing a state in which the excavated article 8a is discharged after the revolving unit 3 turns to move the bucket 4C onto the loading platform 101 of the dump truck 100. 6A is a plan view showing a state in which the excavation operation is finished and the bucket 4C holds the excavated material 8a, and FIG. 6B is a plan view of the dump truck 100 in which the swivel body 3 is swung and the bucket 4C is swung. It is a top view which shows the state which has discharged | emitted the excavated material 8a, after making it move on 101. FIG. 5 and 6, the illustration is simplified for easy understanding of the working status of the excavator 1 and the dump truck 100, and the swivel body of FIGS. 5 and 6 is shown with respect to the swivel angle of the swivel body 3 of FIG. 3 turning angle is changed.

  As shown in FIGS. 5 and 6, for example, the control device 21 sets the lower end of the bucket 4 </ b> C to the monitor point 50 that defines the position of the bucket 4 </ b> C, and an input screen for the target position 51 is displayed on the display screen of the display device 5 </ b> C. When displayed, the operator in the operation room 5 sets the target position 51, that is, the target angle and the target height position around the turning axis C of the revolving structure 3 above the loading platform 101 of the dump truck 100 by the target position input unit 5D. Set.

  At this time, as shown in FIG. 6A and FIG. 6B, the difference calculation unit 23a sets the target angle around the swing axis C of the swing body 3 set by the target position input unit 5D and the signal conversion unit 22a. The angle difference between the monitor point 50 and the angle around the turning axis C calculated by the above is calculated as a target turning angle. Therefore, in the example of FIGS. 6A and 6B, the calculation result of the difference calculation unit 23a is the angle θ1.

  On the other hand, as shown in FIGS. 5A and 5B, the difference calculation unit 23b is configured to monitor the target height position of the bucket 4C set by the target position input unit 5D and the signal conversion unit 22b. The difference from the height position of the point 50 is calculated as the target movement amount. Therefore, in the example of FIGS. 5A and 5B, the calculation result of the difference calculation unit 23 b is the movement amount H.

  4, the control device 21 receives signals from the signal conversion units 22a and 22b and the difference calculation units 23a and 23b, and is calculated by the target turning angle calculated by the difference calculation unit 23a and the difference calculation unit 23b. Whether the bucket 4C contacts the dump truck 100 based on the target movement amount, the turning speed of the revolving structure 3 calculated by the signal conversion unit 22a, and the vertical movement speed of the bucket 4C calculated by the signal conversion unit 22b The contact determination part 24 which determines whether is provided.

  The contact determination unit 24 receives, for example, signals from the difference calculation units 23a and 23b, calculates a ratio of the target movement amount to the target turning angle, and calculates a target movement amount-target turning angle ratio calculation unit 24a. Based on the turning speed of the swing body 3 and the vertical movement speed of the bucket 4C calculated by the signal conversion sections 22a and 22b, and the vertical movement speed of the bucket 4C, The moving speed-turning speed ratio calculating unit 24b that calculates the ratio of the turning body 3 to the turning speed is configured.

  Here, when the target turning angle is large and when the target turning angle is small with respect to the target movement amount in the vertical direction, there is less possibility of contact when the target turning angle is large. Based on this, the contact determination unit 24, for example, the ratio of the movement speed in the vertical direction of the bucket 4C calculated by the movement speed-turning speed ratio calculation unit 24b and the turning speed of the turning body 3, and the target movement amount-target The ratio between the target movement amount calculated by the turning angle ratio calculation unit 24a and the target turning angle is compared. At this time, if the moving speed-turning speed ratio is smaller than the target moving amount-target turning angle ratio, the bucket 4C is not in contact with the loading platform 101 of the dump truck 100 when the bucket 4C is moved to the target position 51. Since the vertical speed of the bucket 4C that secures the amount of vertical movement of the bucket 4C necessary for this is insufficient, it is determined that the bucket 4C and the dump truck 100 are in contact.

  On the other hand, for example, the contact determination unit 24 determines that the ratio of the vertical movement speed of the bucket 4C calculated by the movement speed-turning speed ratio calculation unit 24b and the turning speed of the turning body 3 is the target movement amount-target turning angle ratio. When the ratio between the target movement amount calculated by the calculation unit 24a and the target turning angle is larger, it is determined that the bucket 4C and the dump truck 100 do not contact each other.

  Furthermore, when the contact determination unit 24 determines that the bucket 4C and the dump truck 100 are in contact, the control device 21 avoids contact between the bucket 4C and the dump truck 100 and the vertical direction of the bucket 4C. A speed relationship setting unit 25 for setting a relationship with the moving speed is provided.

  FIG. 7 is a diagram for explaining the relationship between the turning speed of the revolving structure 3 set by the speed relation setting unit 25 and the moving speed in the vertical direction of the bucket 4C. In FIG. 7 (a) to FIG. Two different situations are shown as examples.

  The speed relationship setting unit 25 calculates, for example, a target moving amount-target turning angle ratio as the relationship between the turning speed of the revolving structure 3 that avoids contact between the bucket 4C and the dump truck 100 and the moving speed in the vertical direction of the bucket 4C. The ratio between the target movement amount calculated by the unit 24a and the target turning angle is set as the lower limit of the speed ratio between the moving speed in the vertical direction of the bucket 4C and the turning speed of the swing body 3.

  FIG. 7A is a diagram showing a lower limit of the speed ratio in an operation state where the target turning angle of the revolving structure 3 is medium in excavation loading work, and when the revolving speed of the revolving structure 3 is VA, the bucket 4C If the moving speed in the vertical direction is VB1 or more, contact between the bucket 4C and the dump truck 100 can be avoided.

  On the other hand, FIG. 7B is a diagram showing a working state in which the target turning angle of the swing body 3 is relatively larger than the movement distance in the vertical direction in the excavation loading work, and the operator moves the bucket 4C to the target position. 7 (see FIG. 5 and FIG. 6), the lower limit of the speed ratio between the moving speed in the vertical direction of the bucket 4C and the turning speed of the swing body 3 is shown in FIG. 7 (a). It becomes smaller than the lower limit of the speed ratio. As a result, when the turning speed of the swing body 3 is VA, in order to avoid contact between the bucket 4C and the dump truck 100, the moving speed in the vertical direction of the bucket 4C only needs to be VB2 or more, which is smaller than VB1.

  FIG. 7C is a diagram showing a working state in which the target turning angle of the swing body 3 is relatively small compared to the vertical movement distance in the excavation loading work, and the operator moves the bucket 4C to the target position 51 ( (See FIGS. 5 and 6), since there is not enough room to move the bucket 4C, the lower limit of the speed ratio between the vertical movement speed of the bucket 4C and the turning speed of the swing body 3 is the lower limit of the speed ratio shown in FIG. Bigger than. As a result, when the turning speed of the revolving structure 3 is VA, in order to avoid contact between the bucket 4C and the dump truck 100, the moving speed in the vertical direction of the bucket 4C is required to be VB3 or higher, which is larger than VB1.

  Further, in FIG. 4, the control device 21 determines the turning speed of the revolving structure 3 according to the lower limit of the speed ratio between the moving speed in the vertical direction of the bucket 4 </ b> C and the turning speed of the revolving structure 3 set by the speed relationship setting unit 25. And a speed control unit 30 that controls at least one of the vertical movement speed of the bucket 4C, for example, both the rotation speed of the revolving structure 3 and the vertical movement speed of the bucket 4C.

  Specifically, the speed control unit 30 receives a signal from the speed relationship setting unit 25, and the speed between the vertical movement speed of the bucket 4 </ b> C set by the speed relationship setting unit 25 and the rotation speed of the revolving structure 3. The swing speed of the swing body 3 that avoids contact between the bucket 4C and the dump truck 100 is calculated from the lower limit of the ratio and the vertical movement speed of the bucket 4C calculated by the signal conversion unit 22b. The target turning speed setting unit 31a for setting the turning speed to the calculated turning speed and the vertical target moving speed of the bucket 4C are set to the vertical moving speed of the current bucket 4C calculated by the signal converting unit 22b. And a target moving speed setting unit 31b that maintains the moving speed of the bucket 4C.

  FIG. 8 is a diagram for explaining the setting of the target turning speed of the revolving structure 3 by the target turning speed setting unit 31a and the setting of the target moving speed in the vertical direction of the bucket 4C by the target moving speed setting unit 31b.

  As shown in FIG. 8, the ratio (point t1) between the vertical movement speed Vb1 of the bucket 4C calculated by the movement speed-turning speed ratio calculation section 24b and the turning speed Va1 of the swing body 3 (point t1) is the speed relationship setting section 25. Is smaller than the lower limit L1 of the speed ratio between the moving speed of the bucket 4C in the vertical direction and the turning speed of the revolving structure 3 set by.

  Therefore, the target turning speed setting unit 31a turns the turning speed Va2 (<Va1) of the turning body 3 having the same ratio (point t2) as the lower limit L1 of the speed ratio when the moving speed in the vertical direction of the bucket 4C is Vb1. The target turning speed of the body 3 is set. Then, the target moving speed setting unit 31b sets the vertical moving speed Vb1 of the bucket 4C as the vertical target moving speed of the bucket 4C.

  In FIG. 4, the speed control unit 30 receives signals from the signal conversion unit 22a and the target turning speed setting unit 31a, and the target turning speed Va2 of the revolving structure 3 set by the target turning speed setting unit 31a (FIG. 8). Comparison) and the turning speed Va1 (see FIG. 8) of the turning body 3 calculated by the signal converting section 22a and calculating the difference, the signal converting section 22b and the target moving speed setting section 31b. The vertical movement speed Vb1 of the bucket 4C calculated by the signal conversion section 22b is compared with the vertical movement speed Vb1 of the bucket 4C set by the target movement speed setting section 31b. The comparison calculation unit 32b that calculates the difference (in this case, the difference is 0) and the signals from the comparison calculation units 32a and 32b are received and compared. Calculation unit 32a, the calculated difference and a drive control unit 33 for generating a control command for controlling the hydraulic drive circuit such that 0 by 32b. The speed control unit 30 transmits the control command generated by the drive control unit 33 to the pressure reducing valves 19a, 19b, 20a, and 20b.

  According to the first embodiment of the present invention configured as described above, when the contact determination unit 24 determines that the bucket 4C and the dump truck 100 are in contact, the vertical direction of the bucket 4C set by the speed relationship setting unit 25 is determined. Since both the turning speed of the turning body 3 and the moving speed in the vertical direction of the bucket 4C are adjusted by the speed control unit 30 from the lower limit of the speed ratio between the moving speed and the turning speed of the turning body 3, the work content and the operation room 5 Regardless of the operation of the operation levers 5A and 5B by the operator, the moving speed of the bucket 4C can be easily ensured with respect to the turning speed during the turning operation of the turning body 3. Thus, the contact between the bucket 4C and the dump truck 100 can be accurately avoided in the turning operation without the operator using the operation levers 5A and 5B to reduce the turning speed of the turning body 3. While preventing the truck 100 from being damaged, it is possible to suppress a decrease in the efficiency of excavation and loading work.

  In particular, in the first embodiment of the present invention, as shown in FIG. 8, the target turning speed setting unit 31a and the target moving speed setting unit 31b set the target turning speed of the swing body 3 and the target moving speed in the vertical direction of the bucket 4C. Since the turning speed Va2 and the moving speed Vb1 are respectively set on the lower limit L1 of the speed ratio, it is possible to appropriately limit the turning speed of the revolving structure 3 while maintaining the moving speed of the bucket 4b by the drive control unit 33. it can. Thereby, in the turning operation of the revolving structure 3, the contact between the bucket 4C and the dump truck 100 can be sufficiently avoided. Therefore, since the operator can proceed with the excavation and loading work without worrying about the contact between the bucket 4C and the dump truck 100, the mental burden on the operator can be reduced, and comfortable operability can be achieved. Can be realized.

  In the first embodiment of the present invention, when setting the target position 51 for moving the bucket 4C to the upper side of the dump truck 100 that transports the work object 8 of the bucket 4C, the operator uses the display device 5C. Since the target position 51 can be specified using the target position input unit 5D while looking at the input screen, even if the position of the dump truck 100 is deviated immediately before the swing body 3 turns, the target is determined by the operator. The position 51 can be appropriately set or changed. Thereby, it is possible to easily cope with a change in the working situation of the hydraulic excavator 1 and the surrounding environment.

  In addition, during the operation of the operation levers 5A and 5B by the operator, information indicating that the control by the speed control unit 30 is being performed is displayed on the display device 5C, so the operator can display the display screen of the display device 5C. By confirming, it is possible to easily grasp the situation in which the turning speed of the revolving structure 3 is limited by the speed control unit 30, and it is possible to proceed with the excavation loading work without feeling uncomfortable with the operation of the operation levers 5A and 5B. . Thus, it is possible to provide excellent convenience to an operator who performs excavation and loading work.

[Second Embodiment]
FIG. 9 is a functional block diagram showing the configuration of the speed control unit 35 according to the second embodiment of the present invention.

  In the first embodiment of the present invention, as shown in FIG. 4, the speed control unit 30 receives a signal from the speed relationship setting unit 25 and moves the bucket 4 </ b> C in the vertical direction set by the speed relationship setting unit 25. The revolving structure 3 that avoids contact between the bucket 4C and the dump truck 100 from the lower limit of the speed ratio between the speed and the revolving speed of the revolving structure 3 and the vertical moving speed of the bucket 4C calculated by the signal converter 22b. The target turning speed setting unit 31a that calculates the turning speed and sets the target turning speed of the swing body 3 to the calculated turning speed, and the target moving speed in the vertical direction of the bucket 4C are calculated by the signal conversion unit 22b. The configuration including the target moving speed setting unit 31b that sets the moving speed of the bucket 4C in the vertical direction and maintains the moving speed of the bucket 4C has been described.

  On the other hand, in 2nd Embodiment of this invention, as shown in FIG. 9, the speed control part 35 makes the target turning speed of the turning body 3 of the present turning body 3 calculated by the signal conversion part 22a. A target turning speed setting unit 36 a that sets the turning speed and maintains the turning speed of the swing body 3, and a speed between the vertical movement speed of the bucket 4 </ b> C set by the speed relation setting unit 25 and the swing speed of the swing body 3. The moving speed of the bucket 4C that avoids contact between the bucket 4C and the dump truck 100 is calculated from the lower limit of the ratio and the turning speed of the revolving structure 3 calculated by the signal converter 22a, and the target moving speed of the bucket 4C is calculated. And a target moving speed setting unit 36b for setting the moving speed.

  FIG. 10 is a diagram for explaining the setting of the target turning speed of the swing body 3 by the target turning speed setting unit 36a and the setting of the target moving speed in the vertical direction of the bucket 4C by the target moving speed setting unit 36b.

  As shown in FIG. 10, the ratio (point t3) between the moving speed Vb3 in the vertical direction of the bucket 4C and the turning speed Va3 of the turning body 3 calculated by the moving speed-turning speed ratio calculating section 24b is the speed relation setting section 25. Is smaller than the lower limit L2 of the speed ratio between the moving speed of the bucket 4C in the vertical direction and the turning speed of the revolving structure 3 set by.

  Therefore, the target moving speed setting unit 36b sets the moving speed Vb4 (> Vb3) in the vertical direction of the bucket 4C to the same ratio (point t4) as the lower limit L2 of the speed ratio when the turning speed of the revolving structure 3 is Va3. It is set as the target moving speed in the vertical direction of 4C. Then, the target turning speed setting unit 36a sets the turning speed Va3 of the turning body 3 as the target turning speed of the turning body 3. The other configurations of the second embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the second embodiment of the present invention configured as described above, the same effect as that of the first embodiment described above can be obtained, and the target turning speed setting unit 36a and the target moving speed setting unit 36b Since the target turning speed and the target moving speed in the vertical direction of the bucket 4C are respectively set to the turning speed Va3 and the moving speed Vb4 on the lower limit L2 of the speed ratio, the drive control unit 33 maintains the turning speed of the turning body 3 while maintaining it. The bucket 4C can be accelerated quickly. Thereby, in the turning operation of the revolving structure 3, the contact between the bucket 4C and the dump truck 100 can be sufficiently avoided. Therefore, since the operator can smoothly proceed with the excavation loading work without reducing the turning speed of the turning body 3 using the operation levers 5A and 5B, excellent workability can be obtained.

[Third Embodiment]
FIG. 11 is a functional block diagram showing the configuration of the speed control unit 37 according to the third embodiment of the present invention.

  In the first embodiment of the present invention, as shown in FIG. 4, the speed control unit 30 receives a signal from the speed relationship setting unit 25 and moves the bucket 4 </ b> C in the vertical direction set by the speed relationship setting unit 25. The revolving structure 3 that avoids contact between the bucket 4C and the dump truck 100 from the lower limit of the speed ratio between the speed and the revolving speed of the revolving structure 3 and the vertical moving speed of the bucket 4C calculated by the signal converter 22b. The target turning speed setting unit 31a that calculates the turning speed and sets the target turning speed of the swing body 3 to the calculated turning speed, and the target moving speed in the vertical direction of the bucket 4C are calculated by the signal conversion unit 22b. The configuration including the target moving speed setting unit 31b that sets the moving speed of the bucket 4C in the vertical direction and maintains the moving speed of the bucket 4C has been described.

  In contrast, in the third embodiment of the present invention, as shown in FIG. 11, the speed control unit 37 receives a signal from the speed relationship setting unit 25 and sets the bucket 4 </ b> C set by the speed relationship setting unit 25. The lower limit of the speed ratio between the vertical movement speed and the turning speed of the swing body 3, the swing speed of the swing body 3 calculated by the signal converter 22a, and the vertical direction of the bucket 4C calculated by the signal converter 22b While calculating the turning speed of the revolving structure 3 that avoids contact between the bucket 4C and the dump truck 100 and the moving speed in the vertical direction of the bucket 4C from the moving speed, the target turning speed of the revolving structure 3 is set to the calculated turning speed. , A target speed setting unit 38 for setting the target moving speed of the bucket 4C to the calculated moving speed is included.

  FIG. 12 is a diagram for explaining the setting of the target turning speed of the swing body 3 and the target moving speed in the vertical direction of the bucket 4C by the target speed setting unit 38.

  As shown in FIG. 12, the ratio (point t5) between the moving speed Vb5 in the vertical direction of the bucket 4C and the turning speed Va5 of the turning body 3 calculated by the moving speed-turning speed ratio calculating section 24b is the speed relationship setting section 25. Is smaller than the lower limit L3 of the speed ratio between the moving speed of the bucket 4C in the vertical direction and the turning speed of the revolving structure 3 set by.

  Therefore, the target speed setting unit 38 turns the turning speed at the intersection t6 between the vertical moving speed Vb5 of the bucket 4C and the perpendicular line drawn from the point t5 representing the turning speed Va5 of the turning body 3 to the line segment of the lower limit L3 of the speed ratio. Va6 and moving speed Vb6 are set to the target turning speed of the swing body 3 and the target moving speed in the vertical direction of the bucket 4C, respectively. The other configurations of the third embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the third embodiment of the present invention configured as described above, the same operation effect as that of the first embodiment described above can be obtained, and the target swing speed of the swing body 3 and the vertical of the bucket 4C can be obtained by the target speed setting unit 38. Since the target moving speed in the direction is set to the turning speed Va6 and the moving speed Vb6 on the lower limit L3 of the speed ratio, the bucket 4C is quickly accelerated while appropriately limiting the turning speed of the turning body 3 by the drive control unit 33. Can be made. Thereby, contact with bucket 4C and dump truck 100 can be avoided efficiently. Thus, in the turning operation of the revolving structure 3, the revolving speed of the revolving structure 3 and the moving speed in the vertical direction of the bucket 4C can be controlled with good balance.

  In the setting of the target turning speed and the target moving speed by the target speed setting unit 38 shown in FIG. 12, the lower limit L3 of the speed ratio from the point t5 representing the moving speed Vb5 in the vertical direction of the bucket 4C and the turning speed Va5 of the rotating body 3 is set. However, the present invention is not limited to this, and the line extending from the point t5 to the lower limit L3 of the speed ratio may not be a vertical line, and the speed ratio is lower than the lower limit L3. Accordingly, the angle of the line extending from the point t5 to the lower limit L3 of the speed ratio may be changed as appropriate.

[Fourth Embodiment]
FIG. 13 is a functional block diagram showing the configuration of the speed control unit 39 according to the fourth embodiment of the present invention.

  In the fourth embodiment of the present invention, in addition to the configuration of the third embodiment described above, for example, the speed control unit 39 has a swiveling body so that the target turning speed and the target moving speed set by the target speed setting unit 40 are obtained. 3 and the vertical movement speed of the bucket 4C are controlled, respectively, and the vertical movement speed of the bucket 4C does not reach the target movement speed due to the limitation of the hydraulic drive circuit determined by the performance of the engine, the hydraulic pump 11, etc. In this case, the setting of the lower limit of the speed ratio between the moving speed in the vertical direction of the bucket 4C and the turning speed of the revolving structure 3 by the speed relation setting unit 25 is performed again.

  Further, the target speed setting unit 40 is calculated by the signal conversion unit 22b and the lower limit of the speed ratio between the vertical movement speed of the bucket 4C and the turning speed of the revolving structure 3 set again by the speed relation setting unit 25. The turning speed of the revolving structure 3 that avoids contact between the bucket 4C and the dump truck 100 is calculated from the moving speed in the vertical direction of the bucket 4C, the target turning speed of the revolving structure 3 is set to the calculated turning speed, and the bucket The target moving speed in the vertical direction of 4C is set to the current moving speed in the vertical direction of the bucket 4C calculated by the signal conversion unit 22b, and the moving speed of the bucket 4C is maintained.

  FIG. 14 is a diagram for explaining the setting of the target turning speed of the revolving structure 3 and the setting of the target moving speed in the vertical direction of the bucket 4C by the target speed setting unit 40.

  As shown in FIG. 14, the ratio (point t7) between the moving speed Vb7 in the vertical direction of the bucket 4C and the turning speed Va7 of the turning body 3 calculated by the moving speed-turning speed ratio calculating section 24b is the speed relation setting section 25. Is smaller than the lower limit L4 of the speed ratio between the vertical movement speed of the bucket 4C and the turning speed of the revolving structure 3 set by.

  Therefore, the target speed setting unit 40 turns the turning speed at the intersection t8 between the vertical moving speed Vb7 of the bucket 4C and the perpendicular drawn from the point t7 representing the turning speed Va7 of the turning body 3 to the line segment of the lower limit L4 of the speed ratio. Va8 and moving speed Vb8 are set to the target turning speed of the swing body 3 and the target moving speed in the vertical direction of the bucket 4C, respectively. Then, when the control command of the drive control unit 33 is transmitted to the pressure reducing valves 19a, 19b, 20a, and 20b, the turning speed of the swing body 3 decreases and the moving speed in the vertical direction of the bucket 4C increases. When the moving speed of the bucket 4C in the vertical direction reaches Vb9, it does not increase any more due to the limitation of the hydraulic drive circuit.

  At this time, the target speed setting unit 40 again sets the lower limit of the speed ratio between the moving speed of the bucket 4C in the vertical direction and the turning speed of the revolving structure 3 by the speed relation setting unit 25. Then, the ratio (point t9) between the vertical moving speed Vb9 of the bucket 4C and the turning speed Va8 of the revolving structure 3 calculated again by the moving speed-turning speed ratio calculating unit 24b is set again by the speed relation setting unit 25. Since the lower limit L5 of the speed ratio between the vertical movement speed of the bucket 4C and the turning speed of the swing body 3 is smaller, the target speed setting unit 40 sets the speed ratio when the vertical movement speed of the bucket 4C is Vb9. The turning speed Va10 (<Va8) of the swing body 3 having the same ratio as the lower limit L5 (point t10) is set as the target swing speed of the swing body 3, and the vertical movement speed Vb9 of the bucket 4C is set as the target of the bucket 4C. Set as moving speed. The configuration of the other fourth embodiment is the same as the configuration of the third embodiment described above, and the same or corresponding parts as those of the third embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the fourth embodiment of the present invention configured as described above, the same operation effect as the third embodiment described above can be obtained, and the vertical movement speed of the bucket 4C is Vb9 or more due to the limitation of the hydraulic drive circuit. Even if the speed does not increase, the turning speed Va10 and the moving speed Vb9 on the lower limit L5 of the speed ratio in which the target turning speed of the swing body 3 and the target moving speed in the vertical direction of the bucket 4C are set again by the target speed setting unit 40. Accordingly, the turning speed of the revolving structure 3 can be limited flexibly while maintaining the vertical moving speed of the bucket 4C by the drive control unit 33. Thereby, the contact between the bucket 4C and the dump truck 100 can be avoided regardless of the limitation of the hydraulic drive circuit, and therefore, the invention can be applied to a work machine having various hydraulic drive circuits.

[Fifth Embodiment]
FIG. 15 is a diagram illustrating a configuration of a hydraulic excavator 1A cited as an example of a work machine to which the fifth embodiment of the present invention is applied, and FIG. 16 illustrates a configuration of a target position setting unit 5E according to the fifth embodiment of the present invention. It is a functional block diagram shown.

  The fifth embodiment of the present invention is different from the first embodiment described above in the first embodiment, in which the target position setting unit 5D uses information displayed on the display device 5C as shown in FIG. In contrast to the target position input unit that inputs the target position 51 (see FIGS. 5 and 6), in the fifth embodiment, as shown in FIGS. The target position setting unit 5E inputs the position of the dump truck 100 detected by the transport vehicle position detecting unit 41, and the target position is determined from the position of the dump truck 100. 51 is set.

  Specifically, the transport vehicle position detection unit 41 is attached to, for example, the upper part of the operation room 5 and is installed on the upper surface of the front weight 41 and the counterweight 6 to photograph the front of the vehicle body and photograph the rear of the vehicle body. The rear camera 41b is installed on the left side of the upper surface of the engine room 7, and includes a left side camera 41c that photographs the left side of the vehicle body, and a right side camera 41d that is installed on the right side of the upper surface of the engine room 7 and photographs the right side of the vehicle body. The surroundings of the vehicle body are photographed by these cameras 41a to 41d.

  The target position setting unit 5E includes a storage device 5E1 that stores feature points indicating the characteristics of the dump truck 100 and preset target positions of the dump truck 100, and each camera, instead of the target position input unit 5D described above. A distance calculation unit 5E2 that calculates the distance of the dump truck 100 from the vehicle body based on the images taken by 41a to 41d and the feature points of the dump truck 100 stored in the storage device 5E1.

  The distance calculation unit 5E2 extracts feature points of the dump truck 100 from an image photographed by any of the front camera 41a, the rear camera 41b, the left side camera 41c, and the right side camera 41d. The feature point is matched with the feature point of the dump truck 100 stored in the storage device 5E1. Thereafter, the distance calculation unit 5E2 determines the position of the camera used for matching and the dumping from among the cameras 41a to 41d based on the matching result and the relative positional relationship between the feature points of the dump truck 100 stored in the storage device 5E1. The relative distance from the position of the track 100 is calculated.

  Then, the target position setting unit 5E calculates the predetermined target position of the dump truck 100 stored in the storage device 5E1, and the relative distance between the position of the camera calculated by the distance calculation unit 5E2 and the position of the dump truck 100. By synthesizing, the target position 51 is generated and transmitted to the control device 21. The other configurations of the fifth embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the fifth embodiment of the present invention configured as described above, the same effect as that of the first embodiment described above can be obtained, and at the moving point of the bucket 4C when the excavated material 8a is loaded on the dump truck 100. By storing a certain target position 51 in the storage device 5E1 in advance, even if the position of the dump truck 100 with respect to the excavator 1 is changed, the target position setting unit 5E can obtain the characteristics of the dump truck 100 from the images of the cameras 41a to 41d. The target position 51 can be automatically set after recognizing the point and grasping the position of the dump truck 100. This saves the operator from inputting the target position 51 each time the position of the dump truck 100 is changed, thereby improving convenience for the operator. Moreover, since the bucket 4C can be accurately moved to a position suitable for discharging the excavated material 8a onto the loading platform 101 of the dump truck 100, the operator operates the operation levers 5A and 5B to operate the excavated material 8a. Loading operation can proceed smoothly.

[Sixth Embodiment]
FIG. 17 is a diagram showing a configuration of a hydraulic excavator 1B cited as an example of a work machine to which the sixth embodiment of the present invention is applied.

  The sixth embodiment of the present invention is different from the above-described fifth embodiment in that the fifth embodiment, as shown in FIG. In contrast to the camera 41b, the left-side camera 41c, and the right-side camera 41d, as shown in FIG. 17, in the sixth embodiment, the transport vehicle position detection unit 42 of the excavator 1B includes these cameras. Instead of 41a to 41d, it is composed of both a laser radar 42a and an ultrasonic sensor 42b.

  In this case, the target position setting unit 5E (see FIG. 16) uses the laser radar 42a or the ultrasonic wave from the detection results of the laser radar 42a and the ultrasonic sensor 42b instead of the captured images of the cameras 41a to 41d. The relative position between the sensor 42b and the dump truck 100 is calculated to generate the target position 51 (see FIGS. 5 and 6). The other configurations of the sixth embodiment are the same as the configurations of the fifth embodiment described above, and the same or corresponding parts as those of the configuration of the fifth embodiment are denoted by the same reference numerals and redundant description is omitted. doing.

  According to the sixth embodiment of the present invention configured as described above, the same operational effects as those of the fifth embodiment described above can be obtained, and the laser radar 42a and the ultrasonic sensor 42b can be used to achieve the fifth embodiment. It is possible to easily detect the dump truck 100 that has stopped at a position farther from the shooting range of the cameras 41a to 41d. Thereby, the setting precision of the target position 51 by the target position setting part 5E can be improved. In the sixth embodiment of the present invention, the case where the transport vehicle position detection unit 42 includes both the laser radar 42a and the ultrasonic sensor 42b has been described. However, the present invention is not limited to this case, and the laser radar 42a and the ultrasonic wave are included. Any one of the sensors 42b may be used, and any sensor other than the laser radar 42a and the ultrasonic sensor 42b may be used as long as the position of the dump truck 100 can be detected.

[Seventh Embodiment]
FIG. 18 is a diagram showing a configuration of a hydraulic excavator 1C cited as an example of a work machine to which the seventh embodiment of the present invention is applied.

  The seventh embodiment of the present invention is different from the above-described fifth embodiment in the fifth embodiment, as shown in FIG. 15, a front camera 41 a and a rear camera in which the transport vehicle position detection unit 41 photographs the periphery of the vehicle body. In contrast to the camera 41b, the left camera 41c, and the right camera 41d, in the seventh embodiment, as shown in FIG. 18, the transport vehicle position detection unit 43 is replaced with these cameras 41a to 41d. As an external communication device, for example, the GPS satellite 43a and the excavator 1C are provided, and the antenna 43b that performs radio communication with the GPS satellite 43a and the dump truck 100, and the dump truck 100 are provided with the GPS satellite 43a and the excavator. 1C and the antenna 43c which communicates by radio | wireless.

  In this case, the hydraulic excavator 1C and the dump truck 100 receive position information from the GPS satellite 43a via the antennas 43b and 43c, respectively, and calculate the absolute position of each vehicle body. Then, the dump truck 100 transmits the dimension information of the dump truck 100 and the calculated absolute position (stop position) information to the hydraulic excavator 1 by the antenna 43c when stopped.

  When the target position setting unit 5E (see FIG. 16) of the hydraulic excavator 1C receives information from the dump truck 100 by the antenna 43b instead of the captured images of the cameras 41a to 41d, the absolute position of the hydraulic excavator 1C calculated. Based on the dimensions of the dump truck 100 and the absolute position of the dump truck 100, the relative distance between the excavator 1C and the dump truck 100 is calculated to generate the target position 51 (see FIGS. 5 and 6). I have to. The other configurations of the seventh embodiment are the same as the configurations of the above-described fifth embodiment, and the same or corresponding parts as those of the fifth embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the seventh embodiment of the present invention configured as described above, the same effect as that of the fifth embodiment described above can be obtained, and the target position setting unit 5E can be connected to the GPS satellite 43a and the dump via the antennas 43b and 43c. Since the relative distance between the excavator 1C and the dump truck 100 can be accurately calculated by using position information and dimensional information from the truck 100, a sensor or the like for detecting the position of the dump truck 100 is provided in the excavator 1C. There is no need to provide it. This eliminates the need for the operator to adjust the installation position and installation angle of the sensor, thereby reducing the burden on the operator for these adjustment operations.

[Eighth Embodiment]
FIG. 19 is a functional block diagram showing the configuration of the drive control unit 45 according to the eighth embodiment of the present invention, and FIG. 20 shows the entry prohibited area A set by the entry prohibited area setting unit 45a according to the eighth embodiment of the present invention. FIG.

  In the eighth embodiment of the present invention, in addition to the configuration of the first embodiment described above, for example, as shown in FIGS. 19 and 20, the drive control unit 45 of the control device 21 prohibits entry of the bucket 4C. An entry prohibited area setting unit 45a that sets area A within a predetermined range around target position 51 (see FIGS. 5 and 6), and bucket 4C is placed in entry prohibited area A set by this entry prohibited area setting unit 45a. When it reaches, the swing body 3 is transmitted to the pressure reducing valves 19a, 19b, 20a, 20b by sending a control command for forcibly maintaining the control valves 15, 16 to the neutral position regardless of the operation amount of the operation levers 5A, 5B. And an emergency stop unit 45b for stopping the operation of the front work machine 4. The other configurations of the eighth embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the eighth embodiment of the present invention configured as described above, the same operation effect as that of the first embodiment described above can be obtained, and if the bucket 4C is too close to the dump truck 100, the entry prohibition area setting unit 45a. When the monitoring point 50 of the bucket 4C reaches the entry prohibition area A set by the emergency stop unit 45b, the operations of the swing body 3 and the front work machine 4 are quickly stopped. Can be prevented in advance. As a result, the operator can operate the operation levers 5A and 5B with peace of mind, so that excellent reliability can be obtained with respect to the turning support device of the excavator 1.

[Ninth Embodiment]
FIG. 21 is a functional block diagram showing the configuration of the target turning speed setting unit 46 according to the ninth embodiment of the present invention.

  In the ninth embodiment of the present invention, in addition to the configuration of the first embodiment described above, for example, as shown in FIG. 21, the target turning speed setting unit 46 sets a turning deceleration that decelerates the turning body 3. The position of the bucket 4C calculated by the setting unit 46a and the signal conversion unit 22b, the target position 51 (see FIGS. 5 and 6) input by the target position input unit 5D, and the turning deceleration setting unit 46a Based on the deceleration of the swing body 3, the swing speed at which the swing body 3 is decelerated and the bucket 4C is stopped at the target position 51 is calculated, and the target swing speed of the swing body 3 is set to the calculated swing speed. 3 and a target stop turning speed limiter 46b that limits the turning speed. The turning deceleration setting unit 46a sets, for example, a predetermined rate at which the amount of change in the turning speed with respect to the amount of change in the turning angle of the turning body 3 becomes a negative value as the deceleration of the turning body 3.

  FIG. 22 is a diagram for explaining the limitation of the turning speed of the revolving structure 3 by the target stop turning speed restriction unit 46b.

  As shown in FIG. 22, the target stop turning speed limiting unit 46b receives signals from the signal conversion unit 22b, the target position input unit 5D, and the turning deceleration setting unit 46a, and the turn calculated by the signal conversion unit 22b. When the turning speed of the revolving structure 3 is limited with respect to the angle, the turning speed of the revolving structure 3 is decreased by the deceleration set by the turning deceleration setting unit 46a so that the turning angle of the revolving structure 3 becomes the target position. The upper limit Lu of the turning speed which becomes 0 when the target position 51 inputted by the input unit 5D, that is, the target angle VO of the turning body 3 is reached is determined, and the target turning speed of the turning body 3 is less than or equal to the upper limit Lu of the turning speed. Set to. The other configurations of the ninth embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  According to the ninth embodiment of the present invention configured as described above, the same operation effect as that of the first embodiment described above can be obtained, and the bucket 4C stops at the target position 51 while avoiding contact with the dump truck 100. The bucket 4C is input by the target position input unit 5D by limiting the turning speed of the turning body 3 to the upper limit Lu or less according to the deceleration of the turning body 3 set by the turning deceleration setting unit 46a. Since it does not stop beyond the target angle VO, it is possible to save the operator from operating the operation levers 5A and 5B to align the bucket 4C with the target position 51. Thereby, since the time required to load the excavated material 8a on the dump truck 100 can be shortened, the work efficiency can be sufficiently improved.

  In addition, this embodiment mentioned above was described in detail in order to demonstrate this invention easily, and is not necessarily limited to what is provided with all the demonstrated structures. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.

  1st Embodiment of this invention demonstrated the case where the display apparatus 5C was provided in the operation room 5, and the information to the effect that control by the speed control part 30 was displayed on the display screen of this display apparatus 5C was demonstrated. However, this is not the only case. For example, instead of the display device 5C, an indicator such as a lamp may be provided in the operation room 5, and information indicating that the control by the speed control unit 30 is performed may be notified by lighting from the indicator. A buzzer may be provided in the chamber 5, and information indicating that control by the speed control unit 30 is performed from the buzzer may be emitted as sound information.

  Furthermore, the ratio (point t1) between the vertical movement speed Vb1 of the bucket 4C and the rotation speed Va1 of the swing body 3 shown in FIG. 8 and the vertical movement speed Vb1 of the bucket 4C and the rotation on the lower limit L1 of the speed ratio. Depending on the deviation rate from the ratio (point t2) to the turning speed Va2 of the body 3, the indicator may blink or the pitch and volume of the buzzer may be adjusted.

  Furthermore, 1st Embodiment of this invention is not limited to the case where the bucket 4C shown to FIG. 5, FIG. 6 is moved upwards in turning operation | movement of the excavation loading work of the hydraulic shovel 1. FIG.

  FIG. 23 is a diagram illustrating a state in which the bucket 4C is moved to a target position 51A lower than the excavation position in the turning operation of excavation loading work of the hydraulic excavator 1.

  As shown in FIG. 23, when the height position of the loading platform 101 of the dump truck 100 is lower than the excavation position of the bucket 4C, the target position 51A input by the target position input unit 5D is the position of the bucket 4C, that is, the monitor point 50. Therefore, the operator operates the operation levers 5A and 5B to move the bucket 4C from a high place to a low place while turning the turning body 3. In this case, the speed relationship setting unit 25 uses, for example, a target position input unit as a relationship between the turning speed of the swing body 3 that avoids contact between the bucket 4C and the dump truck 100 and the vertical movement speed of the bucket 4C. The lower limit of the speed ratio between the moving speed in the vertical direction of the bucket 4C and the turning speed of the revolving structure 3 may be set so that the bucket 4C does not go down beyond the target position 51A input by 5D.

  Moreover, in 1st Embodiment of this invention, as shown in FIGS. 4-6, in the turning operation | work of the excavation loading work of the hydraulic shovel 1, the bucket 4C is in the middle from the excavation position of the bucket 4C to the target position 51. Although the case where there is no obstacle such as another transport vehicle that prevents the movement has been described, the present invention is not limited to this case, and there is an obstacle that prevents the movement of the bucket 4C from the excavation position of the bucket 4C to the target position 51. It can also be applied to cases.

  FIG. 24 shows a state in which the bucket 4C is moved from the excavation position to the target position 52B in a place where there is an obstacle 100A on the way from the excavation position of the bucket 4C to the target position 52B in the turning operation of excavation and loading work of the hydraulic excavator 1. FIG.

  As a specific example, as shown in FIG. 24, when the operator sets the target position 52A above the obstacle 100A with the target position input unit 5D, the speed relationship setting unit 25 causes the bucket 4C and the obstacle 100A to As a relationship between the turning speed of the revolving structure 3 that avoids contact and the moving speed in the vertical direction of the bucket 4C, the ratio of the target movement amount to the target turning angle calculated by the target movement amount-target turning angle ratio calculation unit 24a is calculated. Since the lower limit of the speed ratio between the vertical movement speed of the bucket 4C and the turning speed of the revolving structure 3 is set, the bucket 4C can be moved to the target position 52A without contacting the obstacle 100A.

  Thereafter, when the operator sets the target position 52B above the loading platform 101 of the dump truck 100 with the target position input unit 5D, the speed relationship setting unit 25 avoids contact between the bucket 4C and the dump truck 100. 3 and the vertical movement speed of the bucket 4C, the ratio of the target movement amount and the target rotation angle calculated by the target movement amount-target turning angle ratio calculation unit 24a is determined as the vertical direction of the bucket 4C. Therefore, the bucket 4C can be moved to the target position 52B without contacting the dump truck 100. Thus, excavation and loading work can be performed while avoiding contact between the bucket 4C, the obstacle 100A, and the dump truck 100 in the entire range of the turning motion of the turning body 3.

  In the fifth to seventh embodiments of the present invention, the case where the target position is set by the target position setting unit 5E using the detection results of the transport vehicle position detection units 41 to 43 has been described. It is not limited.

  FIG. 25 is a diagram for explaining another example of setting of the target position 51 by the target position setting unit 5E, and shows the upper surfaces of the excavator 1 and the dump truck 100.

  As shown in FIG. 25, when the excavator 1 loads the excavated material 8a (see FIGS. 5 and 6) on the dump truck 100, the dump truck 100 can discharge the excavated material 8a from the bucket 4C to the loading platform 101. Enter the correct position. At this time, the excavator 1 is on standby immediately before discharging the excavated material 8a, and starts discharging the excavated material 8a after the entry of the dump truck 100 is completed. The target position setting unit 5E records, for example, the position of the bucket 4C when the excavator 1 is on standby, and sets this position as the target position 51 in excavation and loading work until the loading platform 101 of the dump truck 100 is full. May be.

  Moreover, although the working machine to which the present embodiment is applied has been described with respect to the hydraulic excavators 1 and 1A to 1C including the bucket 4C, the present invention is not limited to this case.

  FIG. 26 is a diagram illustrating an appearance of a lifting magnet working machine 1D cited as another example of a working machine to which the present embodiment is applied.

  This embodiment is applied to a lifting magnet working machine 1D including a lifting magnet 4C1 that holds a load 9 as a work target, for example, as shown in FIG. 26, instead of the above-described hydraulic excavators 1, 1A to 1C. May be. In this case, for example, in the fifth embodiment of the present invention, the front camera 41a captures the lower end position of the load 9, and the control device 21 lifts the lower end of the load 9 from the image captured by the front camera 41a. What is necessary is just to set to the monitor point 50A prescribed | regulated as a position of the magnet 4C1.

1, 1A-1C hydraulic excavator (work machine)
1D lifting magnet working machine (working machine)
DESCRIPTION OF SYMBOLS 3 Revolving body 3a Swing hydraulic motor 3a1, 4a1-4c1 Angle sensor 4 Front work machine 4A Boom 4a Boom cylinder 4B Arm 4b Arm cylinder 4C Bucket 4C1 Lifting magnet 4c Bucket cylinder 5A, 5B Operation lever (operating device)
5C display device 5D target position input unit (target position setting unit)
5E Target position setting unit 5E1 Storage device 5E2 Distance calculation unit 8 Work object 8a Excavated object 9 Loaded object (work object)
21 Control device 22a Signal converter (turning speed detector, work implement position detector)
22b Signal converter (moving speed detector, work tool position detector)
23a, 23b Difference calculation unit 24 Contact determination unit 24a Target movement amount-target turning angle ratio calculation unit 24b Movement speed-turning speed ratio calculation unit 25 Speed relation setting unit 30, 35, 37, 39 Speed control unit 31a, 36a, 46 Target turning speed setting unit 31b, 36b Target moving speed setting unit 32a, 32b Comparison calculation unit 33, 45 Drive control unit 38, 40 Target speed setting unit 41, 42, 43 Transport vehicle position detection unit 45a No entry area setting unit 45b Emergency Stop part 46a Turning deceleration setting part 46b Target stop turning speed limit part

Claims (5)

A front working machine including a traveling body, a swiveling body provided so as to be able to swivel above the traveling body, a working tool provided at a front portion of the swiveling body so as to be able to be raised and lowered, and attached to a tip thereof, and the front working machine In a turning support device for a work machine that is applied to a work machine including an operating device for operating the work machine and supports a turning operation of the work machine,
A work tool position detector for detecting the position of the work tool;
A target position setting unit that sets a target position of the work tool for moving the work tool above a transport vehicle that transports the work object of the work tool;
A turning speed detector for detecting a turning speed of the turning body;
A moving speed detector for detecting the moving speed of the work implement;
The position of the work tool detected by the work tool position detection unit, the target position set by the target position setting unit, the turning speed of the turning body detected by the turning speed detection unit, and the movement speed detection A contact determination unit that determines whether the work tool and the transport vehicle are in contact with each other based on a moving speed of the work tool detected by a unit;
When the contact determination unit determines that the work tool and the transport vehicle are in contact with each other, a relationship between a turning speed of the revolving body that avoids contact between the work tool and the transport vehicle and a moving speed of the work tool is obtained. The speed-related setting section to be set,
Speed control for controlling at least one of the turning speed of the revolving structure and the moving speed of the work tool according to the relationship between the turning speed of the revolving structure set by the speed relationship setting unit and the moving speed of the work tool. A turning support device for a work machine, comprising: The turning support device for a work machine according to claim 1,
The speed controller is
Detected by the relationship between the turning speed of the revolving structure set by the speed relationship setting unit and the moving speed of the work implement, the turning speed of the revolving structure detected by the turning speed detection unit, and the moving speed detection unit Calculating at least one of the turning speed of the revolving body and the moving speed of the work tool that avoids contact between the work tool and the transport vehicle from at least one of the moving speeds of the work tool,
When the turning speed of the revolving structure that avoids contact between the work implement and the transport vehicle is calculated, the target turning speed of the revolving structure is set to the calculated turning speed,
When the movement speed of the work tool that avoids contact between the work tool and the transport vehicle is calculated, the target movement speed of the work tool is set to the calculated movement speed,
When both the turning speed of the revolving body and the moving speed of the work tool that avoid contact between the work tool and the transporting vehicle are calculated, the target turning speed of the revolving body is set to the calculated turning speed. And a turning support device for a working machine, wherein the target moving speed of the work tool is set to the calculated moving speed. The turning support device for a work machine according to claim 1,
A transport vehicle position detector for detecting the position of the transport vehicle,
The target position setting unit inputs the position of the transport vehicle detected by the transport vehicle position detection unit, and sets the target position from the position of the transport vehicle. The turning support device for a work machine according to claim 1,
An entry prohibition area setting unit that sets an entry prohibition area that prohibits the entry of the work tool to a predetermined range around the target position;
A work machine comprising: an emergency stop unit that stops operation of the revolving structure and the front work machine when the work tool reaches the entry prohibition region set by the entry prohibition region setting unit Turning support device. The turning support device for a work machine according to claim 1,
The speed controller is
A turning deceleration setting unit for setting a deceleration for decelerating the turning body;
Based on the position of the work tool detected by the work tool position detection unit, the target position set by the target position setting unit, and the deceleration of the swing body set by the turning deceleration setting unit, A target for calculating a turning speed for decelerating the turning body and stopping the work tool at the target position, and setting the target turning speed of the turning body to the calculated turning speed to limit the turning speed of the turning body A turning support device for a work machine, comprising: a stop turning speed limiting unit.