JP6827011B2 - Construction machinery - Google Patents

Description

The present invention relates to construction machinery such as, for example, hydraulic excavators.

In recent years, in construction machines such as hydraulic excavators, GPS location information and maps have been used to improve construction efficiency and finishing accuracy, and to compensate for the lack of operator capacity and shorten the construction period. Technology that assists operators by electronic control using information and the like is attracting attention. Such a hydraulic excavator includes a controller that directly controls the operation of the actuator. The controller receives control inputs from operating devices (wireless remote controller receiving system, electric lever, etc.), performs various processes, and controls the operation of the actuator.

Japanese Patent No. 3897666

By the way, for example, when an abnormality occurs in the signal output from the operating device, an erroneous signal is output toward the controller. If the controller cannot detect an abnormality in the operating device, the construction machine such as a hydraulic excavator will perform an unintended operation. Further, for example, when the controller detects an abnormality, the operator can stop the hydraulic excavator by issuing a warning to the operator. However, the shutdown of the hydraulic excavator affects the work process at the construction site.

Therefore, there is known a method of continuing the operation of a construction machine after detecting an abnormality in an operating device (Patent Document 1). Patent Document 1 discloses a configuration in which backup control is performed using another operation signal when an abnormality occurs in the operation signal output by the operation device by devising the device configuration of the operation device. The construction machine described in Patent Document 1 can continue to operate after detecting an abnormality in the operating device alone and its signal system range.

On the other hand, a construction machine that assists an operator by electronic control is provided with various sensors such as an angle sensor and a stroke sensor in order to detect an operating state of the construction machine. Not only the operating device but also these various sensors may cause various failures such as voltage abnormality. In general, if a diagnostic mechanism as hardware is provided, the periphery of the diagnosis target becomes complicated, which causes an increase in cost. Therefore, it is desirable to be able to detect failures without newly adding detection mechanisms dedicated to various sensors.

The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to provide a construction machine capable of continuing work to the extent possible even if an abnormality occurs in an operating device. It is in.

In order to solve the above-mentioned problems, the present invention relates to an actuator, an operation device for operating the actuator, a detection device for detecting the operating state of the actuator, and the dual operation signal output from the operation device. In a construction machine including a controller for controlling the operation of an actuator, the controller corresponds to signal data based on the double operation signal output from the operation device and signal data of the double operation signal. A first storage unit that stores measurement data based on the detection value detected by the detection device, and a second storage unit that stores mapping data indicating the correspondence between the signal data and the measurement data in a normal state. By inquiring the signal data and the measurement data stored in the first storage unit and the mapping data stored in the second storage unit, an abnormality of the operation signal is determined. When it is determined that one of the double operation signals has an abnormality, the operation control of the actuator is continued by using the other normal operation signal.

According to the present invention, even if an abnormality occurs in the operating device, the controller can detect the abnormality and continue the work to the extent possible.

It is a front view which shows the hydraulic excavator by embodiment of this invention. It is a hydraulic circuit diagram which shows the hydraulic system which drives an arm cylinder. It is a block diagram which shows the structure of the controller by 1st Embodiment. It is a characteristic diagram which shows the relationship between an operation input and a double operation signal. It is explanatory drawing which shows the arm dump operation. It is explanatory drawing which shows the relationship between the operation input and the operation signal at the time of arm dump operation. It is explanatory drawing which shows the arm cloud operation. It is explanatory drawing which shows the relationship between the operation input and the operation signal at the time of arm cloud operation. It is explanatory drawing of the mapping data which shows the correspondence relationship between the signal data of the operation signal SA and the measurement data of an arm angular velocity. It is explanatory drawing of the mapping data which shows the correspondence relationship between the signal data of the operation signal SB and the measurement data of an arm angular velocity. It is a flow chart which shows the abnormality determination processing by 1st Embodiment. It is a characteristic diagram which shows the time change of the sum of the operation signal and the operation signal when an abnormality occurs in the operation signal SA. It is a characteristic diagram which shows the operation signal when an abnormality occurs in operation signal SA, the sum of operation signals, and the time change of arm angular velocity. It is explanatory drawing which shows the state which the signal data of the operation signal SA does not match with the mapping data. It is explanatory drawing which shows the state which the signal data of the operation signal SB matched with the mapping data. It is a block diagram which shows the structure of the controller by 2nd Embodiment. It is a characteristic diagram which shows the relationship between the operation input and a double operation signal when a voltage abnormality occurs. It is a flow chart which shows the abnormality determination processing by 2nd Embodiment. It is a flow chart following FIG. It is a flow chart which shows the abnormality determination processing by the 3rd Embodiment. It is a flow chart which shows the engine cooperation processing at the time of operation signal SB abnormality.

Hereinafter, a hydraulic excavator will be taken as an example of a construction machine according to an embodiment of the present invention, and will be described in detail with reference to the accompanying drawings.

First, the hydraulic excavator 1 according to the first embodiment will be described with reference to FIGS. 1 to 15. FIG. 1 shows the hydraulic excavator 1 according to the first embodiment. As shown in FIG. 1, the hydraulic excavator 1 includes a self-propelled crawler type lower traveling body 2, an upper swivel body 4 mounted on the lower traveling body 2 so as to be swivelable via a swivel device 3, and an upper part. It is provided with a work device 5 having an articulated structure provided on the front side of the swivel body 4 and performing excavation work and the like. The lower traveling body 2 and the upper turning body 4 constitute the vehicle body of the hydraulic excavator 1. The lower traveling body 2 includes a hydraulic motor 2A for performing a traveling operation. The swivel device 3 includes a hydraulic motor 3A for performing a swivel operation. Although the crawler type is illustrated as the lower traveling body 2, a wheel type may also be used.

The working device 5 is a front actuator mechanism. The working device 5 is composed of, for example, a boom 5A, an arm 5B, and a bucket 5C, and a boom cylinder 5D, an arm cylinder 5E, and a bucket cylinder 5F for driving them. The boom cylinder 5D, arm cylinder 5E, and bucket cylinder 5F constitute an actuator. The working device 5 is attached to the swivel frame 6 of the upper swivel body 4. The working device 5 is driven by the hydraulic oil delivered by the hydraulic pump 11. The working device 5 is not limited to the one provided with the bucket 5C, and may be provided with, for example, a grapple.

A boom angle sensor 7, an arm angle sensor 8, and a bucket angle sensor 9 are provided at the joint portion of the work device 5 for the purpose of controlling the excavation position with high accuracy. The boom angle sensor 7, the arm angle sensor 8, and the bucket angle sensor 9 constitute a detection device that detects the operating state of the actuators (cylinders 5D to 5F). The boom angle sensor 7 detects the boom angle, which is the angle of the boom 5A with respect to the swivel frame 6. The arm angle sensor 8 detects the arm angle, which is the angle of the arm 5B with respect to the boom 5A. The bucket angle sensor 9 detects the bucket angle, which is the angle of the bucket 5C with respect to the arm 5B. The detection device is not limited to the angle sensors 7 to 9, and may be configured by a cylinder stroke sensor that detects the stroke of the cylinders 5D to 5F, and the hydraulic pressure that detects the pressure of the hydraulic oil supplied to the cylinders 5D to 5F. It may be configured by a sensor.

As shown in FIG. 2, the upper swing body 4 includes an engine 10 which is an internal combustion engine such as a diesel engine, and a hydraulic pump 11 (main pump) and a pilot pump 12 driven by the engine 10. The output of the engine 10 is controlled by the engine controller 10A. The hydraulic pump 11 and the pilot pump 12 deliver hydraulic oil. The hydraulic pump 11 is composed of, for example, a variable displacement pump, and supplies pressure oil to a high-pressure main hydraulic circuit. The lower traveling body 2, the upper swivel body 4, and the working device 5 operate independently of each other by the hydraulic oil discharged from the hydraulic pump 11.

Specifically, the lower traveling body 2 travels and drives a pair of crawlers 2B (only one side is shown in FIG. 1) by supplying hydraulic oil from the hydraulic pump 11 to the traveling hydraulic motor 2A. The upper swivel body 4 is swiveled by supplying hydraulic oil from the hydraulic pump 11 to the swivel hydraulic motor 3A. Further, the cylinders 5D to 5F are expanded or contracted by the hydraulic oil supplied from the hydraulic pump 11. As a result, the work device 5 performs an up-and-down operation to perform work such as excavation and leveling. Further, the upper swivel body 4 includes a cab 13. The cab 13 is provided with a notification device 14. The notification device 14 is composed of, for example, a monitoring device and an alarm sound device. The operator gets on the cab 13 and operates the hydraulic excavator 1.

A part of the hydraulic system of the hydraulic excavator 1 is shown in FIG. The actual hydraulic system includes control valves 15 and electromagnetic proportional pressure reducing valves 16 and 17 for each actuator such as hydraulic motors 2A and 3A and cylinders 5D to 5F.

In order to simplify the following description, the actuator to be operated is only the arm cylinder 5E. Therefore, the control valve 15 controls the arm cylinder 5E. FIG. 2 shows only the arm angle sensor 8 as the angle sensor. In FIG. 2, a mechanism that is not directly related to the embodiment of the present invention, such as a relief valve, is omitted.

The control valve 15 switches the pressure oil supply to the arm cylinder 5E, which is an actuator. The control valve 15 is composed of, for example, a direction switching valve having 4 ports and 3 positions. The control valve 15 switches the direction in which the pressure oil flows by switching from the neutral position (a) to the two switching positions (b) and (c), and controls the operation of the arm cylinder 5E. For example, when the control valve 15 is switched to one of the switching positions (b), the hydraulic oil supplied by the hydraulic pump 11 is supplied to the oil chamber on the rod side of the arm cylinder 5E, and the arm cylinder 5E contracts. Operate. When the control valve 15 is switched to the other switching position (c), the hydraulic oil supplied by the hydraulic pump 11 is supplied to the oil chamber on the bottom side of the arm cylinder 5E, and the arm cylinder 5E operates in the extending direction. ..

The operation of the control valve 15 is controlled by the pilot circuit. The pressure oil is supplied to the pilot circuit by the pilot pump 12. Pressure oil having a lower pressure than that of the main hydraulic circuit is supplied to the pilot circuit.

The electromagnetic proportional pressure reducing valves 16 and 17 control the pressure oil of the pilot circuit. The controller 20 controls the electromagnetic proportional pressure reducing valves 16 and 17. For example, when the electromagnetic proportional pressure reducing valve 16 is switched from the pilot pressure supply position (d) to the discharge position (e) by the exciting current supplied by the controller 20, one pilot pressure of the control valve 15 (in FIG. 2). (Left side) is lowered, and the control valve 15 switches to one of the switching positions (c). As a result, the pressure oil of the main hydraulic circuit is supplied to the oil chamber on the bottom side of the arm cylinder 5E, and the arm cylinder 5E operates in the extending direction. On the other hand, when the electromagnetic proportional pressure reducing valve 17 is switched from the pilot pressure supply position (d) to the discharge position (e) by the control output of the controller 20, the other pilot pressure of the control valve 15 (in FIG. 2). The right side of the control valve 15 is lowered, and the control valve 15 is switched to the other switching position (b). As a result, the pressure oil of the main hydraulic circuit is supplied to the oil chamber on the rod side of the arm cylinder 5E, and the arm cylinder 5E operates in the contracting direction.

That is, the control valve 15 is controlled by the controller 20 controlling the electromagnetic proportional pressure reducing valves 16 and 17 of the pilot circuit. As a result, the arm cylinder 5E, which is an actuator of the main hydraulic circuit, is driven.

The controller 20 includes, for example, a central processing unit 21 (hereinafter, referred to as a CPU 21) including a microcomputer. The controller 20 controls the operation of the actuator (arm cylinder 5E) according to the double operation signals SA and SB output from the arm operation device 26. Specifically, the controller 20 performs arithmetic processing on the CPU 21 based on the input signals from the arm operating device 26 and the arm angle sensor 8 to control the exciting currents for the electromagnetic proportional pressure reducing valves 16 and 17.

Further, the controller 20 controls the pump capacity of the hydraulic pump 11 based on, for example, an input signal from an arm cylinder oil pressure sensor, an arm control pilot oil pressure sensor, and other input devices (none of which are shown). In addition to this, the controller 20 sends a command to the engine controller 10A to control the engine 10. The controller 20 outputs various information to the notification device 14. The notification device 14 notifies the operator of various types of information.

Next, the configuration of the controller 20 according to the present embodiment will be described with reference to FIG.

The controller 20 includes an input receiving unit 22, a RAM 23, a ROM 24, and a pressure reducing valve control unit 25. The controller 20 receives various input signals (operation signals SA, SB, etc.) by the input receiving unit 22. The controller 20 performs an operation by the CPU 21 based on the received input signal, and generates an output signal (excitation current or the like).

The CPU 21 of the controller 20 includes a sampling unit 21A that samples the operation signals SA and SB from the arm operation device 26, an angular velocity calculation unit 21B that calculates the angular velocity (arm angular velocity ω) of the arm 5B, and a double operation signal SA. It has a double input determination unit 21C for determining normality and abnormality of SB. The double input determination unit 21C determines whether the double operation signals SA and SB are normal or abnormal based on the value of the error counter EC that counts the abnormal state. The sampling unit 21A samples the operation signals SA and SB every predetermined control cycle Δt. The angular velocity calculation unit 21B calculates the arm angular velocity ω based on the time change of the arm angle input from the arm angle sensor 8.

The RAM 23 is composed of a memory that can be read and written. The RAM 23 temporarily stores the sampled double operation signals SA and SB signal data and the measurement data of the arm angular velocity ω based on the arm angle (detection value) detected by the arm angle sensor 8.

The ROM 24 is composed of a memory that can only be read. The ROM 24 stores mapping data Ma and Mb indicating a correspondence relationship between the signal data of the operation signals SA and SB in the normal state and the measurement data of the arm angular velocity ω. Further, the ROM 24 stores the program for the abnormality determination process shown in FIG. The controller 20 executes a program for determining an abnormality. As a result, the controller 20 determines the abnormality of the operation signals SA and SB by inquiring the signal data and the measurement data stored in the RAM 23 and the mapping data Ma and Mb stored in the ROM 24.

In this case, the RAM 23 constitutes the first storage unit, and the ROM 24 constitutes the second storage unit. It should be noted that the first storage unit and the second storage unit do not necessarily have to be separated into devices. For example, the memory in the controller 20 may be provided with an area corresponding to the first storage unit and an area corresponding to the second storage unit. The pressure reducing valve control unit 25 calculates and outputs the exciting current supplied to the electromagnetic proportional pressure reducing valves 16 and 17 based on the operation signals SA and SB.

Further, the controller 20 is a first error determination unit that determines an abnormality of the operation signals SA and SB based on whether or not the double operation signals SA and SB satisfy the first abnormality determination condition according to the consistency between the two. The operation signal SA, based on whether or not the second abnormality determination condition according to the consistency between the signal data of the operation signals SA and SB and the measurement data of the arm angle velocity ω and the mapping data Ma and Mb is satisfied with 20A, A second error determination unit 20B for determining an abnormality of SB is provided.

The arm operating device 26 constitutes an operating device for operating the actuator (arm cylinder 5E). The arm operating device 26 includes, for example, an operating lever, is located around the driver's seat (not shown), and is provided in the cab 13. When the operator operates the arm operating device 26 from the neutral position to the + side, the arm 5B performs an arm dump operation that rotates in a direction away from the boom 5A. When the operator operates the arm operating device 26 from the neutral position to the − side, the arm 5B performs an arm cloud operation that rotates in a direction approaching the boom 5A. The arm operating device 26 is connected to the controller 20. The arm operation device 26 includes, for example, a potentiometer whose resistance value changes according to an operation amount (operation input), and outputs double operation signals SA and SB composed of voltage signals. At this time, the arm operating device 26 outputs dual operation signals SA and SB having a predetermined correspondence relationship. Therefore, the arm operating device 26 and the controller 20 are provided with two signal transmission paths for a single control system. The operating device for operating the actuator is not limited to the operating lever, and may be, for example, a receiving device on the hydraulic excavator 1 side in the remote control system.

Here, the double operation signals SA and SB will be described. FIG. 4 shows an example of operation signals SA and SB. The arm operation device 26 outputs two operation signals SA and SB for a single operation input. When the arm operating device 26 is arranged in the neutral position, the operating signals SA and SB have the same constant value C0. When the arm operating device 26 is operated from the neutral position to the + side, the operating signal SA increases from the constant value C0, and the operating signal SB decreases from the constant value C0. When the arm operating device 26 is operated from the neutral position to the − side, the operating signal SA decreases from the constant value C0, and the operating signal SB increases from the constant value C0. As described above, the two operation signals SA and SB are cross signals such that when one increases, the other decreases with respect to the operation input.

Further, in the two operation signals SA and SB, the sum Sab of both is a constant value X. At this time, under normal conditions, the sum Sab of the two operation signals SA and SB is a value within a specified range (X ± ΔX) centered on a constant value X which is an ideal value. Therefore, in the first error determination unit 20A of the controller 20, the double operation signals SA and SB are consistent with each other depending on whether or not the sum Sab of the operation signals SA and SB falls within the specified range (X ± ΔX). It is determined whether or not the corresponding first abnormality determination condition is satisfied. In this case, when the value of the sum Sab of the two operation signals SA and SB deviates from the specified range (X ± ΔX), it can be determined that an abnormality has occurred.

The operation signals SA and SB are not limited to cross signals such that the sum Sab of both is constant. The operation signals SA and SB change according to the operation input, and may follow a predetermined rule predetermined between the two. Therefore, the operation signals SA and SB may be two signals that are identical to each other or two signals that have a proportional relationship with each other. For example, when the operation signals SA and SB are two signals that are the same as each other, the difference between the two operation signals SA and SB becomes almost zero under normal conditions. Therefore, it can be determined whether or not the first abnormality determination condition is satisfied depending on whether or not the absolute value of the difference between the two operation signals SA and SB is smaller than the specified value. That is, when the absolute value of the difference between the two operation signals SA and SB becomes larger than the specified value, it can be determined that an abnormality has occurred in the signal.

Next, the mapping data Ma and Mb stored in the ROM 24 will be described with reference to FIGS. 5 to 10. First, the relationship between the operation signals SA and SB and the arm angular velocity ω will be described.

When the arm operating device 26 is not operated and is in the neutral position, the operation signals SA and SB both have a constant value C0. At this time, the arm cylinder 5E does not extend or contract, and the arm 5B is in the stopped state. Therefore, the arm angular velocity ω, which is the angular velocity of the arm angle, becomes 0 (zero).

On the other hand, when the arm operating device 26 is maximally operated from the neutral position to the + side, the operation signal SA becomes the value Cpa increased from the constant value C0, and the operation signal SB becomes the value Cpb decreased from the constant value C0. (See FIG. 6). At this time, as shown in FIG. 5, the arm cylinder 5E performs a contraction operation, and the arm 5B rotates in a direction away from the boom 5A. As a result, the arm angular velocity ω becomes a value ω1 on the positive side corresponding to, for example, the clockwise direction.

On the other hand, when the arm operating device 26 is maximally operated from the neutral position to the − side, the operation signal SA becomes the value Cna decreased from the constant value C0, and the operation signal SB becomes the value Cnb increased from the constant value C0 (FIG. 8). At this time, as shown in FIG. 7, the arm cylinder 5E performs an extension operation, and the arm 5B rotates in a direction approaching the boom 5A. As a result, the arm angular velocity ω becomes a negative value (−ω2) corresponding to, for example, the counterclockwise direction.

In this way, the values of the operation signals SA and SB are uniquely determined with respect to the amount of operation of the arm operation device 26 by the operator (the degree of tilting of the lever), and the arm angular velocity ω is also adjusted to the magnitude of the values of the operation signals SA and SB. It changes to have a correlation accordingly. That is, the arm angular velocity ω has a dependency on the values of the operation signals SA and SB.

9 and 10 show the relationship between the operation signals SA and SB and the arm angular velocity ω based on FIGS. 5 to 8. As shown in FIG. 9, as the operation signal SA increases, the arm angular velocity ω increases. On the other hand, as shown in FIG. 10, as the operation signal SB increases, the arm angular velocity ω decreases. The mapping data Ma and Mb shown in FIGS. 9 and 10 are stored in the ROM 24 of the controller 20.

Therefore, the second error determination unit of the controller 20 determines whether or not the signal data of the operation signals SA and SB match the values of the mapping data Ma and Mb defined in the measurement data of the arm angular velocity ω, and the operation signals SA and SB It is determined whether or not the second abnormality determination condition is satisfied according to the consistency between the signal data and the measurement data of the arm angular velocity ω and the mapping data Ma and Mb.

Next, the abnormality determination process by the controller 20 will be described with reference to FIG. The abnormality determination process shown in FIG. 11 is executed every input sampling cycle Δt. Further, the value of the error counter EC is assumed to be an initial value of 0 and an integer of 0 or more. When the key switch (not shown) is turned on, the controller 20 reads the program shown in FIG. 11 from the ROM 24 and executes the abnormality determination process.

First, in step S1, the values of the operation signals SA and SB (signal data) and the values of the arm angular velocity ω (measurement data) are acquired from the RAM 23. In the following step S2, it is determined whether or not the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX).

When it is determined as "NO" in step S2, the sum Sab of the operation signals SA and SB is within the specified range (X ± ΔX), and the operation signals SA and SB are consistent. Therefore, the process proceeds to step S3, the error counter EC is reset (EC = 0), and the process ends.

On the other hand, when it is determined as "YES" in step S2, the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX), and the operation signals SA and SB are inconsistent. Therefore, the process proceeds to step S4, and the value of the error counter EC is increased by 1.

In the following step S5, it is determined whether or not the value of the error counter EC is 3 or less. Even if no abnormality has occurred, for example, when noise is superimposed on one signal line, the sum Sab of the two operation signals SA and SB momentarily deviates from the specified range (X ± ΔX). There is also. An error counter EC is used to prevent such a phenomenon from being erroneously detected.

When the inconsistency of the double operation signals SA and SB occurs continuously, the value of the error counter EC gradually increases. When it is determined as "NO" in step S5, the error counter EC has not increased sufficiently, so the process ends as it is.

On the other hand, when it is determined as "YES" in step S5, the value of the error counter EC is sufficiently increased to the extent that it can be determined as abnormal. That is, when the inconsistency occurs continuously a certain number of times (for example, three times), it is determined that an abnormality has occurred in the arm operating device 26. At this time, the processes of steps S6 to S13 are executed, and the controller 20 executes an inquiry process of inquiring the operation signals SA and SB and the arm angular velocity ω with the mapping data Ma and Mb stored in the ROM 24.

In step S6, the mapping data Ma and Mb are acquired from the ROM 24. In the following step S7, it is determined which of the operation signals SA and SB matches the mapping data Ma and Mb based on the arm angular velocity ω. When it is determined in step S7 that the operation signal SA matches the mapping data Ma, the process proceeds to step S8. In step S8, the input of the operation signal SB is blocked. In the following step S9, the controller 20 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm operating device 26. In the following step S10, the controller 20 continues the control operation of the arm cylinder 5E based on the operation signal SA determined to be normal.

On the other hand, when it is determined in step S7 that the operation signal SB matches the mapping data Mb, the process proceeds to step S11. In step S11, the input of the operation signal SA is blocked. In the following step S12, the controller 20 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm operating device 26. In the following step S13, the controller 20 continues the control operation of the arm cylinder 5E based on the operation signal SB determined to be normal.

It is not necessary to execute the abnormality determination process shown in FIG. 11 after the abnormality occurs and any one of steps S10 and S13 is executed. Further, step S2 shows the specific processing content of the first error determination unit 20A, and step S7 shows the specific processing content of the second error determination unit 20B.

Next, as an example, the specific contents of the abnormality determination process of the controller 20 when an abnormality occurs in the operation signal SA will be described with reference to FIGS. 12 to 15.

12 and 13 show time changes of operation signals SA, SB, and the like. As shown in FIGS. 12 and 13, the operation signals SA and SB are normal until time t0. Therefore, when the operation signal SA becomes a value larger than the constant value C0 in response to the operation of the arm operation device 26 by the operator, the operation signal SB becomes a value smaller than the constant value C0. Therefore, the sum Sab of the operation signals SA and SB is within the specified range (X ± ΔX).

For example, if an abnormality occurs in the operation signal SA at time t0 due to disconnection of the signal line or the like, the operation signal SA is lower than the constant value C0. At this time, since the sum Sab of the operation signals SA and SB decreases according to the operation signal SA, it deviates from the specified range (X ± ΔX). Therefore, at any of the times t1 to t3 after the time t0, the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX), so that the error counter EC increases three times in a row. As a result, the controller 20 executes an inquiry process for querying the operation signals SA and SB and the arm angular velocity ω with the mapping data Ma and Mb stored in the ROM 24.

As shown in FIG. 13, at time t3, the arm angular velocity ω becomes the value ωf, the operation signal SA becomes the value Caf, and the operation signal SB becomes the value Cbf. Therefore, the controller 20 queries these values ωf, Caf, and Cbf with the mapping data Ma and Mb.

At this time, the value ωf of the arm angular velocity ω is a positive value. Therefore, according to the mapping data Ma and MB, when the operation signals SA and SB are normal, the operation signal SA becomes a value Caf'larger than the constant value C0 (see FIG. 14), and the operation signal SB is from the constant value C0. Is also a small value (see FIG. 15).

On the other hand, as shown in FIG. 13, the values Caf and Cbf of the operation signals SA and SB are all smaller than the constant value C0 at the time t3. As shown in FIG. 15, the value Cbf of the operation signal SB has the arm angular velocity ω coincident with the value obtained by the mapping data Mb obtained by the value ωf. Therefore, the controller 20 determines that the operation signal SB is normal. On the other hand, as shown in FIG. 14, the value Caf of the operation signal SA does not match the value Caf'based on the mapping data Ma obtained by the value ωf at the arm angular velocity ω. As a result, the controller 20 determines that the operation signal SA is abnormal and the operation signal SB is normal. As a result, the controller 20 shuts off the operation signal SA and continues the subsequent control of the arm 5B using the operation signal SB.

Thus, according to the first embodiment, the controller 20 uses the signal data based on the double operation signals SA and SB output from the arm operation device 26 and the values of the double operation signals SA and SB. Correspondingly, the RAM 23 (first storage unit) that stores the measurement data of the arm angle velocity ω based on the detection value detected by the arm angle sensor 8 (detection device), and the signal data of the operation signals SA and SB in the normal state. It is provided with a ROM 24 (second storage unit) that stores mapping data Ma and Mb indicating a correspondence relationship with the measurement data of the arm angular velocity ω. In addition to this, the controller 20 inquires the signal data of the operation signals SA and SB stored in the RAM 23, the measurement data of the arm angular velocity ω, and the mapping data Ma and Mb stored in the ROM 24, so that the operation signal SA ， Judge the abnormality of SB.

As a result, when one of the operation signals SA and SB is normal, the controller 20 can discriminate between the abnormal operation signals SA and SB and the normal operation signals SA and SB. That is, even if an abnormality occurs in the arm operating device 26, the controller 20 can detect the abnormality and determine which of the operation signals SA and SB is normal. Therefore, the controller 20 can control the operation of the arm 5B by using the normal operation signals SA and SB. As a result, when the controller 20 determines that one of the dual operation signals SA and SB (for example, the operation signal SA) is abnormal, the controller 20 uses the other normal operation signal (for example, the operation signal SB). The operation control of the arm cylinder 5E (actuator) can be continued, and the work can be continued to the extent possible.

Further, the controller 20 is a first error determination unit that determines an abnormality of the operation signals SA and SB based on whether or not the double operation signals SA and SB satisfy the first abnormality determination condition according to the consistency between the two. The operation signal SA, based on whether or not the second abnormality determination condition according to the consistency between the signal data of the operation signals SA and SB and the measurement data of the arm angle velocity ω and the mapping data Ma and Mb is satisfied with 20A, A second error determination unit 20B for determining an abnormality of SB is provided.

Therefore, when one of the operation signals SA and SB is abnormal, the controller 20 determines the operation signals SA and SB based on the determination result of the first error determination unit 20A and the determination result of the second error determination unit 20B. Of these, an abnormal operation signal (for example, operation signal SA) and a normal operation signal (for example, operation signal SB) can be discriminated.

At this time, the controller 20 receives the signal data of the operation signals SA and SB and the measurement data of the arm angular velocity ω when the double operation signals SA and SB no longer satisfy the first abnormality determination condition according to the consistency between the two. And the mapping data Ma and Mb are queried, and the arm cylinder 5E (actor) uses the operation signal (for example, the operation signal SB) whose signal data matches the mapping data Ma and Mb among the double operation signals SA and SB. Continue to control the operation of.

Therefore, the controller 20 can determine whether or not both the operation signals SA and SB are normal by determining whether or not the double operation signals SA and SB satisfy the first abnormality determination condition. , The inquiry process with the mapping data Ma and Mb can be suppressed. Therefore, the processing load of the controller 20 can be reduced.

Further, when the double operation signals SA and SB do not satisfy the first abnormality determination condition, the controller 20 inputs the signal data of the operation signals SA and SB, the measurement data of the arm angular velocity ω, and the mapping data Ma and Mb. Inquire. Therefore, the controller 20 continues the operation control of the arm cylinder 5E by using the operation signal (for example, the operation signal SB) whose signal data matches the mapping data Ma and Mb among the double operation signals SA and SB. It is possible to suppress the interruption of work.

Next, a second embodiment of the present invention will be described with reference to FIGS. 2, 16 to 19. The feature of the second embodiment is that when the controller detects a deviation from the mapping data in both of the double operation signals, the double operation signal determines the first abnormality according to the consistency between the two. It is to judge whether or not the condition is satisfied. In the second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 2, the controller 30 of the second embodiment is configured in substantially the same manner as the controller 20 of the first embodiment. At this time, the controller 30 determines the first error determination for determining the abnormality of the operation signals SA and SB based on whether or not the double operation signals SA and SB satisfy the first abnormality determination condition according to the consistency between the two. The operation signal SA is based on whether or not the second abnormality determination condition according to the consistency between the signal data of the operation signals SA and SB and the measurement data of the arm angular velocity ω and the mapping data Ma and Mb is satisfied with the unit 30A. , A second error determination unit 30B for determining an SB abnormality is provided. Further, as shown in FIG. 16, the controller 30 includes a CPU 21, an input / receiving unit 22, a RAM 23, a ROM 24, and a pressure reducing valve control unit 25.

However, the double input determination unit 21C of the CPU 21 determines whether the double operation signals SA and SB are normal or abnormal based on the value of the first error counter EC1 and the value of the second error counter EC2. In this respect, the controller 30 is different from the controller 20 of the first embodiment in which the normality and abnormality of the dual operation signals SA and SB are determined based on the value of the single error counter EC.

Next, the abnormality determination process by the controller 30 will be described with reference to FIGS. 18 and 19. The abnormality determination process shown in FIGS. 18 and 19 is executed every input sampling cycle Δt. Further, it is assumed that the initial values of the error counters EC1 and EC2 are 0 and are integers of 0 or more. When the key switch (not shown) is turned on, the controller 30 reads the programs shown in FIGS. 18 and 19 from the ROM 24 and executes the abnormality determination process.

First, in step S21, the values of the operation signals SA and SB (signal data) and the values of the arm angular velocity ω (measurement data) are acquired from the RAM 23. In the following step S22, the mapping data Ma and Mb are acquired from the ROM 24.

In the following step S23, it is determined whether or not the operation signal SA matches the mapping data Ma based on the arm angular velocity ω. When it is determined as "YES" in step S23, the operation signal SA matches the mapping data Ma, so the process proceeds to step S24. In step S24, it is determined whether or not the operation signal SB matches the mapping data Mb based on the arm angular velocity ω.

When it is determined as "NO" in step S24, the operation signal SB does not match the mapping data Mb. Therefore, the process proceeds to step S25, and the value of the first error counter EC1 is increased by 1.

In the following step S26, it is determined whether or not the value of the first error counter EC1 is 3 or less. When it is determined as "NO" in step S26, the first error counter EC1 has not increased sufficiently, so the process proceeds to step S31, the second error counter EC2 is reset (EC2 = 0), and the process ends. ..

On the other hand, when it is determined as "YES" in step S26, the value of the first error counter EC1 is sufficiently increased to the extent that it can be determined as abnormal. Therefore, the process proceeds to step S27, and it is determined that the operation signal SB is abnormal. In the following step S28, the controller 30 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm operating device 26. In the following step S29, the controller 30 continues the control operation of the arm cylinder 5E based on the operation signal SA determined to be normal.

On the other hand, when it is determined as "YES" in step S24, both the operation signals SA and SB are normal. Therefore, the process proceeds to step S30, and the first error counter EC1 is reset (EC1 = 0). In the following step S31, the second error counter EC2 is reset (EC2 = 0), and the process ends.

Further, when it is determined as "NO" in step S23, the process proceeds to step S32. In step S32, it is determined whether or not the operation signal SB matches the mapping data Mb based on the arm angular velocity ω.

When "YES" is determined in step S32, the operation signal SB matches the mapping data Mb, and the operation signal SA does not match the mapping data Ma. Therefore, the process proceeds to step S33, and the value of the first error counter EC1 is increased by 1.

In the following step S34, it is determined whether or not the value of the first error counter EC1 is 3 or less. When it is determined as "NO" in step S34, the value of the first error counter EC1 has not increased sufficiently. Therefore, the process proceeds to step S31, the second error counter EC2 is reset (EC2 = 0), and the process is performed. finish.

On the other hand, when it is determined as "YES" in step S34, the value of the first error counter EC1 is sufficiently increased to the extent that it can be determined as abnormal. Therefore, the process proceeds to step S35, and it is determined that the operation signal SA is abnormal. In the following step S36, the controller 30 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm operating device 26. In the following step S37, the controller 30 continues the control operation of the arm cylinder 5E based on the operation signal SB determined to be normal.

Further, when it is determined as "NO" in step S32, none of the operation signals SA and SB match the mapping data Ma and Mb. Therefore, the process proceeds to step S38, and the value of the second error counter EC2 is increased by 1.

In the following step S39, it is determined whether or not the value of the second error counter EC2 is 3 or less. When it is determined as "NO" in step S39, the value of the second error counter EC2 has not increased sufficiently. Therefore, the process proceeds to step S40, the first error counter EC1 is reset (EC1 = 0), and the process is performed. finish.

On the other hand, when it is determined as "YES" in step S39, the value of the second error counter EC2 is sufficiently increased to the extent that it can be determined as abnormal. Therefore, the process proceeds to step S41, and it is determined whether or not the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX).

When "NO" is determined in step S41, the sum Sab of the operation signals SA and SB is within the specified range (X ± ΔX), and the operation signals SA and SB are consistent. Therefore, the process proceeds to step S42, and it is determined that the arm angle sensor 8 is abnormal. In the following step S43, the controller 30 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm angle sensor 8. In the following step S44, the controller 30 continues the control operation of the arm cylinder 5E based on the operation signals SA and SB.

On the other hand, when it is determined as "YES" in step S41, the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX). Therefore, in the transition to step S45, it is determined that an exceptional abnormality has occurred in the arm operating device 26, for example, when the power supply voltage has dropped and both the operation signals SA and SB have dropped. To do. In the following step S46, the controller 30 outputs a signal to the notification device 14 to notify the operator of an exceptional abnormality of the arm operating device 26. In the following step S47, the controller 30 shuts off the operation signals SA and SB and stops the control operation of the arm cylinder 5E.

In the second embodiment, the control operation of the arm cylinder 5E is stopped in step S47, but the present invention is not limited to this. For example, in step S47, the cylinders 5D to 5F may be forcibly controlled by the controller 30 so that the working device 5 is in a safe posture.

Further, after an abnormality occurs and any one of steps S29, S37, S44, and S47 is executed, it is not necessary to execute the abnormality determination process shown in FIGS. 18 and 19. Further, step S41 shows the specific processing contents of the first error determination unit 30A, and steps S23, S24, and S32 show the specific processing contents of the second error determination unit 30B.

Thus, even in the second embodiment configured in this way, it is possible to obtain almost the same effect and effect as in the first embodiment described above. Further, in the second embodiment, when the controller 30 detects a deviation from the mapping data Ma and Mb in both signal data of the dual operation signals SA and SB, the controller 30 detects the dual operation signals SA, It is determined whether or not the SB satisfies the first abnormality determination condition according to the consistency between the two. Therefore, the controller 30 detects a deviation from the mapping data Ma and Mb in both signal data of the double operation signals SA and SB, and the double operation signals SA and SB determine the first abnormality. When the condition is satisfied, it is determined that the arm angle sensor 8 is abnormal, not the operation signals SA and SB. Therefore, the controller 30 continues the operation control of the arm cylinder 5E when the double operation signals SA and SB satisfy the first abnormality determination condition.

On the other hand, it is conceivable that an abnormality may occur in a portion where the double operation signals SA and SB are not directly generated inside the arm operation device 26. For example, when the reference voltage generator fails inside the arm operating device 26 and the voltage drops, the operation signals SA and SB are shown by solid lines in FIG. 17 with respect to the normal characteristics shown by the broken lines in FIG. It may have the abnormal characteristics shown.

On the other hand, the controller 30 detects a deviation from the mapping data Ma and Mb in both signal data of the double operation signals SA and SB, and the double operation signals SA and SB are the first abnormality. If the determination conditions are not satisfied, it is determined that both the operation signals SA and SB are abnormal. Therefore, when the double operation signals SA and SB do not satisfy the first abnormality determination condition, the controller 30 stops the operation control of the arm cylinder 5E.

Next, a third embodiment of the present invention will be described with reference to FIGS. 2, 20 and 21. A feature of the third embodiment is that the controller makes it possible to limit the output of the engine when an abnormality occurs in the double operation signal. In the second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 2, the controller 40 of the third embodiment is configured in substantially the same manner as the controller 20 of the first embodiment. At this time, the controller 40 determines the first error determination for determining the abnormality of the operation signals SA and SB based on whether or not the double operation signals SA and SB satisfy the first abnormality determination condition according to the consistency between the two. The operation signal SA is based on whether or not the second abnormality determination condition according to the consistency between the signal data of the operation signals SA and SB and the measurement data of the arm angular velocity ω and the mapping data Ma and Mb is satisfied with the unit 40A. , A second error determination unit 40B for determining an SB abnormality is provided.

Next, the abnormality determination process according to the third embodiment will be described with reference to FIG. The abnormality determination process shown in FIG. 20 is executed every input sampling cycle Δt. Further, the value of the error counter EC is assumed to be an initial value of 0 and an integer of 0 or more. When the key switch (not shown) is turned on, the controller 40 reads the program shown in FIG. 20 from the ROM 24 and executes the abnormality determination process.

First, in step S51, the values of the operation signals SA and SB (signal data) and the values of the arm angular velocity ω (measurement data) are acquired from the RAM 23. In the following step S52, it is determined whether or not the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX).

When "NO" is determined in step S52, the sum Sab of the operation signals SA and SB is within the specified range (X ± ΔX), and the operation signals SA and SB are consistent. Therefore, the process proceeds to step S53, the error counter EC is reset (EC = 0), and the process ends.

On the other hand, when it is determined as "YES" in step S52, the sum Sab of the operation signals SA and SB deviates from the specified range (X ± ΔX), and the operation signals SA and SB are inconsistent. Therefore, the process proceeds to step S54, and the value of the error counter EC is increased by 1.

In the following step S55, it is determined whether or not the value of the error counter EC is 3 or less. When it is determined as "NO" in step S55, the error counter EC has not increased sufficiently, so the process ends as it is.

On the other hand, when it is determined as "YES" in step S55, the value of the error counter EC is sufficiently increased to the extent that it can be determined as abnormal. Therefore, the process proceeds to step S56, and the mapping data Ma and Mb are acquired from the ROM 24. In the following step S57, it is determined which of the operation signals SA and SB matches the mapping data Ma and Mb based on the arm angular velocity ω. When it is determined in step S57 that the operation signal SA matches the mapping data Ma, the process proceeds to step S58. In step S58, the engine cooperation process when the operation signal SB is abnormal is executed. On the other hand, when it is determined in step S57 that the operation signal SB matches the mapping data Mb, the process proceeds to step S59. In step S59, the engine cooperation process when the operation signal SA is abnormal is executed.

Next, the engine cooperation process when the operation signal SB is abnormal will be described with reference to FIG.

In step S61, both the operation signals SA and SB are blocked. In the following step S62, the controller 40 outputs a signal to the notification device 14 to notify the operator of the abnormality of the arm operating device 26. In the following step S63, the operator is asked whether to select whether to continue or limit the output of the engine 10, and the process proceeds to step S64.

In step S64, it is determined whether or not to limit the output of the engine 10. When it is determined as "YES" in step S64, the process proceeds to step S65, and the controller 40 transmits an output limiting command for limiting the output of the engine 10 to the engine controller 10A. In the following step S66, it is determined whether or not there is a response from the engine controller 10A within a predetermined time.

When "NO" is determined in step S66, the process returns to step S65 because the engine output has not been limited. On the other hand, when it is determined as "YES" in step S66, the engine controller 10A receives the output limitation command from the controller 40 and starts limiting the engine output. In this case, the engine 10 is driven at a rotation speed at which hydraulic pressure is generated so that, for example, the working device 5 can be changed to a stable posture and the minimum traveling movement is possible. Therefore, the process proceeds to step S67.

Further, when it is determined as "NO" in step S64, the process proceeds to step S67. In step S67, only the normal operation signal SA is released. In the following step S68, the control of the arm cylinder 5E is continued based on the operation signal SA.

The engine cooperation process when the operation signal SA is abnormal has two points: that the operation signal SB is released in step S67 and that the control of the arm cylinder 5E is continued based on the operation signal SB in step S68. Although different, the remaining processing is the same as the operation signal SB abnormality engine cooperation processing. Therefore, detailed description of the engine cooperation process when the operation signal SA is abnormal will be omitted.

Further, step S52 shows the specific processing content of the first error determination unit 40A, and step S57 shows the specific processing content of the second error determination unit 40B.

Thus, even in the third embodiment configured in this way, it is possible to obtain almost the same effect and effect as in the first embodiment described above. Further, when an abnormality occurs in any of the operation signals SA and SB, it may be preferable to set a predetermined limit even when the operation is continued. In particular, it may be better to limit the output of the engine 10 after an abnormality occurs. On the other hand, in the third embodiment, when an abnormality occurs in the operation signals SA and SB, the output limitation of the engine 10 can also be executed.

On the other hand, even when an abnormality occurs in the operation signals SA and SB, the hydraulic excavator 1 may be located in an unstable place, for example, when the hydraulic excavator 1 is located on a steep inclined surface. is there. In this case, in order to secure the driving force of the hydraulic excavator 1 and move the hydraulic excavator 1 to a stable place, it is better not to limit the output of the engine 10. On the other hand, in the third embodiment, when an abnormality occurs in the operation signals SA and SB, the operator can select whether or not to limit the output of the engine 10. As a result, the required output of the engine 10 can be secured even when an abnormality occurs in the operation signals SA and SB.

In the third embodiment, it is selected whether or not to limit the output of the engine 10 by the operation signal SA abnormality engine cooperation processing or the operation signal SB abnormality engine cooperation processing. The present invention is not limited to this, and for example, in addition to these processes, a function that can select whether or not to limit the output of the engine 10 may be added through another input device (not shown).

In the third embodiment, the operation signal SA abnormality engine cooperation processing and the operation signal SB abnormality engine cooperation processing are applied to the abnormality determination processing according to the first embodiment. The present invention is not limited to this, and the operation signal SA abnormality engine cooperation processing and the operation signal SB abnormality engine cooperation processing may be applied to the abnormality determination processing according to the second embodiment. That is, the operation signal SB abnormal engine cooperation process is applied instead of steps S27 to S29 in FIG. 18, and the operation signal SA abnormal engine cooperation process is applied instead of steps S35 to S37 in FIG. May be good.

In each of the above-described embodiments, the controllers 20, 30, and 40 have been described by exemplifying a case where the controllers 20, 30, and 40 are used for controlling the arm cylinder 5E using the arm angle sensor 8. The present invention is not limited to this, and the controller may be used for controlling the boom cylinder 5D using the boom angle sensor 7, or may be used for controlling the bucket cylinder 5F using the bucket angle sensor 9.

In each of the above-described embodiments, the case where the operation signals SA and SB are analog signals whose voltage values change according to the operation input has been described as an example. The present invention is not limited to this, and for example, the operation signal may be a signal whose duty ratio changes according to the operation input. In this case, one operation signal may be an inverted version of the other operation signal.

In each of the above embodiments, the RAM 23 stores the arm angular velocity ω calculated by the angular velocity calculation unit 21B based on the arm angle detected by the arm angle sensor 8. The present invention is not limited to this, and the RAM 23 may store the arm angular velocity ω detected by the detection device, for example, when the arm angular velocity ω can be directly detected by using the angular velocity sensor in the detection device. .. This point is the same even when the boom angular velocity and the bucket angular velocity are detected.

In each of the above-described embodiments, the hydraulic excavator 1 has been described as an example of the construction machine. The present invention is not limited to this, and can be applied to various construction machines such as wheel loaders.

1 Hydraulic excavator (construction machinery)
5 Working equipment 5D boom cylinder (actuator)
5E arm cylinder (actuator)
5F bucket cylinder (actuator)
7 Boom angle sensor (detector)
8 Arm angle sensor (detector)
9 Bucket angle sensor (detector)
14 Notification device 15 Control valve 16, 17 Electromagnetic proportional pressure reducing valve 20, 30, 40 Controller 20A, 30A, 40A 1st error judgment unit 20B, 30A, 40A 2nd error judgment unit 23 RAM (1st storage unit)
24 ROM (second storage unit)
26 Arm operating device (operating device)

Claims (4)

Actuator and
An operating device that operates the actuator and
A detection device that detects the operating state of the actuator and
In a construction machine provided with a controller that controls the operation of the actuator according to a double operation signal output from the operation device.
The controller
A second that stores signal data based on the double operation signal output from the operation device and measurement data based on a detection value detected by the detection device corresponding to the signal data of the double operation signal. 1 storage unit and
A second storage unit for storing mapping data indicating a correspondence relationship between the signal data and the measurement data in a normal state is provided.
By inquiring the signal data and the measurement data stored in the first storage unit and the mapping data stored in the second storage unit, an abnormality of the operation signal is determined.
A construction machine characterized in that when it is determined that one of the double operation signals has an abnormality, the operation control of the actuator is continued by using the other normal operation signal. The controller includes a first error determination unit that determines an abnormality of the operation signal based on whether or not the double operation signal satisfies the first abnormality determination condition according to the consistency of the two, and the signal data and the signal data. It is characterized by including a second error determination unit that determines an abnormality of the operation signal based on whether or not a second abnormality determination condition is satisfied according to the consistency between the measurement data and the mapping data. The construction machine according to claim 1. The controller
When the double operation signal no longer satisfies the first abnormality determination condition according to the consistency between the two, the signal data, the measurement data, and the mapping data are queried.
The construction machine according to claim 2, wherein the operation control of the actuator is continued by using the operation signal whose signal data matches the mapping data among the double operation signals. The controller
When both signal data of the double operation signal deviate from the mapping data, it is determined whether or not the double operation signal satisfies the first abnormality determination condition according to the consistency between the two.
When the double operation signal satisfies the first abnormality determination condition, the operation control of the actuator is continued.
The construction machine according to claim 2, wherein when the double operation signal does not satisfy the first abnormality determination condition, the operation control of the actuator is stopped.

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