JPH08311918A - Area limited excavation controller of construction machinery - Google Patents

Abstract

PURPOSE: To make it possible to efficiently and smoothly execute area limited excavation in an area limit excavation controller of a hydraulic shovel. CONSTITUTION: The area in which a front device 1A can be made to move is set in advance, and the position and attitude of the front device 1A are made to perform operations based on signals from angle detectors 8a-8c by means of a control unit 9. When the front device is positioned in the vicinity of the boundary in the set area, signals from control lever devices 4a-4c are decreased, at the same time, a target speed vector of the front device 1A calculated on the basis of the decreased signals is so corrected that component in the direction of approaching the boundary of the set area is decreased, and when the front device 1A is positioned out of the set area, the target speed vector is so corrected that the front device 1A is returned to the set area. When the front device 1A is not positioned in the vicinity of the boundary in the set area, the target speed vector obtained on the basis of the signals from the control lever devices 4a-4c is maintained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an area limiting excavation control system for a construction machine, and more particularly to a construction machine such as a hydraulic excavator having a multi-joint type front machine, in which excavation of the front machine is restricted. The present invention relates to a possible area limiting excavation control device.

[0002]

2. Description of the Related Art A hydraulic excavator is a typical example of construction machines. The hydraulic excavator is composed of a front device consisting of a boom, an arm, and a bucket that are vertically rotatable, and a vehicle body consisting of an upper revolving structure and a lower traveling structure, and the base end of the boom of the front device is in front of the upper revolving structure. Supported by the department. In such a hydraulic excavator, front members such as a boom are operated by respective manual operation levers. However, since these front members are connected by joints and perform a rotational movement, these front members are operated. And excavating a predetermined area is a very difficult task. Therefore, an area limiting excavation control device for facilitating such work is disclosed in Japanese Patent Laid-Open No. 4-136.
No. 324 is proposed. This area limiting excavation control device includes means for detecting the attitude of the front device, means for calculating the position of the front device based on a signal from the detection means, and means for teaching an inaccessible area for prohibiting the intrusion of the front device. , The distance d between the position of the front device and the boundary line of the inaccessible area taught is determined, and when the distance d is greater than a certain value, it is 1, and when it is less than that value, it is a value between 0 and 1. As described above, the lever gain calculation means for outputting a product obtained by multiplying the lever operation signal by the function determined by the distance d, and the actuator control means for controlling the movement of the actuator by the signal from the lever gain calculation means are provided. According to the configuration of this proposal, the lever operation signal is narrowed according to the distance to the boundary line of the inaccessible area, so even if the operator mistakenly attempts to move the bucket tip to the inaccessible area, It is possible to stop smoothly and return the bucket tip by judging that the operator is approaching the inaccessible area due to the decrease in the speed of the front device during the stop.

[0003]

However, the above-mentioned prior art has the following problems.

In the prior art disclosed in Japanese Patent Laid-Open No. 4-136324, the lever gain calculation means outputs a product obtained by multiplying the lever operation signal by a function determined by the distance d as it is to the actuator control means. The velocity of the tip of the bucket gradually decreases as it approaches, and stops at the boundary of the inaccessible area. Therefore, a shock when trying to move the bucket tip to the inaccessible area is avoided. However, in this conventional technique, when the speed of the bucket tip is slowed, the speed is slowed as it is regardless of the moving direction of the bucket tip. Therefore, when excavating along the boundary of the inaccessible area, the excavation speed in the direction along the boundary of the inaccessible area also decreases as the arm is operated to approach the inaccessible area, and the boom lever is operated each time. Therefore, the bucket tip must be separated from the inaccessible area to prevent the excavation speed from decreasing.
As a result, when excavating along the inaccessible area, the efficiency becomes extremely low. Further, in order to improve efficiency, it is necessary to excavate a distance away from the inaccessible area, and it becomes impossible to excavate a predetermined area.

An object of the present invention is to provide an area limited excavation control device for a construction machine, which can efficiently and smoothly perform area limited excavation.

[0006]

In order to achieve the above object, the present invention adopts the following constitutions. That is, a plurality of driven members including a plurality of vertically rotatable front members that constitute an articulated front device, a plurality of hydraulic actuators that drive the plurality of driven members, and a plurality of the plurality of hydraulic actuators. A plurality of operating means for instructing the operation of the driven member, and a plurality of hydraulic control valves which are driven according to operation signals of the plurality of operating means and control the flow rate of the pressure oil supplied to the plurality of hydraulic actuators. An area limiting excavation control system for a construction machine, comprising: an area setting means for setting a movable area of the front device; a first detecting means for detecting a state quantity relating to a position and a posture of the front device; First calculating means for calculating the position and orientation of the front device based on a signal from the detecting means;
Reducing the operation signal of at least a first specific front member of the plurality of operation means when the front device is in the vicinity of its boundary in the setting area based on the calculated value of the calculation means; 1 signal correction means, at least when the front device is in the vicinity of its boundary in the setting area, based on the operation signal corrected by the first signal correction means and the calculation value of the first calculation means, An operation related to at least a second specific front member of the plurality of operation means so that the device moves in a direction along the boundary of the setting area and reduces a moving speed in a direction approaching the boundary of the setting area. Second signal correcting means for correcting the operation signal of the means.

[0007] Preferably, the first signal correcting means reduces the decrease amount of the operation signal of the operating means related to the first specific front member as the distance between the front device and the boundary of the setting area decreases. It is a means for correcting the operation signal so as to be large. In this case, preferably, the first signal correcting means further operates the first specific front member as the angle formed by the boundary between the first specific front member and the excavation area becomes smaller. The operation signal is corrected so that the decrease amount of the operation signal of the means becomes large.

Further, the first signal correction means is the first signal correction means.
It may be means for performing low-pass filter processing on the operation signal of the operation means relating to the specific front member.

Further, among the plurality of operating means, at least the operating means relating to the first and second specific front members is a hydraulic pilot system which outputs a pilot pressure as the operating signal. In an area limiting excavation control system for a construction machine, in which an operating system including means drives a corresponding hydraulic control valve, preferably, second detecting means for detecting an operation amount of the operating means related to the first specific front member. Further comprising the first
The signal correcting means inputs the signal from the second detecting means and the calculated value of the first calculating means, and when the front device is in the vicinity of its boundary in the setting area, the signal correcting means outputs the signal from the second detecting means. Second calculating means for calculating the pilot pressure limit value based on the signal, and first pilot means for controlling the pilot pressure output from the corresponding operating means so that the pilot pressure applied to the hydraulic control valve becomes equal to or less than the limit value. The pilot pressure control means is included.

In this case, preferably, the operating system includes a first pilot line for guiding a pilot pressure to a hydraulic control valve associated with the first specific front member, and the first pilot pressure control means includes the pilot pressure. And a first electro-hydraulic converting means installed in the first pilot line and driven by the electric signal.

Preferably, the third pilot pressure control means detects the pilot pressure controlled by the first pilot pressure control means.
Further comprising detection means, wherein the second signal correction means is the third
Corresponding to third calculating means for calculating the pilot pressure applied to the hydraulic control valve corresponding to the second specific front member based on the signal from the detecting means, and the pilot pressure calculated by the third calculating means. Second pilot pressure control means for controlling the pilot pressure output from the operating means.

In this case, preferably, the operating system includes a second pilot line for guiding pilot pressure to a hydraulic control valve corresponding to the second specific front member, and the second pilot pressure control means includes the second pilot line. 3 means for outputting an electric signal corresponding to the pilot pressure calculated by the calculating means, second electro-hydraulic converting means for driving the electric signal to output the pilot pressure, and the second pilot line installed on the second pilot line. And 2) means for selecting the high pressure side of the pilot pressure output from the operating means relating to the two specific front members and the pilot pressure output from the second electrohydraulic converting means.

The first specific front member includes at least an arm of a hydraulic excavator, for example, and the second specific front member includes at least a boom of a hydraulic excavator, for example.

[0014]

In the present invention configured as described above, when the second device for correcting the second device is near the boundary of the front device in the setting area, the front device does not move in the direction along the boundary of the setting area. By correcting the operation signal of the operation means relating to the second specific front member so that the movement speed is reduced in the direction of moving and approaching the boundary of the setting area,
Direction conversion control is performed to decelerate the movement of the front device in the direction approaching the boundary of the setting region, and the front device can be moved along the boundary of the setting region. Therefore, excavation with a limited area can be performed efficiently and smoothly.

Further, in the control by the second signal correcting means, since the control is speed control, when the speed of the front device is extremely high or the operating means is suddenly operated, a delay on the hydraulic circuit is caused. There is a possibility that the front device may largely protrude from the setting area due to a response delay in control or inertial force applied to the front device.

When the front device is near the boundary of the front device in the setting area, the first signal correcting means reduces the operation signal itself of the operating means relating to the first specific front member, thereby rapidly operating the operating means. Even when operated, the front device starts to move slowly, the influence of response delay in control is reduced, and the inertia of the front device is suppressed. Therefore, the amount of the front device penetrating outside the setting area is reduced, and the front device can be smoothly moved along the boundary of the setting area to perform a smooth work.

Further, under the control of the first signal correction means, the reduction amount of the operation signal of the operation means relating to the first specific front member becomes large as the distance between the front device and the boundary of the setting area becomes small. By correcting the operation signal, the speed of the front device is reduced when the front device approaches the boundary of the setting area even when the speed of the front device is extremely high, so the influence of the response delay in control is reduced. And the inertia of the front device is suppressed,
The front device can be smoothly moved along the boundary of the setting area. Further, since the speed of the front device is reduced as the front device approaches the boundary of the setting region, the operation feeling does not suddenly change when the front device approaches the boundary of the setting region, and smooth operation can be performed.

Under the control of the first signal correcting means, the reduction amount of the operation signal of the operating means relating to the first specific front member decreases as the angle formed by the boundary between the first specific front member and the excavation area becomes smaller. By correcting the operation signal so that the front device expands, the speed of the front device slows as the front device expands, so it is easy for the front device to go out of the setting area. You can move more smoothly along the boundaries of.

Further, by the control by the first signal correcting means, the operation signal of the operating means relating to the first specific front member is subjected to the low-pass filter processing, so that the operation at the rising time when the operating means is suddenly operated. The signal is reduced. As a result, as described above, the front device starts to move slowly even when the operating means is suddenly operated, the influence of the response delay in control is reduced, and the inertia of the front device is suppressed.

In the area limiting excavation control system for a construction machine, which drives a hydraulic control valve corresponding to an operating system including an operating means of a hydraulic pilot system, a first signal correcting means is provided.
The second calculation means for calculating the limit value of the pilot pressure based on the signal from the second detection means for detecting the operation amount of the operation means for the first specific front member, and the pilot pressure given to the hydraulic control valve are concerned. A first control for controlling the pilot pressure output from the corresponding operating means so as to be equal to or less than the limit value
By including the pilot pressure control means,
The operating signal (pilot pressure) of the operating means associated with the first specific front member is reduced when the front device is within the set region and near its boundary.

Further, the second signal correction means is a hydraulic control valve corresponding to the second specific front member based on the signal from the third detection means for detecting the pilot pressure controlled by the first pilot pressure control means. By including the third calculation means for calculating the applied pilot pressure and the second pilot pressure control means for controlling the pilot pressure output from the corresponding operation means so as to obtain the calculated pilot pressure, When the front device is in the vicinity of the boundary of the setting area, the front device moves in the direction along the boundary of the setting area, and the moving speed is reduced in the direction of approaching the boundary of the setting area. The operation signal (pilot pressure) of the operation means related to the member is corrected.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a hydraulic excavator will be described below with reference to the drawings. First, the first aspect of the present invention
The embodiment will be described with reference to FIGS. In FIG. 1, a hydraulic excavator to which the present invention is applied is a hydraulic pump 2
And a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3 driven by pressure oil from the hydraulic pump 2.
a plurality of hydraulic actuators including f, a plurality of operation lever devices 14a to 14f provided corresponding to the respective hydraulic actuators 3a to 3f, and the hydraulic pump 2
Is connected between the plurality of hydraulic actuators 3a to 3f,
A plurality of flow control valves 15a-1 which are controlled by the operation signals Sa-Sf of the operation lever devices 14a-14f and control the flow rate of the pressure oil supplied to the hydraulic actuators 3a-3f.
5f and a relief valve 6 that opens when the pressure between the hydraulic pump 2 and the flow control valves 15a to 15f exceeds a set value, and these are hydraulic drive devices that drive the driven members of the hydraulic excavator. I am configuring. In this embodiment, the operation lever devices 14a to 14f are of the electric lever type which output electric signals as the operation signals Sa to Sf, and the flow control valve 15a.
˜15f has electro-hydraulic converting means at both ends, for example, electromagnetic drive units 30a, 30b to 35a, 35b equipped with proportional solenoid valves, which correspond to the operation lever devices 14a to 14f according to the operation amount and operation direction of the operator. The electric signals Sa to Sf are electromagnetic drive units 30a and 30b of the flow control valves 15a to 15f.
To 35a, 35b.

As shown in FIG. 2, the hydraulic excavator includes a multi-joint type front device 1A composed of a boom 1a, an arm 1b and a bucket 1c which rotate in the vertical direction, an upper revolving structure 1d and a lower traveling structure 1e. The boom 1a of the front device 1A is supported by the front portion of the upper swing body 1d. The boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d and the lower traveling body 1e are respectively a boom cylinder 3a and an arm cylinder 3
b, a bucket cylinder 3c, a turning motor 3d, and left and right traveling motors 3e and 3f, which are driven members, respectively, which are operated by the operation lever device 14 described above.
a to 14f.

The hydraulic excavator as described above is provided with the area limiting excavation control system according to this embodiment. This control device is configured such that a presetter 7 for instructing setting of a predetermined portion of the front device, for example, an excavation region in which the tip of the bucket 1c can move in advance according to work, and rotation fulcrums of the boom 1a, the arm 1b, and the bucket 1c. Installed in the front device 1
Angle detectors 8a, 8b, and 8c that detect respective rotation angles as state quantities related to the position and orientation of A, operation signals Sa to Sf of operation lever devices 14a to 14f, setting signals of the setter 7, and angle detectors. A control unit 9 which inputs detection signals 8a, 8b, 8c, sets an excavation region in which the tip of the bucket 1c can move, and corrects the operation signals Sa to Sf.
It is composed of A and.

The setting device 7 outputs a setting signal to the control unit 9A by operating means such as a switch provided on the operation panel or the grip to instruct the setting of the excavation area. , There may be other auxiliary means. Other methods such as a method using an IC card, a method using a barcode, a method using a laser, and a method using wireless communication may be used.

The control unit 9A has a region setting unit and a region limiting excavation control unit, and the region setting unit performs an arithmetic operation for setting an excavation region in which the tip of the bucket 1c can move according to an instruction from the setter 7. One example thereof will be described with reference to FIG. In this embodiment, the excavation area is set in the vertical plane.

In FIG. 3, after the tip of the bucket 1c is moved to the position of the point P1 by the operation of the operator, the tip position of the bucket 1c at that time is calculated by an instruction from the setter 7, and then the setter 7 is set. The point P on the boundary of the excavation area to be set by inputting the depth h1 from that position by operating
Specify 1 *. Next, after moving the tip of the bucket 1c to the position of the point P2, the tip position of the bucket 1c at that time is calculated by an instruction from the setter 7, and the setter 7 is operated in the same manner to determine the depth from that position. By inputting the height h2, the point P2 * on the boundary of the excavation region to be set is designated by the depth. Then, a linear expression of a line segment connecting the two points P1 * and P2 * is calculated and used as the boundary of the excavation area.

The storage device of the control unit 9A stores the dimensions of each part of the front device 1A and the vehicle body 1B. The area setting part stores these data and the angle detectors 8a, 8b,
2 points P using the values of the rotation angles α, β, γ detected in 8c.
Calculate the positions of 1, P2. At this time, two points P1 and P2
Position is, for example, XY with the rotation fulcrum of the boom 1a as the origin.
It is calculated as coordinate values (X1, Y1) (X2, Y2) of the coordinate system. The XY coordinate system is an orthogonal coordinate system fixed to the main body 1B and is assumed to be in a vertical plane. Rotation angles α, β, γ to XY
The coordinate value (X1, Y1) (X2, Y2) of the coordinate system is the distance L between the rotation fulcrum of the boom 1a and the arm 1b.
1, the distance between the rotation fulcrum of the arm 1b and the rotation fulcrum of the bucket 1c is L2, the rotation fulcrum of the bucket 1c and the bucket 1c
If the distance to the tip of is L3, it can be obtained from the following equation.

X = L1sinα + L2sin (α + β)
+ L3sin (α + β + γ) Y = L1cosα + L2cos (α + β) + L3cos
(Α + β + γ) In the area setting section, two points P1 * and P2 on the boundary of the excavation area are set.
The coordinate value of * is obtained by performing the following calculation of the Y coordinate, Y1 * = Y1-h1 Y2 * = Y2-h2, respectively. Further, the straight line formula connecting the two points P1 * and P2 * is calculated by the following formula.

Y = (Y2 * -Y1 *) X / (X2-X
1) + (X2Y1 * -X1Y2 *) / (X2-X1) Then, an orthogonal coordinate system having an origin on the straight line and having the straight line as one axis, for example, a XaYa coordinate system having the point P2 * as the origin is set up and XY Obtain the conversion data from the coordinate system to the orthogonal coordinate system.

The above is an example in which the boundary of the excavation region is set by one straight line, but the excavation region of any shape can be set in the vertical plane by combining a plurality of straight lines. Figure 7
Shows an example of the three straight lines A1, A2, A3.
Is used to set the excavation area. Also in this case, the boundary of the excavation area can be set by performing the same operations and calculations as described above for the straight lines A1, A2, A3.

With respect to the area set as described above (hereinafter appropriately referred to as a set area), the area limiting excavation control section of the control unit 9A performs control for limiting the movable area of the front device 1A according to the flowchart shown in FIG. Hereinafter, the operation of the present embodiment will be described while clarifying the control function of the area limiting excavation control unit with the flowchart shown in FIG.

First, in step 200, the operation signals Sa to Sf of the operating lever devices 14a to 14f are input, and step 2
At 10, the rotation angles of the boom 1a, the arm 1b and the bucket 1c detected by the angle detectors 8a, 8b and 8c are input. Next, in step 250, based on the detected rotation angles α, β, γ and the dimensions of each part of the front device 1A stored in the storage device of the control unit 9A, the position of a predetermined portion of the front device 1A, for example, the bucket 1c. Calculate the tip position of. At this time, the tip position of the bucket 1c is
First, the value is calculated as a value in the XY coordinate system in the same manner as in the area setting unit, and then this value is converted into a value in the XaYa coordinate system using the conversion data obtained by the area setting unit.
It is obtained as a value in the aYa coordinate system.

Next, at step 255, it is judged whether or not the tip of the bucket 1c is in the deceleration region which is a region near the boundary within the set region set as described above as shown in FIG. In some cases, the process proceeds to step 260, and a process of reducing the operation signals Sa to Sc of the operation lever devices 14a to 14c for the front device 1A (hereinafter, appropriately referred to as "lever signal deceleration process") is performed.

Next, in step 270, the target speed vector Vc of the tip of the bucket 1c commanded by the operation signals Sa to Sc of the operation lever devices 14a to 14c decelerated in step 260 is calculated. Here, the storage device of the control unit 9A further stores the relationship between the operation signals Sa to Sc of the operation lever devices 14a to 14c and the supply flow rates of the flow rate control valves 15a to 15c, and the operation lever devices 14a to 14c.
Corresponding flow control valves 15a to 1 from the operation signals Sa to Sc of
The supply flow rate of 5c is obtained, the target drive speed of the hydraulic cylinders 3a to 3c is obtained from the value of the supply flow rate, and the target speed vector Vc at the bucket tip is calculated using this target drive speed and the dimensions of each part of the front device 1A. At this time, the target velocity vector Vc is first calculated as the value of the XY coordinate axes, similarly to the calculation of the bucket tip position in step 250, and then this value is XaY by using the conversion data obtained by the area setting unit.
The value is obtained as the value of the XaYa coordinate system by converting the value into the value of the a coordinate system. Here, the Xa coordinate value Vcx of the target velocity vector Vc in the XaYa coordinate system is the target velocity vector V
The vector component is in the direction parallel to the boundary of the setting area of c, and the Ya coordinate value Vcy is the vector component in the direction perpendicular to the boundary of the setting area of the target velocity vector Vc.

Next, in step 280, the front device 1
The target velocity vector Vc is corrected so as to decelerate A, and the procedure proceeds to step 290. Even when it is determined in step 255 that the tip of the bucket 1c is not in the deceleration region, the target speed vector of the tip of the bucket 1c instructed by the original operation signals Sa to Sc of the operation lever devices 14a to 14c in step 270A. After calculating Vc, the procedure proceeds to step 290. Step 27
The calculation of the target velocity vector Vc at 0 A is performed by the procedure 270 except that the original operation signals Sa to Sc that have not been decelerated are used as the operation signals of the operation lever devices 14a to 14c.
Is the same as

Next, in step 290, it is judged whether or not the tip of the bucket 1c is outside the setting area as shown in FIG. 6 set as described above. , The target speed vector Vc is corrected so that the tip of the bucket 1c returns to the set area, and when it is not outside the set area, the procedure proceeds to step 210. Next, in step 310, the operation signals Sa to Sc of the flow control valves 15a to 15c corresponding to the corrected target speed vector Vca obtained in step 280 or 300 are calculated. This is an inverse operation of the calculation of the target velocity vector Vc in step 260.

Next, in step 320, the operation signals Sa to Sf input in step 200 or the operation signals Sa to Sc calculated in step 310 and the operation signal Sd to input in step 200 are input.
Output Sf and return to the beginning.

Here, it is determined in step 255 whether or not the vehicle is in the deceleration area, and the operation signals Sa to Sc in step 260.
The deceleration process of step S1 and the correction of the target speed vector Vc for the deceleration control in step 280 will be described with reference to FIGS.

The storage unit of the control unit 9A stores a distance Ya1 from the boundary of the set area as shown in FIG. 6 as a value for setting the range of the deceleration area. Step 255
Then, Ya at the tip position of the bucket 1c obtained in step 250
The distance D1 between the tip position in the setting area and the boundary of the setting area is obtained from the coordinate values, and this distance D1 is the distance Ya1.
If it becomes smaller, it is determined that the vehicle has entered the deceleration area.

Further, in the storage device of the control unit 9A,
The relationship between the distance D1 from the tip of the bucket 1c and the time constant tg as shown in FIG. 7 and the relationship between the distance D1 and the lever signal deceleration coefficient hg as shown in FIG. 8 are stored. The relationship between the distance D1 and the time constant tg is that the distance D1 is the distance Ya1.
When it is larger than t1, tg = 0, and when D1 becomes smaller than Ya1, the time constant tg increases as the distance D1 decreases, and tg = tgmax is set at the distance D1 = 0. Also, the distance D1 and the deceleration coefficient h
The relationship with g is that hg = 1 when the distance D1 is larger than the distance Ya1, and when D1 is smaller than Ya1,
As the distance D1 decreases, the deceleration coefficient hg decreases according to the following equation: hg = Csin (θg) · D1 + hgmin, and hg = hgm at the distance D1 = 0.
It is set to be in. Here, C is a constant, and θg is an arm pin (angle detector 8b) which is the center of rotation of the tip of the bucket 1c and the arm 1b as shown in FIG.
The line segment that connects with the point where is attached is the angle formed by the boundary of the excavation area.

In step 260, as shown in FIG. 9, first, in step 261, the distance D1 obtained in step 255 is calculated.
And the relationship shown in FIGS. 7 and 8, the time constant tg at that time is tg.
And the deceleration coefficient hg are calculated. At this time, the coefficient hg is a function of the angle θg formed by the line segment connecting the tip of the bucket 1c and the center of rotation of the arm 1b with the boundary of the excavation area as described above. This angle θg is obtained. The angle θg is the detected rotation angles α, β, γ and the front device 1A stored in the storage device of the control unit 9A.
The position of the tip end of the bucket 1c and the position of the center of rotation of the arm 1b are obtained based on the dimensions of each of the above, and the line segment connecting the value of this position and the two points P1 * and P2 * obtained by the area setting unit. Calculated from the formula and.

Next, in step 262, the operation signals Sa to Sc are low-pass filtered using the time constant tg to generate the first deceleration operation signals Sa1 to Sc1, and in step 263, the first deceleration operation signals Sa1 to Sc. The second deceleration operation signals Sa2 to Sc2 are generated by multiplying Sc1 by the deceleration coefficient hg.

Here, the calculation formula of the low-pass filter processing performed in step 262 is as follows.

Output = x _n-1 + (1−e ^−aT ) (x _n −x _n−1 ) where x _{n is} the operation signal input at the current sampling time x _{n−1 is the} previous sampling time Output value a = 1 / tg T = step time In this way, performing the low-pass filter processing on the operation signals Sa to Sc in step 262 is performed by inputting the stepwise operation signals Sa to Sc as shown in FIG. First against
This is to delay the rising of the deceleration operation signals Sa1 to Sc1, and apparently the lever operation is performed slowly. In addition, the time constant t when performing low-pass filter processing
Increasing g as the distance D1 decreases means delaying the rising of the first deceleration operation signals Sa1 to Sc1 as the tip of the bucket 1c approaches the boundary of the excavation area, and the tip of the bucket 1c becomes the excavation area. As the operating signal Sa to Sc rises, the amount of decrease at the rising edge increases. In step 263, multiplying the first deceleration operation signals Sa1 to Sc1 by the deceleration coefficient hg
Since hg has a value that decreases as the distance D1 decreases, the second deceleration operation signals Sa2 to Sc2 decrease as the tip of the bucket 1c approaches the boundary of the excavation region. The amount of decrease in the operation signals Sa to Sc increases as the tip approaches the boundary of the excavation area. Furthermore, hg is bucket 1 as described above.
The line segment connecting the tip of c and the center of rotation of the arm 1b is a sin function of the angle θg formed by the boundary of the excavation region, and hg becomes smaller as θg becomes smaller, so that as the front device 1A extends. Second deceleration operation signal Sa2 ~
Sc2 becomes small, and the decrease amount of the operation signals Sa to Sc becomes large. For this reason, the operation signals Sa to Sc become larger when the front device 1A in which the velocity vector at the tip of the bucket 1c is large in the direction toward the boundary of the excavation region and the front tip easily extends out of the excavation region. Reduced.

Further, in the storage device of the control unit 9A,
The relationship between the distance D1 from the tip of the bucket 1c and the deceleration vector coefficient h as shown in FIG. 11 is stored. The relationship between the distance D1 and the coefficient h is h = 0 when the distance D1 is larger than the distance Ya1, and when the distance D1 is smaller than Ya1, the deceleration vector coefficient h increases as the distance D1 decreases, It is set so that h = 1 when the distance D1 = 0.

In step 280, the vector component in the direction perpendicular to the boundary of the set area which is the vector component in the direction approaching the boundary of the set area of the target velocity vector Vc at the tip of the bucket 1c calculated in step 260, that is, the XaYa coordinate. The target velocity vector Vc is corrected so that the Ya coordinate value Vcy in the system is reduced. Specifically, the control unit 9
From the relationship shown in FIG. 11 stored in the storage device A, the procedure 25
The deceleration vector coefficient h corresponding to the distance D1 obtained in 5 is calculated, and this deceleration vector coefficient h is used as the target speed vector Vc.
Ya coordinate value (vertical vector component) Vcy is multiplied by −1 and the deceleration vector VR (= −hVc) is multiplied.
y) is calculated and VR is added to Vcy. Here, the deceleration vector VR is a velocity vector in the opposite direction of Vcy that increases as the distance D1 between the tip of the bucket 1c and the boundary of the set area becomes smaller than Ya1, and VR = −Vcy when D1 = 0. Therefore, by adding the deceleration vector VR to the vertical vector component Vcy of the target velocity vector Vc, the vector component Vcy is increased so that the reduction amount of the vertical vector component Vcy increases as the distance D1 becomes smaller than Ya1. The target speed vector Vc is reduced and corrected to the target speed vector Vca.

FIG. 8 shows an example of a locus when the tip of the bucket 1c is decelerated and controlled according to the corrected target velocity vector Vca as described above. If the target velocity vector Vc is constant diagonally downward, its parallel component Vcx becomes constant, and the vertical component Vcy of the bucket 1c approaches the boundary of the set area (as the distance D1 becomes smaller than Ya1). Get smaller. Since the corrected target velocity vector Vca is a combination thereof, the locus is shown in FIG.
As shown in, the curve becomes parallel as it approaches the boundary of the set area. Also, when D1 = 0, h = 1, VR = -Vcy.
Therefore, the corrected target velocity vector Vca on the boundary of the set area matches the parallel component Vcx.

As described above, in the deceleration control in step 280, the movement of the tip of the bucket 1c in the direction approaching the boundary of the setting area is decelerated, and as a result, the moving direction of the tip of the bucket 1c becomes the boundary of the setting area. In this sense, the deceleration control in step 280 can also be referred to as direction conversion control.

Next, the determination of whether the vehicle is outside the set area in step 290 and the correction of the target velocity vector Vc for the restoration control outside the set area in step 300 will be described with reference to FIGS. 13 and 14. To do.

In step 290, the distance D2 between the tip position outside the setting area and the boundary of the setting area is calculated from the Ya coordinate value of the tip position of the bucket 1c obtained in step 250,
When the value of the distance D2 changes from negative to positive, it is determined that the outside of the setting area has been entered.

Further, in the storage device of the control unit 9A,
The relationship between the distance D2 between the boundary of the set area and the tip of the bucket 1c and the restoration vector AR as shown in FIG. 13 is stored. The relationship between this distance D2 and the restoration vector AR is
The restoration vector AR is set to increase as the distance D2 decreases.

In step 300, a vector component in the direction perpendicular to the boundary of the set region of the target velocity vector Vc at the tip of the bucket 1c calculated in step 260, that is, XaYa
The target velocity vector Vc is corrected so that the Ya coordinate value Vcy of the coordinate system changes to the vertical component in the direction approaching the boundary of the set area. Specifically, the parallel vector Vcx is extracted by adding the backward vector Acy of Vcy so as to cancel the vertical vector component Vcy. By this correction, the tip of the bucket 1c is prevented from moving further beyond the set area. Then, next, based on the relationship shown in FIG. 13 stored in the storage device, the restoration vector AR corresponding to the distance D2 between the boundary of the set area and the tip of the bucket 1c at that time.
Is calculated, and this restoration vector AR is set to the target velocity vector V
A vector component Vcya in the vertical direction of c is set. here,
The restoration vector AR is a velocity vector in the opposite direction that becomes smaller as the distance D2 between the tip of the bucket 1c and the boundary of the set area becomes smaller. Therefore, the restoration vector A
R is the vertical vector component V of the target velocity vector Vc
By setting cya, the target velocity vector Vca is corrected such that the vertical vector component Vcya decreases as the distance D2 decreases.

FIG. 14 shows an example of the locus when the tip of the bucket 1c is restored and controlled as the corrected target velocity vector Vca as described above. If the target velocity vector Vc is constant diagonally downward, its parallel component Vcx is constant, and since the restoration vector AR is proportional to the distance D2, the vertical component of the bucket 1c approaches the boundary of the set area ( It decreases as the distance D2 decreases. Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the set region as shown in FIG.

As described above, in the restoration control in the procedure 300, the tip of the bucket 1c is controlled to return to the set area, so that the restored area is obtained outside the set area. Also in this restoration control, the movement of the tip of the bucket 1c in the direction approaching the boundary of the setting area is decelerated, and as a result, the moving direction of the tip of the bucket 1c is converted to the direction along the boundary of the setting area. In this sense, this restoration control can also be called direction change control.

In the above, the procedure 250 of FIG. 5 is the first step for detecting the state quantity relating to the position and posture of the front device 1A.
The first calculating means for calculating the position and orientation of the front device 1A based on the signals from the angle detectors 8a to 8c as the detecting means constitutes the first calculating means 2, and steps 255 and 260 are the first calculating means 2.
Based on the calculated value of 50, when the front device 1A is in the vicinity of the boundary within the setting area, the plurality of operation lever devices 1
A first signal correction means for reducing the operation signal Sb of the operation lever device 14b relating to the arm 1b which is at least the first specific front member among the components 4a to 14f is constituted, and the procedure 2
55, 270 and 280 are at least the operation signal Sb2 corrected by the first signal correction means and the first calculation means 250.
When the front device 1A is in the vicinity of the boundary within the setting area, the front device 1A moves in the direction along the boundary of the setting area and moves in the direction approaching the boundary of the setting area based on the calculated value of Of the plurality of operation lever devices 14a to 14f so that the boom 1a is at least the second specific front member.
A second signal correction means for correcting the operation signal Sa of a is configured.

In the present embodiment configured as described above, when the tip of the bucket 1c is far from the boundary of the set area, the target velocity vector Vc is not corrected in step 270A, and the work can be performed in the same manner as normal work. At the same time, when the tip of the bucket 1c approaches the vicinity of the boundary within the set area, in step 280, the vector component in the direction of approaching the boundary of the set area of the target velocity vector Vc (vector component in the direction perpendicular to the boundary) is reduced. Since the motion in the vertical direction is controlled to be decelerated with respect to the boundary of the setting area, the velocity component in the direction along the boundary of the setting area is not reduced. Therefore, as shown in FIG. The tip of the bucket 1c can be moved along. Therefore, excavation can be efficiently performed by limiting the movable area of the tip of the bucket 1c.

Since the deceleration control (direction change control) in the above procedure 280 is speed control, the front device 1A
Is extremely fast, or the operating lever device 1
When b or the like is operated, there is a possibility that the front device 1A may largely protrude from the set area due to a response delay in control such as a hydraulic circuit delay or an inertial force applied to the front device 1A.

In this embodiment, the bucket 1 is subjected to the low-pass filter processing and the lever signal deceleration processing in step 260.
Even if the speed of the front device 1A is extremely high, the tip of the bucket 1c is set by reducing the operation signals Sa to Sc of the operation lever devices 14a to 14c according to the distance between the tip position of c and the boundary of the excavation area. The rapid movement of the front device 1A is suppressed as it approaches the boundary of the region.
Further, even if the operating lever devices 14a to 14c are suddenly operated, the hydraulic actuators 3a to 3c start to move smoothly, and the speed after starting to move becomes slow. Therefore, the influence of the response delay in control such as the delay on the hydraulic circuit and the influence of inertia are reduced, and the amount of invasion of the front device 1A outside the set area during the deceleration control in the above procedure 280 is reduced, and the front device is reduced. 1A can be smoothly moved along the boundary of the set area to perform a smooth work.

Further, even if the tip of the bucket 1c enters the outside of the set area to some extent, in the present embodiment, the procedure 3 is performed.
At 00, the target velocity vector Vc is corrected so that the tip of the bucket 1c returns to the set region, so control is performed so as to quickly return to the set region after entering. Therefore, excavation with a limited area can be performed accurately.

At this time, the procedure 280 is performed as described above.
In step 260, the operation signals Sa to Sc of the operation lever devices 14a to 14c themselves are reduced by the low-pass filter processing and the lever signal deceleration processing in step 260. The shock of returning to the area is greatly reduced. For this reason,
Bucket 1c even when front device 1A is moved quickly
The tip of the can be smoothly moved along the boundary of the set area, and excavation with the area limited can be smoothly performed.

Further, in this embodiment, when the tip of the bucket 1c is controlled to return to the set area, the vector component of the target velocity vector Vc perpendicular to the set area boundary is corrected to approach the set area boundary. Therefore, the velocity component in the direction along the boundary of the set area is not reduced, and the tip of the bucket 1c can be smoothly moved along the boundary of the set area even outside the set area. Further, at that time, as the distance D2 between the tip of the bucket 1c and the boundary of the set area becomes smaller, the vector component in the direction approaching the boundary of the set area is corrected to be smaller. The locus of the restoration control by the target velocity vector Vca afterward becomes a curved line that becomes parallel as it approaches the boundary of the setting area, and therefore the movement when returning from the setting area becomes smoother.

A second embodiment of the present invention will be described with reference to FIGS. In the figure, the same members as those shown in FIG. 1 are designated by the same reference numerals.

In FIG. 15, the hydraulic drive system provided in the hydraulic excavator according to the present embodiment includes a plurality of operation lever devices 4a-4f provided corresponding to the hydraulic actuators 3a-3f, a hydraulic pump 2, and a hydraulic pump 2, respectively. A plurality of flow rate control valves 5a to 5f which are connected between the plurality of hydraulic actuators 3a to 3f, are controlled by the operation signals of the operation lever devices 4a to 4f, and control the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3f. have.

The operation lever devices 4a to 4f are hydraulic pilot systems which drive the corresponding flow control valves 5a to 5f by pilot pressure, and as shown in FIG.
It is composed of an operating lever 40 operated by an operator, and a pair of pressure reducing valves 41, 42 for generating pilot pressure according to the operation amount and operating direction of the operating lever 40, and the primary ports of the pressure reducing valves 41, 42 are pilots. Connected to the pump 43, the secondary ports are pilot lines 44a, 44b;
45a, 45b; 46a, 46b; 47a, 47b; 4
8a, 48b; 49a, 49b through corresponding hydraulic drive units 50a, 50b; 51a, 51b; 5 of the flow control valve.
2a, 52b; 53a, 53b; 54a, 54b; 55
a, 55b.

The area limiting excavation control system of the present embodiment provided in the hydraulic excavator as described above detects the tilt angle θ in the front-rear direction of the vehicle body 1B in addition to the setter 7 and the angle detectors 8a, 8b, 8c. The tilt angle detector 8d, the primary port side of which is connected to the pilot pump 43, the proportional solenoid valve 10a which reduces the pilot pressure from the pilot pump 43 according to an electric signal and outputs the pilot pressure, and the operating lever device 4a for the boom.
Connected to the pilot line 44a and the secondary port side of the proportional solenoid valve 10a, and selects the pilot pressure in the pilot line 44a and the high pressure side of the control pressure output from the proportional solenoid valve 10a to hydraulically drive the flow control valve 5a. The shuttle valve 12 leading to the portion 50a, the pilot line 44b of the operating lever device 4a for the boom, and the operating lever device 4 for the arm.
Proportional solenoid valve 1 installed on pilot lines 45a and 45b of a and 4b for reducing the pilot pressure in each pilot line according to an electric signal and outputting it.
0b, 11a, 11b and pilot lines 44a, 44b; 45a, 45b on the input side of the shuttle valve 12 and on the primary port side of the proportional solenoid valves 10b, 10c, 10d.
Pressure detectors 60a for detecting pilot pressures of the respective control lever devices 4a, 4b,
60b; 61a, 61b and proportional solenoid valves 11a, 11b
On the secondary port side of the pilot lines 45a, 45
b, pressure detectors 61c and 61d for detecting pilot pressure applied to the hydraulic drive units 51a and 51b of the flow control valve 5b from the proportional solenoid valves 11a and 11b, setting signals of the setter 7, and angle detector 8a. , 8b, 8c and the detection signals of the tilt angle detector 8d and the pressure detectors 60a, 60b;
61a, 61b; 61c, 61d detection signals are input,
The control unit 9 outputs an electric signal to the proportional solenoid valves 10a to 10d.

The control function of the control unit 9 is shown in FIG. The control unit 9 includes an area setting calculation unit 9a, a front attitude calculation unit 9b, a target cylinder speed calculation unit 9c, a target tip speed vector calculation unit 9d, a direction conversion control unit 9e, a corrected target boom cylinder speed calculation unit 9f, and restoration control. Calculation unit 9g, corrected target boom cylinder speed calculation unit 9h, target cylinder speed selection unit 9i, target pilot pressure calculation unit 9
j, valve command calculator 9k, lever signal deceleration processor 9m
It has each function of.

The area setting calculation section 9a performs setting calculation of an excavation area in which the tip of the bucket 1c can move according to an instruction from the setting device 7. The content is the same as the area setting unit of the first embodiment described with reference to FIG. 3, and conversion data from the XY coordinate system to the XaYa coordinate system having the origin and one axis on the boundary of the setting area is obtained (see FIG. 3).

Further, as shown in FIG. 18, when the vehicle body 1B is tilted, the relative positional relationship between the bucket, the tip and the ground changes, so that the excavation area cannot be set correctly. Therefore, in this embodiment, the inclination angle θ of the vehicle body 1B is detected by the inclination angle detector 8d, and the inclination angle θ is detected by the front posture calculation unit 9b.
XbYb obtained by inputting the value of and rotating the XY coordinate system by the angle θ.
Calculate the position of the bucket tip in the coordinate system. This allows
Correct area setting can be performed even if the vehicle body 1B is tilted. When the vehicle body is tilted, the inclination angle detector is not always necessary when the work is performed after the vehicle body tilt is corrected, or when the vehicle body is not tilted.

In the front attitude calculating section 9b, the front device 1A and the vehicle body 1 stored in the storage device of the control unit 9 are stored.
The position of a predetermined portion of the front device 1A is calculated as a value in the XY coordinate system using the dimensions of each part of B and the values of the rotation angles α, β, γ detected by the angle detectors 8a, 8b, 8c.

In the lever signal deceleration control section 9m, the bucket 1
It is determined whether or not the front end of c is in the deceleration region which is a region near the boundary within the set region set by the region setting calculation unit 9a as shown in FIG. The lever signal deceleration processing for reducing the operation signal (pilot pressure) of the operation lever device 14b for the arm is performed.

FIG. 19 is a flowchart showing the processing contents of the lever signal deceleration controller 9m. First, in step 150, it is determined whether the tip of the bucket 1c has entered the deceleration region. The storage device of the control unit 9 stores a distance Ya1 from the boundary of the setting area as shown in FIG. 6 as a value for setting the range of the deceleration area. In step 150, the tip position of the bucket 1c in the XY coordinate system obtained by the front posture calculation unit 9b is converted into a value in the XaYa coordinate system using the conversion data obtained by the region setting calculation unit 9a, and the Ya
The distance D1 between the tip position in the setting area and the boundary of the setting area is obtained from the coordinate values, and this distance D1 is the distance Ya1.
If it becomes smaller, it is determined that the vehicle has entered the deceleration area. When it is determined in step 150 that the tip of the bucket 1c has entered the deceleration region, the process proceeds to step 160, and the time constant tg and the deceleration coefficient hg are calculated. This calculation of tg and hg is the first
Since it is the same as the embodiment described above, it will not be described here.

Next, the pilot pressures as arm operation signals detected by the pressure detectors 61a and 61b are set to Pa and Pb.
Then, in step 161, the pilot pressures Pa and Pb are low-pass filtered using the time constant tg to generate the corrected pilot pressures Pa1 and Pb1. The calculation of this low-pass filter processing is also the same as in the first embodiment, and will not be described here.

Next, in step 162, the discharge flow rate of the arm flow control valve 5b corresponding to the corrected pilot pressures Pa1 and Pb1 is obtained, and the speeds VAC1 and VAD1 of the arm cylinder 3b are calculated from this discharge flow rate. The storage unit of the control unit 9 stores pilot pressures PBU, PBD, PAC, PAC and flow rate control valve 5 as shown in FIG.
The relationship between the discharge flow rates VB and VA of a and 5b is stored. In step 162, the discharge flow rate of the flow rate control valve 5b is obtained using this relationship, and the arm cylinder speeds VAC1 and VAD.
Calculate 1. The relationship between the pilot pressure and the cylinder speed calculated in advance may be stored in the storage device of the control unit 9, and the cylinder speed may be directly obtained from the pilot pressure.

Next, in step 163, the maximum value VACmax of the cylinder speed on the cloud side of the arm cylinder 3b and the minimum value VADmin (the maximum absolute value) of the cylinder speed on the dump side are obtained from the relationship shown in FIG. The deceleration coefficient h is added to the maximum value VACmax and the minimum value VADmin.
Multiply by g to generate a correction maximum value VAC2 and a correction minimum value VAD2 of the arm cylinder speed.

Then, in step 164, VAC1,
The minimum value of VAC2 is set to the cloud side target cylinder speed VAC of the arm cylinder 3b, and the maximum value of VAD1 and VAD2 (the minimum absolute value of VAD1 and VAD2) is set to the dump side target cylinder speed VAD of the arm cylinder 3b. That is, VAC1> VAC2, VAD1 <VAD
When it is 2, VAC2 and VAD2 are selected, and the maximum and minimum values of the target cylinder speeds VAC and VAD are limited to the correction maximum value VAC2 and the correction minimum value VAD2, respectively.

Next, in step 165, the target cylinder speed V
The target pilot pressures Pa2 and Pb2 of the pilot lines 45a and 45b are calculated from AC and VAD. This is an inverse calculation of the calculation of the arm cylinder speed in step 162.

Then, in step 166, step 165
From the target pilot pressures Pa2 and Pb2 calculated in step 1, the command values of the proportional solenoid valves 11a and 11b for obtaining the pilot pressures are calculated. This command value is amplified by the amplifier and output as an electric signal to the proportional solenoid valves 11a and 11b.

On the other hand, if it is determined in step 150 that the distance D1 is larger than the distance Ya1 and the tip position of the bucket 1c has not entered the deceleration area, the procedure proceeds to step 170,
The valve command value that maximizes the opening of the proportional solenoid valves 11a and 11b is output.

Here, performing the low-pass filter processing on the pilot pressures Pa and Pb in step 161 is similar to the first embodiment in that the pilot pressures Pa and Pb are input stepwise as shown in FIG. On the other hand, the rising of the correction pilot pressures Pa1 and Pb1 is delayed, and the lever operation is apparently performed slowly. Also, the time constant tg when performing the low-pass filter processing
To increase as the distance D1 decreases,
The rising of the correction pilot pressures Pa1, Pb1 is delayed as the tip of the bucket 1c approaches the boundary of the excavation area, and the amount of decrease in the pilot pressures Pa, Pb increases as the tip of the bucket 1c approaches the boundary of the excavation area. Become. Further, in step 163, the maximum cylinder speed VACmax and the minimum value VADmin are multiplied by the deceleration coefficient hg to generate the cylinder speed correction maximum value VAC2 and the correction minimum value VAD2. That is, hg becomes smaller as the distance D1 decreases. The absolute value of the correction maximum value VAC2 and the correction minimum value VAD2 decreases as the tip of the bucket 1c approaches the boundary of the excavation area. Further, hg is a sin function of the angle θg formed by the line segment connecting the tip of the bucket 1c and the center of rotation of the arm 1b as described above, and θg
As hg becomes smaller as becomes smaller, the correction maximum value VAC2 becomes larger as the front device 1A extends.
Also, the absolute value of the correction minimum value VAD2 becomes smaller. Therefore, in step 164, the target cylinder speeds VAC, V
When VAC2 and VAD2 are selected as AD, the reduction amounts of the target pilot pressures Pa2 and Pb2 increase as the tip of the bucket 1c approaches the boundary of the excavation region and as the front device 1A extends.

In the target cylinder speed calculation unit 9c, the pilot pressure values detected by the pressure detectors 60a, 60b, 61c and 61d are input, and the discharge flow rates of the flow rate control valves 5a and 5b are obtained from the relationship shown in FIG. Further, the target speeds of the boom cylinder 3a and the arm cylinder 3b are calculated from this discharge flow rate.

In the target tip speed vector calculation section 9d, the bucket tip position calculated by the front attitude calculation section 9b and the target cylinder speed calculated by the target cylinder speed calculation section 9c are stored in the storage device of the control unit 9. L ahead
The target velocity vector Vc at the tip of the bucket 1c is obtained from the dimensions of 1, L2, L3, etc. At this time, the target velocity vector Vc is first obtained as a value of the XY coordinate system shown in FIG. 3, and then this value is obtained by the area setting calculation unit 9a.
X using the conversion data from the Y coordinate system to the XaYa coordinate system
By converting into the aYa coordinate system, the value is obtained as the value in the XaYa coordinate system. Here, the Xa coordinate value Vcx of the target velocity vector Vc in the XaYa coordinate system is the target velocity vector V
The vector component is in the direction parallel to the boundary of the setting area of c, and the Ya coordinate value Vcy is the vector component in the direction perpendicular to the boundary of the setting area of the target velocity vector Vc.

In the direction conversion control unit 9e, when the tip of the bucket 1c is in the vicinity of the boundary within the setting area and the target velocity vector Vc has a component in the direction of approaching the boundary of the setting area, a vertical vector component is set. It is corrected so that it decreases as it approaches the boundary of the region. In other words, a vector (reverse direction vector) smaller than the set area is added to the vertical vector component Vcy.

FIG. 21 is a flow chart showing the control contents of the direction change control unit 9e. First, in step 100,
A component of the target velocity vector Vc perpendicular to the boundary of the set region, that is, whether the Ya coordinate value Vcy in the XaYa coordinate system is positive or negative, is determined. Since there is, step 10
1, the Xa coordinate value Vcx and the Ya coordinate value Vcy of the target velocity vector Vc are corrected as they are to be the vector component V after correction.
cxa and Vcya. In the case of a negative value, the bucket tip is the velocity vector in the direction approaching the boundary of the set area, so the procedure proceeds to step 102, and the Xa coordinate value Vcx of the target velocity vector Vc is used as the corrected vector component Vcxa for the direction conversion control. , Ya coordinate value Vcy is multiplied by a coefficient h to obtain a corrected vector component Vcya.

Here, as shown in FIG. 22, the coefficient h is 1 when the distance Ya between the tip of the bucket 1c and the boundary of the set area is larger than the set value Ya1, and when the distance Ya is smaller than the set value Ya1. , The value becomes smaller than 1 as the distance Ya becomes smaller, and becomes 0 when the distance Ya becomes 0, that is, when the tip of the bucket reaches the boundary of the set area, and such a value is stored in the storage device of the control unit 9. The relationship between h and Ya is stored.

The direction conversion control unit 9e uses the conversion data from the XY coordinate system previously obtained by the area setting calculation unit 9a to the XaYa coordinate system to determine the position of the tip of the bucket 1c obtained by the front attitude calculation unit 9b. Converting to the XaYa coordinate system, the distance Ya between the tip of the bucket 1c and the boundary of the set area is obtained from the Ya coordinate value, and the coefficient h is obtained from this distance Ya using the relationship of FIG.

By correcting the vertical vector component Vcy of the target velocity vector Vc as described above, the vector component Vcy is reduced so that the reduction amount of the vertical vector component Vcy increases as the distance Ya decreases. , The target speed vector Vc is the target speed vector V
It is corrected to ca. Here, the distance Y from the boundary of the setting area
The range of a1 can be called a direction change area or a deceleration area.

The locus when the tip end of the bucket 1c is subjected to the direction change control according to the corrected target velocity vector Vca as described above is the same as that described in the first embodiment with reference to FIG. That is, assuming that the target velocity vector Vc is constant diagonally downward, the parallel component Vcx thereof is constant, and the vertical component Vcy of the bucket 1c approaches the boundary of the set region (as the distance Ya decreases). Get smaller. Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the set region as shown in FIG. If Ya = 0 and h = 0, the corrected target velocity vector Vca on the boundary of the set area is the parallel component Vc.
matches x.

FIG. 23 is a flowchart showing another example of control by the direction change control unit 9e. In this example, the procedure 100
, A component perpendicular to the boundary of the set region of the target velocity vector Vc (Ya coordinate value of the target velocity vector Vc)
If Vcy is determined to be negative, the process proceeds to step 102A, and the boundary between the tip of the bucket 1c and the set region is determined from the functional relationship of Vcyf = f (Ya) stored in the storage device of the control unit 9 as shown in FIG. The decelerated Ya coordinate value Vcyf corresponding to the distance Ya between is calculated, and the smaller of the Ya coordinate values Vcyf and Vcy is taken as the corrected vector component Vcya. In this way, when the tip of the bucket 1c is slowly moved, even if the tip of the bucket approaches the boundary of the set region, the bucket 1c is not further decelerated, and there is an advantage that the operation as the operator operates can be obtained.

Even if the vertical component of the target velocity vector at the tip of the bucket is reduced as described above, the vertical vector component is reduced to 0 at the vertical distance Ya = 0 due to variations due to manufacturing tolerances of the flow control valve and other hydraulic equipment. It is extremely difficult to do so, and the tip of the bucket may enter outside the set area. However, in the present embodiment, since the lever signal deceleration control is performed as described above and the restoration control described later is also used, the tip of the bucket operates almost on the boundary of the set region. Further, since the lever signal deceleration control and the restoration control are used together in this way, the relationship shown in FIGS. 10 and 13 is set so that the coefficient h and the decelerated Ya coordinate value Vchf at the vertical distance Ya = 0 remain a little. You may.

Further, in the above control, the horizontal component (Xa coordinate value) of the target velocity vector is maintained as it is, but it is not always required to be maintained, the horizontal component may be increased and the speed may be increased, or the horizontal component may be increased. You may reduce and decelerate.

Post-correction target boom cylinder speed calculator 9f
Then, the target cylinder speed of the boom cylinder 3a is calculated from the corrected target speed vector obtained by the direction change control unit 9e. This is an inverse operation of the operation in the target tip speed vector operation unit 9d.

Here, when the arm crowd is attempted to be excavated in the front direction (arm cloud operation), the vertical component Vcy of the target speed vector Vc is reduced by raising the boom 1a. Calculate the target cylinder speed to move in the upward direction. Also,
When the bucket tip is operated in the pushing direction by combined operation of boom lowering and arm dump (arm dump combined operation),
When the arm is dumped from a position close to the vehicle body (position in front of it), the target vector in the direction of going out of the set area is given. In this case, the vertical component V of the target velocity vector Vc is changed by switching the boom lowering to the boom raising.
Since cy is reduced, the calculation unit 9f calculates the target cylinder speed for switching the boom lowering to the boom raising.

When the tip of the bucket 1c goes out of the set area, the restoration control section 9g corrects the target velocity vector so that the tip of the bucket returns to the set area in relation to the distance from the boundary of the set area. . In other words, a vector (reverse vector) in the direction approaching the set area larger than that is added to the vertical vector component Vcy.

FIG. 25 is a flow chart showing the control contents of the restoration control section 9g. First, in step 110, whether the distance Ya between the tip of the bucket 1c and the boundary of the set area is positive or negative is determined. Here, as the distance Ya, the position of the front end obtained by the front posture calculation unit 9b is XaY using the conversion data from the XY coordinate system to the XaYa coordinate system as described above.
It is converted to the a-coordinate system and calculated from the Ya coordinate value. Distance Y
If a is positive, the bucket tip is still within the set area, so the process proceeds to step 111, and the Xa coordinate value Vcx and the Ya coordinate value Vcy of the target speed vector Vc are set to 0 respectively to prioritize the direction conversion control described above. To do. In the case of a negative value, the bucket tip is out of the boundary of the set area.
For the restoration control, the Xa coordinate value Vcx of the target velocity vector Vc is directly used as the corrected vector component Vcxa, and the Ya coordinate value Vcy is the value obtained by multiplying the distance Ya from the boundary of the set area by a coefficient -K. Of the vector component Vcya. Here, the coefficient K is an arbitrary value determined from control characteristics, and -KVcy is a reverse velocity vector that decreases as the distance Ya decreases. Note that K may be a function that becomes smaller as the distance Ya becomes smaller, and in this case, -KVcy becomes smaller as the distance Ya becomes smaller.

By correcting the vertical vector component Vcy of the target velocity vector Vc as described above, the target velocity vector Vc is set so that the vertical vector component Vcy becomes smaller as the distance Ya becomes smaller. It is corrected to Vca.

The locus when the tip of the bucket 1c is restored and controlled according to the corrected target velocity vector Vca as described above is the same as that described with reference to FIG. 14 in the first embodiment. That is, if the target velocity vector Vc is constant diagonally downward, its parallel component Vcx is constant, and the restoration vector Ycya (= -KYa) is the distance Y.
Since it is proportional to a, the vertical component becomes smaller as the tip of the bucket 1c approaches the boundary of the set area (as the distance Ya becomes smaller). Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the set region as shown in FIG.

In this way, the restoration control section 9g controls the tip of the bucket 1c to return to the set area, so that the restored area is obtained outside the set area. Also in this restoration control, the movement of the tip of the bucket 1c in the direction approaching the boundary of the setting area is decelerated, and as a result, the moving direction of the tip of the bucket 1c is converted to the direction along the boundary of the setting area. In this sense, this restoration control can also be called direction change control.

Post-correction target boom cylinder speed calculator 9h
Then, the target cylinder speed of the boom cylinder 3a is calculated from the corrected target speed vector obtained by the restoration control unit 9g. This is an inverse operation of the operation in the target tip speed vector operation unit 9d. In the restoration control, the boom 1a is raised to return the bucket tip to the set region, so the computing unit 9h computes the target cylinder speed for moving the boom in the raising direction.

In the target cylinder speed selector 9i, the target boom cylinder speed obtained by the target boom cylinder speed calculator 9f and the target boom cylinder speed obtained by the target boom cylinder speed calculator 9h are large. (Maximum value) is selected as the target boom cylinder speed for output.

If the distance Ya between the tip of the bucket and the boundary of the set area is positive, the target velocity vector components are both set to 0 in step 111 of FIG. 25, and step 10 of FIG.
Since the value of the velocity vector component in 1 or 102 is always larger, the target boom cylinder velocity by the direction conversion control obtained by the target boom cylinder velocity calculation unit 9f is selected, and the distance Ya is negative and the vertical direction of the target velocity vector is selected. Ingredient Vcy
21 is negative, the corrected vertical component Vcya becomes 0 at step h = 0 in step 102 of FIG. 21, and step 11 of FIG.
Since the value of the vertical component in 2 is always larger, the target boom cylinder speed by the restoration control obtained by the target boom cylinder speed calculation unit 9h is selected, the distance Ya is negative, and the vertical component Vcy of the target speed vector is positive. In the case of, the vertical component V of the target velocity vector Vc in step 101 of FIG.
The target cylinder speed obtained by the target boom cylinder speed calculation unit 9f or 9h is selected according to the magnitude of cy and the value of the vertical component KYa in step 112 of FIG. Note that another method may be used, such as selecting the maximum value in the selection unit 9i, instead of summing the two.

The target pilot pressure calculating unit 9j calculates the target pilot pressure of the pilot lines 44a and 44b from the output target cylinder speed obtained by the target cylinder speed selecting unit 9i. This is an inverse calculation of the calculation in the target cylinder speed calculation unit 9c.

The valve command calculator 9k calculates command values for the proportional solenoid valves 10a and 10b for obtaining the pilot pressure from the target pilot pressure calculated by the target pilot pressure calculator 9j. This command value is amplified by the amplifier and output as an electric signal to the proportional solenoid valves 10a and 10b.

Here, when the direction conversion control (deceleration control) is performed, the boom is raised in the arm crowd operation as described above. Output an electric signal. In the arm dump combined operation, the boom lowering is switched to the boom raising and the arm dump is decelerated. To switch the boom lowering to the boom raising, an electric signal output to the proportional solenoid valve 10b installed on the boom lowering pilot line 44b is used. Is set to 0, and an electric signal is output to the proportional solenoid valve 10a. In the restoration control, an electric signal is output to the proportional solenoid valve 10a related to the boom raising side pilot line 44a. In other cases, the proportional solenoid valve 10b
An electric signal corresponding to the pilot pressure is output from the operating lever device 4a so that the pilot pressure can be output as it is.

In the above, the operation lever devices 4a to 4f
Is a plurality of hydraulic pilot type operation means for instructing the operation of the plurality of driven members, namely, the boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d, and the lower traveling body 1e, and the setting device 7 and the front area setting The calculation unit 9a constitutes a region setting means for setting a movable region of the front device 1a, and the angle detectors 8a to 8c and the inclination angle detector 8d detect the state quantity related to the position and the posture of the front device 1A. The front posture calculation unit 9b constitutes a first calculation unit that calculates the position and posture of the front device 1A based on a signal from the first detection unit. The lever signal deceleration control unit 9m and the proportional solenoid valve 11a, Reference numeral 11b denotes at least a first characteristic of the plurality of operating means when the front device 1A is in the vicinity of its boundary within the setting area, based on the calculated value of the first calculating means. Constitute first signal correcting means for reducing the operation signal of the operating means 4b according to the front member 1b,
Target cylinder speed calculation unit 9c, target tip speed vector calculation unit 9d, direction conversion control unit 9e, corrected target cylinder speed calculation unit 9f, target cylinder speed selection unit 9i, target pilot pressure calculation unit 9j, valve command calculation unit 9k, The proportional solenoid valve 10a and the shuttle valve 12 are based on at least the operation signal corrected by the first signal correction means and the calculation value of the first calculation means when the front device 1A is in the vicinity of the boundary within the set area. , The front device 1A is related to at least the second specific front member 1a of the plurality of operating means so that the front device 1A moves in the direction along the boundary of the setting region and the moving speed is reduced in the direction approaching the boundary of the setting region. A second signal correction unit that corrects the operation signal of the operation unit 4a is configured.

Further, the operating lever devices 4a to 4f and the pilot lines 44a to 49b constitute an operating system for driving the hydraulic pressure control valves 5a to 5f, and the pressure detectors 61a and 6a.
1b constitutes a second detection means for detecting the operation amount of the operation means 4b relating to the first specific front member 1b, and the steps 150, 160 to 165 of the lever signal deceleration control section 9m are from the second detection means. A second operation for inputting a signal and the operation value of the first operation means, and for calculating the limit value of the pilot pressure based on the signal from the second detection means when the front device 1A is in the vicinity of its boundary within the set area. The lever signal deceleration control section 9m and the procedure 166 and the proportional solenoid valve 1 constituting the means.
1a and 11b correspond to the operating means 4b so that the pilot pressure applied to the hydraulic control valve 5b becomes equal to or less than the limit value.
The first pilot pressure control means for controlling the pilot pressure output from the above is configured.

Further, the pilot lines 45a and 45b are connected to the hydraulic control valve 5b related to the first specific front member 1b.
The first pilot line that guides the pilot pressure to
The procedure 166 of the lever signal deceleration control unit 9m constitutes means for outputting an electric signal corresponding to the pilot pressure limit value,
The proportional solenoid valves 11a and 11b are connected to the first pilot line 45.
The first electro-hydraulic converting means is installed in the a and 45b and is driven by the electric signal.

The pressure detectors 61c and 61d constitute third detecting means for detecting the pilot pressure controlled by the first pilot pressure control means, and the target cylinder speed calculating section 9c and the target tip speed vector calculating section 9d. , Direction change control unit 9e, corrected target cylinder speed calculation unit 9f, target cylinder speed selection unit 9i, target pilot pressure calculation unit 9j
Is a third calculating means for calculating the pilot pressure applied to the hydraulic control valve 5b corresponding to the second specific front member 1a based on the signal from the third detecting means. Solenoid valve 10a and shuttle valve 1
Reference numeral 2 constitutes second pilot pressure control means for controlling the pilot pressure output from the corresponding operation means 4a so that the pilot pressure calculated by the third calculation means is obtained.

Further, the pilot line 44a constitutes a second pilot line for guiding the pilot pressure to the hydraulic control valve 5a corresponding to the second specific front member 1a, and the valve command calculation unit 9k is the third calculation means. The proportional solenoid valve 10a constitutes a second electro-hydraulic converting means for outputting a pilot pressure driven by the electric signal, and the shuttle valve 12 constitutes the second valve. Installed in the pilot line, the second
Of the pilot pressure output from the operating means 4a relating to the specific front member 1a and the pilot pressure output from the second electrohydraulic converting means 10a.

Next, the operation of this embodiment having the above configuration will be described. As an example of work, when the arm crowd is used for excavating in the front direction (arm cloud operation) and when the bucket tip is operated in the pushing direction by the boom lowering / arm dump combined operation (arm dump combined operation) ) Will be described.

When arm crowding is performed in an attempt to excavate in the front direction, the tip of the bucket 1c gradually approaches the boundary of the set area. The distance between the bucket tip and the boundary of the set area is Y
When it becomes smaller than a1, the hydraulic drive unit 51a of the flow control valve 5b for the arm according to the distance between the tip position of the bucket 1c and the boundary of the excavation region by the low-pass filter processing and the lever signal deceleration processing in the lever signal deceleration control unit 9m. , 5
The proportional solenoid valve 11a is operated so as to reduce the pilot pressure itself applied to 1b.

At the same time, the direction conversion control unit 9e corrects the vector component in the direction approaching the boundary of the set region of the target velocity vector Vc at the tip of the bucket (vertical vector component with respect to the boundary) so as to reduce the bucket. Performs tip direction change control (deceleration control). That is, the target boom cylinder speed calculation unit 9f calculates the cylinder speed of the boom cylinder 3a in the extension direction, the target pilot pressure calculation unit 9j calculates the target pilot pressure of the boom raising side pilot line 44a, and the valve command calculation unit 9k. Then, an electric signal is output to the proportional solenoid valve 10a. Therefore, the proportional solenoid valve 10a outputs a control pressure corresponding to the target pilot pressure calculated by the calculation unit 9j, this control pressure is selected by the shuttle valve 12, and the boom raising side hydraulic drive unit of the boom flow control valve 5a is selected. It is led to 50a. By such an operation of the proportional solenoid valve 10a, the movement in the vertical direction with respect to the boundary of the setting area is controlled to be decelerated, and the velocity component in the direction along the boundary of the setting area is not reduced. Therefore, as shown in FIG. Further, the tip of the bucket 1c can be moved along the boundary of the set area. Therefore, excavation can be efficiently performed by limiting the movable area of the tip of the bucket 1c.

When the tip of the bucket 1c is controlled to be decelerated near the boundary within the set area as described above, the front device 1A moves rapidly or the operation lever device 4 suddenly moves.
When b is operated, the tip of the bucket 1c may get out of the set area to some extent due to a response delay in control or inertia of the front device 1A. In such a case, in the present embodiment, in the lever signal deceleration control unit 9m, the pilot pressure itself applied to the hydraulic drive units 51a and 51b of the arm flow control valve 5b is reduced. Therefore, even if the operating lever device 4b is suddenly operated, the arm cylinder 3b
Starts moving smoothly, and the speed after it starts moving is slow, so the effects of delay and inertia on the hydraulic circuit can be reduced. Therefore, the amount of invasion of the front device 1A into the outside of the set region during the deceleration control is reduced, and the front device 1A can be smoothly moved along the boundary of the set region to perform a smooth work.

Further, even if the tip of the bucket 1c enters the set area to some extent, the restoration control section 9g corrects the target velocity vector Vc so that the tip of the bucket 1c returns to the set area. , Restore control. That is, in the corrected target cylinder speed calculation unit 9h, the cylinder speed in the extension direction of the boom cylinder 3a is calculated by the calculation unit 9h as in the case of the direction conversion control, and the target pilot pressure calculation unit 9j calculates the boom raising side pilot line. The target pilot pressure of 44a is calculated, and the valve command calculation unit 9k outputs an electric signal to the proportional solenoid valve 10a.
As a result, the proportional solenoid valve 10a operates as described above,
The tip of the bucket is controlled to quickly return to the set area,
Excavation is performed at the boundary of the set area. Therefore, even when the front device 1A is moved quickly, it is possible to accurately perform excavation with a limited area.

Further, at this time, as described above, since the arm operation signal itself is reduced in advance by the lever signal deceleration control and is also decelerated by the direction change control, the amount of invasion outside the setting area is reduced and the setting is performed. The shock of returning to the area is greatly reduced. Therefore, even when the front device 1A is moved quickly, the tip of the bucket 1c can be smoothly moved along the boundary of the set area, and excavation with the area limited can be smoothly performed.

Further, in the restoration control of this embodiment, the vector component of the target velocity vector Vc perpendicular to the boundary of the set region is corrected, and the velocity component in the direction along the border of the set region is left, so that it is outside the set region. Also in the above, the tip of the bucket 1c can be smoothly moved along the boundary of the set area.
Further, at this time, as the distance Ya between the tip of the bucket 1c and the boundary of the setting area becomes smaller, the correction is performed so as to reduce the vector component in the direction approaching the boundary of the setting area. The locus of the restoration control by the subsequent target velocity vector Vca becomes a curved line that becomes parallel as it approaches the boundary of the setting area, and therefore the movement when returning from the setting area becomes smoother.

Further, when performing excavation work in which the bucket tip is moved along a predetermined path such as the boundary of the set area, in the hydraulic pilot system, the operator normally operates at least the boom operation lever device 4a and the arm operation. It is necessary to control the movement of the bucket tip by operating the two operating levers of the lever device 4b. In this embodiment, of course, both the operating levers for the boom and arm operating lever devices 4a and 4b may be operated, but even if one arm operating lever is operated, the calculation is performed as described above. Boom cylinder 3b required for direction change control or restoration control in parts 9f and 9h
The cylinder speed is calculated and the tip of the bucket is moved along the boundary of the set area, so that the excavation work along the boundary of the set area can be performed by one operating lever for the arm.

As described above, during excavation along the boundary of the set area, for example, if the bucket 1c is sufficiently filled with earth and sand, there is an obstacle in the middle, excavation resistance is large, and the front device is stopped. There is a case where it is desired to reduce the excavation resistance or to raise the boom 1a manually. In such a case, when the boom operation lever device 4a is operated in the boom raising direction, the boom raising side pilot line 44a. When the pilot pressure rises and the pilot pressure becomes higher than the control pressure of the proportional solenoid valve 10a, the pilot pressure is selected by the shuttle valve 12 and the boom can be raised.

When the bucket tip is operated in the pushing direction by the combined operation of boom lowering and arm dump, when the arm is dumped from the position on the vehicle body side (front position), the target vector in the direction to go out of the set area is given. become. Also in this case, the distance between the bucket tip and the boundary of the set area is Ya.
When it becomes smaller, the hydraulic drive unit 51a of the flow control valve 5b for the arm according to the distance between the tip position of the bucket 1c and the boundary of the excavation region in the lever signal deceleration control unit 9m by the low-pass filter process and the lever signal deceleration process. 51b
The proportional solenoid valve 11a is operated so as to reduce the pilot pressure itself applied to.

At the same time, the target speed vector Vc is corrected by the direction change control unit 9e, and the direction change control (deceleration control) of the bucket tip is performed. That is, the corrected target boom cylinder speed calculation unit 9f calculates the cylinder speed of the boom cylinder 3a in the extension direction, and the target pilot pressure calculation unit 9j sets the target pilot pressure of the boom lowering side pilot line 44b to zero. The target pilot pressure of the boom raising side pilot line 44a is calculated, and the valve command calculation unit 9k turns off the output of the proportional solenoid valve 10b and outputs an electric signal to the proportional solenoid valve 10a. Therefore, the proportional solenoid valve 10b is connected to the pilot line 4
The pilot pressure of 4b is reduced to 0, and the proportional solenoid valve 10a
Outputs the control pressure corresponding to the target pilot pressure as the pilot pressure of the pilot line 44a. By such operations of the proportional solenoid valves 10a and 10b, the same direction change control as in the case of the arm cloud operation is performed, and the bucket 1
The tip of c can be moved quickly along the boundary of the set area, and excavation can be efficiently performed with the area where the tip of the bucket 1c can move limited.

Further, in the lever signal deceleration control section 9m, the hydraulic drive sections 51a, 51b of the arm flow rate control valve 5b.
Since the pilot pressure itself applied to the arm cylinder 3 is reduced, even if the operating lever device 4b is suddenly operated.
Since b starts to move smoothly and the speed after it starts to move is slow, it is possible to reduce the influence of delay on the hydraulic circuit and the influence of inertia. Therefore, the amount of invasion of the front device 1A into the outside of the set region during the deceleration control is reduced, and the front device 1A can be smoothly moved along the boundary of the set region to perform a smooth work.

Further, even if the tip of the bucket 1c enters the outside of the set area to some extent, the restoration control section 9g corrects the target velocity vector Vc to perform restoration control. That is, the corrected target boom cylinder speed calculator 9h calculates the cylinder speed of the boom cylinder 3a in the extension direction,
The target pilot pressure calculation unit 9j calculates the target pilot pressure of the boom raising pilot line 44a, and the valve command calculation unit 9k outputs an electric signal to the proportional solenoid valve 10a. As a result, the tip of the bucket is controlled to quickly return to the set area, and excavation is performed at the boundary of the set area. Therefore, as in the case of the arm cloud operation, even when the front device 1A is moved quickly, excavation in a limited area can be performed smoothly and accurately.

If the boom is raised during the control, the boom can be raised as in the case of the arm crowd operation.

In the above embodiment, both the low-pass filter process using the time constant tg and the deceleration process of multiplying the operation signal by the deceleration coefficient hg are performed in the lever signal deceleration control, but only one of them is performed. Good. For example, when only low-pass filter processing is performed, the rising edge of the operation signal becomes gradual, so that even if the operation lever device is suddenly operated, the front device starts to move slowly, and excavation in a limited area can be performed smoothly. . When only the deceleration process of multiplying the operation signal by the deceleration coefficient hg is performed, in addition to the deceleration at the beginning of the movement when the operation lever device is suddenly operated, in addition to the deceleration of the front device, the vicinity of the boundary of the set area is fast when the front device is moving fast. It is possible to slow down the movement of the front device even when approaching to, and to perform excavation with a limited area smoothly.

Further, in the above embodiments, the tip of the bucket is described as the predetermined portion of the front device, but the arm tip pin may be the predetermined portion if it is simply implemented. Further, when the area is set in order to prevent the interference with the front device and improve the safety, the area may be another area where the interference may occur.

Further, the applied hydraulic drive device is a closed center system having the closed center type flow control valves 15a to 15f, but it may be an open center system using an open center type flow control valve.

The relationship between the distance between the tip of the bucket and the boundary of the set area and the deceleration vector, the relationship between the time constant tg and the deceleration coefficient hg, and the relationship with the restoration vector are not limited to the settings in the above-described embodiment, and various relationships are possible. Can be set.

Further, when the tip of the bucket is far from the boundary of the set area, the target velocity vector is output as it is. However, even in this case, the target velocity vector may be corrected for another purpose.

Further, the vector component in the direction approaching the boundary of the set area of the target velocity vector is the vector component in the direction perpendicular to the boundary of the set area, but if the movement in the direction along the boundary of the set area is obtained. , It may deviate from the vertical direction.

Further, in the embodiments applied to the hydraulic excavator having the hydraulic pilot type operation lever device such as the second embodiment, the proportional solenoid valves 10a, 10b, 11a and 11b are used as the electro-hydraulic converting means and the pressure reducing means. However, these may be other electro-hydraulic conversion means.

Furthermore, all the operating lever devices 14a-14
Although f and the flow rate control valves 15a to 15f are hydraulic pilot type, at least the boom and arm operation lever devices 14a and 14b and the flow rate control valves 15a and 15b may be hydraulic pilot type.

[0132]

According to the present invention, when the front device approaches the set area, the movement in the direction of approaching the boundary of the set area is decelerated, so that excavation in a limited area can be performed efficiently. Further, since the operation signal itself of the operation means is reduced, it is possible to smoothly perform the excavation in which the area is limited even when the operation means is suddenly operated.

Further, when the front device is away from the set area, excavation can be performed in the same manner as normal work.

[Brief description of drawings]

FIG. 1 is a diagram showing an area limiting excavation control system for a construction machine according to a first embodiment of the present invention together with its hydraulic drive system.

FIG. 2 is a diagram showing an external appearance of a hydraulic excavator to which the present invention is applied and a shape of a setting area around the hydraulic excavator.

FIG. 3 is a diagram showing a coordinate system and a region setting method used in the region limited excavation control of the present embodiment.

FIG. 4 is a diagram showing an example of a region set in this embodiment.

FIG. 5 is a flowchart showing a control procedure in the control unit.

FIG. 6 is a diagram showing a method of correcting a target velocity vector in a deceleration region and a restoration region according to this embodiment.

FIG. 7 is a diagram showing a relationship between a distance between a tip of a bucket and a boundary of a set area and a time constant.

FIG. 8 is a diagram showing the relationship between the distance between the tip of the bucket and the boundary of the set area and the deceleration coefficient.

FIG. 9 is a flowchart showing details of lever signal deceleration control.

FIG. 10 is a diagram showing changes in lever input due to low-pass filter processing.

FIG. 11 is a diagram showing the relationship between the distance between the tip of the bucket and the boundary of the set area and the deceleration vector coefficient.

FIG. 12 is a diagram showing an example of a trajectory when the tip of the bucket is subjected to direction change control.

FIG. 13 is a diagram showing the relationship between the distance between the tip of the bucket and the boundary of the set area and the restoration vector.

FIG. 14 is a diagram showing an example of a trajectory when the tip of the bucket is subjected to restoration control.

FIG. 15 is a diagram showing an area limiting excavation control system for a construction machine according to a second embodiment of the present invention together with its hydraulic drive system.

FIG. 16 is a view showing details of a hydraulic pilot type operation lever device.

FIG. 17 is a functional block diagram showing a control function of the control unit.

FIG. 18 is a diagram showing a method of correcting an inclination angle.

FIG. 19 is a flowchart showing details of control contents of a lever deceleration control unit.

FIG. 20 is a diagram showing a relationship between a pilot pressure and a discharge flow rate of a flow rate control valve.

FIG. 21 is a flowchart showing the processing contents of the direction change control unit.

FIG. 22 is a diagram showing a relationship between a coefficient Ya and a distance Ya between a bucket tip and a boundary of a setting area in the direction conversion control unit.

FIG. 23 is a flowchart showing another processing content in the direction conversion control unit.

FIG. 24 is a distance Ya and a function Vc in the direction change control unit.
It is a figure which shows the relationship with yf = f (Ya).

FIG. 25 is a flowchart showing the processing contents of the restoration control unit.

[Explanation of symbols]

 1A front device 1B vehicle body 1a boom (second specific front member) 1b arm (first specific front member) 1c bucket 2 hydraulic pump 3a boom cylinder (second specific actuator) 3b arm cylinder (first Specific actuator) 4a to 4f; 14a to 14f Operation lever device 5a to 5f; 15a to 15f Flow control valve 7 Setting device (area setting means) 8a to 8c Angle detector (first detecting means) 8d Inclination angle detector ( 1st detection means) 9; 9A Control unit 9a Area setting calculation part (area setting means) 9b Front attitude calculation part (1st calculation means) 9c Target cylinder speed calculation part 9d Target tip speed vector calculation part 9e Direction conversion control calculation part (Second signal correction means) 9f Corrected target boom cylinder speed calculation unit 9g Restoration control calculation unit 9 Target boom cylinder speed calculation unit after correction 9i Maximum value calculation unit 9j Target boom pilot pressure calculation unit 9k Valve command calculation unit 9m Lever signal deceleration control calculation unit (first signal correction means) 10a, 10b Proportional solenoid valve (second signal correction) Means) 12 Shuttle valve 30a-35f Electromagnetic drive unit 50a-55b Hydraulic drive unit 61a-61d Pressure detector

Claims (9)

[Claims] 1. A plurality of driven members including a plurality of vertically movable front members constituting a multi-joint type front device, and a plurality of hydraulic actuators respectively driving the plurality of driven members. A plurality of operating means for instructing the operation of the plurality of driven members, and a plurality of hydraulic pressures that are driven according to operation signals of the plurality of operating means and that control the flow rate of the pressure oil supplied to the plurality of hydraulic actuators. In an area limiting excavation control system for a construction machine including a control valve, area setting means for setting a movable area of the front device; first detecting means for detecting a state quantity relating to the position and orientation of the front device; A first calculating a position and orientation of the front device based on a signal from the first detecting means;
Operation means; an operation relating to at least a first specific front member of the plurality of operation means when the front device is in the vicinity of its boundary in the setting area based on the operation value of the first operation means First signal correction means for subtracting the operation signal of the means, at least on the basis of the operation signal corrected by the first signal correction means and the calculated value of the first calculation means, the front device in the vicinity of its boundary within the setting area The front device moves in a direction along the boundary of the setting region and the moving speed is reduced in a direction approaching the boundary of the setting region, at least the second operation means among the plurality of operating means. A region limiting excavation control device for a construction machine, comprising: a second signal correcting unit that corrects an operation signal of an operating unit related to a specific front member. 2. The area limiting excavation control system for a construction machine according to claim 1, wherein the first signal correction means reduces the first identification as the distance between the front device and the boundary between the set areas becomes smaller. An area limiting excavation control system for a construction machine, comprising means for correcting an operation signal of an operation means related to the front member so that the amount of decrease of the operation signal becomes large. 3. The area limiting excavation control system for a construction machine according to claim 2, wherein the first signal correcting means further forms a small angle between a boundary between the first specific front member and the excavation area. An area limiting excavation control system for a construction machine, which is means for correcting an operation signal so that a decrease amount of the operation signal of the operation means related to the first specific front member becomes larger as it goes. 4. The area limiting excavation control system for a construction machine according to claim 1, wherein the first signal correction means is the first
A region limiting excavation control system for a construction machine, characterized in that it is a means for performing low-pass filter processing on an operation signal of an operation means relating to a specific front member. 5. The operation means related to at least the first and second specific front members among the plurality of operation means is a hydraulic pilot system that outputs pilot pressure as the operation signal, and the operation of the hydraulic pilot system is performed. The area limiting excavation control system for a construction machine according to claim 1, wherein an operation system including means drives a corresponding hydraulic control valve, wherein the second detection detects an operation amount of the operation means related to the first specific front member. The first signal correction means inputs the signal from the second detection means and the calculation value of the first calculation means, and when the front device is in the vicinity of the boundary within the setting area. , Second calculating means for calculating a limit value of the pilot pressure based on a signal from the second detecting means, and the pilot pressure given to the hydraulic control valve is the limit. First controlling the pilot pressure outputted from the corresponding operating means so as to be less
An area limiting excavation control system for a construction machine, comprising: a pilot pressure control means. 6. The area limiting excavation control system for a construction machine according to claim 5, wherein the operating system includes a first pilot line for guiding pilot pressure to a hydraulic control valve associated with the first specific front member, The first pilot pressure control means includes means for outputting an electric signal corresponding to the limit value of the pilot pressure, and first electrohydraulic conversion means installed in the first pilot line and driven by the electric signal. Area limiting excavation control equipment for construction machinery. 7. The area limiting excavation control system for a construction machine according to claim 5, further comprising third detecting means for detecting pilot pressure controlled by the first pilot pressure controlling means, and the second signal correcting means. Is a third calculating a pilot pressure applied to a hydraulic control valve corresponding to the second specific front member based on a signal from the third detecting means.
Area limitation of construction machine, characterized by including: computing means and second pilot pressure control means for controlling pilot pressure output from the corresponding operating means so as to obtain the pilot pressure calculated by the third computing means. Excavation control device. 8. The area limiting excavation control system for a construction machine according to claim 7, wherein the operation system includes a second pilot line for guiding a pilot pressure to a hydraulic control valve corresponding to the second specific front member, The second pilot pressure control means outputs an electric signal corresponding to the pilot pressure calculated by the third calculation means, and a second electrohydraulic conversion means driven by the electric signal to output the pilot pressure. Installed in the second pilot line,
A construction machine comprising: a pilot pressure output from the operating means relating to the second specific front member; and a means for selecting a high pressure side of the pilot pressure output from the second electrohydraulic converting means. Area limited excavation control device. 9. The area limiting excavation control system for a construction machine according to claim 1, wherein the first specific front member includes at least an arm of a hydraulic excavator, and the second specific front member includes at least the hydraulic excavator. An area limiting excavation control device for a construction machine including a boom.