JPH1037230A - Track automatic controller of hydraulic dredging machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a track automatic controller which is extremely excellent in operability. SOLUTION: Based on information for a turning angle of a boom 16, an arm 17 and a bucket 18 detected with each of turning angle sensors ranging from 12 to 14 of a work machine, a controller computes constantly the coordinates (x' and y') of the point of a blade of a bucket 18. When the coordinates (x' and y') of this point of the blade are judged to be in the range of a specified running-in operation starting position and the pilot pressure Pb on the boom, the arm draw pilot pressure Pa , a bucket push pilot pressure Pc and their time fluctuations are judged to be in an initial operating state when starting the running-in operation, an initial motion transfer work track automatic control is executed so as to transfer smoothly the work to slope surface leveling track complete automatic control. On the way of these control operations, if a condition which stops the leveling work track automatic control is satisfied, the work is transferred to a slope surface leveling work track cancellation automatic control which is designed to transfer smoothly to general work by conventional manual operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of hydraulic excavators such as hydraulic excavators,
The present invention belongs to the technical field of automatic trajectory control for automatically controlling a hydraulic drive mechanism so that a movement trajectory of a tip is a desired surface.

[0002]

2. Description of the Related Art Work contents of construction machines, for example, hydraulic shovels are various, but typical work is digging work,
There are loading / discharging work, transport work, leveling work, etc. Among these works, the slope leveling work is a fairly frequent work when constructing a road on a slope, etc., and high working accuracy is required. FIG. 16 is a sketch drawing showing a state in which a front downward slope leveling operation is performed by a hydraulic shovel. As shown in the figure, the downward slope leveling work in the front is performed after the bucket 18 has reached a sufficiently distant position, and then the arm 17 is rotated so as to be pulled toward the near side, and the boom 16 is slowly and initially moved backward. in increased to accelerate slightly, began bucket 18 slowly, by performing the combined operation of rotating as later pushed into accelerating slightly, is moved along the cutting edge of the bucket 18 to the reference slope face S _0, the bucket 18 cutting edge of leveling scraping abutting soil refers to work to make the plane along the reference slopes S ₀ having a predetermined angle with respect to the horizontal plane.

A long structure and a working body constituting a working machine, that is, a boom 16, an arm 17, and a bucket 18
Are operated independently of each other, as shown by arrows A, B and C, the pivoting portion of the boom 16 to the excavator body, the pivoting portion of the arm 17 to the boom 16, and the pivoting portion of the bucket 18 to the arm 17. , And the cutting edge of the bucket 18 draws an arc locus similar to the arrows A, B, and C. As described above, the boom 16, the arm 17 and the bucket 18 are combined with each other so as to draw an arc trajectory on the cutting edge of the bucket 18 in the single operation, so that a linearly inclined plane trajectory is formed.
The operation of operating the boom 16, the arm 17 and the operation of the bucket 18 is performed independently in the corresponding directions with a slightly balanced operation amount. It is an operation that can be achieved only after the operation, and simultaneously operating the two operation rods with a predetermined vector amount requires a high degree of skill, so that a superior workmanship is realized by the slope leveling operation. This is extremely difficult, and considerable skill is required to be able to execute the operation of moving the bucket 18 straight in a predetermined direction while keeping the attitude of the bucket 18 constant.

[0004] If the operator is immature, there may be a case where a large uneven surface is created instead of performing a slope leveling operation for creating a flat slope. FIG. 17 is a sketch drawing showing an example of the result of the slope leveling operation when the inexperienced operator operates the hydraulic excavator to perform the slope leveling operation. In the illustrated slope leveling operation, the movement of the boom 16 is a rotating operation that rises against its own weight, whereas the movement of the arm 17 is a rotating operation in which the center of gravity descends in the same direction as its own weight. If so, the movement of the arm 17 becomes too fast, and the cutting edge of the bucket 18 cuts into the slope. Therefore, the operator operates the boom operation rod so as to raise the boom 16 rapidly in a hurry, but this time the boom 16 rises too fast, and the cutting edge of the bucket 18 rises too much from the slope. As a result of repeating the operation of moving the blade edge of the bucket 18 up and down, a large uneven surface shown in FIG. 17 is formed on the work surface.

[0005] As described above, an attempt has been made to precisely perform a task requiring a high level of skill, such as a slope leveling task, which requires an extremely high level of operation capability, by computer control, in order to perform the operation manually. For example, see JP-A-58-3613.
No. 5, JP-A-55-30038, Japanese Patent Publication No.
Many proposals have been made in the past, such as the invention disclosed in Japanese Patent Publication No. 13378 and Japanese Patent Publication No. 3-28544.

[0006]

In the above prior arts, when performing excavation work or leveling work along a plane, numerical input by operating a control panel for setting a work area and a work surface is required. Position setting input with the work machine kept at the desired operating position, input of a work start command at the start of automatic control work and a work end command at the end of automatic control work, or a target by operating a correction operation rod An operation for setting the amount of deviation from the surface must be performed.
However, in many cases, these operations are performed by interrupting the manual operations such as heavy excavation, earth removal, and lifting operations that have been performed so far. Significantly impairs the operator's feeling of operating the hydraulic excavator, and these operations are completely different from the manual operation of the operating rod, which is the operation when performing ordinary general construction work using the hydraulic excavator. Continuity is lost, and the operator feels sparse and annoying. Therefore, even if the automatic turning and trajectory control device is mounted on a hydraulic excavator, this device is often not actually used, and is not very useful as an automatic control device for a hydraulic excavator.

Also, as described above, at the start of the slope leveling operation, the arm pull-in operation is cooperative with the downward rotational moment due to the weight of the arm itself, so that only a slight arm pull-in operation is performed. However, the bucket cutting edge at the end of the arm immediately descends, and the trajectory automatic control device that detects the downward rotation amount of the arm raises the boom following the movement of the arm and moves the bucket cutting edge along a predetermined slope. Even if an automatic control is performed to perform a slope leveling operation for moving the boom, a situation occurs in which the raising operation of the boom cannot follow the lowering operation of the arm due to an operation delay of the hydraulic drive mechanism or the like. As a result, the trajectory of the blade edge of the bucket 18 becomes a trajectory in which the blade edge of the bucket 18 cuts into the slope in the same manner as the work trajectory by the inexperienced operator shown in FIG. Even if the cutting edge is returned to the side of the slope, the cutting edge gets over the slope due to the rapid return control, so that only a work locus substantially equal to the work locus by manual operation can be obtained.

In order to prevent such a problem from occurring,
If the amount of movement information of the arm is detected and fed back to the trajectory automatic control device for feedback control, and the lowering operation of the arm at the time of initial movement is made slow, the operation of the boom or bucket can be easily performed. Automatic control that follows the operation of the trajectory can be performed, but this not only significantly reduces the work efficiency, but also complicates the automatic control mechanism, which also makes the trajectory automatic control device of low practical value. I will.

The present invention eliminates the disadvantages of the prior art and eliminates the need to interrupt the operation of general work by a normal manual operation at the time of starting automatic operation control of a desired work trajectory. No special operation information input operation is required, and only manual operation of the operation rod as intended by the operator to form a desired work path is performed. It is possible to smoothly transition to the trajectory automatic control of the work trajectory without any discomfort, and preferably, the operation state of the operating rod operated by the operator is shifted or the work trajectory is formed by the currently performed trajectory automatic control. If it is determined that the operation is not intended, the automatic trajectory control is immediately stopped, and the normal hydraulic drive operation by the manual operation of the operation rod by the operator is performed smoothly and smoothly. Back it and to provide an excellent hydraulic excavating machine trajectory automatic control system for operability can.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention always monitors the operation state of the operation rod operated by the operator after the automatic trajectory control operation is started. It is determined whether or not the operation amount and the change amount of the operation amount of the operation rod are within a predetermined standard trajectory initial movement operation range and a standard trajectory initial movement operation change range, and when the determination result is negative. When the drive command corresponding to the operation state of the operation rod is transmitted to the hydraulic drive mechanism as it is and the operation according to the drive command is performed, and when the determination result is correct,
The operation state of the operation rod is determined to be an initial movement operation for drawing a predetermined standard movement locus, and after a predetermined time, the drive command is corrected or a new drive command is generated and transmitted to the hydraulic drive mechanism. In order to shift to the standard trajectory automatic control in which the bucket automatically draws a standard movement trajectory, the drive command corresponding to the operation amount of one large value of the operation rod is gradually limited to the standard trajectory automatic control. Is transmitted to the hydraulic drive mechanism, and the drive command corresponding to the operation amount of the other operation rod is a drive command with a restriction gradually approaching the standard trajectory automatic control, and one of the operation rods Among the drive commands for performing the standard trajectory automatic control in response to the drive command corresponding to the large operation amount, the initial movement transition control for transmitting the large drive command to the hydraulic drive mechanism is performed.

Preferably, in addition to the operation state of the operating rod operated by the operator, the coordinates of the target point or the bucket angle set at a predetermined position of the bucket are constantly monitored, and the operation amount of the operating rod and the operating rod are controlled. It is determined whether the change amount of the operation amount is within a predetermined standard trajectory initial movement operation range and the standard trajectory initial movement operation change range, and whether the point of interest is within a predetermined trajectory control start area. No, or whether the posture of the bucket is within the trajectory control start work body posture range, and when the judgment result is no, a drive command corresponding to the operation state of the operation rod is transmitted to the hydraulic drive mechanism. The operation state is determined to be an initial operation for drawing a predetermined standard movement locus, and the initial operation transition is performed. To take control One in which the.

After the transition to the initial movement transition control or the standard trajectory automatic control, the operation state of the operation rod operated by the operator is constantly monitored, and the operation state meets a predetermined standard work trajectory automatic control release condition. Is determined, and if the determination result is correct, the operator determines that the standard trajectory automatic control is not intended, and changes the content of the drive command in the initial movement transition control or the standard trajectory automatic control to the operator. The trajectory automatic control release control for transmitting to the hydraulic drive mechanism a drive command for gradually approaching the content of the drive command corresponding to the operation state of the operation rod by the controller is performed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Automatic trajectory control in the present invention can be suitably realized by a microcomputer (microcomputer) mounted on a general hydraulic excavating machine, similarly to the conventional apparatus. Hydraulic excavators are typically hydraulic excavators,
Civil work that is the subject of trajectory automatic control requires a high degree of operation skill, and is a work that draws a standard trajectory with a high frequency of operation, for example, leveling work, and more typically, on a sloped ground. This is a slope leveling operation that is a leveling operation. In the following description, it is assumed that the trajectory automatic control of the slope leveling work for leveling the inclined ground, which is a typical example described above, is taken into consideration. The same applies to the case where any other standard work trajectory is automatically drawn.

According to the present invention, even when the automatic trajectory control operation is started, when the general operation is performed by the manual operation of the operation rod, the operation of the hydraulic excavation machine by the manual operation of the operation rod by the operator is performed normally. Since it is configured to be able to perform completely the same as the operation of the hydraulic excavating machine by manual operation, it is suitable as the drive control element of the hydraulic drive circuit of the actuator to optimally operate the command information by operating the operation rod at each time It includes an electromagnetic (proportional) pressure reducing valve that enables control to apply a restriction as a command. As a means for transmitting the operation direction and the operation amount of the operated operation rod, which is operation information of the operation rod, a pilot control method in which pilot oil is interposed and an electric control method of performing electro-mechanical conversion through an electric signal are known. However, the control form is essentially unchanged by any of the transmission means, and the pilot control method is general. Therefore, in the following description, the pilot control method is assumed.

However, as long as the microcomputer control is assumed as described above, the essential part of the trajectory automatic control is based on the electric control. Therefore, in this case, the operation amount of the operation rod is the pressure of the pilot oil flowing out of the pilot valve connected to the operation rod, that is, the pressure value of the electric signal obtained by detecting and converting the pilot pressure by the pressure sensor. The automatic control includes a method of reducing the pilot pressure converted to the electric signal, and the reduced pilot pressure is applied to a pilot receiving portion of a direction switching valve that switches a direction and a flow rate of hydraulic oil supplied to the actuator. Will be communicated. That is, in this case, the control of the pilot pressure transmitted to the pilot receiving portion of the direction switching valve is performed by controlling the current supplied to the electromagnetic pressure reducing valve directly connected to the pilot pump or the electromagnetic pressure reducing valve directly connected to the pilot valve connected to the operation rod. It means control.

In order to perform automatic trajectory control, it is generally necessary to detect the position and speed of the work body, but the position of the work body is determined by detecting the rotation angle of the joint of the work arm of the work machine. The relative angle of each work arm is detected by the angle sensor, and the coordinate of the work body can be easily calculated by the microcomputer by well-known coordinate conversion based on the detected relative angle. Also, predetermined trajectory control start area information or standard trajectory initial movement operation range information and standard trajectory initial movement operation, which are prerequisites for starting automatic control of the standard trajectory, where the position of the work body or the operation state of the operation rod should be. The change range information or the release condition information related to the operation state of the operation stick, which is the basis for determining whether to stop the trajectory control operation, is stored in advance in the memory of the microcomputer.

Next, an outline of the basic operation of the present invention will be described. FIG. 2 is an operation conceptual diagram for explaining an outline of the operation of the trajectory automatic control. In the automatic trajectory control according to the present invention, a manual operation trajectory automatic control for performing a standard operation trajectory automatic control for performing a standard operation trajectory for a standard operation such as a slope leveling operation or the like is clearly distinguished by an operator. In addition, the operation can be executed as a continuous operation without interruption when shifting from one control to the other control.

As shown in FIG. 1, when the automatic trajectory control mode is started, the operation is no different from the manual operation control of the general operation of the hydraulic excavating machine by the manual operation of the normal operation rod. (S1) A condition for judging whether or not to start a standard work trajectory automatic control for automatically controlling some standard works requiring a relatively high frequency and requiring a high degree of operation skill according to a preset program, that is, It is determined whether the standard operation start condition [A] is satisfied (S2). If the judgment result is correct, the standard work trajectory automatic control is executed (S3). If the judgment result in step S2 is negative, the normal general work by manual operation is continued. Therefore, in the present invention, control that is substantially the same as control by manual operation is performed unless the result of the determination in step S2 becomes true.

Further, while the result of the determination in step S2 is true and the automatic control of the standard work trajectory is being executed, the operation state of the operating rod is monitored and the automatic control of the standard work trajectory is always stopped. It is determined whether or not the condition for determining whether or not to perform, that is, whether or not the standard work release condition [B] is satisfied (S4). If the determination result is correct, the standard work trajectory automatic control is stopped, and the control returns to the general work control by the normal manual operation in step S1.
If the result of the determination in the step S4 is negative, the procedure returns to the step S3 to continue the standard work trajectory automatic control.

As described above, according to the present invention, when the standard work start condition determined in step S2 or the standard work trajectory automatic control release condition determined in step S4 is satisfied, the normal general manual operation control in step S1 is performed. From step S3 to the standard work trajectory automatic control, or conversely, from the standard work trajectory automatic control of step S3 to the normal general manual operation work control of step S1 at any time. This is significantly different from the case where the tasks are separately processed as different tasks according to the input of the work start information and the input of the work end information by the operator.

That is, while the control of the general work is being performed by the manual operation, in step S2, the microcomputer performs the operation of the operation rod by the operator or the posture of the bucket attached to the tip of the work machine and the position of the bucket. By examining the coordinates of the predetermined point of interest, for example, the cutting edge, whether the operator intends to execute a normal general operation by manual operation or to execute a standard operation capable of automatic trajectory control And determine
When it is determined that the standard work such as a slope leveling operation is intended to be performed, the process immediately proceeds to the standard work trajectory automatic control in step S3, and the trajectory of the bucket by the manual operation of the operator is accurately determined for the predetermined standard work. Control is performed to adjust the flow rate of hydraulic oil to each actuator so as to form a trajectory. Furthermore, when it is determined that an operation significantly different from the operation at the time of executing the standard work has been performed while the automatic control of the standard work trajectory is being performed,
The automatic control of the standard work trajectory is immediately released, and the control automatically returns to the control of the general work by the normal manual operation faithfully following the manual operation of the operator.

Next, the standard work start condition [A] and the standard work release condition [B] determined in steps S2 and S4 will be described. First, the standard operation start condition [A] will be described. The standard operation start condition [A] can be set to several conditions. For example, as described above, the operation range in which the operation state of the operation stick of the operator is intended to start the standard operation can be determined. That is, the standard trajectory initial movement operation range condition [AI1] and the change in the operation amount of the operation rod are within a change range in which it can be determined that the standard work start is intended, that is, the standard trajectory initial movement operation change range condition [ AI
2] is one suitable standard work start condition [AI].

Further, other standard work start conditions [A] include that the coordinates of the cutting edge of a bucket attached to the tip of the work machine, and that the posture of the bucket is within a range in which it can be determined that the standard work is intended to start. That is, the spatial position area condition of the predetermined coordinates of the bucket, ie, the trajectory control start area condition [AII1] or the bucket posture range condition at the start of work, ie, the trajectory control start work body posture range condition [AII1]
2], and these conditions are also appropriate standard operation start conditions [AII]. The standard operation start condition [A] is obtained by performing a statistical process by examining the initial operation state at the start of the standard operation or the spatial position and attitude of the bucket by a large number of operators. [AI1], the standard trajectory initial movement operation change range condition [AI2], the trajectory control start area condition [AII1], or the trajectory control start work body posture condition [AII2].

Next, the standard work release condition [B] will be described. Although some conditions can be set in the setting of the standard work release condition [B], in the present invention, the operating state of the operating rod at the time of executing the standard work by the operator is checked, and the operating state of the operating rod of the operator is determined. Are standard operation stop operation conditions [B] that are significantly different from those for continuing the standard operation. In practice, an operation state with a very low operation frequency among the operation states of a large number of operation rods during the execution of the standard operation is defined as the standard operation stop operation condition [B].

As described above, the operator always determines whether or not the standard operation release condition [B] of the conceptual procedure S4 of the automatic trajectory control of FIG. 2 is satisfied during the execution of the standard operation trajectory automatic control. When the operation stick is operated to complete the standard work and move to another work, not only can the standard work trajectory automatic control be quickly terminated, but also the operation of the operation stick against the operator's intention Change the condition to the standard operation start condition [A]
Is satisfied, the standard operation trajectory automatic control is immediately terminated when the operation state of the operating rod by the operator satisfies the standard operation release condition [B]. The control can be returned to the general manual operation work control (S1). Hereinafter, an embodiment in which the present invention is applied to automatic control of a work trajectory for leveling a hydraulic excavator will be described in detail with reference to the drawings.

[0026]

FIG. 1 is a hydraulic control circuit diagram according to an embodiment of the present invention. In the figure, reference numeral 1 denotes a hydraulic control valve including a boom directional switching valve, an arm directional switching valve, and a bucket directional switching valve (not shown), and 2, 3 select a higher hydraulic pressure from among the hydraulic pressures of the inflowing pilot oil. A high-pressure selection valve that causes the oil to flow out, and 4 is an electromagnetic (proportional) pressure-reducing valve on the boom that reduces the oil pressure of the pilot oil that flows out of the pilot valve on the boom described later. Then, an electromagnetic (proportional) pressure reducing valve on the boom for generating a complementary pilot pressure on the boom for complementing the pilot pressure for raising the boom, and 6 is an arm for reducing the oil pressure of pilot oil flowing out from an arm pulling pilot valve described later. An electromagnetic (proportional) pressure reducing valve 7 reduces the oil pressure of the pilot oil discharged from the pilot pump to compensate for the bucket pressure. Tsu DOO push complement pilot pressure bucket press complements pressure generating solenoid for generation (proportional) pressure reducing valve, 8
Is a bucket pushing electromagnetic (proportional) pressure reducing valve for reducing the hydraulic pressure of pilot oil flowing out of the bucket pushing pilot valve described later, and 9 is linked to a boom raising operation rod to be described later and corresponds to the operation amount at the time of the boom raising operation. An on-boom pilot valve from which pilot oil flows out, 9a is a boom-on operation rod, and 10 is an arm pull-on pilot valve from which pilot oil flows out according to the operation amount at the time of arm retraction operation in conjunction with an arm reference operation rod described later. Reference numeral 10a denotes an arm quoting operation rod, 11 denotes a bucket pressing pilot valve in which pilot oil corresponding to the operation amount flows out during bucket pushing operation in conjunction with a bucket pressing operation rod described later, and 11a denotes a bucket pressing operation rod. is there.

Further, 12 is provided on the rotation fulcrum of the boom 16 in the hydraulic excavator body to be described later, the boom rotation angle sensor for detecting the rotational angle theta _b of the boom 16, the arm at the distal end of the boom 16 13 provided rotation fulcrum 17, the arm rotation angle sensor for detecting the rotational angle theta _a of the arm 17, 14 is provided on the rotation fulcrum of the bucket 18 at the distal end of the arm 17, the rotation of the bucket 18 A _pivot angle sensor for buckets for detecting the angle θ _bu , a hydraulic excavator body 15, and an oil discharge flow rate detector 19 for detecting a discharge flow rate Q _max of a hydraulic pump (not shown) serving as a supply source of hydraulic oil.

Furthermore, 20 pilot pump serving as a source of the pilot oil, 21 boom on a pressure sensor for detecting the boom on the pilot pressure p _b of pilot oil flowing out of the boom on the pilot valve 9, 22 is the arm pulling pilot valve arm suction pressure force sensor which detects an arm pulling pilot pressure p _a of the pilot oil flowing out of the 10, 23 buckets pressing force sensor for detecting the bucket push pilot pressure p _c of the pilot oil that flows out from the bucket press the pilot valve 11, 24 It consists of a microcomputer,
It is a control device which performs automatic slope trajectory control according to the present invention. The same parts as those in the conventional example are denoted by the same reference numerals, and redundant description will be omitted. The specific configuration of the boom directional switching valve, arm directional switching valve and bucket directional switching valve included in the hydraulic control valve 1 and the boom 16 and the boom cylinder, the arm 17 and the arm cylinder, the bucket 18 and the bucket cylinder, The hydraulic circuits to be connected to each other do not have any new features and are not shown because they merely complicate the figure.

FIG. 8 shows a hydraulic excavator body 15 positioned parallel to the ground inclined by an inclination angle R _{i with} respect to a horizontal plane.
It is an explanatory view showing the relationship between the three-dimensional coordinate system for describing the coordinates of the cutting edge C of the bucket 18 when performing the leveling work inclined slope face by the inclination angle R _d with respect to the ground. In the figure, the origin O is a pivot point of the boom 16 and the Z axis is an axis passing through the origin O and perpendicular to the paper surface. In this embodiment, three coordinate systems that share the origin O and the Z axis, namely, , XY coordinate system, X'-Y 'coordinate system and X "-Y" coordinate system have been introduced. In the XY coordinate system, the Y axis is an axis perpendicular to the slope, the X axis is the axis in the arm pushing direction parallel to the slope, and the X'-Y 'coordinate system is the Y' axis in the axis perpendicular to the horizontal plane. The axis is the axis of the arm pushing direction parallel to the horizontal plane, the X "-Y" coordinate system is the Y "axis, the axis perpendicular to the ground on which the excavator body 15 is located, and the X" axis is the axis of the arm pushing direction parallel to the ground. Is set as

As is clear from the above description, the angle between the X 'axis and the X "axis is the tilt angle R _i , and the angle between the X axis and the X" axis is the tilt angle _Rd . T ₀ and R ₀ are each arm 1
The angle between the X-axis and the X'-axis and the straight line connecting the rotation fulcrum 7 to the origin O, and T ₁ and R ₁ are the X-axis and the arm respectively connecting the rotation fulcrum of the arm 17 and the rotation fulcrum of the bucket 18. The angle formed by the straight line connecting the rotation fulcrum 17 and the origin O,
T _2, R ₂ is an angle respectively formed by the straight line connecting the rotation fulcrum of the pivot point and the bucket 18 of the straight line and the X axis and the arm 17 connecting the edge C of the pivot point and the bucket 18 of the bucket 18, R _B is the bucket 18 lines and bottom S angle between the arms Oshikata direction of _B of the bucket 18 which connects the cutting edge C of the pivot point and the bucket _{18, L 0, L 1, L} 2 are each arm 17
The length of the line connecting the rotation fulcrum and the origin O, the length of the line connecting the rotation fulcrum of the arm 17 and the rotation fulcrum of the bucket 18, and the length of the line connecting the rotation fulcrum of the bucket 18 and the cutting edge C of the bucket 18 This is the length of the line segment, and other angles and dimensions are as shown. For simplicity, in the following description the ground will coincide with the horizontal plane, ie, the X'-Y 'coordinate system and X "
The -Y "coordinate system is assumed to be the same, so that the inclination angle R
_i = 0 _{becomes, T 0 = R 0 -R d} T 1 = T 0 -R 1 = R 0 -R d -R 1 T 2 = T 1 -R 2 = R 0 -R d -R 1 -R 2 ...... (1) Further, in this embodiment, since it is assumed to perform the leveling work slope, the _{T 2 + R B = -π ......} (2). (1) From equation (2), the angle R formed between the X axis and the X 'axis
_{d is, R d = R 0 -R 1} -R 2 + R B + π ...... (3) and composed.

Next, the coordinates (x,
y) becomes _{x = L 0 cosT 0 + L} 1 cosT 1 + L 2 cosT 2 y = L 0 sinT 0 + L 1 sinT 1 + L 2 sinT 2 ...... (4) in the X-Y coordinate system. From coordinates (x, y) in the XY coordinate system, X′−
In order to obtain the coordinates (x ', y') in the Y 'coordinate system, conversion may be performed by the following generally known conversion formula. x ′ = x cosR _d + y sinR _d y ′ = − x cosR _d + y cosR _d (5) As shown in FIG. 1, the control device 11 includes a boom rotation angle sensor 12 and an arm rotation angle sensor 13. , The rotation angles θ _b , θ _a , θ _{bu of} the boom 16, the arm 17, and the bucket 18 detected by the bucket rotation angle sensor 14, and the known length of each work arm, respectively. The coordinates (x, y) of the cutting edge C, that is, the coordinates (x ′,
y '), and the coordinates (x', y ') of the cutting edge C are calculated as follows:
On-boom pressure sensor 21, arm pull pressure sensor 22
And the boom-on pilot pressure p _b and the arm pulling pilot pressure p _a detected by the bucket pressing force sensor 23, respectively.
And a bucket push pilot pressure p _c, based on the discharge flow rate Q _max of the hydraulic pump oil discharge flow rate detector 19 detects a boom on the solenoid pressure reducing valve 4, a boom on complementary pressure generating solenoid pressure reducing valve 5, the arm pull solenoid vacuum the valve 6, respectively control current to the bucket press complements pressure generating solenoid pressure reducing valve 7 and the bucket press solenoid pressure reducing valve _{8 e b, e d, e} a, e e, and outputs the e _c.

[0032] Thus, the pressure SV _b hydraulic pressure of the pilot oil that flows out of the electromagnetic pressure reducing valve 4 to 8 stop, SV _d, S
V _a, SV _e, is controlled so as not to exceed the SV _c, 3 systems of the pilot oil in the hydraulic flowing into the hydraulic control valve 1, i.e., the boom on the actual pilot pressure p _br, arm引実pilot pressure p _ar and bucket By controlling the actual pilot pressure p _cr, automatic control of the leveling work trajectory according to the control mode at that time is executed. Note that a program for automatic control of the leveling work trajectory is stored in a ROM (not shown) incorporated in the control device 11.

As described above, the control device 11 controls the rotation angles θ _b , θ _a , θ _{bu of} the boom 16, the arm 17, and the bucket 18 detected by the rotation angle sensors 12 to 14 of the working machine, and the known operations. The coordinates (x ', y') of the cutting edge C of the bucket 18 are calculated based on the information on the length of the arm, and the coordinates (x ', y') of the cutting edge C are set to a predetermined slope leveling work start position. It is determined whether or not it is within the region R, and the bucket 18
It is determined whether or not the orientation of the bottom surface is within a predetermined angle range. Furthermore, the boom on the pressure sensor 21, the arm suction pressure force sensor 22 and the bucket pressure sensor 23 is a boom on the pilot pressure p _b detected respectively, the value and rate of change in their arm pulling pilot pressure p _a bucket push pilot pressure p _c Are monitored to determine whether or not they are within a preset slope leveling operation start operation area and a slope leveling operation start operation change rate area, respectively.

If it is determined that all of these results are true, the hydraulic excavator body 1 is leveled, that is, the posture of the bucket 18 is maintained along a predetermined slope.
In order to perform a leveling operation that draws straight to the 5th side, an operation command output when the operator manually operates the boom-up operation rod 9a, the arm quotation operation rod 10a, and the bucket pushing operation rod 11a is corrected. In order to smoothly transition to the automatic slope control work trajectory (II), in which the cutting edge C of the bucket 18 reliably draws a trajectory along a predetermined slope, the automatic slope control work trajectory is automatically controlled. run the starting position slope leveling the working path full automatic control (II) is a predetermined reference slopes S ₀ in initial migration locus automatic control to a cutting edge C is moved smoothly predetermined time bucket 18 to be performed (I) I do.

Further, the initial movement shift work trajectory automatic control (I)
Or even after the slope leveling work trajectory full automatic control (II) is started the control device 11 is a boom on the pilot pressure p _b and the arm pulling pilot pressure p _a bucket push pilot pressure p _c
And the rate of change thereof are monitored, and it is determined whether or not any of them is out of the leveling operation continuation operation area, and the slope leveling operation continuation operation area or the slope leveling operation continuation operation change is determined. If it is determined that the operation stick is out of the range, each operation stick 9a to 1
The manual operation 1a is determined to be intended by the operator to release the automatic slope leveling work trajectory fully automatic control (II). Automatic trajectory release control (IV) for smoothing the slope to smoothly return to the control of the normal manual operation by the manual operation of the boom operation rod 9a, the arm operation rod 10a and the bucket pushing operation rod 11a. . Note that the details of the above-described slope leveling work trajectory fully automatic control (II) are the same as those of the conventionally proposed well-known slope leveling work trajectory automatic control, and therefore the description thereof will be briefly described in this specification. I will stop.

Next, the operation of this embodiment will be described. FIG. 5 to FIG. 7 are flowcharts of the automatic control of the trajectory of the slope smoothing operation according to the present embodiment. The operation of automatic control of the slope leveling work trajectory will be described with reference to these drawings. When the slope smoothing work trajectory automatic control mode is selected, the slope smoothing work automatic control is started. However, even if the slope leveling work trajectory automatic control mode is selected, the operator manually operates the boom operation rod 9a, the arm operation rod 10a, and the bucket pushing operation rod 11a to perform operations other than the slope leveling operation. The general construction and civil engineering work can be performed in the same manner as the normal work by manual operation. In the first step S11, the operator operates the boom operation rod 9a and the arm operation rod 10 by ordinary manual operation in order to perform a general operation other than the slope leveling operation.
The figure shows a processing procedure that allows the work implement to perform an operation that is completely the same as an operation by a normal manual operation when the user operates the a and the bucket pushing operation rod 11a.

That is, when the operator operates each of the operating rods 9a to 11a in order to perform a normal general operation, the controller 11
When the operator determines that the operator is going to perform a general operation other than the slope leveling operation, the electromagnetic pressure reducing valve 4 on the boom, the electromagnetic pressure reducing valve 5 on the boom, the electromagnetic pressure reducing valve 5 on the arm, the electromagnetic pressure reducing valve 6 on the arm, and the bucket pushing complementary pressure. control current e _b respectively to generate an electromagnetic pressure reducing valve 7 and the bucket press solenoid pressure reducing valve 8 is outputted, e _d, e _a,
The values of e _e and e _c are set to the throttle pressure S of each of the electromagnetic pressure reducing valves 4 to 8.
_{V b, SV d, SV a} , SV e, SV c boom on the pilot pressure p boom on the pressure sensor 6, respectively were detected
additional pressure Delta] p _b the value added of small value _b, 0, arms suction pressure force sensor 7 is added pressure Delta] p _a value plus a small value in the arm pulling pilot pressure p _a detected, 0, and bucket pressure sensor 23 is controlled to be a value obtained by adding the additional pressure Delta] p _c of small value in the bucket push pilot pressure p _c detected (S11). _{SV b = p b + Δp b} (Δp b> 0 and _{Δp b ≒ 0) SV d =} 0 SV a = p a + Δp a (Δp a> 0 and _{Δp a ≒ 0) SV e =} 0 SV c = p c + Δp _{c (Δp c>} 0 and _{Δp c ≒ 0) ...... (6} ) Thus, during the general operation in steps S11 boom on the solenoid pressure reducing valve 4, the diaphragm of the arm pull solenoid pressure reducing valve 6 and the bucket press solenoid pressure reducing valve 8 pressure SV _b, SV _a, SV _c always boom on the pilot pressure p _b the value of arm pulling pilot pressure p _a, additional pressure Delta] p _b of the respective smaller value than the bucket push pilot pressure p _c, Δp _a, Δp _c only By setting the value to a large value, when the operator operates the boom operation rod 9a, the arm quoting operation rod 10a, and the bucket pushing operation rod 11a in order to perform general work, the boom-up pilot valve 9, the arm pull pilot valve 10 And bucket push pyro DOO valve 11 the boom on the pilot pressure in the pilot oil that flows out from each of p _b, arm pulling pilot pressure p _a, bucket press pilot pressure p _c is on the boom solenoid pressure reducing valve 4, the arm pull solenoid pressure reducing valve 6 and the bucket press solenoid pressure reducing valve 8 is depressurized, the initial boom on the pilot pressure pilot pressure transmitted to the hydraulic control valve 1 p _b, arm pulling pilot pressure p _a, is suppressed to a value smaller than the bucket push pilot pressure p _c, the boom 16, arm 17 The movement of the bucket 18 does not differ from the movement intended by the operator. That is, when the operator operates each of the operating rods 9a to 11a to perform a general operation, each pilot pressure p of the pilot oil flowing out of each of the pilot valves 9 to 11 is set.
_b, p _a, p _c is without change, the actual pilot pressure p _br,
The _signals are output to the hydraulic control valve 1 as p _ar and _pcr .

The supplementary pilot pressures p _d and p _e generated by the boom-on-boom supplementary pressure generating electromagnetic pressure reducing valve 5 and the bucket pushing complementary pressure generating electromagnetic pressure reducing valve 7 are unnecessary in this case, and thus the throttle pressures SV _d and SV _e. Is set to 0. The additional pressure Delta] p _b, Delta] p _a, are you a small value Delta] p _c positive, exit the general working tolerance control steps S11, substantial trajectory automatic control is started, initial migration path, which will be described later Boom electromagnetic pressure reducing valve 4 when shifting to automatic control (I),
By shortening the moving distance of the spool when the arm pulling electromagnetic pressure reducing valve 6 and the bucket pushing electromagnetic pressure reducing valve 8 rise, the rising time of the automatic control operation is shortened as much as possible, and the initial movement shift work path automatic control is quickly performed. This is because the operation can shift to the operation (I).

FIG. 9 shows a control current e of the arm pulling electromagnetic pressure reducing valve 6.
FIG. 4 is a characteristic diagram showing _a relationship between _a and the throttle pressure SVa. As shown in the figure, the control current e _{a is set} such that the equation (6) always holds.
By controlling the value, always arm pull pilot pressure p _a at the downstream arm pull solenoid pressure reducing valve 6 can be without change, to be transmitted. Further, since the additional pressure Delta] p _a is a small value, when the transition to the operation of the initial migration locus automatic control (I), to the control current e _a output from the control unit 11 is a small control current e _a ' When this happens, the spool of the arm pulling electromagnetic pressure reducing valve 6 can be quickly moved to shift the throttle pressure to SV _a '. Above circumstances even in relation to the throttle pressure SV _b and the control current e _b and diaphragm pressure SV _c and the control current e _c is exactly the same.

Next, proceeding to step S12, among the standard work start conditions [A], conditions relating to the state of the work machine at the start of work, ie, the trajectory control start area condition [AII1] and the trajectory control start work body posture It is determined whether or not the range condition [AII2] is satisfied. First, the trajectory control start area condition [AII1]
It is determined whether the cutting edge C (x ', y') of the bucket 18 is within the slope leveling work start position region R (C (x ', y').
y ') ∈R? J). The control device 11 controls the rotation angles θ _b , θ _a , θ _{bu of} the boom 16, the arm 17 and the bucket 18 detected by the rotation angle sensors 12 to 14 of the work machine.
The coordinates (x ', y') of the cutting edge C of the bucket 18 are always calculated based on the known information on the length of each working arm, and the coordinates (x ', y') of the cutting edge C are stored in the ROM. Is determined to be within the predetermined slope leveling work start position area R read out from.

FIG. 3 is a schematic diagram showing a slope leveling work start position area. In the figure, the hatched area is a slope leveling work start position area R, which has a predetermined spread in the turning direction (not shown). The work start position region R is set as a region where the frequency of the start of the slope smoothing operation is considerably high by examining the position of the blade edge C of the bucket 18 at the start of the slope smoothing work by many operators.

Further, the posture of the bucket 18 as the locus control start working body posture range condition [AII2], i.e., the direction of the bottom surface S _B of the bucket 18, i.e., the range rotation angle theta _bu bucket 18 is predetermined (times (Movement angle range). Since the rotation angle θ _bu of the bucket 18 can be described by an angle R _d formed by the X axis and the X ′ axis, the angle R formed by the X axis and the X ′ axis
When the lower limit angle and the upper limit angle _d and R _d1, R _d2, trajectory control start working body posture range condition [AII2] it is expressed by the following equation. R _d1 ≦ R _d ≦ R _d2 (7) The lower limit angle R _d1 and the upper limit angle R _d2 are the buckets 18 at the start of the slope leveling work by a large number of operators, similarly to the work start position area R.
Posture statistically processed by examining the, which work start frequency smoothing slope is set as a considerably higher range limits, in the present embodiment shown in FIG. 4, the bottom surface of the bucket 18 S _B
Are limited in the horizontal direction indicated by the arrow a and the boom 16.
And a value corresponding to an inclination limit direction indicated by an arrow b which is closer to the rotation limit of the bucket 18 when the working arm of the working machine is extended as the arm 17 approaches a substantially straight line.

Next, if the result of the determination in step S12 is true, that is, if both the trajectory control start area condition [AII1] and the trajectory control start work body posture range condition [AII2] are satisfied, the standard work in step S13 is performed. The process proceeds to a determination as to whether or not the start condition [AI] is satisfied. The standard operation start condition [AI] in which the object to be determined is the operation condition of the operation rod is empirically determined from a position slightly above the neutral position of the operation rod 9a for the boom, the operation rod 10a for quoting the arm, and the operation rod 11a for pushing the bucket. When the operation amount is increased at a slightly lower speed, the pilot pressure p _b on the boom, the arm pulling pilot pressure p _a ,
The values and ranges of their variation bucket push pilot pressure p _c. Accordingly, the boom on the pilot pressure p _b, arm pulling pilot pressure p _a, the change with time of the bucket push pilot pressure p _c, i.e., these pilot pressure p _b, p
_a, respectively a differentiated p _c time boom on the pilot pressure variation v _b, arm pulling pilot pressure variation v _a, when the bucket push pilot pressure variation v _c, the standard task starting condition [AI], i.e., the standard locus initial Operating range conditions [AI
1], the standard locus initial operation change range condition [AI2] _{is, p a1 ≦ p a ≦ p} a2, p b1 ≦ p b ≦ p b2, p c1 ≦ p c ≦ p c2 and v _a3 ≦ v _a ≦ v _a4 , V _b3 ≦ v _b ≦ v _b4 , vc ₃ ≦ v _c ≦ v _c4 where p _a1 , p _a2 ≪p _amax (maximum pilot pressure of arm pull), p _b1 , p _b2 2p _bmax (maximum pilot pressure on boom) _{), p c1, p c2 «p} cmax ( bucket押最large pilot _{pressure), v a3, v a4 ≒} v amax ( arm引最large pilot pressure _{fluctuations) / n, v b3, v} b4 ≒ v bmax ( boom on the maximum pilot pressure _{fluctuations) / n, v c3, v} c4 ≒ v cmax ( bucket押最large pilot pressure fluctuations) / n (n is greater than 2, and less than 10 number) (8 ').

A virtual function {1} when the standard trajectory initial operation range condition [AI1] and the standard trajectory initial operation change range condition [AI2] are satisfied, and 0 when not satisfied.
_{(P a, p b, p} c, v a, v b, v c) by defining a standard trajectory initial operating range condition [AI1] and the standard locus initial operation change range condition [AI2] is easy, [psi = 1... (8). Note that each pilot pressure p _b ,
p _a , p _c and each pilot pressure fluctuation v _a , v _b , v _c
As described above, the value of is examined and statistically processed by examining the initial operation state of the operating rod at the start of the slope smoothing operation by a large number of operators, and the pilot pressures p _a and
It is set as a boundary value of the range between p _b , _pc and each pilot pressure fluctuation v _a , v _b , v _c .

If the result of the determination in the step S13 is true, that is, if the standard work start condition [AI] is satisfied and all the standard work start conditions [A] are satisfied, the process proceeds to the step S14, where the process is substantially completed. Automatic slope trajectory work trajectory automatic control is started. In this procedure, the initial movement transition work trajectory automatic control (I) is performed,
It corrects the operation command slope leveling work by the operator of the manual operation smoothly moved in the direction along the reference slopes S ₀ a cutting edge C of the bucket 18, slope leveling work trajectory full automatic control (I
Be able to smoothly transition to I). As a result, it is possible to prevent a large vertical vibration of the bucket 18 due to an operation delay of the hydraulic control system or the like when the automatic control of the trajectory of the rapid leveling operation is introduced as in the related art.

FIG. 11 is an operation signal waveform diagram showing a slightly exaggerated operation state of the operation rod at the time of initial movement when an inexperienced operator operates a hydraulic shovel to perform a slope leveling operation, and FIG. The on-boom electromagnetic pressure reducing valve 4, the on-boom complementary pressure generating electromagnetic pressure reducing valve 5, in the initial movement transition work trajectory automatic control (I) of the embodiment,
Arm pull solenoid pressure reducing valve 6, the control current e _b respectively outputted to the bucket press complements pressure generating solenoid pressure reducing valve 7 and the bucket press solenoid pressure reducing valve _{8, e d, e a,} e e, explaining the process of generating e _c FIG. 13 shows the control currents e _b and e
_{d, e a,} e e, diaphragm pressure SV _b that respectively generated in the solenoid pressure reducing valves 4-8 by _{e c, SV d, SV a} , SV
_e, SV _c and the actual pilot pressure p _br applied to the hydraulic control valve 1 is a pressure waveform diagram of p _ar, p _cr.

In FIG. 11, curves (i), (ii) and (iii) show the pilot pressures p on the outflow side of the pilot valves 9 to 11 when an inexperienced operator operates the operation rods 9a to 11a. _b , p
_a, the time variation of p _c, the curve (iv), (v) Each pilot pressure p _b giving straight slope trace corresponding to the arm pulling pilot pressure p _b shown in curve (i), the p _c respectively It is shown. Curve When unskilled operator operates the respective operating rod 9a~11a (i), (ii) , the pilot pressure p _b shown in (iii), p _a, if p _c is generated, with each time Since the pilot pressures p _b , p _a , and pc are not in a ratio that gives a straight slope of the slope, each of these pilot pressures p _b , p _a , and p _c is not equal to each other.
_b, p _a, forming the working surface of the driven working machine by p _c is not a straight slope, the slope is uneven.

[0048] However, the control device 11 is curve (i) curve (iv) corresponding to the arm pulling pilot pressure p _a shown in, (v) the actual pilot pressure gives a straight slope trajectory shown in p _br, p _cr
The be given immediately to the hydraulic control valve 1, the response delay and the like of the hydraulic control mechanism for the arm pulling pilot pressure p _a change significantly, that actually straight slope face a working surface formed is difficult is there. Therefore, in the initial movement shift work trajectory automatic control (I) in step S14 of the present embodiment, the actual pilot pressures p _br , p _ar , and p _cr that give a straight slope trajectory after a predetermined short time are applied to the hydraulic control valve 1. During this time, the boom-operated electromagnetic pressure reducing valve 4
And by applying a bucket press solenoid pressure reducing valve 8 predetermined limit on the pilot pressure p _b and bucket push pilot pressure p _c given boom, smooth transition to the slope leveling work trajectory automatic control (II) Like that. For convenience of explanation, here, at time t = 0, the standard trajectory initial movement operation range condition [AI1], the standard trajectory initial movement operation change range condition [AI2], the trajectory control start area condition [AII1], and the trajectory control start work body posture range It is assumed that as a result of satisfying all of the conditions [AII2], the operation shifts to the initial movement shift work trajectory automatic control (I).

The boom on the pilot pressure p _b at this time, the arm pull pilot pressure p _a and the bucket press pilot pressure p
Let _c be p _b0 , p _a0 , p _c0 , boom-on pilot pressure fluctuation v _b , arm pulling pilot pressure fluctuation v _a and bucket pushing pilot pressure fluctuation v _c respectively v _b0 , v _a0 , v _c0
Then, since equation (8) holds, p _a1 ≦ p _a0 ≦ p _a2 , p _b1 ≦ p _b0 ≦ p _b2 , p _c1 ≦ p _c0 ≦ p _c2 and v _a3 ≦ v _a0 ≦ v _a4 , v _b3 ≦ v _b0 ≦ v _b4 , _{vc 3} ≦ v _c0 ≦ v _c4 ...
(8 '') holds.

At the start of the operation, the operator operates the boom operation stick 9a.
Operation rod 1 for arm that is too strong for lifting operation
When performing pulling operation of 0a, each actual pilot pressure p _br to follow the arm pulling pilot pressure p _a change significantly as described above, it is given a p _cr to the hydraulic control valve 1, It becomes difficult to form a straight slope of the slope, and the initial movement locus of the cutting edge C of the bucket 18 is largely wavy in the vertical direction of the slope. Therefore, the control device 11 is a boom on the solenoid pressure reducing valve 4 in the present embodiment, the arm pull solenoid pressure reducing valve 6 and the bucket press solenoid pressure reducing valve 8 respectively control current to e _b, e _a, and outputs the e _c, the electromagnetic vacuum Valves 4, 6, 8
Pressure diaphragm pressure of pilot oil flowing out from the SV _b, S
V _a, by controlling the pilot pressure so as not to exceed the SV _c, even if there is a response delay or the like of the hydraulic control mechanism, the actual pilot pressure supplied to the hydraulic control valve 1 p _br, hydraulic control valve p _cr together to be able to sufficiently follow the arm pulling pilot pressure p _ar given in 1, a cutting edge C of the bucket 18 from the initial state, smoothly reference slopes S ₀
The smooth transition to the slope leveling work trajectory fully automatic control (II), in which the bucket angle constant movement control is carried out along the road, can be smoothly performed. Note that the period during which the initial movement transition work trajectory automatic control (I) is performed is Δt _I.

[0051] To perform initial migration locus automatic control (I), first of all, an initial value SV _a0 = p _a0 + Δp _a throttle pressure SV _a arm pull solenoid pressure reducing valve 6, initial migration locus automatic control (I The function formula of the auxiliary curve (vi) that smoothly connects the two points of the target value p _ae of the arm pull pilot pressure pa at the end of the step ( _b ) is calculated. In this embodiment, for simplicity, this function is approximated by a straight line.
An auxiliary curve capable of realizing a trajectory capable of transitioning to the fully automatic control (II) of the slope smoothing work trajectory after t _I is obtained experimentally, and a better initial movement trajectory can be obtained by using the function formula of the auxiliary curve. Automatic control (I) becomes possible. Here, the function of the auxiliary curve (vi) is represented by λ ( _pa0 , _pae , t). In the full automatic leveling work trajectory control (II), the maximum pulling operation of the arm operation rod 10a may be performed. to control them to be migrated, the value of the target value p _ae arm pulling pilot pressure p _a is set to the value of the maximum target value near the arm pulling pilot pressure p _a. Thus, the function lambda Once _{(p a0, p ae, t} ) can be calculated function expression is, the function _{λ (p a0, p ae,} t) arm pull solenoid-operated reducing the value of the initial migration locus automatic control (I) It is assumed that the throttle pressure generated for the valve 6 is SV _aI . That is, SV _aI = λ ( _{pa 0} , _pae , t) (9) In the specific example shown in FIG. 12, in the initial movement transition work trajectory automatic control (I), the function λ ( _pa0 , _pae , t) ) And a curve showing the throttle pressure SV _aI shown in FIG.
(xi) matches. The actual arm-pull pilot pressure p _ar actually applied to the hydraulic control valve 1 is not the throttle pressure SV _aI shown by the curve (xi), but the inflow pressure is the arm-pull pilot pressure p
_The pilot oil which is _a
It becomes the outflow-side pilot pressure that is squeezed to _VaI and flows out. In other words, made from the curve showing the arm pulling pilot pressure p _a is an outflow side pilot pressure of the arm pulling pilot valve 10 (i), the function _{λ (p a0, p ae,} t) an auxiliary curve showing the (vi) It becomes the value shown by the curve (xii). _{That, p ar = min (p a} , λ (p a0, p ae, t)) ...... (10) Next, a boom on the pilot applied to the hydraulic control valve 1 in the initial migration locus automatic control (I) The control of the pressure will be described. As shown in FIG. 1, the actual pilot pressure p _br on the boom applied to the hydraulic control valve 1 is the higher of the pilot oil pressure flowing out of the electromagnetic pressure reducing valve 4 on the boom and the electromagnetic pressure reducing valve 5 for generating the complementary pressure. The pressure is generated by being selected by the high pressure selection valve 2. Throttle pressure SV at boom-mounted electromagnetic pressure reducing valve 4 in initial movement shift work trajectory automatic control (I)
_bI, like a diaphragm pressure SV _aI against arm pull solenoid pressure reducing valve 6, the initial value SV _b0 = p _b0 + Δp throttle pressure SV _b
b and an auxiliary curve (vii) that smoothly connects between the two points of the target value p _be of the on-boom pilot pressure p _b at the end of the initial movement transition work trajectory automatic control (I). That is, the auxiliary curve
Assuming that the function of (vii) is κ, the function κ is a function of the initial value p _b0 of the on-boom pilot pressure p _b , the target value p _be and the time t. In this embodiment, the function κ is approximated by a straight line similarly to the function λ. You. Note that the target value p _be is the pilot pressure p _b on the boom after the period Δt _I when the relatively slow slope leveling trajectory control is performed, and is actually the minimum after the period Δt _I obtained experimentally. Is set as the pilot pressure p _b on the boom.

Meanwhile, the diaphragm pressure to the complementary pressure generating solenoid pressure reducing valve 5 boom, i.e., the complementary pilot pressure boom correlated with arm引実pilot pressure p _ar actually applied to the hydraulic control valve 1, the bucket 18 _{Is set} as the pilot pressure p _bS on the slope smoothing boom for performing the normal slope smoothing trajectory automatic control for moving the cutting edge C along the _slope . The pilot pressure p _bS on the slope smoothing boom can be obtained in accordance with the procedure of the slope automatic trajectory fully automatic control (II) described later. That is, a function g ₁ (p _ar , x ′,
y ′, R _d , Q _pmax ), the pilot pressure p _bS on the slope leveling boom is given by p _bs = g ₁ (p _ar , x ′, y ′, R _d , Q _pmax ) (curve (ix) ) ... (11) Therefore, SV _d = p _bS (12) This means that the slope leveling work trajectory fully automatic control (II) of the blade edge C (x ′, y ′) of the bucket 18 requires the pilot on the slope leveling boom. while pressure p _bS is appreciated that indicates that it is uniquely determined given a arm pulling pilot pressure p _a. In fact, as measured experimentally beforehand the arm pulling pilot pressure p _a and the boom on the pilot pressure p _b at the time of performing slope leveling trajectory control function _{g 1 (p ar, x '} , y', R
_d , Q _max ). Then, the function g ₁ (p _ar ,
x ′, y ′, R _d , Q _max ) are stored in the memory, and when performing the full automatic control (II) of the slope leveling work trajectory, the controller 11 reads the data of the function g ₁ from the memory. Is read out, and the operator operates the arm operation rod 1 at a desired operation speed.
0a, the pilot pressure p _b on the boom corresponding to the actual arm pilot pressure p _ar when performing the slope leveling trajectory control.
Data by calculating the outputs of the control current e _b to give the boom on the pilot pressure p _b the boom on the solenoid pressure reducing valve 4. In initial migration locus automatic control described above (I), the data of the function g ₁ generating an arm引実pilot pressure slope leveling boom on the pilot pressure p _bS for p _ar actually applied to the hydraulic control valve 1 used to make a control current e _d boom on complementary pressure generating solenoid pressure reducing valve 5.

Accordingly, in the specific example shown in FIG. 12, the throttle pressure SV _bI for the boom-on electromagnetic pressure reducing valve 4 is given by the function
(P _b0 , p _be , t), and the boom-on pilot pressure p _b ′ actually given from the boom-on electromagnetic pressure reducing valve 4 to the high-pressure selection valve 2 is the boom-on pilot pressure p _b (in FIG. 12, the curve (ii) ) Is limited to a large value by the function κ (p _b0 , p _be , t). Then, in the high pressure selector valve 2 into which the pilot oil flows from the boom-side electromagnetic pressure reducing valve 4 and the boom-side complementary pressure generating electromagnetic pressure-reducing valve 5, the boom from the boom-side electromagnetic pressure reducing valve 4 during a short time Δt ₀ immediately after the control is started. The upper pilot pressure p _b ′ is selected, and thereafter the pilot pressure p _bS on the slope leveling boom from the boom-on-boom complementary pressure generating electromagnetic pressure reducing valve 5 shown by the curve (ix) is selected, and the hydraulic control valve 1 is selected. Is given to Therefore, the actual pilot pressure p _br on the boom
Is represented by a curve (xiv) shown in FIG. _{That, p br = max (p b} ', p bS) ...... (13) Next, a description will be given of the control of the bucket push pilot pressure applied to the hydraulic control valve 1. As shown in FIG. 12, the control of the bucket pushing pilot pressure can be performed in exactly the same manner as the control of the on-boom pilot pressure. Therefore, the duplicate description is omitted here, and only the result is described. That is, the throttle pressure SV at the bucket pressing electromagnetic pressure reducing valve 8
_cI is the initial value SV _c0 = p _c0 + Δp _c of the diaphragm pressure SV _c,
Defined by smoothly connecting the auxiliary curve between two points of the target value p _ce bucket push pilot pressure p _c at the end of the initial migration locus automatic control (I) (viii). That is, the auxiliary curve (vii
When the function of i) and sigma, the function sigma initial value p _c0 bucket push pilot pressure p _c, is a function of the desired value p _ce and time t, in the present embodiment is approximated by a straight line.

On the other hand, the electromagnetic pressure reducing valve 7 for generating the bucket pushing complementary pressure is provided.
, Ie, the bucket pushing complementary pilot pressure, is correlated with the actual arm pilot pilot pressure p _ar actually applied to the hydraulic control valve 1 and moves the cutting edge C of the bucket 18 along the slope. It is assumed that a _slope pressing bucket pushing pressure _{pcS for performing the} leveling trajectory automatic control. Bucket push pilot pressure leveled the slope p _cS function g ₂ representing the trajectory control leveled slope _{(p ar, x ', y} ', R d, Q pmax) using, p _cS = g ₂ (p _ar , x ′, y ′, R _d , Q _pmax ) (curve (x)) (14) _{Therefore, SV e = p CS ...... (} 15) Further, the bucket押実pilot pressure p _{cr is, p cr = max (p c} ', p cS) ( curve (xvi)) becomes ... (16).

As is apparent from the above description, in the specific example shown in FIG. 12, the short time Δt ₀ corresponds to a transition period for smoothly shifting to the substantial slope leveling trajectory automatic control. As described above, in the present embodiment, after starting the initial movement transition work trajectory automatic control (I), the control is performed in the transitional period of the short time Δt ₀ , so that the slope of the slope is gradually decreased from the operation state at the time of the initial movement. Because we are going to shift to automatic control,
When shifting to the slope leveling work trajectory fully automatic control (II), it is possible to perform automatic control capable of performing a smooth initial motion without generating shock or vibration.

[0056] After starting the initial migration locus automatic control (I), a slight period arm pulling pilot pressure p _a manual operation of an operator, without change to the boom on the pilot pressure p _b and bucket push pilot pressure p _c follow the arm引実pilot pressure p _ar, boom on the actual pilot pressure p _br and the bucket押実pilot pressure p _cr is output, then function _{λ (p a0, p ae,} t), the function kappa (p _b0, p _be , t) and σ (p _c0 , p _ce , t) restrict large values, respectively, and then SV _a = min (λ, p _a ), SV _b =
The process shifts to the automatic control of the actual _slope of the _slope by p _bS , SV _c = p _cS . In this process, the arm pulling pilot pressure p _a, because there is no discontinuity or sudden change in the boom on the pilot pressure p _b and bucket push pilot pressure p _c, impact cylinder for driving the boom 16, arm 17 and bucket 18 Never happen.

Next, returning to FIG. 6, the description of the operation of the automatic control of the trajectory of the slope smoothing operation will be continued. In step S15, step S
While continuing the initial movement transition work trajectory automatic control (I) in 14, it is determined whether or not a condition for canceling the slope leveling work trajectory automatic control is satisfied. That is, if the release condition of the smoothing work trajectory automatic control is represented by Φ, it is determined whether or not Φ = 1. The specific contents of the release condition Φ are as follows: "When the operation amount and speed of raising the boom operation rod 9a are considerably large, or when the boom operation rod 9a is returned to the vicinity of the neutral position, the arm quoting operation rod is used. When the pulling speed of the 10a is considerably high, or when the arm quoting operation rod 10a is returned to the vicinity of the neutral position, or when the pushing operation amount or the pushing speed of the bucket pushing operation rod 11a is considerably large, or when the bucket pushing operation is performed. When the rod 11a is returned to the vicinity of the neutral position.

In the operation of the slope leveling operation, the operation rods 9a and 10 for raising the boom, quoting the arm, and pushing the bucket are used.
Since such an operation is rarely performed on a and 11a, when the above operation is performed, the operator intends to cancel the slope leveling operation, or performs the slope leveling operation from the beginning. Judging that there was no intention, the automatic control of the initial movement shift work trajectory automatic control (I) is stopped, and the slope control work automatic release (IV) for shifting to the general work by the ordinary manual operation is performed.
Move on to Operation rods 9a, 10 for boom-up, arm quotation, and bucket pushing for automatic control of slope leveling work locus release (IV)
a, when formulating operation content _{11a, p b ≧ p b5 (} p b5 »0); p b ≒ 0 v b ≧ v b5 (v b5 »0); v b ≦ v b6 (v b6 «0) _{v a ≧ v a5 (v a5} »0); v a ≦ v a6 (v a6 «0) p a ≒ 0; p c ≧ p c5 (p c5 »0) p c ≒ 0 v c ≧ v c5 (v _{b5 »0); v c ≦ v} c6 (v c6 «0) a ... (17).

If the result of the determination in step S15 is negative, that is,
If the release condition Φ of the slope leveling work trajectory automatic control is 0, it is determined whether or not the time t has elapsed by Δt _I (S16). If the time t has elapsed by Δt _I, the required period of the initial movement transition work trajectory automatic control (I) ends, so the process proceeds to step S17 in FIG. 7. If the time t has not yet elapsed by Δt _I , the procedure proceeds to step S17. Returning to S14, the initial movement transition work trajectory automatic control (I) is continued. In step S17, the slope automatic operation trajectory fully automatic control (II) is performed. In slope leveling work trajectory full automatic control (II), the arm pull as the throttle pressure SV _a solenoid pressure reducing valve 6 and _{SV a = p a + Δp a} , boom on the solenoid pressure reducing valve 4 and the boom on the complementary pressure generating solenoid The throttle pressure SV _{b of} the pressure reducing valve 5, the throttle pressure S of the bucket pressure compensating electromagnetic pressure reducing valve 7 and the bucket pushing electromagnetic pressure reducing valve 8.
For V _c , the function g ₁ (x, y, p _a ,
_{Q max), g 2 (p} ar, x ', y', R d, Q pmax) the boom on the pilot pressure leveled slope made with p _bS, and slope leveling bucket push pilot pressure p _cS by calculating the same, and squeezing pressure SV _b, SV _c of the electromagnetic pressure reducing valve 4, 5 and the electromagnetic pressure reducing valves 7 and 8. Thereby, the slope-equalizing work trajectory completely automatic control in which the cutting edge C (x ', y') of the bucket 18 is moved along the slope at a working speed corresponding to the amount of pulling operation of the arm operating rod 10a by the operator. (II) can be realized. That is, SV _a = p _a + Δp _a , SV _b = p _bS , SV _c = p _cS (18) Next, the operation of the slope automatic trajectory fully automatic control (II) will be described. FIG. 10 is a sketch drawing showing the movement of a hydraulic excavator that performs fully automatic control of a slope leveling work trajectory. In the figure, it changes to the state shown in the state shown in the work machine (Oh) to (iii) by slope leveling work trajectory full automatic control (II), certain bucket 18 with respect to the reference slope face S ₀ tilt angle as one likes holding a R _d of the cutting edge C (x ', y') is the reference slopes S
_This indicates that the movement has been made by Δx along ₀ . Changes in the capacities of the bottom chamber of the boom cylinder, the bottom chamber of the arm cylinder, and the rod chamber of the bucket cylinder when the cutting edge C of the bucket 18 moves by Δx along the reference slope S ₀ are represented by ΔL _b , ΔL _a , and ΔL _c , respectively. (ΔL _b , ΔL
_a , ΔL _c > 0). In addition, the capacity change of the bottom chamber of the boom cylinder, the bottom chamber of the arm cylinder, and the rod chamber of the bucket cylinder when the state changes between the state shown in (a) and the state shown in (u), which is not shown (i). .DELTA.l respectively _{b, Δl a, Δl c (} Δl b,
If Δl _a , Δl _c > 0), the following expression holds for a sufficiently small distance Δx. ΔL _b : ΔL _a : ΔL _c = ΔI _b : ΔI _a : ΔI _c (19) Assuming that the time required to change from the state shown in (a) to the state (ii) is ΔT, the equation (19) becomes _{, ΔL b: ΔL a: ΔL} c = Δl b / ΔT: Δl a / ΔT: Δl c / ΔT = q b: q a: q c ( _{however, q b ≡Δl b / ΔT,} q a ≡Δl a / _{ΔT, q c ≡Δl c / ΔT} ) ...... (20) (20) q b defined in formula, q _a, q _c is the bottom chamber of each boom cylinder, the rod chamber of the bottom chamber and the bucket cylinder of the arm cylinder This is the flow rate of the operating oil that flows. In other words, the slope leveling work trajectory fully automatic control (I
In I), a constant inclination angle R with respect to the reference slope S ₀
While maintaining _d , the cutting edge C (x ', y') of the bucket 18
In order to move along the reference slopes S _0, is equivalent to performing a control to distribute hydraulic fluid determined by the state of the working machine changes every moment (20) flow ratio defined by the formula.

If the flow ratios of the hydraulic oil flowing into the bottom chamber of the boom cylinder and the rod chamber of the bucket cylinder to the hydraulic oil flowing into the bottom chamber of the arm cylinder are defined as k _b and k _c , the equation (20) gives q _b : q _a : q _c = k _b : 1: k _c (21) As described above, the flow ratios k _b and k _c are uniquely determined by the state of the working machine at that time, and therefore the function f _{If 1} and f ₂ are defined by the following equations, it is _{expressed as} : k _b = f ₁ (x ′, y ′, R _d ) k _c = f ₂ (x ′, y ′, R _d ) (22) Can be. Boom cylinder bottom chamber in the general work by manual operation shown in step S11, q the flow rate of the hydraulic oil flowing into the rod chamber of the bottom chamber and the bucket cylinder of the arm cylinder, respectively _b ^*, q _a
^* , Q _c ^* , the discharge flow rate Q _{max of the} hydraulic pump
Has a sufficiently large value, q _b ^* = k _b.
The following holds: q _a ^* , q _c ^* = k _c · q _a ^* . Therefore,
If the discharge flow rate Q _max of the hydraulic pump is sufficiently large value, ^{_{i.e., Q max ≧ q b * +}} q a * + q c * ^{_{if, q b = q b * =}} k b · q a * q a = q a * ^{_{q c = q c * = k}} c · q a * ...... (23) On the other hand, if the discharge flow rate Q _max of the hydraulic pump does not have a sufficiently large value, ^{_{i.e., Q max <q b * +}} q a * + q _c
^* _{If, q b = Q max · q} b * / (q b * + q a * + q c *) q a = Q max · q a * / (q b * + q a * + q c *) q c = Q ^{_{max · q c * / (q}} b * + q a * + q c *) becomes a ... (24).

Thus, the flow rates q _b , q _a , q _{c of} the working oil flowing into the oil chambers of interest of the respective actuators of the working machine.
Has been obtained, the flow rate q _b of the hydraulic oil, q _a, each pilot pressure corresponding to the _{q c p b, p a,} p c is uniquely determined, by the conversion equation relating the respective slopes leveling working trajectory full automatic control boom on the pilot leveled slope in (II) pressure p _bS, arm pulling pilot pressure p _a, slope leveling bucket push pilot pressure p _cS can be obtained. That is, the functions h ₁ , h ₂ , and h ₃ can be defined by the following equations for the completely automatic operation of the slope leveling work trajectory (II). p _bS = h ₁ (p _a , x ′, y ′, R _d , Q _max ) p _a = h ₂ (p _a , x ′, y ′, R _d , Q _max ) p _cS = h ₃ (p _a , X ′, y ′, R _d , Q _max ) (25) In the next step S18, as in the case of the initial movement transition work trajectory automatic control (I), the condition for stopping the smoothing work trajectory automatic control is satisfied. It is determined whether or not the release condition Φ = 1. If the result of the determination in step S18 is true, that is, if the release condition Φ = 1 of the smoothing work trajectory automatic control, the full automatic control (II) of the slope smoothing work trajectory is released, and a general manual operation is performed. Move on to automatic control (IV) for canceling the slope of the slope to move to work. If the result of the determination in step S18 is negative, the process returns to step S17 to continue the slope leveling work trajectory fully automatic control (II).

Next, the content of the slope leveling work trajectory release automatic control (IV) executed when the result of the determination in step S15 or S18 is correct will be described. FIG. 14 shows that during the initial movement shifting work trajectory automatic control (I), the operation amount of raising the boom operation rod 9a gradually increases, and the pressure sensor 6
The boom-on-boom pilot pressure p _b becomes greater than or equal to p _b5 , and as a result, Φ = 1, and the boom-on-boom pilot pressure p _b , waveform diagram showing changes in throttle pressure SV _d complement on the boom on the throttle pressure SV _b and the boom of the electromagnetic pressure reducing valve 4 pressure generating solenoid pressure reducing valve 5, Figure 15 is a boom on the real applied to the hydraulic control valve 1 at that time Pilot pressure p _br ,
FIG. 8 is a waveform diagram showing a change in a virtual pilot pressure p _br ′ on the virtual boom when the slope leveling work trajectory cancellation automatic control (IV) is not performed.

Hereinafter, description will be made in accordance with this specific example. As shown in FIG. 14, it is assumed that the pilot pressure p _b on the boom increases during the initial movement transfer work trajectory automatic control (I), and that p _b ≧ p _b5 at t = T ₀ . At this time, the operator judges that the operator is trying to release the slope leveling operation or that the operator has not intended to perform the slope leveling operation from the beginning, and the initial movement shift work trajectory automatic control (I) is released. that is, t = returning to general working control by immediately manual operation procedure in S11 the time of T _0, until then for example, the boom on the actual pilot pressure p _BRI curve applied to the hydraulic control valve 1 shown in FIG. 15 ( Since the actual pilot pressure p _brIV ′ on the boom becomes discontinuous at t = T ₀ shown in iixi), a large impact force is applied to the boom cylinder connected to the hydraulic control valve 1, and the operator is surprised. Feeling uneasy or damaging the hydraulic system.

Accordingly, automatic control for releasing the slope leveling work trajectory (I
In (V), in the initial movement transition work trajectory automatic control (I), the controller 11 controls the boom-up operation rod 9a and the operator's boom so that the trajectory of the cutting edge C of the bucket 18 follows the horizontal plane as quickly as possible. or adding a restriction to the operation command by manual operation of the arm reference operating rod 10a, the control current e _b as to urge the contrary, e _d, the boom e _a solenoid pressure reducing valve 4, a boom on complementary pressure generating solenoid pressure reducing valve 5 and the arm pulling electromagnetic pressure reducing valve 6 are stopped, and the control for smoothly shifting to the control faithfully following the operation command by the manual operation of the operator is performed.

In the following description, the control of the boom raising operation will be described. However, the control of the bucket pushing operation is performed in exactly the same manner as described later. During the period in which the slope leveling work trajectory cancellation automatic control (IV) is performed, the trajectory automatic control that was performed so far is canceled and the control smoothly transitions to control that faithfully follows the operation command by the manual operation of the operator Transient period Δ
t ₁ and the throttle pressure SV _d of the supplementary pressure generating electromagnetic pressure reducing valve 5 are set to 0.
And a supplementary pressure decay period Δt ₂ .

[0066] First, in the transitional period Delta] t _1, the control unit 11 at time t = boom on throttle pressure solenoid pressure reducing valve 4 at time t = T ₀ was discontinued initial migration locus automatic control (I) in T ₀ Starting from the coordinate point of SV _bI = SV _bIV ⁰ ,
The sum of the boom on the pilot pressure p _b = SV _dIV ¹ at time t = T ₁ after period Delta] t ₁ and the additional pressure Δp _b (p _b + Δ
p _b ) = a straight line (xvii) ending at the coordinate point of SV _bIV ¹ ;
_And the coordinate point of the throttle pressure SV _dI = SV _dIV ⁰ of the supplementary pressure generating electromagnetic pressure reducing valve 5 at time t = T ₀ is set as a starting point, and time t =
A relational expression of a straight line (xviii) ending at the coordinate point of the boom pilot pressure p _b = SV _dIV ¹ at T ₁ is calculated. Then, the straight lines (xvii) and (xvii) in the transition period Δt ₁
pressure represented by ii) outputs the pressure SV _BIV and diaphragm pressure SV _dIV become such control current e _b, complement 4 and the solenoid pressure reducing valve boom e _d pressure generating solenoid pressure reducing valve stop 5, respectively. That is, SV _bIV = p _b + [t · (Δp _b + Δs ₁ ) / Δt ₁ ] −Δs ₁ = p _b + (t / Δt ₁ ) · Δp _b + [(t / Δt ₁ ) −1] · Δs _{1 ^{(however, Δs 1 = p b 0 -SV}} bIV 0, p b 0 boom on pilot pressure at _{t = T 0 p b) SV} dIV = p b + t · Δs 2 / Δt 1 -Δs 2 = p b + [(t / Δt ₁₎ -1] · Delta] s _{2 ^{(However, Δs 2 = p b 0 -SV}} dIV 0) in the example shown in ... (26) 14, slope leveling work trajectory releasing automatic control Immediately after the start of (IV), since SV _bIV ⁰ <SV _dIV ⁰ , the actual pilot pressure p _br on the boom applied to the hydraulic control valve 1 is governed by the throttle pressure SV _dIV of the electromagnetic pressure reducing valve 5 on the boom. After that, _when the values of SV _bIV and SV _dIV are reversed, the throttle pressure of the boom- _mounted electromagnetic pressure reducing valve 4 is controlled by SV _bIV . When the throttle pressure SV _bIV becomes higher than the boom-in- _plot pilot pressure p _b , the boom-in-actual pilot pressure p _b
br is consistent with the boom on the pilot pressure p _b. Therefore, the actual pilot pressure p _br on the boom is as shown by a curve (iix) shown in FIG.

In the supplementary pressure decay period Δt ₂ , the control device 11 _{starts from} the coordinate point of the throttle pressure SV _dIV ¹ at time t = T ₁ and starts the throttle pressure SV at time t = T ₂ .
A straight line (xviv) ending at the coordinate point of _dIV = 0 is calculated, and the pressure expressed by this straight line (xviv) becomes the throttle pressure SV _dIV , and (p _b + Δp _b ) becomes the throttle pressure SV _bIV. control current e _b, and outputs the e _d boom on the solenoid pressure reducing valve 4 and the boom on the complementary pressure generating solenoid pressure reducing valve 5. ^{_{That, SV dIV = p b 1 -p}} b 1 · (t-Δt 1) / Δt 2 ( however, p _b ¹ boom on the pilot pressure at _{t = T 1 p b) ......} (27) the control current e _b , squeezing pressure SV _e buckets push complementary pressure generating solenoid pressure reducing valve 7 and the bucket press solenoid pressure reducing valve 8 is controlled by the e _d, because exactly the same control system also with the SV _c can be applied, in the transient period Delta] t ₁ Is SV _cIV =
_{p c + (t / Δt 1} ) · Δp c + [(t / Δt ₁₎ -
1] · Δs _{1 ^{'(However, Δs 1' = p c 0}} -SV cIV
^0, p _c ⁰ bucket push pilot pressure _{p c) SV e = p c} + at t = T ₀ [(t / Δt ₁₎ -1] · Δs _{2 ^{'(although, Δs 2' = p c 0}} -SV _EIV ⁰⁾ ...... addition (28), in the complementary pressure decay time _{Δt 2, SV eIV = p c} 1 -p c 1 · (t-Δt 1) / Δt 2 ( however, p _c ¹ is t = T ₁ bucket press pilot pressure p _c) ...... (29) is established in.

[0068]

As described above, according to the first aspect of the present invention, after the automatic trajectory control operation is started, the operation state of the operation rod operated by the operator is constantly monitored, and the operation of the operation rod is controlled. It is determined whether the operation amount and its change amount are within a predetermined standard trajectory initial movement operation range and a standard trajectory initial movement operation change range, and when the determination result is negative, the operation state of the operation rod is determined. When the result of the determination is correct, the operation state is determined to be an initial operation for drawing a predetermined standard movement trajectory, and a standard operation is performed after a predetermined time. In order to shift to the automatic trajectory control, the drive command corresponding to the operation amount of one large value of the operation stick is issued a drive command in which a limit is gradually added to the standard trajectory automatic control, and the operation amount of the other operation stick is controlled. The drive command corresponding to Among the drive command that limits the trajectory automatic control gradually and the drive command that performs the standard trajectory automatic control according to the drive command corresponding to the operation amount of one large value of the operation rod, Since the initial movement transition control that issues a drive command is performed, at the time of starting automatic operation control of a desired work locus, the operation of general work by a normal manual operation is interrupted, and special operation information for automatic locus control is input. No operation is required, and the operator simply performs the manual operation of the operation rod as intended by the operator to form a desired work locus. Since the transition can be made smoothly and smoothly, the operability of the automatic trajectory control device can be made extremely excellent.

According to the second aspect of the present invention, after the trajectory automatic control operation is started, in addition to the operation state of the operation rod operated by the operator, the coordinates of the target point set at a predetermined position of the bucket or The bucket angle is constantly monitored to determine whether or not the operation amount of the operation stick and the change amount thereof are within a predetermined standard trajectory initial movement operation range and a standard trajectory initial movement operation change range. It is determined whether it is within a predetermined trajectory control start area or whether the posture of the bucket is within the trajectory control start work body posture range. The operation according to the corresponding drive command is performed, and when the determination result is correct, the operation state is determined to be the initial operation for drawing a predetermined standard movement locus, and the initial movement transition control is performed. Because it was, It can be the validity of the judgment of the transition to the trajectory automatic control in a more reliable ones.

According to the third aspect of the invention, after shifting to the initial movement shift control or the standard trajectory automatic control, the operation state of the operation rod operated by the operator is constantly monitored, and the operation state is determined to be a predetermined standard. It is determined whether or not the condition for canceling the work trajectory automatic control is met. A drive command that gradually brings the content of the drive command in the automatic control closer to the content of the drive command corresponding to the operation state of the operation rod by the operator is issued. Since it is possible to return to the normal drive control of the hydraulic drive mechanism by the manual operation of the rod without discomfort, the operability of the automatic trajectory control device can be further improved. According to the fourth aspect of the present invention, the standard trajectory automatic control is a slope flattening trajectory automatic control for leveling a slope that is an inclined plane having a predetermined angle with respect to a horizontal plane. Is required, and the operability of the automatic slope leveling trajectory control that is frequently executed can be made extremely excellent.

[Brief description of the drawings]

FIG. 1 is a hydraulic control circuit diagram according to an embodiment of the present invention.

FIG. 2 is an operation conceptual diagram for explaining an outline of operation of automatic trajectory control;

FIG. 3 is a schematic view showing a slope leveling work start position area;

FIG. 4 is a schematic view showing a rotation angle range at which a bucket slope is started.

FIG. 5 is a flow chart of automatic control of a slope leveling work trajectory according to the embodiment.

FIG. 6 is a flow chart of automatic control of a slope smoothing work trajectory following FIG. 5;

FIG. 7 is a flowchart of automatic control of a slope tracing work trajectory following FIG. 6;

FIG. 8 is an explanatory diagram showing a relationship between a three-dimensional coordinate system for describing coordinates of a cutting edge of a bucket;

[9] characteristic diagram showing the relationship between the control current e _a and the throttle pressure SV _a arm pull solenoid pressure reducing valve

FIG. 10 is a sketch showing the movement of a hydraulic shovel that performs automatic control of a slope leveling work trajectory.

FIG. 11 is an operation signal waveform diagram of the operation rod at the time of initial movement when an inexperienced operator performs a slope leveling operation.

FIG. 12 is a signal waveform diagram for explaining a generation process of a control current output to each electromagnetic pressure reducing valve in the initial movement shift work trajectory automatic control.

FIG. 13 is a pressure waveform diagram of the throttle pressure generated in each electromagnetic pressure reducing valve and each actual pilot pressure applied to the hydraulic control valve.

FIG. 14 is a pilot pressure waveform diagram for explaining the content of automatic control for canceling a slope smoothing work trajectory.

FIG. 15 is a pressure waveform chart of the pilot pressure applied to the hydraulic control valve.

FIG. 16 is a sketch showing a state in which a slope is leveled by a conventional example.

FIG. 17 is a sketch showing an example of an operation result when an inexperienced operator performs a slope leveling operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic control valve 2, 3 High pressure selection valve 4 Boom-on electromagnetic pressure reducing valve 5 Boom-on complementary pressure generating electromagnetic pressure reducing valve 6 Arm pulling electromagnetic pressure reducing valve 7 Bucket pushing complementary pressure generating electromagnetic pressure reducing valve 8 Bucket pushing electromagnetic pressure reducing valve 9a For boom use Operating rod 10a Arm quote operating rod 11a Bucket pushing operation rod 12-14 Rotation angle sensor 15 Hydraulic excavator body 16 Boom 17 Arm 18 Bucket 20 Pilot pump 21-23 Pressure sensor 24 Control device

Claims (4)

[Claims] 1. An operating oil controlled by a hydraulic drive mechanism is supplied to each actuator such as a cylinder that drives an arm, a boom, and a bucket, which are connected by an articulated bending section, by a controlled operating oil. Then, in the trajectory automatic control device of the hydraulic excavator that automatically controls the movement trajectory of the bucket to be a desired one, after starting the trajectory automatic control operation, the operation state of the operation rod operated by the operator is changed. Always monitor and determine whether the operation amount of the operation stick and the change amount of the operation amount of the operation stick are within a predetermined standard trajectory initial movement operation range and a standard trajectory initial movement operation change range, When the result of the determination is negative, a drive command corresponding to the operation state of the operation rod is transmitted to the hydraulic drive mechanism as it is, and the operation according to the drive command is performed, and the determination result is obtained. When the result is correct, the operation state is determined to be an initial movement operation for drawing a predetermined standard movement trajectory, and after a predetermined time, the drive command is corrected or a new drive command is generated. In order to shift to the standard trajectory automatic control in which a standard movement trajectory is automatically drawn on the bucket by transmitting to the hydraulic drive mechanism, a drive command corresponding to one large operation amount of the operation rod includes A drive command with a restriction gradually approaching the standard trajectory automatic control is transmitted to the hydraulic drive mechanism, and a drive command corresponding to the operation amount of the other operation rod gradually approaches the standard trajectory automatic control Among the restricted drive command and the drive command for performing the standard trajectory automatic control according to the drive command corresponding to the one large value of the operation amount of the operation rod, the drive command of a large value is used as the hydraulic drive. Hydraulic drilling machine locus automatic control apparatus being characterized in that to perform the initial transition control to transmit to the structure. 2. After the trajectory automatic control operation is started, the coordinates of the target point or the bucket angle set at a predetermined position of the bucket are constantly monitored in addition to the operation state of the operation stick operated by the operator. It is determined whether or not the operation amount of the operation stick and the change amount of the operation amount of the operation stick are within a predetermined standard trajectory initial movement operation range and a standard trajectory initial movement operation change range. It is determined whether it is within a predetermined trajectory control start area or whether the posture of the bucket is within a trajectory control start work body posture range, and when the result of the determination is negative, the operation state of the operation rod is determined. Is transmitted to the hydraulic drive mechanism as it is, and the operation according to the drive command is performed. When the result of the determination is correct, the operation state indicates a predetermined standard movement trajectory. Initial operation for drawing The trajectory automatic control device for a hydraulic excavating machine according to claim 1, wherein the initial movement transition control is performed. 3. After shifting to the initial movement transition control or the standard trajectory automatic control, the operation state of the operation rod operated by the operator is constantly monitored, and the operation state meets a predetermined standard work trajectory automatic control release condition. It is determined whether or not to perform, and when the determination result is correct, the operator determines that the standard trajectory automatic control is not intended, and changes the content of the drive command in the initial movement transition control or the standard trajectory automatic control. The trajectory automatic control cancellation control for transmitting a drive command to the hydraulic drive mechanism to gradually approach the content of the drive command corresponding to the operation state of the operation rod by the operator is performed. Item 3. An automatic trajectory control device for a hydraulic excavator according to item 2. 4. A standard trajectory automatic control for automatically drawing a standard movement trajectory on a bucket is a level trajectory automatic control for leveling a slope, which is an inclined plane having a predetermined angle with respect to a horizontal plane. The trajectory automatic control device for a hydraulic excavator according to any one of claims 1 to 3, wherein: