WO2012127912A1 - 作業機制御システム、建設機械及び作業機制御方法 - Google Patents
作業機制御システム、建設機械及び作業機制御方法 Download PDFInfo
- Publication number
- WO2012127912A1 WO2012127912A1 PCT/JP2012/052685 JP2012052685W WO2012127912A1 WO 2012127912 A1 WO2012127912 A1 WO 2012127912A1 JP 2012052685 W JP2012052685 W JP 2012052685W WO 2012127912 A1 WO2012127912 A1 WO 2012127912A1
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- work
- bucket
- design surface
- work machine
- control system
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
Definitions
- the present invention relates to a work machine control system including a work machine and a construction machine including the work machine control system.
- control device of Patent Document 1 corrects the operation signal input from the operator for the bucket operation so that the relative speed with respect to the design surface of the bucket decreases as the distance between the bucket and the design surface decreases. . In this way, bucket speed movement automatically moves the bucket along the design surface.
- Patent Document 1 Even if the operator tries to stop the blade edge of the bucket at a position close to the design surface, the bucket automatically moves along the design surface regardless of the operation of the operator. Therefore, in order to set the cutting edge at a predetermined position, it is necessary to end the speed limitation. In addition, in the state where the speed limit is finished, the operator needs to manually set the cutting edge at a predetermined position.
- the present invention has been made in view of the above-described circumstances, and an object thereof is to provide a work machine control system, a construction machine, and a work machine control method capable of automatically switching between a forming mode and a cutting edge alignment mode.
- the excavation control system includes a work machine, an operation tool, a work mode determination unit, and a drive control unit.
- the work machine is constituted by a plurality of driven members including a bucket, and is rotatably supported by the vehicle body.
- the operating tool receives a user operation for driving a work machine, and outputs an operation signal according to the user operation.
- the work mode determination unit determines, based on the operation signal, whether the work mode of the work machine is a forming operation or a blade edge alignment operation.
- the drive control unit moves the bucket along the design surface indicating the target shape to be excavated when it is determined that the work form is a forming work, and it is determined that the work form is a blade edge alignment work Stop the bucket at a predetermined position relative to the design surface.
- the excavation control system includes a work machine, an internal pressure acquisition unit, a work mode determination unit, and a drive control unit.
- the work machine is constituted by a plurality of driven members including a bucket, and is rotatably supported by the vehicle body.
- the internal pressure acquisition unit acquires the internal pressure of the hydraulic cylinder that drives the work machine.
- the work mode determination unit determines, based on the internal pressure, whether the work mode of the work machine is a forming operation or a blade edge alignment operation.
- the drive control unit moves the bucket along the design surface indicating the target shape to be excavated when it is determined that the work form is a forming work, and it is determined that the work form is a blade edge alignment work Stop the bucket at a predetermined position relative to the design surface.
- the excavation control system includes a work machine, a discharge pressure acquisition unit, a work mode determination unit, and a drive control unit.
- the work machine is constituted by a plurality of driven members including a bucket, and is rotatably supported by the vehicle body.
- the discharge pressure acquisition unit acquires the discharge pressure of the hydraulic pump that supplies the hydraulic oil to the plurality of hydraulic cylinders that drive the plurality of driven members.
- the work mode determination unit determines, based on the discharge pressure, whether the work mode of the work machine is a forming operation or a blade edge alignment operation.
- the drive control unit moves the bucket along the design surface indicating the target shape to be excavated when it is determined that the work form is a forming work, and it is determined that the work form is a blade edge alignment work Stop the bucket at a predetermined position relative to the design surface.
- a work implement control method includes a plurality of driven members including a bucket, receives a user operation for driving a work implement rotatably supported by a vehicle main body, and receives the user operation A step of outputting a corresponding operation signal, a step of determining whether the work form of the work machine is a forming operation or a blade edge alignment operation based on the operation signal, and the operation form is a blade edge alignment operation And a step of stopping the bucket at a predetermined position based on the design surface, and after the bucket is stopped at the predetermined position, a predetermined driven member of the plurality of driven members is Moving the bucket along a design surface indicating a target shape to be excavated when a user operation for driving the drive member is received.
- a work machine control system, a construction machine, and a work machine control method capable of automatically switching between a forming mode and a cutting edge alignment mode can be provided.
- FIG. 1 is a perspective view of a hydraulic shovel 100.
- FIG. 2 is a side view of the hydraulic shovel 100.
- FIG. 2 is a rear view of the hydraulic shovel 100.
- FIG. 2 is a block diagram showing a functional configuration of a digging control system 200.
- FIG. 10 is a schematic view showing an example of a designed terrain displayed on a display unit 29.
- FIG. 7 is a cross-sectional view of a design topography at a line of intersection 47
- FIG. 5 is a block diagram showing the configuration of a work implement controller 26. It is a schematic diagram which shows the positional relationship of the bucket 8 and the 1st design surface 451. As shown in FIG. It is a graph which shows the relationship between the speed limit U and the distance d. 5 is a flowchart for explaining the operation of the excavation control system 200.
- FIG. 1 is a perspective view of a hydraulic shovel 100 according to the embodiment.
- the hydraulic shovel 100 has a vehicle body 1 and a working machine 2. Further, the hydraulic control system 100 is mounted on the hydraulic shovel 100. The configuration and operation of the excavation control system 200 will be described later.
- the vehicle body 1 has an upper revolving superstructure 3, a cab 4 and a traveling device 5.
- the upper swing body 3 accommodates an engine, a hydraulic pump, and the like (not shown).
- a first GNSS antenna 21 and a second GNSS antenna 22 are disposed on the rear end of the upper swing body 3.
- the first GNSS antenna 21 and the second GNSS antenna 22 are antennas for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means Global Navigation Satellite System).
- the operator's cab 4 is placed at the front of the upper swing body 3.
- An operating device 25 to be described later is disposed in the cab 4 (see FIG. 3).
- the traveling device 5 has crawler belts 5a and 5b, and the hydraulic shovel 100 travels when the crawler belts 5a and 5b rotate.
- the work implement 2 is attached to the front of the vehicle body 1 and includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.
- the base end of the boom 6 is pivotably attached to the front of the vehicle body 1 via a boom pin 13.
- the proximal end of the arm 7 is pivotably attached to the distal end of the boom 6 via an arm pin 14.
- the bucket 8 is pivotably attached to the tip of the arm 7 via a bucket pin 15.
- the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are hydraulic cylinders driven by hydraulic fluid.
- the boom cylinder 10 drives the boom 6.
- the arm cylinder 11 drives the arm 7.
- the bucket cylinder 12 drives the bucket 8.
- FIG. 2A is a side view of the hydraulic shovel 100
- FIG. 2B is a rear view of the hydraulic shovel 100.
- the length of the boom 6, ie, the length from the boom pin 13 to the arm pin 14 is L1.
- the length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15 is L2.
- the length of the bucket 8, that is, the length from the bucket pin 15 to the tip of the tooth of the bucket 8 (hereinafter, referred to as "cutting edge 8a”) is L3.
- the boom 6, the arm 7, and the bucket 8 are provided with first to third stroke sensors 16 to 18, respectively.
- the first stroke sensor 16 detects the stroke length of the boom cylinder 10 (hereinafter referred to as “boom cylinder length N1”).
- a display controller 28 (see FIG. 3) described later calculates the inclination angle ⁇ 1 of the boom 6 with respect to the vertical direction of the vehicle body coordinate system from the boom cylinder length N1 detected by the first stroke sensor 16.
- the second stroke sensor 17 detects the stroke length of the arm cylinder 11 (hereinafter referred to as “arm cylinder length N2”).
- the display controller 28 calculates the inclination angle ⁇ 2 of the arm 7 with respect to the boom 6 from the arm cylinder length N2 detected by the second stroke sensor 17.
- the third stroke sensor 18 detects the stroke length of the bucket cylinder 12 (hereinafter referred to as "bucket cylinder length N3").
- the display controller 28 calculates the inclination angle ⁇ 3 of the cutting edge 8a of the bucket 8 relative to the arm 7 from the bucket cylinder length N3 detected by the third stroke sensor 18.
- the vehicle body 1 is provided with a position detection unit 19.
- the position detection unit 19 detects the current position of the hydraulic shovel 100.
- the position detection unit 19 includes the first and second GNSS antennas 21 and 22 described above, a three-dimensional position sensor 23, and an inclination angle sensor 24.
- the first and second GNSS antennas 21 and 22 are spaced apart by a fixed distance in the vehicle width direction.
- a signal corresponding to the GNSS radio wave received by the first and second GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23.
- the three-dimensional position sensor 23 detects the installation position of the first and second GNSS antennas 21 and 22.
- the inclination angle sensor 24 detects an inclination angle ⁇ 4 in the vehicle width direction of the vehicle body 1 with respect to the gravity direction (vertical line).
- FIG. 3 is a block diagram showing a functional configuration of the excavation control system 200.
- the excavation control system 200 includes an operating device 25, a work machine controller 26, a proportional control valve 27, a display controller 28, and a display unit 29.
- the controller device 25 receives an operator operation for driving the work machine 2 and outputs an operation signal according to the operator operation.
- the controller 25 includes a boom manipulator 31, an arm manipulator 32, and a bucket manipulator 33.
- the boom operation tool 31 includes a boom operation lever 31a and a boom operation detection unit 31b.
- the boom control lever 31a receives the operation of the boom 6 by the operator.
- the boom operation detection unit 31b outputs a boom operation signal M1 according to the operation of the boom operation lever 31a.
- the arm control lever 32a receives the operation of the arm 7 by the operator.
- the arm operation detection unit 32b outputs an arm operation signal M2 in accordance with the operation of the arm operation lever 32a.
- the bucket operating tool 33 includes a bucket operating lever 33a and a bucket operation detection unit 33b.
- the bucket control lever 33a receives the operation of the bucket 8 by the operator.
- the bucket operation detection unit 33b outputs a bucket operation signal M3 according to the operation of the bucket operation lever 33a.
- the work unit controller 26 acquires a boom operation signal M1, an arm operation signal M2 and a bucket operation signal M3 (hereinafter collectively referred to as “operation signal M” as appropriate) from the operation device 25.
- the work machine controller 26 acquires the boom cylinder length N1, the arm cylinder length N2 and the bucket cylinder length N3 from the first to third stroke sensors 16 to 18.
- the work machine controller 26 outputs a control signal based on the various information to the proportional control valve 27.
- the work unit controller 26 executes the digging control for automatically moving the bucket 8 along the design surface 45 (see FIG. 4).
- the work unit controller 26 corrects the boom operation signal M1 and outputs the corrected signal to the proportional control valve 27 as described later.
- the work unit controller 26 outputs the arm operation signal M2 and the bucket operation signal M3 to the proportional control valve 27 without correction.
- the function and operation of the work machine controller 26 will be described later.
- the proportional control valve 27 is disposed between the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump not shown.
- the proportional control valve 27 supplies hydraulic fluid of a flow rate according to a control signal from the work implement controller 26 to the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12.
- the display controller 28 includes a storage unit 28 a such as a RAM and a ROM, and an operation unit 28 b such as a CPU.
- the storage unit 28a stores work machine data including the length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8 described above.
- the work implement data includes the minimum value and the maximum value of the tilt angle ⁇ 1 of the boom 6, the tilt angle ⁇ 2 of the arm 7, and the tilt angle ⁇ 3 of the bucket 8, respectively.
- the display controller 28 can communicate with the work machine controller 26 by wireless or wired communication means.
- the storage unit 28a of the display controller 28 stores in advance design topography data indicating the shape and position of the three-dimensional design topography in the work area.
- the display controller 28 causes the display unit 29 to display the design topography based on the design topography and the detection results from the various sensors described above.
- FIG. 4 is a schematic view showing an example of the designed terrain displayed on the display unit 29.
- the design topography is constituted by a plurality of design surfaces 45 which are respectively represented by triangular polygons.
- Each of the plurality of design surfaces 45 indicates the target shape of the digging target by the work machine 2.
- the operator selects one of the plurality of design surfaces 45 as a target design surface 45A.
- the work machine controller 26 moves the bucket 8 along a line 47 between the plane 46 passing the current position of the cutting edge 8a of the bucket 8 and the target design surface 45A.
- reference numeral 45 only one of the plurality of design surfaces is denoted by reference numeral 45, and the reference numerals of the other design surfaces are omitted.
- FIG. 5 is a cross-sectional view of the design topography at the intersection line 47, and is a schematic view showing an example of the design topography displayed on the display unit 29.
- the design topography according to the present embodiment includes a target design surface 45A and a speed limit intervention line C.
- the target design surface 45 ⁇ / b> A is an inclined surface located on the side of the hydraulic shovel 100. The operator moves the bucket 8 downward from above the target design surface 45A.
- the speed limit intervention line C defines an area where the speed limit described later is performed. As described later, when the cutting edge 8a intrudes inside the speed limit intervention line C, the speed control by the excavation control system 200 is performed.
- the speed limit intervention line C is set at the position of the line distance h from the target design surface 45A.
- the line distance h is preferably set to a distance that does not impair the feeling of operation of the work machine 2 by the operator.
- FIG. 6 is a block diagram showing the configuration of the work machine controller 26.
- FIG. 7 is a schematic view showing the positional relationship between the bucket 8 and the target design surface 45A.
- the work machine controller 26 includes a relative distance acquisition unit 261, a speed limit determination unit 262, a relative speed acquisition unit 263, a work mode determination unit 264, and a drive control unit 265.
- the relative distance acquisition unit 261 acquires the distance d between the cutting edge 8a and the target design surface 45A in the vertical direction perpendicular to the target design surface 45A, as shown in FIG.
- the relative distance acquisition unit 261 receives the design topography data acquired from the display controller 28 and the current position data of the hydraulic shovel 100, the boom cylinder length N1 acquired from the first to third stroke sensors 16 to 18, the arm cylinder length N2 and the bucket
- the distance d can be calculated based on the cylinder length N3.
- the relative distance acquisition unit 261 outputs the distance d to the speed limit determination unit 262. In the present embodiment, since the distance d is smaller than the line distance h, the cutting edge 8a intrudes inside the speed limit intervention line C.
- the speed limit determination unit 262 acquires the speed limit U according to the distance d.
- the limit speed U is a speed that is uniformly determined according to the distance d.
- the speed limit U is maximized when the distance d is equal to or greater than the line distance h, and becomes smaller as the distance d becomes smaller than the line distance h.
- the speed limit determination unit 262 outputs the speed limit U to the drive control unit 265.
- the direction approaching the target design surface 45A is a negative direction.
- the relative speed acquisition unit 263 calculates the speed Q of the cutting edge 8 a based on the operation signal M acquired from the operation device 25. Further, as shown in FIG. 7, the relative speed acquisition unit 263 acquires the relative speed Q1 of the cutting edge 8a with respect to the target design surface 45A based on the speed Q. The relative velocity acquisition unit 263 outputs the relative velocity Q1 to the drive control unit 265. In the present embodiment, the relative velocity Q1 is larger than the limit velocity U.
- the work form determination unit 264 determines whether the work form of the work machine 2 is a forming work or a blade edge alignment work based on the operation signal M acquired from the operating device 25.
- the forming operation is an operation of leveling along the target design surface 45A by moving the cutting edge 8a along the target design surface 45A.
- the forming operation includes, for example, a slope forming operation for forming a slope of cut soil or fill.
- the arm 7 is often driven by the operator.
- the cutting edge alignment operation is an operation of setting the cutting edge 8a at the start position of the next operation by stopping the cutting edge 8a at a predetermined position based on the target design surface 45A.
- the blade edge alignment operation includes, for example, a set of the blade edge 8a at the start position of the slope forming operation.
- the predetermined position can be set at any position on the target design surface 45A or at any position separated from the target design surface 45A toward the hydraulic shovel 100. Such a predetermined position is adjusted by the value of the vertical distance when the speed limit is "0" in the graph of FIG. In the present embodiment, as shown in FIG. 8, since the value of the vertical distance when the speed limit is "0" is "0", the predetermined position is set on the target design surface 45A. When the predetermined position is set at a position separated from the target design surface 45A, the vertical distance from the target design surface 45A to the predetermined position is small (that is, the stop position of the cutting edge 8a is adjacent to the target design surface 45A) Preferred).
- the operation mode determination unit 264 determines that the operation mode of the work machine 2 is a forming operation.
- the operation type determination unit 264 determines that the operation type of the work machine 2 is the blade edge alignment operation.
- the work mode determination unit 264 notifies the drive control unit 265 of the determination result.
- the drive control unit 265 executes speed limitation that limits the relative velocity Q1 of the cutting edge 8a to the target design surface 45A to the limitation velocity U.
- the drive control unit 265 corrects the boom operation signal M1 and proportionally controls the corrected boom operation signal M1. It outputs to the valve 27.
- the speed of the blade edge 8a in the vertical direction becomes slower as the blade edge 8a approaches the target design surface 45A, and when the blade edge 8a reaches a predetermined position (in the present embodiment, a position on the target design surface 45A) It becomes 0 "(see FIG. 8).
- the drive control unit 265 moves the cutting edge 8a along the target design surface 45A. Specifically, the drive control unit 265 corrects the boom operation signal M1 and outputs it to the proportional control valve 27 as described above, and the arm control signal M2 and the bucket operation signal M3 are not corrected but the proportional control valve 27 as it is. Output to As a result, the work machine 2 is driven and controlled in a forming mode in which the cutting edge 8a moves along the target design surface 45A.
- the drive control unit 265 determines a predetermined position based on the target design surface 45A (in the present embodiment, the target design The blade edge 8a is stopped at the position on the surface 45A. Specifically, the drive control unit 265 corrects the boom operation signal M1 as described above and outputs it to the proportional control valve 27 until the blade tip 8a reaches the target design surface 45A, and the bucket operation signal M3 is corrected. It outputs to the proportional control valve 27 as it is without correction.
- the drive control unit 265 performs the boom operation signal M1 and the bucket operation so that the speed of the cutting edge 8a in the parallel direction parallel to the target design surface 45A becomes "0".
- the signal M3 is corrected and output to the proportional control valve 27.
- the work machine 2 is drive-controlled in the blade edge alignment mode in which the blade edge 8a stops at a predetermined position.
- the arm operation signal M2 is not output from the operation device 25, but thereafter, the arm operation signal M2 is output from the operation device 25.
- the operation mode is determined to be a forming operation. As a result, the drive control of the work machine 2 shifts from the blade edge alignment mode to the forming mode.
- FIG. 9 is a flowchart for explaining the operation of the excavation control system 200.
- step S10 the excavation control system 200 acquires design topography data and current position data of the hydraulic shovel 100.
- step S20 the excavation control system 200 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3.
- step S30 the excavation control system 200 calculates the distance d based on the design topography data, the current position data, the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 (see FIG. 7).
- step S40 the excavation control system 200 acquires a speed limit U according to the distance d (see FIG. 8).
- step S50 the excavation control system 200 calculates the speed Q of the cutting edge 8a based on the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3 (see FIG. 7).
- step S60 the excavation control system 200 acquires the relative velocity Q1 based on the velocity Q (see FIG. 7).
- step S70 the excavation control system 200 suppresses the relative speed Q1 to the limit speed U only by reducing the rotational speed of the boom 6 (see FIG. 7).
- step S80 the excavation control system 200 determines, based on the operation signal M, whether the work form of the work machine 2 is a forming operation. Specifically, when the operation signal M includes the arm operation signal M2 indicating the operation of the arm, the excavation control system 200 determines that the operation mode of the work machine 2 is a forming operation, and the operation signal M When the arm operation signal M2 is not included, it is determined that the operation mode of the work machine 2 is the blade edge alignment operation. If the operation mode is a forming operation, the process proceeds to step S90. If the operation mode is not a forming operation, it is determined that the operation mode is a blade edge alignment operation, and the process proceeds to step S100.
- step S90 the excavation control system 200 moves the cutting edge 8a along the target design surface 45A. Specifically, the excavation control system 200 corrects the boom operation signal M1 and outputs it to the proportional control valve 27 as described above, and the arm operation signal M2 and the bucket operation signal M3 are not corrected but the proportional control valve 27 as it is. Output to
- step S100 the excavation control system 200 stops the cutting edge 8a at a predetermined position (in this embodiment, an arbitrary position on the target design surface 45A) based on the target design surface 45A.
- the drive control unit 265 corrects the boom operation signal M1 and outputs it to the proportional control valve 27 as described above, and outputs the bucket operation signal M3 to the proportional control valve 27 without correcting it.
- step S110 the excavation control system 200 determines whether the operator operates the arm control lever 32a, that is, whether or not the arm operation signal M2 is output from the controller device 25. If it is determined that the operator operates the arm control lever 32a, the process proceeds to step S90. If it is determined that the operator has not operated the arm control lever 32a, the process returns to step S100.
- the excavation control system 200 includes a work type determination unit 264 and a drive control unit 265. Based on the operation signal M, the work mode determination unit 264 determines whether the work mode of the work machine 2 is a forming operation or a blade edge alignment operation.
- the drive control unit 265 moves the cutting edge 8a of the bucket 8 along the target design surface 45A when it is determined that the work form is a forming operation.
- the drive control unit 265 stops the blade edge 8a of the bucket 8 at a predetermined position based on the target design surface 45A when it is determined that the operation mode is the blade edge alignment operation.
- the blade tip 8a can be moved along the target design surface 45A regardless of the operator's operation during the forming operation, and the blade tip 8a can be stopped at a predetermined position according to the operator's operation during the blade edge alignment operation. Therefore, it is possible to suppress movement of the blade edge 8a along the target design surface 45A regardless of wanting to perform the blade edge alignment work.
- the drive control of the work machine 2 can be automatically switched to the forming mode and the blade edge alignment mode.
- the excavation control system 200 executes the speed restriction by adjusting the extension / contraction speed of the boom cylinder 10.
- speed restriction is performed by correcting only the boom operation signal M1 among the operation signals corresponding to the operator's operation. That is, of the boom 6, the arm 7 and the bucket 8, only the boom 6 does not drive as operated by the operator. Therefore, as compared with the case of adjusting the extension / contraction speed of two or more driven members of the boom 6, the arm 7 and the bucket 8, it is possible to suppress the loss of the operator's operation feeling.
- the operation type is the forming operation. It is determined that
- the operator is known to drive the arm 7. Therefore, by making a determination based on the presence or absence of the arm operation signal M2, the determination can be performed easily and accurately.
- the excavation control system 200 performs speed limitation by adjusting the extension / contraction speed of the boom cylinder 10, and determines the work mode based on the presence / absence of the arm operation signal M2. Therefore, it is possible to determine the operator's intention of digging or not while performing the speed limit intervention. Therefore, when the cutting surface is switched from the shoulder to the slope or when the cutting edge is aligned at the start of the drilling, the cutting edge alignment can be made in accordance with the operator's operation intention, and the working efficiency can be improved.
- the work type determination unit 264 determines the work type of the work machine 2 based on the operation signal M, but is not limited to this.
- the work type determination unit 264 can determine the work type of the work machine 2 based on the internal pressure of at least one of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. This is a method utilizing the fact that the internal pressure of the cylinder temporarily increases due to the increase in the amount of hydraulic oil supplied when the molding operation is performed.
- the work mode determination unit 264 acquires the internal pressure from the internal pressure acquisition unit that acquires the internal pressure, and determines that it is a molding operation if the internal pressure is equal to or higher than a predetermined value, If it is less than, it can be determined that it is a blade edge alignment operation.
- the excavation control system 200 can determine the work configuration of the work machine 2 based on the discharge pressure of the hydraulic pump that supplies the hydraulic fluid to the proportional control valve 27. This is a method utilizing the fact that the amount of hydraulic fluid discharged from the hydraulic pump temporarily increases when the molding operation is performed.
- the work mode determination unit 264 acquires the discharge pressure from the discharge pressure acquisition unit that acquires the discharge pressure, and determines that the molding operation is performed if the discharge pressure is a predetermined value or more, and the discharge pressure is a predetermined value. If it is less than, it can be determined that it is a blade edge alignment operation.
- the working mode determination unit 264 determines the working mode of the working machine 2 based on whether or not the arm operation signal M2 is included in the operation signal M. It is not something that can be done.
- the work mode determination unit 264 may determine whether or not the work mode determination unit 264 includes two or more signals including the arm operation signal M2 among the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3, The work form may be determined.
- the work machine controller 26 executes the speed limit based on the position of the blade edge 8 a of the bucket 8, but the invention is not limited to this.
- the work implement controller 26 can perform the speed limit based on any position of the bucket 8.
- the predetermined position at which the blade edge 8a stops is set on the target design surface 45A, but is not limited to this.
- the predetermined position may be set at an arbitrary position spaced apart from the target design surface 45A toward the hydraulic shovel 100. In this case, the value of the vertical distance when the speed limit is “0” in the graph of FIG. 8 matches the distance between the target design surface 45A and the predetermined position.
- the excavation control system 200 suppresses the relative speed to the speed limit only by reducing the rotational speed of the boom 6, but the present invention is not limited to this.
- the excavation control system 200 may adjust the rotational speed of at least one of the arm 7 and the bucket 8. As a result, since it is possible to suppress the speed of the bucket 8 in the direction parallel to the design surface 45 from being reduced due to the speed limitation, it is possible to suppress the loss of the operator's operation feeling.
- the excavation control system 200 calculates the speed Q of the cutting edge 8a based on the operation signal M acquired from the operation device 25.
- the excavation control system 200 can calculate the speed Q based on the amount of change per time of each of the cylinder lengths N1 to N3 acquired from the first to third stroke sensors 16 to 18. In this case, the speed Q can be calculated more accurately than when the speed Q is calculated based on the operation signal M.
- the present invention is useful in the field of construction machinery because it can provide a work machine control system capable of automatically switching between the forming mode and the blade edge alignment mode.
- SYMBOLS 1 Vehicle main body, 2 ... working machine, 3 ... upper revolving superstructure, 4 ... driving room, 5 ... traveling apparatus, 5a, 5b ... crawler belt, 6 ... boom, 7 ... arm, 8 ... bucket, 8a ... cutting edge, 10 ... Boom cylinder 11 Arm cylinder 12 Bucket cylinder 13 Boom pin 14 Arm pin 15 Bucket pin 16 First stroke sensor 17 Second stroke sensor 18 Third stroke sensor 19 Position 19 Detection unit 21 first GNSS antenna 22 second GNSS antenna 23 three-dimensional position sensor 24 tilt angle sensor 25 operation device 26 working machine controller 261 relative distance acquisition unit 262 speed limit Determining part, 263 ... relative speed acquiring part, 264 ...
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Abstract
Description
しかしながら、特許文献1では、オペレータがバケットの刃先を設計面に近接する位置で停止させようとしても、オペレータの操作に関わらずバケットは設計面に沿って自動的に移動してしまう。そのため、刃先を所定位置にセットするには、速度制限を終了させる必要がある。また、速度制限を終了させた状態では、オペレータは手動で刃先を所定位置にセットする必要がある。
第1の態様に係る掘削制御システムは、作業機と、操作具と、作業形態判定部と、駆動制御部とを備える。作業機は、バケットを含む複数の被駆動部材によって構成されており、車両本体に回動可能に支持される。操作具は、作業機を駆動するユーザ操作を受け付け、ユーザ操作に応じた操作信号を出力する。作業形態判定部は、操作信号に基づいて、作業機の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する。駆動制御部は、作業形態が成形作業であると判定された場合に、掘削対象の目標形状を示す設計面に沿ってバケットを移動させ、作業形態が刃先位置合せ作業であると判定された場合に、設計面を基準とする所定位置でバケットを停止させる。
成形モードと刃先位置合わせモードとを自動切換え可能な作業機制御システム、建設機械及び作業機制御方法を提供することができる。
図1は、実施形態に係る油圧ショベル100の斜視図である。油圧ショベル100は、車両本体1と、作業機2とを有する。また、油圧ショベル100には、掘削制御システム200が搭載されている。掘削制御システム200の構成および動作については後述する。
図3は、掘削制御システム200の機能構成を示すブロック図である。掘削制御システム200は、操作装置25と、作業機コントローラ26と、比例制御弁27と、表示コントローラ28と、表示部29と、を備える。
図6は、作業機コントローラ26の構成を示すブロック図である。図7は、バケット8と目標設計面45Aとの位置関係を示す模式図である。
図9は、掘削制御システム200の動作を説明するためのフローチャートである。
(1)本実施形態に係る掘削制御システム200は、作業形態判定部264と、駆動制御部265とを備える。作業形態判定部264は、操作信号Mに基づいて、作業機2の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する。駆動制御部265は、作業形態が成形作業であると判定された場合に、目標設計面45Aに沿ってバケット8の刃先8aを移動させる。駆動制御部265は、作業形態が刃先位置合せ作業であると判定された場合に、目標設計面45Aを基準とする所定位置でバケット8の刃先8aを停止させる。
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。
Claims (8)
- バケットを含む複数の被駆動部材によって構成されており、車両本体に回動可能に支持される作業機と、
前記作業機を駆動するユーザ操作を受け付け、前記ユーザ操作に応じた操作信号を出力する操作具と、
前記操作信号に基づいて、前記作業機の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する作業形態判定部と、
前記作業形態が成形作業であると判定された場合に、掘削対象の目標形状を示す設計面に沿って前記バケットを移動させ、前記作業形態が刃先位置合せ作業であると判定された場合に、前記設計面を基準とする所定位置で前記バケットを停止させる駆動制御部と、
を備える作業機制御システム。 - 前記複数の被駆動部材のうち前記車両本体に回動可能に取り付けられるブームを駆動するブームシリンダと、
前記設計面に対する前記バケットの相対速度に基づいて、前記設計面に対する前記バケットの制限速度を決定する制限速度決定部と、
を備え、
前記駆動制御部は、前記バケットが前記設計面から所定距離内に位置する場合に、前記相対速度を前記制限速度に制限する、
請求項1に記載の作業機制御システム。 - 前記駆動制御部は、前記ブームシリンダの伸縮速度の調整によって前記相対速度を前記制限速度に制限する、
請求項2に記載の作業機制御システム。 - 前記複数の被駆動部材は、前記バケットと前記ブームとに連結されるアームを含み、
前記作業形態判定部は、前記操作信号に前記アームの操作を示す信号が含まれている場合に、前記作業形態は成形作業であると判定する、
請求項3に記載の作業機制御システム。 - バケットを含む複数の被駆動部材によって構成されており、車両本体に回動可能に支持される作業機と、
前記作業機を駆動する油圧シリンダの内部圧を取得する内部圧取得部と、
前記内部圧に基づいて、前記作業機の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する作業形態判定部と、
前記作業形態が成形作業であると判定された場合に、掘削対象の目標形状を示す設計面に沿って前記バケットを移動させ、前記作業形態が刃先位置合せ作業であると判定された場合に、前記設計面を基準とする所定位置で前記バケットを停止させる駆動制御部と、
を備える作業機制御システム。 - バケットを含む複数の被駆動部材によって構成されており、車両本体に回動可能に支持される作業機と、
前記複数の被駆動部材のそれぞれを駆動する複数の油圧シリンダに作動油を供給する油圧ポンプの吐出圧を取得する吐出圧取得部と、
前記吐出圧に基づいて、前記作業機の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する作業形態判定部と、
前記作業形態が成形作業であると判定された場合に、掘削対象の目標形状を示す設計面に沿って前記バケットを移動させ、前記作業形態が刃先位置合せ作業であると判定された場合に、前記設計面を基準とする所定位置で前記バケットを停止させる駆動制御部と、
を備える作業機制御システム。 - 車両本体と、
請求項1乃至請求項6のいずれかに記載の作業機制御システムと、
を備える建設機械。 - バケットを含む複数の被駆動部材によって構成されており、車両本体に回動可能に支持される作業機を駆動するユーザ操作を受け付け、前記ユーザ操作に応じた操作信号を出力する工程と、
前記操作信号に基づいて、前記作業機の作業形態が成形作業であるか刃先位置合せ作業であるかを判定する工程と、
前記作業形態が刃先位置合せ作業であると判定された場合に、前記設計面を基準とする所定位置で前記バケットを停止させる工程と、
前記バケットが前記所定位置で停止された後、前記複数の被駆動部材のうち所定の被駆動部材を駆動するユーザ操作が受け付けられた場合に、掘削対象の目標形状を示す設計面に沿って前記バケットを移動させる工程と、
を備える作業機制御方法。
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Also Published As
Publication number | Publication date |
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KR20130112062A (ko) | 2013-10-11 |
CN103348063B (zh) | 2015-12-09 |
US9194106B2 (en) | 2015-11-24 |
JPWO2012127912A1 (ja) | 2014-07-24 |
CN103348063A (zh) | 2013-10-09 |
DE112012000540T5 (de) | 2013-11-21 |
DE112012000540B4 (de) | 2019-01-31 |
JP5548306B2 (ja) | 2014-07-16 |
KR101542470B1 (ko) | 2015-08-06 |
US20140142817A1 (en) | 2014-05-22 |
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