WO2012127914A1 - 掘削制御システム - Google Patents
掘削制御システム Download PDFInfo
- Publication number
- WO2012127914A1 WO2012127914A1 PCT/JP2012/052687 JP2012052687W WO2012127914A1 WO 2012127914 A1 WO2012127914 A1 WO 2012127914A1 JP 2012052687 W JP2012052687 W JP 2012052687W WO 2012127914 A1 WO2012127914 A1 WO 2012127914A1
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- speed
- candidate
- relative
- boom
- adjustment
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Classifications
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- 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
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- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
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- 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
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Definitions
- the present invention relates to an excavation control system that executes speed limitation of a work machine.
- Patent Document 1 a method of excavating a predetermined region by moving a bucket along a design surface indicating a target shape to be excavated in a construction machine including a work machine is known (see Patent Document 1).
- control device of Patent Document 1 corrects the operation signal input from the operator so that the relative speed with respect to the design surface of the work implement decreases as the distance between the blade edge of the bucket and the design surface decreases. As a result, excavation control for automatically moving the cutting edge along the design surface is executed regardless of the operation of the operator.
- the present invention has been made in view of the above situation, and an object thereof is to provide an excavation control system capable of executing appropriate excavation control.
- the excavation control system includes a work implement, a plurality of hydraulic cylinders, a candidate speed acquisition unit, a relative speed acquisition unit, a speed limit selection unit, and a hydraulic cylinder control unit.
- the work machine is composed of a plurality of driven members including a bucket and is rotatably supported by the vehicle body.
- the plurality of hydraulic cylinders drive each of the plurality of driven members.
- the candidate speed acquisition unit includes a first candidate speed corresponding to a first interval between the first monitoring point of the bucket and a design surface indicating the target shape of the excavation target, a second monitoring point of a bucket different from the first monitoring point, The second candidate speed corresponding to the second interval with the design surface is acquired.
- the relative speed acquisition unit acquires the first relative speed of the first monitoring point with respect to the design surface and the second relative speed of the second monitoring point with respect to the design surface. Based on the relative relation between the first relative speed and the first candidate speed and the relative relation between the second relative speed and the second candidate speed, one of the first candidate speed and the second candidate speed is selected as the speed limit. .
- the hydraulic cylinder control unit limits the relative speed of the monitoring point related to the speed limit among the first monitoring point and the second monitoring point to the design surface by supplying hydraulic oil to the plurality of hydraulic cylinders.
- the excavation control system relates to the first aspect, and further includes an adjustment speed acquisition unit.
- the adjustment speed acquisition unit sets the first adjustment speed indicating the target speed of the expansion / contraction speed in each of the plurality of hydraulic cylinders required to limit the first relative speed to the first candidate speed, and the second relative speed as the second speed.
- the second adjustment speed indicating the target speed of the expansion / contraction speed in each of the plurality of hydraulic cylinders required for limiting to the candidate speed is acquired.
- the speed limit selection unit selects the first candidate speed as the speed limit when the first adjustment speed is higher than the second adjustment speed, and selects the second candidate speed when the second adjustment speed is higher than the first adjustment speed. Select as speed limit.
- An excavation control system capable of smoothly executing excavation control can be provided.
- FIG. 1 is a perspective view of a hydraulic excavator 100.
- FIG. 1 is a side view of a hydraulic excavator 100.
- FIG. 1 is a rear view of a hydraulic excavator 100.
- FIG. 2 is a block diagram showing a functional configuration of an excavation control system 200.
- FIG. 4 is a schematic diagram illustrating an example of a design topography displayed on a display unit 29.
- FIG. 4 is a cross-sectional view of a design landform at an intersection line 47.
- 3 is a block diagram showing a configuration of a work machine controller 26.
- FIG. It is a schematic diagram which shows the positional relationship of the blade edge
- FIG. 1 is a perspective view of a hydraulic excavator 100 according to the embodiment.
- the excavator 100 includes a vehicle main body 1 and a work implement 2.
- the excavator 100 is equipped with an excavation control system 200. The configuration and operation of the excavation control system 200 will be described later.
- the vehicle body 1 has an upper swing body 3, a cab 4, and a traveling device 5.
- the upper swing body 3 houses an engine, a hydraulic pump, etc. (not shown).
- a first GNSS antenna 21 and a second GNSS antenna 22 are disposed on the rear end portion 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 is a global navigation satellite system).
- the cab 4 is placed at the front of the upper swing body 3.
- An operation device 25 described later is arranged in the cab 4 (see FIG. 3).
- the traveling device 5 has crawler belts 5a and 5b, and the excavator 100 travels as the crawler belts 5a and 5b rotate.
- the work machine 2 is attached to the front portion 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.
- a base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 13.
- the base end portion of the arm 7 is swingably attached to the tip end portion of the boom 6 via the arm pin 14.
- a bucket 8 is swingably 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 that are driven by hydraulic oil, respectively.
- 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 excavator 100
- FIG. 2B is a rear view of the excavator 100
- the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14
- the length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15
- 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 “blade edge 8 a”, an example of “first monitoring point”) is L 3 a.
- the length from the bucket pin 15 to the outermost back side of the bucket 8 (hereinafter referred to as “back end 8b”, an example of “second monitoring point”) is L3b.
- 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), which will be described later, calculates the tilt 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 tilt 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 ⁇ 3a of the cutting edge 8a with respect to the arm 7 and the inclination angle ⁇ 3b of the back end 8b with respect 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 detector 19.
- the position detector 19 detects the current position of the excavator 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 certain 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 positions 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 direction of gravity (vertical line).
- FIG. 3 is a block diagram illustrating 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 operating device 25 receives an operator operation for driving the work machine 2 and outputs an operation signal corresponding to the operator operation.
- the operation device 25 includes a boom operation tool 31, an arm operation tool 32, and a bucket operation tool 33.
- the boom operation tool 31 includes a boom operation lever 31a and a boom operation detection unit 31b.
- the boom operation lever 31a receives an 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 operation lever 32a receives an operation of the arm 7 by the operator.
- the arm operation detection unit 32b outputs an arm operation signal M2 according to the operation of the arm operation lever 32a.
- the bucket operation tool 33 includes a bucket operation lever 33a and a bucket operation detection unit 33b.
- Bucket operation lever 33a receives operation of bucket 8 by an 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 machine controller 26 acquires the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3 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 these various information to the proportional control valve 27.
- the work machine controller 26 executes excavation control for automatically moving the bucket 8 along the design surface 45 (see FIG. 4).
- the work machine controller 26 corrects the boom operation signal M1 and outputs it to the proportional control valve 27 as described later.
- the work machine 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 oil at a flow rate corresponding to a control signal from the work machine controller 26 to each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12.
- the display controller 28 includes a storage unit 28a such as a RAM and a ROM, and a calculation unit 28b such as a CPU.
- the storage unit 28a stores work implement data including the length L1 of the boom 6, the length L2 of the arm 7, and the lengths L3a and L3b of the bucket 8.
- the work machine data includes the minimum value and the maximum value of the inclination angle ⁇ 1 of the boom 6, the inclination angle ⁇ 2 of the arm 7, the inclination angle ⁇ 3a of the cutting edge 8a, and the inclination angle ⁇ 3b of the back end 8b.
- 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 design terrain data indicating the shape and position of the three-dimensional design terrain in the work area in advance.
- the display controller 28 displays the design terrain on the display unit 29 based on the design terrain and detection results from the various sensors described above.
- FIG. 4 is a schematic diagram showing an example of the design terrain displayed on the display unit 29.
- the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon.
- Each of the plurality of design surfaces 45 indicates a target shape to be excavated by the work machine 2.
- the operator selects one design surface of the plurality of design surfaces 45 as the target design surface 45A.
- the work machine controller 26 moves the bucket 8 along the intersection line 47 between the plane 46 passing through the current position of the cutting edge 8a of the bucket 8 and the target design surface 45A.
- reference numeral 45 is given to only one of the plurality of design surfaces, and reference numerals of the other design surfaces are omitted.
- FIG. 5 is a cross-sectional view of the design terrain at the intersection line 47, and is a schematic diagram showing an example of the design terrain displayed on the display unit 29.
- the design landform according to the present embodiment includes a target design surface 45A and a speed limit intervention line C.
- the target design surface 45A is an inclined surface located on the side of the excavator 100. The operator performs excavation along the target design surface 45A by moving the bucket 8 from above to below the target design surface 45A.
- the speed limit intervention line C demarcates an area where speed limit described later is executed. As will be described later, when the bucket 8 enters the inside of the speed limit intervention line C, speed limit by the excavation control system 200 is executed.
- the speed limit intervention line C is set at a position of a line distance h from the target design surface 45A.
- the line distance h is preferably set to a distance that does not impair the operational feeling of the work machine 2 by the operator.
- FIG. 6 is a block diagram illustrating a configuration of the work machine controller 26.
- FIG. 7 is a schematic diagram showing the positional relationship between the blade edge 8a and the target design surface 45A.
- FIG. 8 is a schematic diagram showing the positional relationship between the back end 8b and the target design surface 45A. 7 and 8 show the position of the bucket 8 at the same time.
- the work machine controller 26 includes a relative distance acquisition unit 261, a candidate speed acquisition unit 262, a relative speed acquisition unit 263, an adjustment speed acquisition unit 264, a speed limit selection unit 265, a hydraulic cylinder A control unit 266.
- the relative distance acquisition unit 261 acquires the first distance d1 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. As shown in FIG. 8, the relative distance acquisition unit 261 acquires a second distance d2 between the back end 8b and the target design surface 45A in the vertical direction.
- the relative distance acquisition unit 261 includes design terrain data acquired from the display controller 28 and current position data of the excavator 100, boom cylinder length N1, arm cylinder length N2 and bucket acquired from the first to third stroke sensors 16-18. Based on the cylinder length N3, the first distance d1 and the second distance d2 are calculated.
- the relative distance acquisition unit 261 outputs the first distance d1 and the second distance d2 to the candidate speed acquisition unit 263. In the present embodiment, the first distance d1 is smaller than the second distance d2.
- the candidate speed acquisition unit 262 acquires a first candidate speed P1 corresponding to the first distance d1 and a second candidate speed P2 corresponding to the second distance d2.
- the first candidate speed P1 is a speed that is uniformly determined according to the first distance d1.
- the first candidate speed P1 becomes maximum when the first distance d1 is equal to or greater than the line distance h, and becomes slower as the first distance d1 becomes smaller than the line distance h.
- the second candidate speed P2 is a speed that is uniformly determined according to the second distance d2. As shown in FIG.
- the second candidate speed P2 becomes maximum when the second distance d2 is equal to or greater than the line distance h, and becomes slower as the second distance d2 becomes smaller than the line distance h.
- the candidate speed acquisition unit 262 outputs the first candidate speed P1 and the second candidate speed P2 to the adjustment speed acquisition unit 264 and the speed limit selection unit 265.
- the direction approaching the first design surface 451 is a negative direction
- the direction approaching the second design surface 452 is a negative direction.
- the first candidate speed P1 is slower than the second candidate speed P2.
- the relative speed acquisition unit 263 calculates the speed Q of the blade edge 8a and the speed Q 'of the back end 8b based on the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3 acquired from the operation device 25. Further, as shown in FIG. 7, the relative speed acquisition unit 263 acquires a first relative speed Q1 with respect to the target design surface 45A of the blade edge 8a based on the speed Q. As shown in FIG. 8, the relative speed acquisition unit 263 acquires the second relative speed Q2 of the rear end 8b with respect to the target design surface 45A based on the speed Q '. The relative speed acquisition unit 263 outputs the first relative speed Q1 and the second relative speed Q2 to the adjustment speed acquisition unit 264.
- the adjustment speed acquisition unit 264 acquires the first candidate speed P1 from the candidate speed acquisition unit 262 and acquires the first relative speed Q1 from the relative speed acquisition unit 263.
- the adjustment speed acquisition unit 264 acquires the first adjustment speed S1 of the expansion / contraction speed of the boom cylinder 10 required to limit the first relative speed Q1 to the first candidate speed P1.
- FIG. 11 is a diagram for explaining a method of obtaining the first adjustment speed S1.
- the first difference R1 is eliminated from the first relative speed Q1 only by reducing the rotational speed of the boom 6 around the boom pin 13.
- the first adjustment speed S1 based on the first difference R1 can be acquired.
- the adjustment speed acquisition unit 264 acquires the second candidate speed P2 from the candidate speed acquisition unit 262 and acquires the second relative speed Q2 from the relative speed acquisition unit 263.
- the adjustment speed acquisition unit 264 acquires the second adjustment speed S2 of the expansion / contraction speed of the boom cylinder 10 required to limit the second relative speed Q2 to the second candidate speed P2.
- FIG. 12 is a diagram for explaining a method of obtaining the second adjustment speed S2.
- 2nd adjustment speed S2 based on 2nd difference R2 is acquirable.
- the second adjustment speed S2 is the second adjustment speed S2 as shown in FIGS. 11 and 12, although the second interval d2 is larger than the first interval d1. It is larger than one adjustment speed S1. This is because the first relative speed Q1 of the cutting edge 8a and the second relative speed Q2 of the rear end 8b may differ due to the difference between the speed Q of the cutting edge 8a and the speed Q 'of the rear end 8b. Therefore, in the present embodiment, as described later, speed limitation is performed based on the back end 8b that is farther from the target design surface 45A than the cutting edge 8a.
- the speed limit selection unit 265 acquires the first candidate speed P1 and the second candidate speed P2 from the candidate speed acquisition unit 262, and acquires the first adjustment speed S1 and the second adjustment speed S2 from the adjustment speed acquisition unit 264.
- the speed limit selection unit 265 selects one of the first candidate speed P1 and the second candidate speed P2 as the speed limit U based on the first adjustment speed S1 and the second adjustment speed S2. Specifically, the speed limit selection unit 265 selects the first candidate speed P1 as the speed limit U when the first adjustment speed S1 is greater than the second adjustment speed S2.
- the speed limit selection unit 265 selects the second candidate speed P2 as the speed limit U when the second adjustment speed S2 is higher than the first adjustment speed S1. In the present embodiment, since the second adjustment speed S2 is greater than the first adjustment speed S1, the speed limit selection unit 265 selects the second candidate speed P2 as the speed limit U.
- the hydraulic cylinder control unit 266 limits the second relative speed Q2 of the rear end 8b with respect to the target design surface 45A related to the second candidate speed P2 selected as the limit speed U to the limit speed U (that is, the second candidate speed P2). To do.
- the hydraulic cylinder control unit 266 corrects the boom operation signal M1 and performs the corrected boom operation.
- the signal M1 is output to the proportional control valve 27.
- the work machine controller 26 outputs the arm operation signal M2 and the bucket operation signal M3 to the proportional control valve 27 without correction.
- FIG. 13 is a flowchart for explaining the operation of the excavation control system 200.
- step S10 the excavation control system 200 acquires design terrain data and current position data of the excavator 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 first distance d1 and the second distance d2 based on the design landform data, the current position data, the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 (FIG. 7, see FIG.
- step S40 the excavation control system 200 acquires a first candidate speed P1 corresponding to the first distance d1 and a second candidate speed P2 corresponding to the second distance d2 (see FIGS. 9 and 10).
- step S50 the excavation control system 200 calculates the speed Q of the cutting edge 8a and the speed Q ′ of the back end 8b based on the boom operation signal M1, the arm operation signal M2, and the bucket operation signal M3 (FIGS. 7 and 8). reference).
- step S60 the excavation control system 200 acquires the first relative speed Q1 and the second relative speed Q2 based on the speed Q and the speed Q '(see FIGS. 7 and 8).
- step S70 the excavation control system 200 acquires the first adjustment speed S1 of the boom cylinder 10 expansion / contraction speed required to limit the first relative speed Q1 to the first candidate speed P1 (see FIG. 11). .
- step S80 the excavation control system 200 acquires the second adjustment speed S2 of the expansion / contraction speed of the boom cylinder 10 that is required to limit the second relative speed Q2 to the second candidate speed P2. (See FIG. 12).
- step S90 the excavation control system 200 selects one of the first candidate speed P1 and the second candidate speed P2 as the speed limit U based on the first adjustment speed S1 and the second adjustment speed S2.
- the excavation control system 200 selects the candidate speed P that is the larger of the first adjustment speed S1 and the second adjustment speed S2 as the speed limit U.
- the second candidate speed P2 is selected as the limit speed U.
- step S100 the excavation control system 200 limits the second relative speed Q2 of the rear end 8b related to the second candidate speed P2 selected as the speed limit U to the speed limit U (that is, the second candidate speed P2).
- the excavation control system 200 includes a first adjustment speed S1 of the expansion / contraction speed of the boom cylinder 10 required for limiting the first relative speed Q1 to the first candidate speed P1, and the second The second adjustment speed S2 of the expansion / contraction speed of the boom cylinder 10 required to limit the relative speed Q2 to the second candidate speed P2 is acquired.
- the excavation control system 200 selects the candidate speed P that is the larger of the first adjustment speed S1 and the second adjustment speed S2 as the speed limit U.
- speed monitoring is performed based on the adjustment speed S of the boom cylinder 10 regardless of the first interval d1 and the second interval d2, while monitoring the cutting edge 8a and the back end 8b. Therefore, speed limitation can be executed on the basis of the cutting edge 8a and the rear end 8b having the larger adjustment speed S of the expansion / contraction speed of the boom cylinder 10.
- the boom cylinder 10 Adjustment of the expansion / contraction speed may not be in time.
- excavation as designed cannot be performed, and if the boom cylinder 10 is forcibly adjusted, an impact due to sudden drive is generated, so appropriate excavation is possible. Control cannot be executed.
- the speed limit is executed based on the rear end 8b having the large adjustment speed S, so that there is a margin for adjusting the boom cylinder 10. Can do. Therefore, it is possible to suppress the rear end 8b from exceeding the target design surface 45A and the occurrence of an impact due to sudden driving, and therefore appropriate excavation control can be executed.
- the excavation control system 200 executes speed limitation by adjusting the expansion / contraction speed of the boom cylinder 10.
- speed limitation is executed by correcting only the boom operation signal M1 among the operation signals corresponding to the operator operation. That is, only the boom 6 is not driven as operated by the operator among the boom 6, the arm 7 and the bucket 8. Therefore, compared with the case where the expansion / contraction speed of two or more driven members among the boom 6, the arm 7, and the bucket 8 is adjusted, it is possible to suppress the operator's operational feeling from being impaired.
- the excavation control system 200 sets the cutting edge 8a and the back end 8b of the bucket 8 as monitoring points, but the present invention is not limited to this. In the excavation control system 200, two or more monitoring points in the outer periphery of the bucket 8 may be set.
- the excavation control system 200 suppresses the relative speed to the limit speed only by reducing the rotation speed of the boom 6, but the present invention is not limited to this.
- the excavation control system 200 may adjust the rotation speed of at least one of the arm 7 and the bucket 8 in addition to the rotation speed of the boom 6.
- the sum (total) of adjustment speeds of the boom 6, arm 7, and bucket 8 may be calculated as the adjustment speed S.
- the excavation control system 200 calculates the speed Q of the cutting edge 8a and the speed Q ′ of the back end 8b based on the operation signal M acquired from the operating device 25. It is not limited.
- the excavation control system 200 can directly calculate the speed Q and the speed Q ′ based on the amount of change per hour of each cylinder length N1 to N3 acquired from the first to third stroke sensors 16 to 18. In this case, it is possible to calculate the speed Q and the speed Q ′ with higher accuracy than when the speed Q and the speed Q ′ are calculated based on the operation signal M.
- the candidate speed and the distance are in a linear relationship, but the present invention is not limited to this.
- the relationship between the candidate speed and the distance can be set as appropriate, and may not be linear or may not pass through the origin.
- the present invention is useful in the construction machinery field because it can provide a work machine control system capable of performing appropriate excavation control.
- SYMBOLS 1 Vehicle main body, 2 ... Working machine, 3 ... Upper turning body, 4 ... Driver's cab, 5 ... Traveling device, 5a, 5b ... Track, 6 ... Boom, 7 ... Arm, 8 ... Bucket, 8a ... Cutting edge, 8b ... Rear end, 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 detection unit, 21 ... First GNSS antenna, 22 ... Second GNSS antenna, 23 ... Three-dimensional position sensor, 24 ...
- Inclination angle sensor 25 ... Operating device, 26 ... Work machine controller, 261 ... Relative distance acquisition unit 262 ... Candidate speed acquisition unit, 263 ... Relative speed acquisition unit, 264 ... Adjustment speed acquisition unit, 265 ... Limit speed selection unit, 266 ... Hydraulic cylinder control unit DESCRIPTION OF SYMBOLS 27 ... Proportional control valve, 28 ... Display controller, 29 ... Display part, 31 ... Boom operation tool, ... 32 arm operation tool, 33 ... Bucket operation tool, 45 ... Design surface, 45A ... Target design surface, 100 ... Hydraulic excavator, 200 ... Excavation control system, C ... Speed limit intervention line, h ... Line distance
Abstract
Description
しかしながら、特許文献1に記載の掘削制御では、すくい込みを行うとバケット背面で掘削対象面を掘削しすぎるおそれがある。また、特許文献1に記載の掘削制御では、床面仕上げの際、バケット背面を設計面上で制御する事ができないおそれがある。
第1の態様に係る掘削制御システムは、作業機と、複数の油圧シリンダと、候補速度取得部と、相対速度取得部と、制限速度選択部と、油圧シリンダ制御部と、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。複数の油圧シリンダは、複数の被駆動部材のそれぞれを駆動させる。候補速度取得部は、バケットの第1監視ポイントと掘削対象の目標形状を示す設計面との第1間隔に応じた第1候補速度と、第1監視ポイントとは異なるバケットの第2監視ポイントと設計面との第2間隔に応じた第2候補速度と、を取得する。相対速度取得部は、設計面に対する第1監視ポイントの第1相対速度と、設計面に対する第2監視ポイントの第2相対速度と、を取得する。第1相対速度と第1候補速度との相対関係および第2相対速度と第2候補速度との相対関係に基づいて、第1候補速度および第2候補速度のいずれか一方を制限速度として選択する。油圧シリンダ制御部は、複数の油圧シリンダに作動油を供給することによって、第1監視ポイントおよび第2監視ポイントのうち制限速度に係る監視ポイントの設計面に対する相対速度を制限速度に制限する。
掘削制御をスムーズに実行可能な掘削制御システム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、刃先8aと目標設計面45Aとの位置関係を示す模式図である。図8は、背面端8bと目標設計面45Aとの位置関係を示す模式図である。図7および図8は、同じ時刻におけるバケット8の位置を示している。
図13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、第1相対速度Q1を第1候補速度P1に制限するために必要とされるブームシリンダ10の伸縮速度の第1調整速度S1と、第2相対速度Q2を第2候補速度P2に制限するために必要とされるブームシリンダ10の伸縮速度の第2調整速度S2とを取得する。掘削制御システム200は、第1調整速度S1と第2調整速度S2のうち大きい方に係る候補速度Pを制限速度Uとして選択する。
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、
前記複数の被駆動部材のそれぞれを駆動させる複数の油圧シリンダと、
前記バケットの第1監視ポイントと掘削対象の目標形状を示す設計面との第1間隔に応じた第1候補速度と、前記第1監視ポイントとは異なる前記バケットの第2監視ポイントと前記設計面との第2間隔に応じた第2候補速度と、を取得する候補速度取得部と、
前記設計面に対する前記第1監視ポイントの第1相対速度と、前記設計面に対する前記第2監視ポイントの第2相対速度と、を取得する相対速度取得部と、
前記第1相対速度と前記第1候補速度との相対関係および前記第2相対速度と前記第2候補速度との相対関係に基づいて、前記第1候補速度および前記第2候補速度のいずれか一方を制限速度として選択する制限速度選択部と、
前記複数の油圧シリンダに作動油を供給することによって、前記第1監視ポイントおよび前記第2監視ポイントのうち前記制限速度に係る監視ポイントの前記設計面に対する相対速度を前記制限速度に制限する油圧シリンダ制御部と、
を備える掘削制御システム。 - 前記第1候補速度は、前記第1間隔が小さいほど遅く、
前記第2候補速度は、前記第2間隔が小さいほど遅い、
請求項1に記載の掘削制御システム。 - 前記第1相対速度を前記第1候補速度に制限するために必要とされる前記複数の油圧シリンダそれぞれにおける伸縮速度の目標速度を示す第1調整速度と、前記第2相対速度を前記第2候補速度に制限するために必要とされる前記複数の油圧シリンダそれぞれにおける伸縮速度の目標速度を示す第2調整速度と、を取得する調整速度取得部を備え、
前記制限速度選択部は、前記第1調整速度が前記第2調整速度よりも大きい場合に前記第1候補速度を前記制限速度として選択し、前記第2調整速度が前記第1調整速度よりも大きい場合に前記第2候補速度を前記制限速度として選択する、
請求項1又は2に記載の掘削制御システム。 - 前記複数の被駆動部材は、前記車両本体に回動可能に取り付けられるブームを含み、
前記複数の油圧シリンダは、前記ブームを駆動させるブームシリンダを含んでおり、
前記第1調整速度および前記第2調整速度のそれぞれは、前記ブームシリンダにおける伸縮速度の目標速度に一致する、
請求項3に記載の掘削制御システム。 - 前記複数の被駆動部材は、前記車両本体に回動可能に取り付けられるブームと、前記ブームと前記バケットとに連結されるアームと、を含み、
前記複数の油圧シリンダは、前記ブームを駆動させるブームシリンダと、前記アームを駆動させるアームシリンダと、を含んでおり、
前記第1調整速度および前記第2調整速度のそれぞれは、前記ブームシリンダおよび前記アームシリンダそれぞれにおける伸縮速度の目標速度に一致する、
請求項3に記載の掘削制御システム。 - 前記作業機を駆動させるユーザ操作を受け付け、前記ユーザ操作に応じて操作信号を出力する操作具を備え、
前記相対速度取得部は、前記操作信号に基づいて、前記第1相対速度および前記第2相対速度を取得する、
請求項3乃至5のいずれかに記載の掘削制御システム。 - 前記相対速度取得部は、前記複数の油圧シリンダそれぞれの伸縮速度の総計に基づいて、前記第1相対速度および前記第2相対速度を取得する、
請求項3乃至5のいずれかに記載の掘削制御システム。 - 前記第1監視ポイントは、前記バケットの刃先上に設けられ、
前記第2監視ポイントは、前記バケットの底板上に設けられる、
請求項1乃至7のいずれかに記載の掘削制御システム。
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DE112014000077B4 (de) | 2014-06-02 | 2018-04-05 | Komatsu Ltd. | Steuersystem für eine Baumaschine, Baumaschine und Verfahren zum Steuern einer Baumaschine |
US10006189B2 (en) | 2014-06-02 | 2018-06-26 | Komatsu Ltd. | Construction machine control system, construction machine, and method of controlling construction machine |
DE112014000106B4 (de) * | 2014-06-02 | 2017-04-06 | Komatsu Ltd. | Baumaschinen-Steuersystem, Baumaschine und Verfahren zum Steuern einer Baumaschine |
JP6014260B2 (ja) * | 2014-06-02 | 2016-10-25 | 株式会社小松製作所 | 建設機械の制御システム、及び建設機械の制御方法 |
WO2015137528A1 (ja) * | 2014-06-02 | 2015-09-17 | 株式会社小松製作所 | 建設機械の制御システム、及び建設機械の制御方法 |
JP5848451B1 (ja) * | 2014-06-02 | 2016-01-27 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
KR20200034763A (ko) | 2018-09-20 | 2020-03-31 | 히다찌 겐끼 가부시키가이샤 | 작업 기계 |
EP3854946A4 (en) * | 2018-09-20 | 2022-05-04 | Hitachi Construction Machinery Co., Ltd. | WORK MACHINERY |
US11377813B2 (en) | 2018-09-20 | 2022-07-05 | Hitachi Construction Machinery Co., Ltd. | Work machine with semi-automatic excavation and shaping |
WO2020059094A1 (ja) | 2018-09-20 | 2020-03-26 | 日立建機株式会社 | 作業機械 |
Also Published As
Publication number | Publication date |
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CN103354854B (zh) | 2016-02-10 |
KR101757366B1 (ko) | 2017-07-12 |
DE112012000539T5 (de) | 2013-11-21 |
JP5548307B2 (ja) | 2014-07-16 |
DE112012000539B4 (de) | 2018-07-26 |
US9020709B2 (en) | 2015-04-28 |
CN103354854A (zh) | 2013-10-16 |
KR20130113516A (ko) | 2013-10-15 |
JPWO2012127914A1 (ja) | 2014-07-24 |
US20130315699A1 (en) | 2013-11-28 |
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