WO2015025988A1 - 作業車両 - Google Patents
作業車両 Download PDFInfo
- Publication number
- WO2015025988A1 WO2015025988A1 PCT/JP2014/074009 JP2014074009W WO2015025988A1 WO 2015025988 A1 WO2015025988 A1 WO 2015025988A1 JP 2014074009 W JP2014074009 W JP 2014074009W WO 2015025988 A1 WO2015025988 A1 WO 2015025988A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- cylinder
- bucket
- speed
- control valve
- Prior art date
Links
Images
Classifications
-
- 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
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
-
- 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
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- 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
- 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
- E02F3/32—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 working downwardly and towards the machine, e.g. with backhoes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2616—Earth moving, work machine
Definitions
- the present invention relates to a work vehicle.
- a work vehicle such as a hydraulic excavator includes a work machine having a boom, an arm, and a bucket.
- automatic control is known in which a bucket is moved based on a target excavation landform that is a target shape to be excavated.
- Patent Document 1 proposes a method of automatically controlling a profile operation by creating a surface corresponding to a flat reference surface by scraping and leveling the earth and sand abutting on the bucket as the blade edge of the bucket moves along the reference surface. Yes.
- the present invention has been made to solve the above-described problems, and an object thereof is to provide a work vehicle and a work vehicle control method capable of suppressing hunting.
- the flow direction and flow rate of hydraulic oil flowing into the arm cylinder that drives the arm are determined by the movement of the spool.
- the controller can automatically control the arm.
- the present inventor found an event that the value of the command current output to the proportional solenoid valve fluctuates rapidly when the arm operation lever is finely operated, and estimated this as one of the causes of hunting. Based on this, the present inventors have obtained the knowledge that hunting can be suppressed if the value of the command current output to the proportional solenoid valve can be stabilized, and have completed the present invention.
- a work vehicle includes a work machine, an arm cylinder, a direction control valve, an oil passage, an arm excavation proportional solenoid valve, an arm operation member, a determination unit, and a setting unit.
- the work machine includes a boom, an arm, and a bucket.
- the arm cylinder drives the arm.
- the direction control valve has a movable spool.
- the direction control valve supplies hydraulic oil to the arm cylinder by moving the spool to operate the arm cylinder.
- the oil passage is connected to the direction control valve. Pilot oil for moving the spool flows through the oil passage.
- the proportional solenoid valve for arm excavation is provided in the oil passage.
- the arm operation member is for the operator to operate the drive of the arm.
- the determination unit determines whether the operation amount of the arm operation member is a first operation state that is equal to or less than a predetermined value or a second operation state that is greater than a predetermined value.
- the setting unit sets a command current that commands the opening degree of the arm excavating proportional solenoid valve.
- the setting unit sets the command current to a constant value in the first operation state.
- the behavior of the arm can be stabilized by outputting a constant command current to the proportional solenoid valve for arm excavation and making the opening degree of the proportional solenoid valve for arm excavation constant. .
- the blade edge of the bucket can be stabilized, and therefore hunting can be suppressed.
- the arm operation member outputs a hydraulic signal according to the operation of the operator.
- the setting unit sets the command current so that the hydraulic signal output from the arm operation member is directly guided to the direction control valve in the first operation state.
- the arm that directly responds to the operation of the arm operating lever by the operator without causing the arm excavating proportional solenoid valve to excessively change the hydraulic pressure supplied to the directional control valve and destabilizing the behavior of the arm. Can be operated. Therefore, the cutting edge of the bucket can be stabilized and hunting can be suppressed.
- the opening degree of the arm excavation proportional solenoid valve set by the setting unit in the first operation state is the opening degree of the arm excavation proportional solenoid valve set according to the operation amount of the arm operation member in the first operation state. Greater than the maximum value.
- the proportional solenoid valve for arm excavation since the opening degree of the proportional solenoid valve for arm excavation becomes constant, the proportional solenoid valve for arm excavation excessively varies the hydraulic pressure supplied to the directional control valve, thereby destabilizing the behavior of the arm. Therefore, the arm can be operated in accordance with the operation of the arm operating lever by the operator. Therefore, the cutting edge of the bucket can be stabilized and hunting can be suppressed.
- a work vehicle includes a work implement, an arm cylinder, a direction control valve, an oil passage, an arm excavation proportional solenoid valve, an arm operation member, an estimated cylinder speed determination unit, and a command current calculation. Unit, an intervention control unit, and a setting unit.
- the work machine includes a boom, an arm, and a bucket.
- the arm cylinder drives the arm.
- the direction control valve has a movable spool. The direction control valve supplies hydraulic oil to the arm cylinder by moving the spool to operate the arm cylinder.
- the oil passage is connected to the direction control valve. Pilot oil for moving the spool flows through the oil passage.
- the proportional solenoid valve for arm excavation is provided in the oil passage.
- the arm operation member is for the operator to operate the drive of the arm.
- the estimated cylinder speed determination unit calculates the estimated speed of the arm cylinder based on a speed table indicating a correlation between the movement amount of the spool according to the operation amount of the arm operation member and the speed of the arm cylinder.
- the command current calculation unit calculates a command current set value for commanding the opening degree of the arm excavating proportional solenoid valve based on the estimated speed of the arm cylinder calculated by the estimated cylinder speed determination unit.
- the intervention control unit forcibly raises the boom according to the relative position of the blade edge of the bucket with respect to the design terrain indicating the target shape of the work target by the work implement, and performs intervention control for limiting the blade edge position above the design terrain. Execute.
- the setting unit outputs a predetermined value to the proportional solenoid valve for arm excavation when the command current set value is less than the predetermined value, and sets the command current set value to the arm when the command current set value exceeds the predetermined value. Output to the proportional solenoid valve for excavation.
- the setting unit outputs the command current set value to the arm excavating proportional solenoid valve during intervention control non-execution.
- the low cut filter for the command current set value is provided, and the lower limit value of the current output to the arm excavation proportional solenoid valve is provided, whereby the current output to the arm excavation proportional solenoid valve is reduced. Increase / decrease width can be reduced.
- the fluctuation of the current output to the proportional solenoid valve for arm excavation and reducing the amount of change in the opening degree of the proportional solenoid valve for arm excavation, the fluctuation of the cylinder speed when the arm cylinder extends can be reduced. .
- the blade edge of the bucket can be stabilized, and therefore hunting can be suppressed.
- FIG. It is a figure explaining the relationship between the EPC electric current value based on embodiment, and the opening degree of the control valve 27.
- FIG. It is a flowchart explaining the profile control (restricted excavation control) of the work vehicle 100 based on embodiment. It is a graph which shows the EPC electric current value at the time of excavation operation
- FIG. 1 is an external view of a work vehicle 100 based on the embodiment.
- the working vehicle 100 will be described mainly using a hydraulic excavator as an example in this example.
- the work vehicle 100 includes a vehicle main body 1 and a work machine 2 that operates by hydraulic pressure. As will be described later, the work vehicle 100 is equipped with a control system 200 (FIG. 3) that executes excavation control.
- a control system 200 FIG. 3
- the vehicle body 1 has a revolving body 3 and a traveling device 5.
- the traveling device 5 has a pair of crawler belts 5Cr.
- the work vehicle 100 can travel by the rotation of the crawler belt 5Cr.
- the traveling device 5 may have wheels (tires).
- the swivel body 3 is disposed on the traveling device 5 and supported by the traveling device 5.
- the revolving structure 3 can revolve with respect to the traveling device 5 around the revolving axis AX.
- the swivel body 3 has a cab 4.
- the driver's cab 4 is provided with a driver's seat 4S on which an operator is seated. An operator can operate the work vehicle 100 in the cab 4.
- the front-rear direction refers to the front-rear direction of the operator seated on the driver's seat 4S.
- the left-right direction refers to the left-right direction of the operator seated on the driver's seat 4S.
- the direction facing the operator seated on the driver's seat 4S is the front direction, and the direction facing the front direction is the rear direction.
- the right side and the left side when the operator seated in the driver's seat 4S faces the front are defined as the right direction and the left direction, respectively.
- the swing body 3 includes an engine room 9 in which the engine is accommodated, and a counterweight provided at the rear portion of the swing body 3.
- a handrail 19 is provided in front of the engine room 9.
- an engine and a hydraulic pump (not shown) are arranged.
- the work machine 2 is supported by the revolving structure 3.
- the work machine 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.
- the boom 6 is connected to the swing body 3.
- the arm 7 is connected to the boom 6.
- Bucket 8 is connected to arm 7.
- the boom cylinder 10 drives the boom 6.
- the arm cylinder 11 drives the arm 7.
- the bucket cylinder 12 drives the bucket 8.
- Each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 is a hydraulic cylinder driven by hydraulic oil.
- the base end portion of the boom 6 is connected to the swing body 3 via the boom pin 13.
- the proximal end portion of the arm 7 is connected to the distal end portion of the boom 6 via the arm pin 14.
- Bucket 8 is connected to the tip of arm 7 via bucket pin 15.
- the boom 6 can rotate around the boom pin 13.
- the arm 7 is rotatable around the arm pin 14.
- the bucket 8 can rotate around the bucket pin 15.
- Each of the arm 7 and the bucket 8 is a movable member that can move on the tip side of the boom 6.
- FIG. 2 (A) and FIG. 2 (B) are diagrams schematically illustrating work vehicle 100 based on the embodiment.
- FIG. 2A shows a side view of work vehicle 100.
- FIG. 2B shows a rear view of work vehicle 100.
- the length L1 of the boom 6 is the distance between the boom pin 13 and the arm pin 14.
- the length L2 of the arm 7 is the distance between the arm pin 14 and the bucket pin 15.
- the length L3 of the bucket 8 is the distance between the bucket pin 15 and the cutting edge 8a of the bucket 8.
- Bucket 8 has a plurality of blades, and in this example, the tip of bucket 8 is referred to as blade edge 8a.
- the bucket 8 may not have a blade.
- the tip of the bucket 8 may be formed of a straight steel plate.
- the work vehicle 100 includes a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, and a bucket cylinder stroke sensor 18.
- the boom cylinder stroke sensor 16 is disposed in the boom cylinder 10.
- the arm cylinder stroke sensor 17 is disposed in the arm cylinder 11.
- the bucket cylinder stroke sensor 18 is disposed in the bucket cylinder 12.
- the boom cylinder stroke sensor 16, the arm cylinder stroke sensor 17, and the bucket cylinder stroke sensor 18 are also collectively referred to as a cylinder stroke sensor.
- the stroke length of the boom cylinder 10 is obtained.
- the stroke length of the arm cylinder 11 is obtained.
- the stroke length of the bucket cylinder 12 is obtained.
- the stroke lengths of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are also referred to as a boom cylinder length, an arm cylinder length, and a bucket cylinder length, respectively.
- the boom cylinder length, the arm cylinder length, and the bucket cylinder length are also collectively referred to as cylinder length data L. It is also possible to adopt a method of detecting the stroke length using an angle sensor.
- the work vehicle 100 includes a position detection device 20 that can detect the position of the work vehicle 100.
- the position detection apparatus 20 includes an antenna 21, a global coordinate calculation unit 23, and an IMU (Inertial Measurement Unit) 24.
- IMU Inertial Measurement Unit
- the antenna 21 is, for example, an antenna for GNSS (Global Navigation Satellite Systems).
- the antenna 21 is, for example, an antenna for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems).
- the antenna 21 is provided on the revolving unit 3.
- the antenna 21 is provided on the handrail 19 of the revolving unit 3.
- the antenna 21 may be provided in the rear direction of the engine room 9.
- the antenna 21 may be provided on the counterweight of the swing body 3.
- the antenna 21 outputs a signal corresponding to the received radio wave (GNSS radio wave) to the global coordinate calculation unit 23.
- the global coordinate calculation unit 23 detects the installation position P1 of the antenna 21 in the global coordinate system.
- the global coordinate system is a three-dimensional coordinate system (Xg, Yg, Zg) based on the reference position Pr installed in the work area.
- the reference position Pr is the position of the tip of the reference pile set in the work area.
- the local coordinate system is a three-dimensional coordinate system indicated by (X, Y, Z) with reference to the work vehicle 100.
- the reference position of the local coordinate system is data indicating the reference position P2 located on the turning axis (turning center) AX of the turning body 3.
- the antenna 21 includes a first antenna 21A and a second antenna 21B provided on the revolving structure 3 so as to be separated from each other in the vehicle width direction.
- the global coordinate calculation unit 23 detects the installation position P1a of the first antenna 21A and the installation position P1b of the second antenna 21B.
- the global coordinate calculation unit 23 acquires reference position data P represented by global coordinates.
- the reference position data P is data indicating the reference position P2 located on the turning axis (turning center) AX of the turning body 3.
- the reference position data P may be data indicating the installation position P1.
- the global coordinate calculation unit 23 generates the turning body orientation data Q based on the two installation positions P1a and P1b.
- the turning body orientation data Q is determined based on an angle formed by a straight line determined by the installation position P1a and the installation position P1b with respect to a reference orientation (for example, north) of global coordinates.
- the turning body orientation data Q indicates the direction in which the turning body 3 (work machine 2) is facing.
- the global coordinate calculation unit 23 outputs reference position data P and turning body orientation data Q to a display controller 28 described later.
- the IMU 24 is provided in the revolving unit 3.
- the IMU 24 is disposed in the lower part of the cab 4.
- a highly rigid frame is disposed below the cab 4.
- the IMU 24 is placed on the frame.
- the IMU 24 may be disposed on the side (right side or left side) of the turning axis AX (reference position P2) of the turning body 3.
- the IMU 24 detects an inclination angle ⁇ 4 inclined in the left-right direction of the vehicle main body 1 and an inclination angle ⁇ 5 inclined in the front-rear direction of the vehicle main body 1.
- FIG. 3 is a functional block diagram showing the configuration of the control system 200 based on the embodiment. As shown in FIG. 3, the control system 200 controls excavation processing using the work machine 2. In this example, the control of the excavation process has a follow-up control.
- the profile control means that the bucket blade edge moves along the design terrain, so that the soil abutting against the bucket blade edge is leveled and the profile work corresponding to the flat design terrain is automatically controlled. Also called limited excavation control.
- Follow-up control is executed when there is an arm operation by the operator and the distance between the blade edge of the bucket and the design topography and the speed of the blade edge are within the standard.
- the operator usually operates the arm while constantly operating the boom in the direction of lowering the boom during the profile control.
- the control system 200 includes a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, a bucket cylinder stroke sensor 18, an antenna 21, a global coordinate calculation unit 23, an IMU 24, an operation device 25, and a work machine controller 26. , Pressure sensor 66 and pressure sensor 67, control valve 27, direction control valve 64, display controller 28, display unit 29, sensor controller 30, and man-machine interface unit 32.
- the operating device 25 is disposed in the cab 4.
- the operating device 25 is operated by the operator.
- the operation device 25 receives an operator operation for driving the work machine 2.
- the operation device 25 is a pilot hydraulic operation device.
- the directional control valve 64 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder.
- the direction control valve 64 is operated by oil supplied to the first pressure receiving chamber and the second pressure receiving chamber.
- the oil supplied to the hydraulic cylinder is also referred to as hydraulic oil.
- the oil supplied to the direction control valve 64 to operate the direction control valve 64 is referred to as pilot oil.
- the pressure of the pilot oil is also referred to as pilot oil pressure.
- the hydraulic oil and pilot oil may be sent from the same hydraulic pump.
- part of the hydraulic oil sent from the hydraulic pump may be decompressed by a pressure reducing valve, and the decompressed hydraulic oil may be used as pilot oil.
- the hydraulic pump that sends hydraulic oil (main hydraulic pump) and the hydraulic pump that sends pilot oil (pilot hydraulic pump) may be different hydraulic pumps.
- the operating device 25 has a first operating lever 25R and a second operating lever 25L.
- the first operation lever 25R is disposed on the right side of the driver's seat 4S, for example.
- the second operation lever 25L is disposed on the left side of the driver's seat 4S, for example.
- the front / rear and left / right operations correspond to the biaxial operations.
- the boom 6 and the bucket 8 are operated by the first operation lever 25R.
- the operation in the front-rear direction of the first operation lever 25R corresponds to the operation of the boom 6, and the lowering operation and the raising operation of the boom 6 are executed according to the operation in the front-rear direction.
- the detected pressure generated in the pressure sensor 66 when the lever is operated to operate the boom 6 and the pilot oil is supplied to the pilot oil passage 450 is defined as MB.
- the left / right operation of the first operation lever 25R corresponds to the operation of the bucket 8, and the excavation operation and the opening operation of the bucket 8 are executed according to the left / right operation.
- a detected pressure generated in the pressure sensor 66 when the lever is operated to operate the bucket 8 and the pilot oil is supplied to the pilot oil passage 450 is defined as MT.
- the arm 7 and the swing body 3 are operated by the second operation lever 25L.
- the operation in the front-rear direction of the second operation lever 25L corresponds to the turning of the revolving structure 3, and the right turning operation and the left turning operation of the revolving structure 3 are executed according to the operation in the front-rear direction.
- the left / right operation of the second operation lever 25L corresponds to the operation of the arm 7, and the raising / lowering operation of the arm 7 is executed according to the left / right operation.
- a detected pressure generated in the pressure sensor 66 when the lever is operated to operate the arm 7 and the pilot oil is supplied to the pilot oil passage 450 is MA.
- the operation of raising the boom 6 is also called a raising operation, and the operation of lowering is also called a lowering operation.
- movement to the up-down direction of the arm 7 is also called dumping operation
- the operation of the bucket 8 in the vertical direction is also referred to as a dump operation and an excavation operation, respectively.
- the pilot oil sent from the main hydraulic pump and decompressed by the pressure reducing valve is supplied to the operating device 25.
- the pilot hydraulic pressure is adjusted based on the operation amount of the operating device 25.
- a pressure sensor 66 and a pressure sensor 67 are arranged in the pilot oil passage 450.
- the pressure sensor 66 and the pressure sensor 67 detect pilot oil pressure.
- the detection results of the pressure sensor 66 and the pressure sensor 67 are output to the work machine controller 26.
- the first operation lever 25R is operated in the front-rear direction for driving the boom 6.
- the direction control valve 64 adjusts the flow direction and flow rate of the hydraulic oil supplied to the boom cylinder 10 for driving the boom 6 according to the operation amount (boom operation amount) of the first operation lever 25R in the front-rear direction.
- the first operation lever 25 ⁇ / b> R constitutes a boom operation member that receives an operation of an operator for driving the boom 6.
- the first operating lever 25R is operated in the left-right direction for driving the bucket 8.
- the direction control valve 64 adjusts the flow direction and flow rate of the hydraulic oil supplied to the bucket cylinder 12 for driving the bucket 8 according to the operation amount (bucket operation amount) of the first operation lever 25R in the left-right direction.
- the first operation lever 25 ⁇ / b> R constitutes a bucket operation member that receives an operation of an operator for driving the bucket 8.
- the second operation lever 25L is operated in the left-right direction for driving the arm 7.
- the direction control valve 64 adjusts the flow direction and flow rate of the hydraulic oil supplied to the arm cylinder 11 for driving the arm 7 according to the operation amount (arm operation amount) of the second operation lever 25L in the left-right direction.
- the second operation lever 25 ⁇ / b> L constitutes an arm operation member that receives an operator's operation for driving the arm 7.
- the second operation lever 25L is operated in the front-rear direction for driving the revolving structure 3.
- the direction control valve 64 adjusts the flow direction and flow rate of the hydraulic oil supplied to the hydraulic actuator for driving the revolving structure 3 according to the operation amount of the second operation lever 25L in the front-rear direction.
- the second operation lever 25L constitutes a swing body operating member that receives an operator's operation for driving the swing body 3.
- the left / right operation of the first operation lever 25R may correspond to the operation of the boom 6 and the front / rear operation may correspond to the operation of the bucket 8.
- the left-right direction of the second operation lever 25L may correspond to the operation of the revolving structure 3, and the operation in the front-rear direction may correspond to the operation of the arm 7.
- the control valve 27 adjusts the amount of hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12).
- the control valve 27 operates based on a control signal from the work machine controller 26.
- the man-machine interface unit 32 includes an input unit 321 and a display unit (monitor) 322.
- the input unit 321 has operation buttons arranged around the display unit 322. Note that the input unit 321 may have a touch panel.
- the man-machine interface unit 32 is also referred to as a multi-monitor.
- the display unit 322 displays the remaining fuel amount, the coolant temperature, and the like as basic information.
- the input unit 321 is operated by an operator.
- the command signal generated by operating the input unit 321 is output to the work machine controller 26.
- the sensor controller 30 calculates the boom cylinder length based on the detection result of the boom cylinder stroke sensor 16.
- the boom cylinder stroke sensor 16 outputs a pulse accompanying the rotation operation to the sensor controller 30.
- the sensor controller 30 calculates the boom cylinder length based on the pulse output from the boom cylinder stroke sensor 16.
- the sensor controller 30 calculates the arm cylinder length based on the detection result of the arm cylinder stroke sensor 17.
- the sensor controller 30 calculates the bucket cylinder length based on the detection result of the bucket cylinder stroke sensor 18.
- the sensor controller 30 calculates the tilt angle ⁇ 1 of the boom 6 with respect to the vertical direction of the swing body 3 from the boom cylinder length acquired based on the detection result of the boom cylinder stroke sensor 16.
- the sensor controller 30 calculates the tilt angle ⁇ 2 of the arm 7 with respect to the boom 6 from the arm cylinder length acquired based on the detection result of the arm cylinder stroke sensor 17.
- the sensor controller 30 calculates the inclination angle ⁇ 3 of the blade edge 8a of the bucket 8 with respect to the arm 7 from the bucket cylinder length acquired based on the detection result of the bucket cylinder stroke sensor 18.
- 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 may not be detected by the cylinder stroke sensor.
- the tilt angle ⁇ 1 of the boom 6 may be detected by an angle detector such as a rotary encoder.
- the angle detector detects the bending angle of the boom 6 with respect to the revolving structure 3 and detects the tilt angle ⁇ 1.
- the inclination angle ⁇ 2 of the arm 7 may be detected by an angle detector attached to the arm 7.
- the inclination angle ⁇ 3 of the bucket 8 may be detected by an angle detector attached to the bucket 8.
- FIG. 4 is a diagram illustrating a configuration of a hydraulic system based on the embodiment.
- the hydraulic system 300 includes a boom cylinder 10, an arm cylinder 11, a bucket cylinder 12 (a plurality of hydraulic cylinders 60), and a swing motor 63 that rotates the swing body 3.
- the boom cylinder 10 is also referred to as a hydraulic cylinder 10 (60). The same applies to other hydraulic cylinders.
- the hydraulic cylinder 60 is operated by hydraulic oil supplied from a main hydraulic pump (not shown).
- the turning motor 63 is a hydraulic motor, and is operated by hydraulic oil supplied from the main hydraulic pump.
- each hydraulic cylinder 60 is provided with a direction control valve 64 that controls the flow direction and flow rate of hydraulic oil.
- the hydraulic oil supplied from the main hydraulic pump is supplied to each hydraulic cylinder 60 via the direction control valve 64.
- a direction control valve 64 is provided for the turning motor 63.
- Each hydraulic cylinder 60 has a cap side (bottom side) oil chamber 40A and a rod side (head side) oil chamber 40B.
- the direction control valve 64 is a spool system that moves the rod-shaped spool to switch the direction in which the hydraulic oil flows. As the spool moves in the axial direction, the supply of hydraulic oil to the cap side oil chamber 40A and the supply of hydraulic oil to the rod side oil chamber 40B are switched. Further, the supply amount of hydraulic oil to the hydraulic cylinder 60 (supply amount per unit time) is adjusted by moving the spool in the axial direction. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the hydraulic cylinder 60. By adjusting the cylinder speed, the speeds of the boom 6, the arm 7 and the bucket 8 are controlled. In this example, the direction control valve 64 functions as an adjustment device that can adjust the amount of hydraulic oil supplied to the hydraulic cylinder 60 that drives the work machine 2 by moving the spool.
- Each direction control valve 64 is provided with a spool stroke sensor 65 for detecting a moving distance (spool stroke) of the spool.
- the detection signal of the spool stroke sensor 65 is output to the sensor controller 30 (FIG. 3).
- each direction control valve 64 is adjusted by the operating device 25.
- the operation device 25 is a pilot hydraulic operation device.
- the pilot oil sent from the main hydraulic pump and decompressed by the pressure reducing valve is supplied to the operating device 25.
- the operating device 25 has a pilot hydraulic pressure adjustment valve.
- the pilot oil pressure is adjusted based on the operation amount of the operating device 25.
- the direction control valve 64 is driven by the pilot hydraulic pressure. By adjusting the pilot oil pressure by the operating device 25, the moving amount and moving speed of the spool in the axial direction are adjusted. Further, the operating device 25 switches between supplying hydraulic oil to the cap-side oil chamber 40A and supplying hydraulic oil to the rod-side oil chamber 40B.
- the operating device 25 and each direction control valve 64 are connected via a pilot oil passage 450.
- the control valve 27, the pressure sensor 66, and the pressure sensor 67 are disposed in the pilot oil passage 450.
- a pressure sensor 66 and a pressure sensor 67 for detecting pilot oil pressure are provided on both sides of each control valve 27.
- the pressure sensor 66 is disposed in the oil passage 451 between the operation device 25 and the control valve 27.
- the pressure sensor 67 is disposed in the oil passage 452 between the control valve 27 and the direction control valve 64.
- the pressure sensor 66 detects the pilot hydraulic pressure before being adjusted by the control valve 27.
- the pressure sensor 67 detects the pilot oil pressure adjusted by the control valve 27.
- the detection results of the pressure sensor 66 and the pressure sensor 67 are output to the work machine controller 26.
- the control valve 27 adjusts the pilot hydraulic pressure based on a control signal (EPC current) from the work machine controller 26.
- the control valve 27 is an electromagnetic proportional control valve and is controlled based on a control signal from the work machine controller 26.
- the control valve 27 includes a control valve 27B and a control valve 27A.
- the control valve 27B adjusts the pilot oil pressure of the pilot oil supplied to the second pressure receiving chamber of the direction control valve 64, and controls the amount of hydraulic oil supplied to the cap side oil chamber 40A via the direction control valve 64. It can be adjusted.
- the control valve 27A adjusts the pilot oil pressure of the pilot oil supplied to the first pressure receiving chamber of the direction control valve 64, and controls the amount of hydraulic oil supplied to the rod side oil chamber 40B via the direction control valve 64. It can be adjusted.
- pilot oil passage 450 between the operation device 25 and the control valve 27 in the pilot oil passage 450 is referred to as an oil passage (upstream oil passage) 451.
- the pilot oil passage 450 between the control valve 27 and the direction control valve 64 is referred to as an oil passage (downstream oil passage) 452.
- Pilot oil is supplied to each directional control valve 64 via an oil passage 452.
- the oil passage 452 has an oil passage 452A connected to the first pressure receiving chamber and an oil passage 452B connected to the second pressure receiving chamber.
- the pilot oil whose pilot oil pressure is adjusted by the operating device 25 and the control valve 27 is supplied to the direction control valve 64, whereby the spool position in the axial direction is adjusted.
- the oil passage 451 includes an oil passage 451A that connects the oil passage 452A and the operation device 25, and an oil passage 451B that connects the oil passage 452B and the operation device 25.
- the boom 6 performs two types of operations, the lowering operation and the raising operation, by the operation of the operating device 25.
- pilot oil is supplied to the direction control valve 64 connected to the boom cylinder 10 via the oil passage 451B and the oil passage 452B.
- pilot oil is supplied to the direction control valve 64 connected to the boom cylinder 10 via the oil passage 451A and the oil passage 452A.
- the arm 7 executes two types of operations, that is, excavation operation and dump operation, by the operation of the operation device 25.
- the pilot oil is supplied to the direction control valve 64 connected to the arm cylinder 11 via the oil passage 451B and the oil passage 452B.
- the pilot oil is supplied to the direction control valve 64 connected to the arm cylinder 11 via the oil passage 451A and the oil passage 452A.
- the bucket 8 performs two types of operations, that is, excavation operation and dump operation, by the operation of the operation device 25.
- pilot oil is supplied to the direction control valve 64 connected to the bucket cylinder 12 via the oil passage 451B and the oil passage 452B.
- the pilot oil is supplied to the direction control valve 64 connected to the bucket cylinder 12 via the oil passage 451A and the oil passage 452A.
- the revolving structure 3 performs two types of operations, a right turning operation and a left turning operation.
- the operating oil is supplied to the turning motor 63 by operating the operating device 25 so that the right turning operation of the turning body 3 is executed.
- the operating oil is supplied to the turning motor 63 by operating the operating device 25 so that the left turning operation of the turning body 3 is executed.
- the work machine 2 operates according to the operation amount of the operation device 25.
- the work machine controller 26 opens the control valve 27.
- the pilot oil pressure in the oil passage 451 and the pilot oil pressure in the oil passage 452 become equal.
- the pilot hydraulic pressure PPC pressure
- the direction control valve 64 is adjusted, and the raising operation and the lowering operation of the boom 6, the arm 7, and the bucket 8 described above can be executed.
- profile control restricted excavation control
- the work implement 2 is controlled by the work implement controller 26 based on the operation of the operation device 25.
- the work machine controller 26 outputs a control signal to the control valve 27.
- the oil passage 451 has a predetermined pressure, for example, by the action of a pilot hydraulic pressure adjustment valve.
- the control valve 27 operates based on a control signal from the work machine controller 26.
- the hydraulic oil in the oil passage 451 is supplied to the oil passage 452 via the control valve 27. Accordingly, the hydraulic oil pressure in the oil passage 452 can be adjusted (depressurized) by the control valve 27.
- the pressure of the hydraulic oil in the oil passage 452 acts on the direction control valve 64.
- the direction control valve 64 operates based on the pilot hydraulic pressure controlled by the control valve 27.
- the work machine controller 26 can output a control signal to at least one of the control valve 27A and the control valve 27B to adjust the pilot hydraulic pressure with respect to the direction control valve 64 connected to the arm cylinder 11.
- the spool moves to one side in the axial direction.
- the pilot oil whose pressure is adjusted by the control valve 27B is supplied to the direction control valve 64, the spool moves to the other side in the axial direction. Thereby, the position of the spool in the axial direction is adjusted.
- the control valve 27B for adjusting the pressure of the pilot oil supplied to the direction control valve 64 connected to the arm cylinder 11 constitutes a proportional solenoid valve for arm excavation.
- the work machine controller 26 can output a control signal to at least one of the control valve 27A and the control valve 27B to adjust the pilot hydraulic pressure for the direction control valve 64 connected to the bucket cylinder 12.
- the work machine controller 26 can output a control signal to at least one of the control valve 27A and the control valve 27B to adjust the pilot hydraulic pressure for the directional control valve 64 connected to the boom cylinder 10.
- the work machine controller 26 outputs a control signal to the control valve 27C to adjust the pilot hydraulic pressure for the direction control valve 64 connected to the boom cylinder 10.
- the work machine controller 26 controls the movement of the boom 6 (intervention control) so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U (FIG. 6).
- the work machine controller 26 determines the target based on the target excavation landform U indicating the design landform that is the target shape of the excavation target and the bucket position data S (FIG. 6) indicating the position of the cutting edge 8a of the bucket 8.
- the speed of the boom 6 is controlled so that the speed at which the bucket 8 approaches the target excavation landform U is reduced according to the distance d between the excavation landform U and the bucket 8 (FIGS. 6 and 7).
- the hydraulic system 300 includes oil passages 501, 502, a control valve 27C, a shuttle valve 51, and a pressure sensor 68 as a mechanism for performing intervention control with respect to the raising operation of the boom 6.
- Oil passages 501 and 502 are connected to the control valve 27 ⁇ / b> C and supply pilot oil supplied to the direction control valve 64 connected to the boom cylinder 10.
- Pilot oil before passing through the control valve 27C flows through the oil passage 501.
- the pilot oil after passing through the control valve 27C flows through the oil passage 502.
- the oil passage 502 is connected to the control valve 27 ⁇ / b> C and the shuttle valve 51, and is connected to the oil passage 452 ⁇ / b> B connected to the direction control valve 64 via the shuttle valve 51.
- the pressure sensor 68 detects the pilot oil pressure of the pilot oil in the oil passage 501.
- the control valve 27C is controlled based on a control signal output from the work machine controller 26 in order to execute intervention control.
- the shuttle valve 51 has two inlet ports and one outlet port. One inlet port is connected to the oil passage 502. The other inlet port is connected to the control valve 27B via an oil passage 452B. The outlet port is connected to the direction control valve 64 via the oil passage 452B.
- Shuttle valve 51 connects an oil passage having a higher pilot oil pressure among oil passages 452B connected to oil passage 502 and control valve 27B to an oil passage 452B connected to direction control valve 64.
- the shuttle valve 51 is a high-pressure priority type shuttle valve.
- the shuttle valve 51 compares the pilot oil pressure of the oil passage 502 connected to one of the inlet ports with the pilot oil pressure of the oil passage 452B on the control valve 27B side connected to the other of the inlet ports, and increases the pressure on the high pressure side. select.
- the shuttle valve 51 communicates the high-pressure side flow path of the oil path 502 and the oil path 452B on the control valve 27B side to the outlet port, and supplies the pilot oil flowing through the high-pressure side flow path to the direction control valve 64. To do.
- the work machine controller 26 fully opens the control valve 27B so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25 when the intervention control is not executed.
- a control signal is output to the control valve 27C so as to close the oil passage 501.
- the work machine controller 26 sends a control signal to each control valve 27 so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the control valve 27. Output.
- the work machine controller 26 controls the pilot hydraulic pressure adjusted by the control valve 27 ⁇ / b> C to be higher than the pilot hydraulic pressure adjusted by the operating device 25, for example.
- the valve 27C is controlled.
- pilot oil from the control valve 27 ⁇ / b> C is supplied to the direction control valve 64 via the shuttle valve 51.
- FIG. 5 is a diagram schematically illustrating the operation of the work machine 2 when the profile control (restricted excavation control) based on the embodiment is performed.
- the intervention control including the raising operation of the boom 6 is executed so that the bucket 8 does not enter the designed terrain.
- the case where the hydraulic system 300 performs control so that the arm 7 is lowered and the boom 6 is raised is shown.
- FIG. 6 is a functional block diagram showing the configuration of the control system 200 that executes the profile control based on the embodiment.
- the intervention control of the boom 6 by mainly following control (restricted excavation control) will be mainly described.
- the intervention control is to control the movement of the boom 6 so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U.
- the work machine controller 26 determines the target excavation landform U based on the target excavation landform U indicating the design landform that is the target shape of the excavation target and the bucket position data S indicating the position of the blade edge 8a of the bucket 8. The distance d with the bucket 8 is calculated. Then, the control command CBI to the control valve 27 by the intervention control of the boom 6 is output so that the speed at which the bucket 8 approaches the target excavation landform U is decreased according to the distance d.
- the work machine controller 26 calculates the estimated speed of the blade edge 8a of the bucket due to the operation of the boom 6, the arm 7, and the bucket 8 based on the operation command by the operation of the operation device 25. Based on the calculation result, a boom target speed for controlling the speed of the boom 6 is calculated so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U. Then, the control command CBI to the control valve 27 is output so that the boom 6 operates at the boom target speed or less.
- the display controller 28 includes a target construction information storage unit 28A, a bucket position data generation unit 28B, and a target excavation landform data generation unit 28C.
- the display controller 28 receives an input from the sensor controller 30.
- the sensor controller 30 acquires the cylinder length data L and the inclination angles ⁇ 1, ⁇ 2, and ⁇ 3 from the detection results of the cylinder stroke sensors 16, 17, and 18.
- the sensor controller 30 acquires data on the tilt angle ⁇ 4 and data on the tilt angle ⁇ 5 output from the IMU 24.
- the sensor controller 30 outputs the cylinder length data L, the tilt angles ⁇ 1, ⁇ 2, and ⁇ 3 data, the tilt angle ⁇ 4 data, and the tilt angle ⁇ 5 data to the display controller 28.
- the sensor controller 30 also outputs the cylinder length data L to the work machine controller 26.
- the detection results of the cylinder stroke sensors 16, 17, 18 and the detection result of the IMU 24 are output to the sensor controller 30, and the sensor controller 30 performs a predetermined calculation process.
- the function of the sensor controller 30 may be substituted by the work machine controller 26.
- the detection result of the cylinder stroke sensor (16, 17, 18) is output to the work machine controller 26, and the work machine controller 26 uses the cylinder length (16, 17, 18) based on the detection result of the cylinder stroke sensor (16, 17, 18).
- Boom cylinder length, arm cylinder length, and bucket cylinder length) may be calculated.
- the detection result of the IMU 24 may be output to the work machine controller 26.
- the global coordinate calculation unit 23 acquires the reference position data P and the turning body orientation data Q and outputs them to the display controller 28.
- the target construction information storage unit 28A stores target construction information (three-dimensional design landform data) T indicating the three-dimensional landform that is the target shape of the work area.
- the target construction information T includes coordinate data and angle data required to generate a target excavation landform (design landform data) U indicating the design landform that is the target shape of the excavation target.
- the target construction information T may be supplied to the display controller 28 via, for example, a wireless communication device.
- the bucket position data generation unit 28B indicates a three-dimensional position of the bucket 8 based on the inclination angles ⁇ 1, ⁇ 2, ⁇ 3, ⁇ 4, ⁇ 5, the reference position data P, the swing body orientation data Q, and the cylinder length data L. Position data S is generated.
- the position information of the blade edge 8a may be transferred from a connection type recording device such as a memory.
- the bucket position data S is data indicating the three-dimensional position of the cutting edge 8a.
- the target excavation landform data generation unit 28C uses the bucket position data S acquired from the bucket position data generation unit 28B and the target construction information T (described later) stored in the target construction information storage unit 28A to indicate a target shape indicating the target shape of the excavation target.
- the excavation landform U is generated.
- the target excavation landform data generation unit 28C outputs data regarding the generated target excavation landform U to the display unit 29. Thereby, the display unit 29 displays the target excavation landform.
- the display unit 29 is a monitor, for example, and displays various types of information on the work vehicle 100.
- the display unit 29 has an HMI (Human Machine Interface) monitor as an operator guidance monitor.
- HMI Human Machine Interface
- the target excavation landform data generation unit 28C outputs data on the target excavation landform U to the work machine controller 26. Further, the bucket position data generation unit 28B outputs the generated bucket position data S to the work machine controller 26.
- the work machine controller 26 includes an estimated speed determination unit 52, a distance acquisition unit 53, a target speed determination unit 54, a work machine control unit 57, and a storage unit 58.
- the work machine controller 26 acquires the operation command (pressure MA, MT) of the operating device 25, the bucket position data S and the target excavation landform U from the display controller 28, and outputs the control command CBI to the control valve 27. In addition, the work machine controller 26 acquires various parameters necessary for calculation processing from the sensor controller 30 and the global coordinate calculation unit 23 as necessary.
- the estimated speed determination unit 52 calculates the arm estimated speed Vc_am and the bucket estimated speed Vc_bkt corresponding to the lever operation of the operating device 25 for driving the arm 7 and the bucket 8.
- the estimated arm speed Vc_am is the speed of the blade edge 8a of the bucket 8 when only the arm cylinder 11 is driven.
- the bucket estimated speed Vc_bkt is the speed of the blade edge 8a of the bucket 8 when only the bucket cylinder 12 is driven.
- the estimated speed determination unit 52 calculates an arm estimated speed Vc_am corresponding to the arm operation command (pressure MA). Similarly, estimated speed determination unit 52 calculates bucket estimated speed Vc_bkt corresponding to the bucket operation command (pressure MT). Thereby, it is possible to calculate the estimated speed of the blade edge 8a of the bucket 8 corresponding to each operation command of the arm 7 and the bucket 8.
- the storage unit 58 stores data such as various tables for the estimated speed determination unit 52, the target speed determination unit 54, and the work implement control unit 57 to perform arithmetic processing.
- the distance acquisition unit 53 acquires the data of the target excavation landform U from the target excavation landform data generation unit 28C.
- the distance acquisition unit 53 determines the bucket 8 in the direction perpendicular to the target excavation landform U based on the bucket position data S indicating the position of the blade edge 8a of the bucket 8 acquired from the bucket position data generation unit 28B and the target excavation landform U.
- a distance d between the cutting edge 8a and the target excavation landform U is calculated.
- the target speed determination unit 54 determines the target speed Vc_bm_lmt of the boom 6 according to the speed limit table. Specifically, the target speed determination unit 54 uses the speed limit table indicating the relationship between the distance d between the target excavation landform U and the bucket 8 and the speed limit of the blade edge 8a, and limits the cutting edge based on the current distance d. Calculate the speed. Then, the target speed Vc_bm_lmt of the boom 6 is determined by calculating the difference between the speed limit of the cutting edge and the estimated arm speed Vc_am and the estimated bucket speed Vc_bkt. The speed limit table is stored (stored) in the storage unit 58 in advance.
- the work machine control unit 57 generates a control command CBI to the boom cylinder 10 according to the boom target speed Vc_bm_lmt, and outputs it to the control valve 27 connected to the boom cylinder 10. Thereby, the control valve 27 connected to the boom cylinder 10 is controlled, and the intervention control of the boom 6 by the follow control (restricted excavation control) is executed.
- FIG. 7 is a diagram for explaining the acquisition of the distance d between the cutting edge 8a of the bucket 8 and the target excavation landform U based on the embodiment.
- the distance acquisition unit 53 calculates the shortest distance d between the cutting edge 8a of the bucket 8 and the surface of the target excavation landform U based on the position information (bucket position data S) of the cutting edge 8a. calculate.
- following control is executed based on the shortest distance d between the cutting edge 8a of the bucket 8 and the surface of the target excavation landform U.
- FIG. 8 is a functional block diagram illustrating a calculation process of the estimated speed determination unit 52 based on the embodiment.
- the estimated speed determination unit 52 calculates an estimated arm speed Vc_am corresponding to the arm operation command (pressure MA) and an estimated bucket speed Vc_bkt corresponding to the bucket operation command (pressure MT).
- the estimated arm speed Vc_am is the speed of the blade edge 8a of the bucket 8 when only the arm cylinder 11 is driven.
- the bucket estimated speed Vc_bkt is the speed of the blade edge 8a of the bucket 8 when only the bucket cylinder 12 is driven.
- the estimated speed determining unit 52 includes a spool stroke calculating unit 52A, a cylinder speed calculating unit 52B, and an estimated speed calculating unit 52C.
- the spool stroke calculation unit 52A calculates the spool stroke amount of the spool 80 of the hydraulic cylinder 60 based on the spool stroke table according to the operation command (pressure) stored in the storage unit 58.
- the pressure of pilot oil for moving the spool 80 is also referred to as PPC pressure.
- the movement amount of the spool 80 is adjusted by the pressure (pilot hydraulic pressure) of the oil passage 452 controlled by the operating device 25 or the control valve 27.
- the pilot oil pressure in the oil passage 452 is the pressure of the pilot oil in the oil passage 452 for moving the spool, and is adjusted by the operating device 25 or the control valve 27. Therefore, the movement amount of the spool and the PPC pressure are correlated.
- the cylinder speed calculation unit 52B calculates the cylinder speed of the hydraulic cylinder 60 based on the cylinder speed table according to the calculated spool stroke amount.
- the cylinder speed of the hydraulic cylinder 60 is adjusted based on the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump via the direction control valve 64.
- the direction control valve 64 has a movable spool 80. Based on the amount of movement of the spool 80, the amount of hydraulic oil supplied per unit time to the hydraulic cylinder 60 is adjusted. Therefore, the cylinder speed and the movement amount of the spool (spool stroke) are correlated.
- the estimated speed calculation unit 52C calculates the estimated speed based on the estimated speed table according to the calculated cylinder speed of the hydraulic cylinder 60.
- the estimated speed determination unit 52 calculates the estimated arm speed Vc_am corresponding to the arm operation command (pressure MA) and the estimated bucket speed Vc_bkt corresponding to the bucket operation command (pressure MT).
- the spool stroke table, the cylinder speed table, and the estimated speed table are provided for the boom 6, the arm 7, and the bucket 8, and are obtained based on experiments or simulations and stored in the storage unit 58 in advance. .
- FIG. 9A to FIG. 9C are diagrams for explaining a calculation method of the vertical velocity components Vcy_am and Vcy_bkt based on the present embodiment.
- the target speed determination unit 54 sets the arm estimated speed Vc_am, the speed component in the direction perpendicular to the surface of the target excavation landform U (vertical speed component) Vcy_am, and the target excavation. Conversion into a velocity component (horizontal velocity component) Vcx_am in a direction parallel to the surface of the terrain U is performed.
- the target speed determination unit 54 determines the vertical axis of the local coordinate system (the rotation axis AX of the revolving structure 3) with respect to the vertical axis of the global coordinate system from the inclination angle acquired from the sensor controller 30 and the target excavation landform U. The inclination and the inclination in the vertical direction of the surface of the target excavation landform U with respect to the vertical axis of the global coordinate system are obtained. The target speed determination unit 54 obtains an angle ⁇ 1 representing the inclination between the vertical axis of the local coordinate system and the vertical direction of the surface of the target excavation landform U from these inclinations. The same applies to the bucket estimated speed Vc_bkt.
- the target speed determination unit 54 calculates the arm estimated speed Vc_am by a trigonometric function from the angle ⁇ 2 formed by the vertical axis of the local coordinate system and the direction of the arm estimated speed Vc_am.
- the local coordinate system is converted into a velocity component VL1_am in the vertical axis direction and a velocity component VL2_am in the horizontal axis direction.
- the target speed determination unit 54 uses the trigonometric function to calculate the vertical of the local coordinate system from the inclination ⁇ 1 between the vertical axis of the local coordinate system and the vertical direction of the surface of the target excavation landform U.
- the velocity component VL1_am in the axial direction and the velocity component VL2_am in the horizontal axis direction are converted into a vertical velocity component Vcy_am and a horizontal velocity component Vcx_am for the target excavation landform U.
- the target speed determination unit 54 converts the bucket estimated speed Vc_bkt into a vertical speed component Vcy_bkt and a horizontal speed component Vcx_bkt in the vertical axis direction of the local coordinate system.
- FIG. 10 is a diagram illustrating an example of a speed limit table for the entire work machine 2 in the profile control based on the embodiment.
- the vertical axis represents the speed limit Vcy_lmt
- the horizontal axis represents the distance d between the cutting edge and the design topography.
- the distance d when the blade edge 8a of the bucket 8 is located outside the surface of the target excavation landform U is a positive value.
- the distance d when 8a is located inward of the surface of the target excavation landform U (inside of the excavation target from the target excavation landform U) is a negative value.
- the distance d when the blade edge 8a is located above the surface of the target excavation landform U is positive, and the distance d when the blade edge 8a is located below the surface of the target excavation landform U is a negative value.
- the distance d when the cutting edge 8a is in a position where it does not erode with respect to the target excavation landform U is positive, and the distance d when the cutting edge 8a is in a position where it erodes with respect to the target excavation landform U is a negative value.
- the distance d when the cutting edge 8a is located on the target excavation landform U is 0.
- the speed when the blade edge 8a goes from the inside of the target excavation landform U to the outside is a positive value
- the speed when the blade edge 8a goes from the outside of the target excavation landform U to the inside is negative.
- the speed when the blade edge 8a is directed above the target excavation landform U is a positive value
- the speed when the blade edge 8a is directed below the target excavation landform U is a negative value.
- the slope of speed limit Vcy_lmt when distance d is between d1 and d2 is smaller than the slope when distance d is greater than or equal to d1 or less than or equal to d2.
- d1 is greater than zero.
- d2 is smaller than 0.
- the slope when the distance d is between d1 and d2 is the slope when the distance d is d1 or more or d2 or less. Make it smaller than the slope.
- the speed limit Vcy_lmt is a negative value, and the absolute value of the speed limit Vcy_lmt increases as the absolute value of the distance d increases.
- the speed limit Vcy_lmt is a positive value, and the absolute value of the speed limit Vcy_lmt increases as the absolute value of the distance d increases.
- the speed limit Vcy_lmt is Vmin.
- the predetermined value dth1 is a positive value and is larger than d1.
- the intervention control of the operation of the work machine 2 is not performed. Therefore, when the cutting edge 8a is far away from the target excavation landform U above the target excavation landform U, the intervention control of the operation of the work machine 2 is not performed.
- the intervention control of the operation of the work machine 2 is performed. Specifically, when the distance d is smaller than the predetermined value dth1, intervention control of the operation of the boom 6 is performed.
- FIGS. 11A to 11D are diagrams illustrating a method for calculating the boom target speed Vc_bm_lmt.
- the target speed determination unit 54 calculates the speed limit Vcy_lmt of the work implement 2 as a whole according to the speed limit table.
- the speed limit Vcy_lmt of the work implement 2 as a whole is a movement speed of the cutting edge 8a that is allowable in a direction in which the cutting edge 8a of the bucket 8 approaches the target excavation landform U.
- FIG. 11B shows the vertical speed component Vcy_am of the arm estimated speed Vc_am and the vertical speed component Vcy_bkt of the bucket estimated speed Vc_bkt.
- the target speed determination unit 54 calculates the vertical speed component Vcy_am of the arm estimated speed Vc_am and the vertical speed component Vcy_bkt of the bucket estimated speed Vc_bkt based on the arm estimated speed Vc_am and the bucket estimated speed Vc_bkt. Is possible.
- FIG. 11C shows a case where the target vertical speed component Vcy_bm_lmt of the boom 6 is calculated. Specifically, the target vertical speed component Vcy_bm_lmt of the boom 6 is calculated by subtracting the vertical speed component Vcy_am of the arm estimated speed Vc_am and the vertical speed component Vcy_bkt of the bucket estimated speed Vc_bkt from the speed limit Vcy_lmt of the entire work machine 2. Is done.
- FIG. 11D shows a case where the boom target speed Vc_bm_lmt is calculated based on the target vertical speed component Vcy_bm_lmt of the boom 6.
- the boom target speed Vc_bm_lmt has a positive value, even when the operating device 25 is operated in the direction in which the boom 6 is lowered, the work implement controller 26 performs intervention control to raise the boom 6. For this reason, the expansion of the erosion of the target excavation landform U can be suppressed quickly.
- FIG. 12 is a functional block diagram illustrating a configuration of the work machine control unit 57 based on the embodiment.
- the work implement control unit 57 includes a cylinder speed calculation unit 571, an actual cylinder speed calculation unit 572, a feedback (FB) control unit 573, an EPC calculation unit 574, and an arm operation amount determination unit. 575 and an EPC setting unit 576.
- the work implement control unit 57 outputs a control command CBI to the control valve 27 so that the boom 6 is driven at the boom target speed Vc_bm_lmt when performing intervention control.
- the cylinder speed calculation unit 571 calculates the cylinder speed of the hydraulic cylinder 60. Specifically, the cylinder speed calculation unit 571 calculates the estimated speed of the boom cylinder 10 according to the boom target speed Vc_bm_lmt based on an estimated speed table indicating the relationship between the speed of the cutting edge 8a of the bucket 8 and the speed of the hydraulic cylinder 60. To do.
- the estimated speeds of the arm cylinder 11 and the bucket cylinder 12 are calculated by the estimated speed determining unit 52 (FIGS. 6 and 8) based on the arm operation command (pressure MA) and the bucket operation command (pressure MT).
- the actual cylinder speed calculation unit 572 detects the boom cylinder 10, the arm cylinder 11, and the bucket based on the cylinder length data L detected by the cylinder stroke sensor (16 or the like) and derived by the sensor controller 30 (FIG. 6) and the measurement time. The actual cylinder speed of the cylinder 12 is calculated.
- the feedback (FB) control unit 573 executes feedback control for increasing / decreasing the target speed of the hydraulic cylinder 60 based on the comparison between the estimated speed of the hydraulic cylinder 60 and the actual cylinder speed.
- the feedback (FB) control unit 573 performs correction to reduce the target speed of the hydraulic cylinder 60 when the actual cylinder speed is larger than the estimated speed of the hydraulic cylinder 60.
- the feedback (FB) control unit 573 performs correction to increase the target speed of the hydraulic cylinder 60 when the actual cylinder speed is smaller than the estimated speed of the hydraulic cylinder 60.
- the EPC calculation unit 574 calculates a command current set value SV that commands the opening degree of the control valve 27 based on the target speed of the hydraulic cylinder 60 corrected by the feedback (FB) control unit 573. Specifically, the EPC calculation unit 574 calculates the command current set value SV based on the correlation data stored in advance in the storage unit 58.
- FIG. 13 is a diagram for explaining the relationship between the cylinder speed of the hydraulic cylinder 60 and the EPC current value.
- the storage unit 58 includes correlation data indicating the relationship between the cylinder speed of the hydraulic cylinder 60 and the movement amount of the spool 80, correlation data indicating the relationship between the movement amount of the spool 80 and the PPC pressure controlled by the control valve 27, Correlation data indicating the relationship between the PPC pressure and the control signal (EPC current) output from the work implement control unit 57 is stored.
- the correlation data is obtained based on experiments or simulations and is stored in the storage unit 58 in advance.
- the cylinder speed of the hydraulic cylinder 60 is adjusted based on the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump via the direction control valve 64.
- the direction control valve 64 has a movable spool 80. Based on the amount of movement of the spool 80, the amount of hydraulic oil supplied per unit time to the hydraulic cylinder 60 is adjusted. Accordingly, the cylinder speed and the amount of movement of the spool (spool stroke) are correlated.
- the movement amount of the spool 80 is adjusted by the pressure (pilot hydraulic pressure) of the oil passage 452 controlled by the operating device 25 or the control valve 27.
- the pilot oil pressure in the oil passage 452 is the pressure of the pilot oil in the oil passage 452 for moving the spool, and is adjusted by the operating device 25 or the control valve 27.
- the pressure of pilot oil for moving the spool 80 is also referred to as PPC pressure. Therefore, the movement amount of the spool and the PPC pressure are correlated.
- the control valve 27 operates based on a control signal (EPC current) output from the work machine controller 57 of the work machine controller 26. Therefore, PPC pressure and EPC current are correlated.
- the EPC calculation unit 574 calculates a command current set value SV corresponding to the boom target speed Vc_bm_lmt calculated by the target speed determination unit 54. Thereby, the work machine controller 26 can control the boom 6 so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U.
- the arm operation amount determination unit 575 determines the operation amount of the second operation lever 25L corresponding to the operation of the arm 7.
- FIG. 14 is a diagram illustrating the relationship between the operation amount of the second operation lever 25L and the PPC pressure based on the embodiment. As shown in FIG. 14, the PPC pressure increases as the operation amount of the second operation lever 25L increases. When the manipulated variable is near 0, a margin is provided, and the PPC pressure increases linearly from a certain manipulated variable.
- the range in which the operation amount of the second operation lever 25L is equal to or less than the predetermined value X is referred to as a fine operation region in which the arm operation of the second operation lever 25L is a fine operation.
- the maximum value of the PPC pressure in the fine operation area is Y.
- An area where the operation amount of the second operation lever 25L is larger than the predetermined value X is also referred to as a normal operation area.
- the arm operation amount determination unit 575 determines the operation amount of the second operation lever 25L corresponding to the operation of the arm 7. The arm operation amount determination unit 575 determines whether the operation amount of the second operation lever 25L is equal to or less than the predetermined value X or greater than the predetermined value X. In this example, a state where the operation amount of the second operation lever 25L is equal to or less than a predetermined value X is referred to as a first operation state. A state in which the operation amount of the second operation lever 25L is larger than the predetermined value X is referred to as a second operation state. The arm operation amount determination unit 575 determines whether the second operation lever 25L is in the first operation state or the second operation state.
- the EPC setting unit 576 performs control based on the command current set value SV calculated by the EPC calculation unit 574 and the operation state (first operation state or second operation state) determined by the arm operation amount determination unit 575.
- the EPC current value output to the valve 27 is set.
- the EPC setting unit 576 outputs the set EPC current value to the control valve 27 as a control command CBI.
- FIG. 15 is a diagram for explaining the relationship between the EPC current value and the opening degree of the control valve 27 based on the embodiment.
- the control valve 27 is a valve with a specification that the opening degree is zero (fully closed) when the EPC current value is zero, and the opening degree is continuously increased corresponding to the increase in the EPC current value.
- the opening degree of the control valve 27 is adjusted by the EPC current value.
- FIG. 15 shows a case where the opening degree of the control valve 27 increases as the EPC current value increases.
- the EPC current value is near 0, a margin is provided, and the opening degree of the control valve 27 increases linearly from a certain constant current value. Therefore, the EPC current value and the opening degree of the control valve 27 are correlated.
- FIG. 16 is a flowchart illustrating the profile control (restricted excavation control) of the work vehicle 100 based on the embodiment.
- a design terrain is set (step SA1). Specifically, the target excavation landform U is set by the target excavation landform data generation unit 28 ⁇ / b> C of the display controller 28.
- the distance d between the cutting edge and the design topography is acquired (step SA2). Specifically, the distance acquisition unit 53 determines the surface of the cutting edge 8a of the bucket 8 and the target excavation landform U based on the position information of the cutting edge 8a and the target excavation landform U according to the bucket position data S from the bucket position data generation unit 28B. The shortest distance d between is calculated.
- an estimated speed is determined (step SA3). Specifically, the estimated speed determination unit 52 of the work machine controller 26 determines the arm estimated speed Vc_am and the bucket estimated speed Vc_bkt.
- the estimated arm speed Vc_am is the speed of the cutting edge 8a when only the arm cylinder 11 is driven.
- the estimated bucket speed Vc_bkt is the speed of the blade edge 8a when only the bucket cylinder 12 is driven.
- the arm estimated speed Vc_am and the bucket estimated speed Vc_bkt are calculated based on operation commands (pressure MA, MT) of the operating device 25 according to various tables stored in the storage unit 58.
- the estimated speed is converted into a vertical speed component (step SA4).
- the target speed determination unit 54 converts the arm estimated speed Vc_am and the bucket estimated speed Vc_bkt into vertical speed components Vcy_am and Vcy_bkt with respect to the target excavation landform U as described in FIG.
- step SA5 the speed limit Vcy_lmt for the entire work machine 2 is calculated. Specifically, the target speed determination unit 54 calculates the speed limit Vcy_lmt according to the speed limit table based on the distance d.
- the target vertical velocity component Vcy_bm_lmt of the boom is determined (step SA6). Specifically, as described with reference to FIG. 11, the target speed determination unit 54 determines the vertical speed component (target speed) of the target speed of the boom 6 from the speed limit Vcy_lmt, the arm estimated speed Vc_am, and the bucket estimated speed Vc_bkt of the entire work machine 2. Vertical velocity component) Vcy_bm_lmt is calculated.
- the boom target vertical speed component Vcy_bm_lmt is converted into the target speed Vc_bm_lmt (step SA7).
- the target speed determination unit 54 converts the target vertical speed component Vcy_bm_lmt of the boom 6 into the target speed (boom target speed) Vc_bm_lmt of the boom 6 as described in FIG.
- the EPC calculation unit 574 calculates a command current setting value SV based on the boom target speed Vc_bm_lmt, and outputs the EPC current set by the EPC setting unit 576 to the control valve 27 as a control command CBI (step SA10).
- the work machine controller 26 can control the boom 6 so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U.
- the work machine controller 26 is based on the target excavation landform U indicating the design landform that is the target shape of the excavation target and the bucket position data S indicating the position of the blade edge 8a of the bucket 8.
- the speed of the boom 6 is controlled so that the relative speed at which the bucket 8 approaches the target excavation landform U is reduced according to the distance d between the excavation landform U and the cutting edge 8a of the bucket 8.
- the work machine controller 26 uses the target excavation landform U and the blade edge 8a of the bucket 8 based on the target excavation landform U indicating the design landform that is the target shape to be excavated and the bucket position data S indicating the position of the blade edge 8a of the bucket 8.
- the speed limit of the work implement 2 as a whole is determined according to the distance d, and the work implement 2 is controlled so that the speed in the direction in which the work implement 2 approaches the target excavation landform U is less than the speed limit.
- follow-up control (excavation restriction control) is executed, and the speed of the boom cylinder is adjusted.
- the position of the blade edge 8a with respect to the target excavation landform U is controlled, and the intrusion of the blade edge 8a into the target excavation landform U can be suppressed, so that it is possible to execute a work to create a surface according to the design landform.
- the hydraulic cylinder 60 When the weight of the bucket 8 is dropped, the hydraulic cylinder 60 has a speed higher than the estimated speed of the hydraulic cylinder 60 according to the operation amount (arm operation amount) operated by the second operation lever 25L calculated by the estimated speed determination unit 52. May work.
- the deviation between the estimated speed of the hydraulic cylinder 60 and the actual speed estimated based on the operation amount of the second operation lever 25L is large in the case of a fine operation with a small operation amount of the second operation lever 25L.
- FIG. 17 is a graph showing the EPC current value during the excavation operation of the arm in the work vehicle before application of the present invention.
- the horizontal axis of the graph in FIG. 17 indicates time.
- the vertical axis indicates the EPC current value output to the control valve 27B when the arm cylinder 11 is extended and the arm 7 is excavated, and this is referred to as an arm excavation EPC current.
- the value of the arm excavation EPC current repeatedly decreases and increases rapidly in a specific time zone. If the arm excavation EPC current increases or decreases rapidly, the behavior of the arm 7 becomes unstable, and as a result, the cutting edge 8a of the bucket 8 may not be stabilized and hunting may occur.
- FIG. 18 is a flowchart for explaining the control of the arm excavation EPC current based on the first embodiment.
- step SB1 it is determined whether or not the operation amount of the second operation lever 25L corresponding to the operation of the arm 7 is equal to or less than a predetermined value X (step SB1). Specifically, the arm operation amount determination unit 575 sets the PPC pressure detected by the pressure sensor 66 according to a table indicating the relationship between the operation amount of the second operation lever 25L stored in the storage unit 58 and the PPC pressure. Based on this, the operation amount of the second operation lever 25L is calculated. The arm operation amount determination unit 575 further determines whether or not the calculated operation amount of the second operation lever 25L is equal to or less than a predetermined value X.
- step SB1 If it is determined in step SB1 that the operation amount of the second operation lever 25L is equal to or less than the predetermined value X (YES in step SB1), the process proceeds to step SB2, and the operation amount of the second operation lever 25L is equal to or less than the predetermined value X. This is the first operation state.
- the EPC current is set (step SB3). Specifically, the EPC setting unit 576 sets the arm excavation EPC current output to the control valve 27 to a constant value in the first operation state. Thereby, the opening degree of the control valve 27B provided in the oil passage 450 is set to be constant (step SB4).
- FIG. 19 is a graph showing the EPC current value during the excavation operation of the arm in the work vehicle of the first embodiment.
- the horizontal axis of the graph in FIG. 19 indicates time.
- the vertical axis of the graph in FIG. 19 shows the arm excavation EPC current similar to that in FIG.
- the solid line in FIG. 19 indicates the value of the arm excavation EPC current output from the EPC setting unit 576 to the control valve 27.
- a broken line in FIG. 19 indicates a command current set value SV that is set according to the operation amount of the second operation lever 25L, which is calculated by the EPC calculation unit 574.
- the EPC setting unit 576 sets the arm excavation EPC current to a constant value.
- the value of the arm excavation EPC current set by the EPC setting unit 576 is always larger than the command current setting value SV set according to the operation amount of the second operation lever 25L.
- FIG. 20 is a diagram illustrating the opening degree of the control valve 27 in the first embodiment.
- FIG. 20 illustrates the relationship between the EPC current value described with reference to FIG. 15 and the opening degree of the control valve 27.
- the value of the arm excavation EPC current set by the EPC setting unit 576 is larger than the command current set value SV set according to the operation amount of the second operation lever 25L.
- the values X1 and X2 of the EPC current shown in FIG. 20 indicate the minimum value and the maximum value of the command current set value SV set according to the operation amount of the second operation lever 25L, respectively.
- the value X3 indicates the value of the arm excavation EPC current set by the EPC setting unit 576.
- valve openings Y1, Y2, and Y3 shown in FIG. 20 indicate the openings of the control valve 27 corresponding to the EPC current values X1, X2, and X3, respectively.
- the opening degree of the control valve 27 is determined according to the arm excavation EPC current set by the EPC setting unit 576 in the first operation state.
- the opening degree of the control valve 27 (valve opening degree Y3) in the first operation state is the maximum value (valve opening degree) in the first operation state of the opening degree of the control valve 27 set according to the operation amount of the second operation lever 25L. It is larger than degree Y2).
- the pilot hydraulic pressure in the oil passage 451 varies depending on the operation of the second operation lever 25L.
- the pilot hydraulic pressure in the oil passage 451 and the pilot hydraulic pressure in the oil passage 452 are equal.
- the pressure of the pilot oil supplied to the direction control valve 64 is adjusted according to the operation amount of the second operation lever 25L.
- the second operation lever 25L outputs a hydraulic pressure signal corresponding to the operation amount of the second operation lever 25L.
- the opening degree of the control valve 27 is set so that the hydraulic signal output from the second operation lever 25L is guided to the direction control valve 64 as it is.
- step SB1 when it is determined in step SB1 that the operation amount of the second operation lever 25L is larger than the predetermined value X (NO in step SB1), the process proceeds to step SB5 and the operation amount of the second operation lever 25L. Is in a second operation state that is greater than the predetermined value X.
- the lower limit value LL of the EPC current is set (step SB6).
- the EPC setting unit 576 sets the lower limit value LL of the arm excavation EPC current output to the control valve 27 in the second operation state.
- the arm that is output to the control valve 27 based on a comparison between the lower limit value LL and the command current set value SV that is set according to the operation amount of the second operation lever 25L that is calculated by the EPC calculation unit 574.
- the value of the drilling EPC current will be controlled.
- the EPC setting unit 576 automatically controls the opening degree of the control valve 27. Specifically, EPC setting unit 576 compares lower limit value LL with command current setting value SV. If the command current set value SV is equal to or lower than the lower limit value LL as a result of the comparison, a control command CBI with the lower limit value LL as the arm excavation EPC current is generated and output to the control valve 27. When the command current set value SV is larger than the lower limit value LL, a control command CBI that uses the command current set value SV as an arm excavation EPC current is generated and output to the control valve 27.
- the value of the arm excavation EPC current correlates with the opening degree of the control valve 27. Therefore, the opening degree of the control valve 27 is automatically controlled by automatically controlling the arm excavation EPC current. According to the opening degree of the control valve 27, a prescribed pilot hydraulic pressure is supplied to the direction control valve 64, and the spool 80 moves, whereby the arm cylinder 11 extends.
- the process ends (END).
- the EPC setting unit 576 performs the arm excavation EPC. Set the current to a constant value.
- the arm operation is a fine operation when the operation amount of the second operation lever 25 ⁇ / b> L is within the predetermined value X.
- the fine operation region the deviation between the estimated speed of the hydraulic cylinder 60 and the actual cylinder speed due to the arm operation of the second operation lever 25L is large.
- the cutting edge 8a of the bucket 8 is stabilized. There is a possibility that hunting may occur.
- the work machine control unit 57 outputs the arm excavation EPC current to the control valve 27 as a constant value regardless of the calculation result of the cylinder speed in the feedback (FB) control unit 573. Thereby, it is possible to avoid an event in which excessive feedback control is executed and the arm excavation EPC current rapidly increases or decreases.
- the PPC pressure when the operation amount of the second operation lever 25L is a predetermined value X is a value Y, not zero.
- the second operating lever 25L has a dead zone that does not output the PPC pressure when the operation amount is near 0, but the predetermined value X is a value outside the dead zone of the second operating lever 25L, and the first operating state is not a dead zone. It should be noted that it includes a range.
- the value of the arm excavation EPC current in the first operation state is set as a constant value larger than the command current set value SV calculated by the EPC calculation unit 574. ing.
- the opening degree of the control valve 27 (valve opening degree Y3) in the first operation state is an opening corresponding to the command current set value SV set according to the operation amount of the second operation lever 25L. It is larger than the maximum value (valve opening Y2) in the first operation state.
- the control valve 27 operates to adjust the amount of hydraulic oil supplied to the arm cylinder 11 as described with reference to FIG.
- the opening degree of the control valve 27 as in the present embodiment, the pressure of the pilot oil in the oil passage 451 and the pressure of the pilot oil in the oil passage 452 become equal.
- the pilot hydraulic pressure corresponding to the operation of the operator who finely operates the arm 7 is not adjusted by the control valve 27 but is supplied to the direction control valve 64 as it is.
- control valve 27 does not cause the pilot oil pressure to fluctuate excessively and destabilize the behavior of the arm 7, and the operation of the arm 7 can be performed in accordance with the operation of the second operation lever 25L by the operator. become. Therefore, the cutting edge 8a of the bucket 8 can be stabilized and hunting can be suppressed, and in addition, the operational feeling of the arm 7 with respect to the operation of the operator can be improved.
- the arm excavation EPC current value is set to be greater than the command current set value SV calculated by the EPC calculation unit 574 so that the calculation result of the cylinder speed in the feedback (FB) control unit 573 is not affected. It was set as a large constant value.
- the control valve 27 may be fully opened.
- the value of the arm excavation EPC current in the first operation state is calculated by the EPC calculation unit 574 so that the opening degree of the control valve 27 does not change suddenly when the first operation state shifts to the second operation state. It is preferable to set a value slightly larger than the maximum value of the command current set value SV.
- FIG. 21 is a flowchart illustrating the control of the arm excavation EPC current based on the second embodiment.
- step SC1 it is determined whether or not intervention control is being executed. As described above with reference to FIG. 3, when there is an arm operation by the operator and the distance between the blade edge of the bucket and the design topography and the speed of the blade edge are within the reference, the following control is executed. In the case of profile control, intervention control for controlling the boom 6 is executed so that the intrusion of the cutting edge 8a into the designed terrain is suppressed.
- step SC1 If it is determined in step SC1 that intervention control is being executed (YES in step SC1), then an EPC current threshold TH is set (step SC2). Specifically, the EPC setting unit 576 sets the threshold value TH related to the arm excavation EPC current output to the control valve 27 during the execution of the intervention control.
- step SC3 it is determined whether or not the designated current set value SV is equal to or less than the threshold value TH (step SC3).
- the EPC setting unit 576 compares the threshold value TH set in step SC2 with the command current setting value SV set according to the operation amount of the second operation lever 25L calculated by the EPC calculation unit 574. Then, it is determined whether or not the designated current set value SV is equal to or less than the threshold value TH.
- step SC3 If it is determined in step SC3 that the designated current set value SV is equal to or less than the threshold value TH (YES in step SC3), the process proceeds to step SC4, where the threshold value TH is set as the arm excavation EPC current.
- step SC1 If it is determined in step SC1 that intervention control is not being executed (NO in step SC1), the process proceeds to step SC5, where the command current set value SV is set as the arm excavation EPC current. If it is determined in step SC3 that the specified current set value SV is larger than the threshold value TH (NO in step SC3), the process proceeds to step SC5, where the command current set value SV is set as the arm excavation EPC current.
- the arm excavation EPC current is output to the control valve 27 (step SC6).
- the EPC setting unit 576 when the command current set value SV is equal to or less than the threshold value TH during the intervention control, the EPC setting unit 576 generates a control command CBI having the threshold value TH as the arm excavation EPC current, and the control valve 27 Output to.
- the EPC setting unit 576 sets the command current setting that is set according to the operation amount of the second operation lever 25L.
- a control command CBI with the value SV as the arm excavation EPC current is generated and output to the control valve 27.
- the value of the arm excavation EPC current correlates with the opening degree of the control valve 27. Therefore, the opening degree of the control valve 27 is automatically controlled by automatically controlling the arm excavation EPC current. According to the opening degree of the control valve 27, a prescribed pilot hydraulic pressure is supplied to the direction control valve 64, and the spool 80 moves, whereby the arm cylinder 11 extends.
- FIG. 22 is a graph showing an EPC current value at the time of excavation operation of the arm in the work vehicle of the second embodiment.
- the horizontal axis of the graph in FIG. 22 indicates time.
- the vertical axis of the graph in FIG. 22 represents the arm excavation EPC current similar to that in FIG.
- the EPC setting unit 576 sets a threshold value TH of the arm excavation EPC current. If the command current set value SV is equal to or less than the threshold value TH, the threshold value TH is set as the arm excavation EPC current. If the command current set value SV is larger than the threshold value TH, the command current set value SV is set as the arm excavation EPC current.
- the threshold value TH is set as a value smaller than the maximum value of the command current setting value SV set according to the operation amount of the second operation lever 25L.
- the EPC setting unit 576 functions as a low cut filter for the command current setting value SV.
- the value of the arm excavation EPC current repeats a rapid decrease and increase in a specific time zone, but compared with FIG. It is getting smaller.
- the control valve 27 uses the threshold value TH as the arm excavation EPC current.
- the command current set value SV exceeds the threshold value TH, the command current set value SV is output to the control valve 27 as the arm excavation EPC current.
- the command current set value SV is output to the control valve 27 as an arm excavation EPC current.
- the arm operation is a fine operation when the operation amount of the second operation lever 25 ⁇ / b> L is within the predetermined value X.
- the difference between the estimated speed of the hydraulic cylinder 60 and the actual cylinder speed due to the arm operation of the second operation lever 25L is large. Therefore, if excessive feedback control is executed, the value of the arm excavation EPC current greatly increases and decreases as shown in FIG. 17, and as a result, the cutting edge 8a of the bucket 8 may not be stabilized and hunting may occur. .
- the width of increase / decrease of the arm excavation EPC current can be reduced. Therefore, it is possible to avoid an event in which excessive feedback control is executed and the arm excavation EPC current rapidly increases or decreases.
- the fluctuation of the pilot hydraulic pressure supplied to the directional control valve 64 can be suppressed, and the arm cylinder 11 can be expanded. Cylinder speed fluctuation can be reduced.
- the cutting edge 8a of the bucket 8 can be stabilized, and therefore hunting can be suppressed.
- the control is executed so as to reduce the fluctuation of the value of the arm excavation EPC current due to the feedback control of the cylinder speed.
- the operation amount of the second operation lever 25L is a minute value that is equal to or less than the predetermined value X. In the operation area, feedback control of the cylinder speed may be invalidated.
- the operating device 25 is a pilot hydraulic system.
- the operating device 25 may be an electric lever type.
- an operation lever detection unit such as a potentiometer that detects an operation amount of the operation lever of the operation device 25 and outputs a voltage value corresponding to the operation amount to the work machine controller 26 may be provided.
- the work machine controller 26 may adjust the pilot hydraulic pressure by outputting a control signal to the control valve 27 based on the detection result of the operation lever detection unit. Although this control is performed by the work machine controller, it may be performed by another controller such as the sensor controller 30.
- a hydraulic excavator is cited as an example of a work vehicle, but the present invention is not limited to a hydraulic excavator and may be applied to other types of work vehicles.
- the acquisition of the position of the hydraulic excavator in the global coordinate system is not limited to GNSS, and may be performed by other positioning means. Therefore, acquisition of the distance d between the blade edge 8a and the design landform is not limited to GNSS, and may be performed by other positioning means.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
図1は、実施形態に基づく作業車両100の外観図である。
次に、実施形態に基づく制御システム200の概要について説明する。
図3に示されるように、制御システム200は、作業機2を用いる掘削処理を制御する。本例においては、掘削処理の制御は、ならい制御を有する。
第1操作レバー25Rの前後方向の操作は、ブーム6の操作に対応し、前後方向の操作に応じてブーム6の下げ動作及び上げ動作が実行される。ブーム6を操作するためにレバー操作され、パイロット油路450にパイロット油が供給された場合に圧力センサ66に発生する検出圧力をMBとする。
第2操作レバー25Lの前後方向の操作は、旋回体3の旋回に対応し、前後方向の操作に応じて旋回体3の右旋回動作及び左旋回動作が実行される。
入力部321は、オペレータによって操作される。入力部321の操作により生成された指令信号は、作業機コントローラ26に出力される。
図4は、実施形態に基づく油圧システムの構成を示す図である。
油路452は、第1受圧室に接続される油路452Aと、第2受圧室に接続される油路452Bとを有する。
上述のように、操作装置25の操作により、ブーム6は、下げ動作及び上げ動作の2種類の動作を実行する。
ならい制御(制限掘削制御)を実行しない、通常制御について説明する。
具体的には、作業機コントローラ26は、制御弁27を開放する。制御弁27を開放することにより、油路451のパイロット油圧と油路452のパイロット油圧とは等しくなる。制御弁27が開放された状態で、パイロット油圧(PPC圧)は、操作装置25の操作量に基づいて調整される。これにより、方向制御弁64が調整されて、上記で説明したブーム6、アーム7、バケット8の上げ動作および下げ動作を実行することが可能である。
ならい制御(制限掘削制御)の場合、作業機2は、操作装置25の操作に基づいて作業機コントローラ26によって制御される。
制御弁27Cは、介入制御を実行するために作業機コントローラ26から出力された制御信号に基づいて制御される。
図5は、実施形態に基づくならい制御(制限掘削制御)が行われている場合の作業機2の動作を模式的に示す図である。
図6に示されるように、表示コントローラ28は、目標施工情報格納部28Aと、バケット位置データ生成部28Bと、目標掘削地形データ生成部28Cとを有する。
センサコントローラ30は、各シリンダストロークセンサ16、17、18の検出結果から各シリンダ長データLおよび傾斜角θ1、θ2、θ3を取得する。また、センサコントローラ30は、IMU24から出力される傾斜角θ4のデータ及び傾斜角θ5のデータを取得する。センサコントローラ30は、シリンダ長データL、傾斜角θ1、θ2、θ3のデータと、傾斜角θ4のデータ、及び傾斜角θ5のデータを、表示コントローラ28に出力する。センサコントローラ30はまた、シリンダ長データLのデータを、作業機コントローラ26に出力する。
図7は、実施形態に基づくバケット8の刃先8aと目標掘削地形Uとの間の距離dを取得することを説明する図である。
図8は、実施形態に基づく推定速度決定部52の演算処理を説明する機能ブロック図である。
ブーム目標速度を算出するにあたり、アーム7及びバケット8の各々の推定速度Vc_am、Vc_bktの目標掘削地形Uの表面に垂直な方向の速度成分(垂直速度成分)Vcy_am、Vcy_bktを算出する必要がある。このため、まずは上記垂直速度成分Vcy_am、Vcy_bktを算出する方式について説明する。
さらにブーム目標速度を算出するにあたり、作業機2全体の制限速度が必要となるため、次に作業機2全体の制限速度テーブルについて説明する。
図12は、実施形態に基づく作業機制御部57の構成を示す機能ブロック図である。
このように、本例においては、作業機コントローラ26は、掘削対象の目標形状である設計地形を示す目標掘削地形Uとバケット8の刃先8aの位置を示すバケット位置データSとに基づいて、目標掘削地形Uとバケット8の刃先8aとの距離dに応じてバケット8が目標掘削地形Uに近づく相対速度が小さくなるように、ブーム6の速度を制御する。
操作装置25の第2操作レバー25Lを操作してアーム7を操作することにより、バケット8の刃先8aに当接する土砂を掻き均し、平らな設計地形に対応する面を作るならい作業を実行することが可能である。
以上説明した第一実施形態の作業車両によれば、図18に示すように、第2操作レバー25Lの操作量が所定値X以下の第1操作状態では、EPC設定部576は、アーム掘削EPC電流を一定値に設定する。
図21は、第二実施形態に基づくアーム掘削EPC電流の制御について説明するフロー図である。
図22は、第二実施形態の作業車両における、アームの掘削動作時のEPC電流値を示すグラフである。図22のグラフの横軸は、時間を示す。図22のグラフの縦軸は、図17と同様のアーム掘削EPC電流を示す。
Claims (4)
- ブームと、アームと、バケットとを含む作業機と、
前記アームを駆動するアームシリンダと、
移動可能なスプールを有し、前記スプールの移動により前記アームシリンダに作動油を供給して前記アームシリンダを動作させる方向制御弁と、
前記方向制御弁に接続され、前記スプールを移動するためのパイロット油が流れる油路と、
前記油路に設けられたアーム掘削用比例電磁弁と、
オペレータが前記アームの駆動を操作するためのアーム操作部材と、
前記アーム操作部材の操作量が所定値以下の第1操作状態か所定値より大きい第2操作状態かを判定する判定部と、
前記アーム掘削用比例電磁弁の開度を指令する指令電流を設定する設定部とを備え、
前記設定部は、前記第1操作状態では、前記指令電流を一定値に設定する、作業車両。 - 前記アーム操作部材は、前記オペレータの操作に応じた油圧信号を出力し、
前記設定部は、前記第1操作状態では、前記アーム操作部材の出力する前記油圧信号が前記方向制御弁にそのまま導かれるように、前記指令電流を設定する、請求項1に記載の作業車両。 - 前記第1操作状態において前記設定部が設定する前記アーム掘削用比例電磁弁の開度は、前記アーム操作部材の操作量に従って設定される前記アーム掘削用比例電磁弁の開度の前記第1操作状態での最大値よりも大きい、請求項2に記載の作業車両。
- ブームと、アームと、バケットとを含む作業機と、
前記アームを駆動するアームシリンダと、
移動可能なスプールを有し、前記スプールの移動により前記アームシリンダに作動油を供給して前記アームシリンダを動作させる方向制御弁と、
前記方向制御弁に接続され、前記スプールを移動するためのパイロット油が流れる油路と、
前記油路に設けられたアーム掘削用比例電磁弁と、
オペレータが前記アームの駆動を操作するためのアーム操作部材と、
前記アーム操作部材の操作量に従う前記スプールの移動量と前記アームシリンダの速度との相関関係を示す速度テーブルに基づいて前記アームシリンダの推定速度を算出する推定シリンダ速度決定部と、
前記推定シリンダ速度決定部により算出された前記アームシリンダの推定速度に基づき、前記アーム掘削用比例電磁弁の開度を指令する指令電流設定値を演算する指令電流演算部と、
前記作業機による作業対象の目標形状を示す設計地形に対する前記バケットの刃先の相対位置に応じて、前記ブームを強制的に上昇させ、前記刃先の位置を前記設計地形の上方に制限する介入制御を実行する介入制御部と、
前記介入制御の実行中は、前記指令電流設定値が所定値以下のとき前記所定値を前記アーム掘削用比例電磁弁に出力し、前記指令電流設定値が前記所定値を上回るとき前記指令電流設定値を前記アーム掘削用比例電磁弁に出力し、前記介入制御の非実行中は、前記指令電流設定値を前記アーム掘削用比例電磁弁に出力する、設定部と、
を備える、作業車両。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112014000142.2T DE112014000142B4 (de) | 2014-09-10 | 2014-09-10 | Baufahrzeug |
US14/408,370 US9797111B2 (en) | 2014-09-10 | 2014-09-10 | Work vehicle |
PCT/JP2014/074009 WO2015025988A1 (ja) | 2014-09-10 | 2014-09-10 | 作業車両 |
JP2014547202A JP5732599B1 (ja) | 2014-09-10 | 2014-09-10 | 作業車両 |
CN201480001711.9A CN104541001B (zh) | 2014-09-10 | 2014-09-10 | 作业车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/074009 WO2015025988A1 (ja) | 2014-09-10 | 2014-09-10 | 作業車両 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015025988A1 true WO2015025988A1 (ja) | 2015-02-26 |
Family
ID=52483756
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/074009 WO2015025988A1 (ja) | 2014-09-10 | 2014-09-10 | 作業車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9797111B2 (ja) |
JP (1) | JP5732599B1 (ja) |
CN (1) | CN104541001B (ja) |
DE (1) | DE112014000142B4 (ja) |
WO (1) | WO2015025988A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108716228A (zh) * | 2018-07-02 | 2018-10-30 | 山东中叉重工机械有限公司 | 多功能电动装载机及其铲斗补偿方法 |
JP2018193704A (ja) * | 2017-05-15 | 2018-12-06 | コベルコ建機株式会社 | 作業機械の自動制御装置 |
CN109594607A (zh) * | 2018-12-17 | 2019-04-09 | 潍柴动力股份有限公司 | 一种挖掘机行走液压泵故障检测方法及挖掘机 |
JP2020158961A (ja) * | 2019-03-25 | 2020-10-01 | 株式会社小松製作所 | 作業機械、システムおよび作業機械の制御方法 |
CN115030248A (zh) * | 2022-06-29 | 2022-09-09 | 中联重科土方机械有限公司 | 正流量挖掘机及其破碎控制方法、破碎控制装置和控制器 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113107046B (zh) * | 2015-12-28 | 2022-09-13 | 住友建机株式会社 | 挖土机、挖土机用的系统、挖土机的控制装置及方法 |
CN108055855B (zh) * | 2016-09-16 | 2020-11-10 | 日立建机株式会社 | 作业机械 |
DE112016000256B4 (de) * | 2016-11-29 | 2022-07-07 | Komatsu Ltd. | Arbeitsausrüstungs-Steuerung und Arbeitsmaschine |
JP6951069B2 (ja) | 2016-11-30 | 2021-10-20 | 株式会社小松製作所 | 作業機制御装置および作業機械 |
KR102123479B1 (ko) * | 2017-01-10 | 2020-06-26 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 제어 방법 |
WO2019003431A1 (ja) * | 2017-06-30 | 2019-01-03 | 株式会社小松製作所 | 撮像装置、建設機械および撮像システム |
KR20190019889A (ko) * | 2017-07-13 | 2019-02-27 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 유압 셔블 및 유압 셔블의 교정 방법 |
JP7155516B2 (ja) * | 2017-12-20 | 2022-10-19 | コベルコ建機株式会社 | 建設機械 |
JP7127313B2 (ja) * | 2018-03-19 | 2022-08-30 | コベルコ建機株式会社 | 建設機械 |
DE102018126809A1 (de) * | 2018-10-26 | 2020-04-30 | Liebherr-France Sas | System und Verfahren zum Bestimmen der Masse einer von einem Arbeitsgerät bewegten Nutzlast |
WO2020101004A1 (ja) * | 2018-11-14 | 2020-05-22 | 住友重機械工業株式会社 | ショベル、ショベルの制御装置 |
CN113677853B (zh) * | 2019-03-29 | 2023-09-22 | 住友建机株式会社 | 挖土机 |
JP6894464B2 (ja) * | 2019-04-22 | 2021-06-30 | 株式会社小松製作所 | 作業機械、作業機械の制御方法、施工管理装置および施工管理装置の制御方法 |
CN111663598A (zh) * | 2020-06-12 | 2020-09-15 | 雷沃工程机械集团有限公司 | 一种行走控制系统、方法及机械设备 |
DE102020207864A1 (de) | 2020-06-25 | 2021-12-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Betreiben eines hydraulischen Antriebs |
US11236492B1 (en) * | 2020-08-25 | 2022-02-01 | Built Robotics Inc. | Graphical user interface for real-time management of an earth shaping vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05195554A (ja) * | 1992-01-20 | 1993-08-03 | Kubota Corp | 土工機における油圧アクチュエータ制御装置 |
JP2001020325A (ja) * | 1999-07-05 | 2001-01-23 | Hitachi Constr Mach Co Ltd | アクチュエータ駆動制御装置 |
WO2014061790A1 (ja) * | 2012-10-19 | 2014-04-24 | 株式会社小松製作所 | 油圧ショベルの掘削制御システム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3112814B2 (ja) | 1995-08-11 | 2000-11-27 | 日立建機株式会社 | 建設機械の領域制限掘削制御装置 |
JPH09328774A (ja) | 1996-06-07 | 1997-12-22 | Hitachi Constr Mach Co Ltd | 油圧建設機械の自動軌跡制御装置 |
EP1917402A1 (fr) * | 2005-08-02 | 2008-05-07 | Volvo Compact Equipment Sas | Engin de travaux publics du type chargeuse |
JP4716925B2 (ja) * | 2006-05-29 | 2011-07-06 | 日立建機株式会社 | オフセット式油圧ショベルの干渉防止装置 |
US7729833B2 (en) | 2006-09-11 | 2010-06-01 | Caterpillar Inc. | Implement control system based on input position and velocity |
JP5667830B2 (ja) * | 2010-10-14 | 2015-02-12 | 日立建機株式会社 | 旋回体を有する建設機械 |
CN201883466U (zh) * | 2010-12-21 | 2011-06-29 | 鸡西市庚辰电机制造有限公司 | 一种用于挖掘机的自动控制系统 |
KR101542470B1 (ko) | 2011-03-24 | 2015-08-06 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업기 제어 시스템, 건설 기계 및 작업기 제어 방법 |
JP5328830B2 (ja) | 2011-03-24 | 2013-10-30 | 株式会社小松製作所 | 油圧ショベルの較正装置及び油圧ショベルの較正方法 |
US9284718B2 (en) * | 2011-06-15 | 2016-03-15 | Hitachi Construction Machinery Co., Ltd. | Power regeneration device for operating machine |
CN102493508B (zh) * | 2011-12-05 | 2014-05-28 | 山东交通学院 | 液压挖掘机仿形操纵智能电液控制系统 |
CN102864800A (zh) * | 2012-10-23 | 2013-01-09 | 中联重科股份有限公司渭南分公司 | 挖掘机的平推控制方法和控制装置与挖掘机 |
-
2014
- 2014-09-10 US US14/408,370 patent/US9797111B2/en active Active
- 2014-09-10 DE DE112014000142.2T patent/DE112014000142B4/de active Active
- 2014-09-10 JP JP2014547202A patent/JP5732599B1/ja active Active
- 2014-09-10 WO PCT/JP2014/074009 patent/WO2015025988A1/ja active Application Filing
- 2014-09-10 CN CN201480001711.9A patent/CN104541001B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05195554A (ja) * | 1992-01-20 | 1993-08-03 | Kubota Corp | 土工機における油圧アクチュエータ制御装置 |
JP2001020325A (ja) * | 1999-07-05 | 2001-01-23 | Hitachi Constr Mach Co Ltd | アクチュエータ駆動制御装置 |
WO2014061790A1 (ja) * | 2012-10-19 | 2014-04-24 | 株式会社小松製作所 | 油圧ショベルの掘削制御システム |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018193704A (ja) * | 2017-05-15 | 2018-12-06 | コベルコ建機株式会社 | 作業機械の自動制御装置 |
CN108716228A (zh) * | 2018-07-02 | 2018-10-30 | 山东中叉重工机械有限公司 | 多功能电动装载机及其铲斗补偿方法 |
CN109594607A (zh) * | 2018-12-17 | 2019-04-09 | 潍柴动力股份有限公司 | 一种挖掘机行走液压泵故障检测方法及挖掘机 |
JP2020158961A (ja) * | 2019-03-25 | 2020-10-01 | 株式会社小松製作所 | 作業機械、システムおよび作業機械の制御方法 |
JP7253949B2 (ja) | 2019-03-25 | 2023-04-07 | 株式会社小松製作所 | 作業機械、システムおよび作業機械の制御方法 |
CN115030248A (zh) * | 2022-06-29 | 2022-09-09 | 中联重科土方机械有限公司 | 正流量挖掘机及其破碎控制方法、破碎控制装置和控制器 |
CN115030248B (zh) * | 2022-06-29 | 2024-04-19 | 中联重科土方机械有限公司 | 正流量挖掘机及其破碎控制方法、破碎控制装置和控制器 |
Also Published As
Publication number | Publication date |
---|---|
DE112014000142T5 (de) | 2015-06-25 |
US9797111B2 (en) | 2017-10-24 |
DE112014000142B4 (de) | 2021-12-30 |
JP5732599B1 (ja) | 2015-06-10 |
CN104541001A (zh) | 2015-04-22 |
CN104541001B (zh) | 2015-12-09 |
JPWO2015025988A1 (ja) | 2017-03-02 |
US20160265186A1 (en) | 2016-09-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5732599B1 (ja) | 作業車両 | |
JP5864775B2 (ja) | 作業車両 | |
JP5865510B2 (ja) | 作業車両および作業車両の制御方法 | |
JP5732598B1 (ja) | 作業車両 | |
JP5791827B2 (ja) | 作業車両 | |
JP5990642B2 (ja) | 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 | |
KR101671142B1 (ko) | 건설 기계의 제어 시스템, 건설 기계, 및 건설 기계의 제어 방법 | |
JP5873217B1 (ja) | 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 | |
WO2015129931A1 (ja) | 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 | |
CN107306500B (zh) | 作业机械的控制装置、作业机械以及作业机械的控制方法 | |
JP5823080B1 (ja) | 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 | |
JP6826050B2 (ja) | 建設機械および制御方法 | |
KR101584946B1 (ko) | 작업 차량 | |
JP5893219B2 (ja) | 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 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2014547202 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14408370 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020157000749 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112014000142 Country of ref document: DE Ref document number: 1120140001422 Country of ref document: DE |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14837893 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14837893 Country of ref document: EP Kind code of ref document: A1 |