WO2015025989A1 - 作業車両 - Google Patents
作業車両 Download PDFInfo
- Publication number
- WO2015025989A1 WO2015025989A1 PCT/JP2014/074010 JP2014074010W WO2015025989A1 WO 2015025989 A1 WO2015025989 A1 WO 2015025989A1 JP 2014074010 W JP2014074010 W JP 2014074010W WO 2015025989 A1 WO2015025989 A1 WO 2015025989A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- weight
- speed
- boom
- unit
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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
-
- 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
Definitions
- the present invention relates to a work vehicle.
- a work vehicle such as a hydraulic excavator includes a work machine including a boom, an arm, and a bucket.
- automatic control is known in which a bucket is moved based on a target design landform (design landform) that is a target shape to be excavated.
- Patent Document 1 proposes a method of automatically controlling the leveling operation to create a parallel surface corresponding to a flat reference surface by scraping and leveling the earth and sand that contacts the bucket as the blade edge of the bucket moves along the reference surface. Has been.
- stop control for automatically stopping the operation of the work machine in addition to the above-described control.
- This stop control is to automatically stop the operation of the work implement in front of the target design landform so that the blade edge of the bucket does not bite into the target design landform.
- stop control is disclosed in Patent Document 2, for example.
- the present invention has been made to solve the above-described problems, and an object thereof is to provide a work vehicle having high excavation accuracy.
- the work vehicle of the present invention includes a work machine, a weight specifying unit, a distance acquisition unit, and a stop control unit.
- the work machine includes a boom, an arm, and a bucket.
- the weight specifying unit is for specifying the weight of the bucket mounted on the arm.
- the distance acquisition unit acquires the distance between the blade edge of the bucket and the target design landform.
- the stop control unit executes stop control to stop the operation of the work implement before the bucket edge reaches the target design landform when the bucket edge approaches the target design landform.
- the stop control unit is specified by the weight specifying unit as the first specifying state in which the weight of the bucket is specified as the first weight, and the first specification in which the weight of the bucket is a second weight smaller than the first weight.
- the work vehicle of the present invention even when the bucket having a small weight is replaced with a bucket having a large weight, it is specified that the weight of the bucket is large. And in the 1st specific state where the weight of a bucket is large, the moving speed of a bucket can be decelerated from the position away from the target design topography compared with the 2nd specific state where the weight of a bucket is small. For this reason, even when it replaces
- the stop control unit includes a storage unit, a selection unit, and a speed limit acquisition unit.
- the storage unit stores a plurality of relational data that define the relationship between the distance between the blade edge of the bucket and the target design topography and the speed limit of the blade edge according to the weight of the bucket.
- the selection unit selects one relationship data from among a plurality of relationship data stored in the storage unit based on the weight of the bucket specified by the weight specifying unit.
- the speed limit acquisition unit acquires the speed limit of the blade edge of the bucket based on the distance obtained by the distance acquisition unit, using one relational data selected by the selection unit.
- the stop control unit executes stop control based on the speed limit of the blade edge of the bucket.
- the plurality of relational data includes first relational data and second relational data.
- the weight of the bucket when the first relation data is selected is larger than the weight of the bucket when the second relation data is selected.
- the distance at which the speed limit of the cutting edge of the bucket is started in the first relational data is larger than the distance at which the speed reduction of the speed of the cutting edge of the bucket is started in the second relational data.
- the first relation data and the second relation data are defined in this way, the first specific state where the weight of the bucket is large is farther from the target design landform than the second specific state where the weight of the bucket is small. It becomes possible to decelerate the moving speed of the bucket from the position.
- the first relational data has a first deceleration zone and a second deceleration zone.
- the first deceleration zone is set at a position closer to the target design terrain than the second deceleration zone, and the degree of deceleration with respect to the change in the distance between the bucket edge and the target design terrain in the second deceleration zone is determined in the first deceleration zone.
- the degree of deceleration is greater than the change in the distance between the bucket edge and the target design topography.
- the speed of the bucket is increased by increasing the degree of deceleration with respect to the change in the distance between the bucket edge and the target design terrain. Can be drastically reduced. Further, at a position close to the target design landform, the degree of deceleration with respect to the change in the distance between the blade edge of the bucket and the target design landform can be reduced, and the blade edge of the bucket can be accurately matched to the target design landform.
- the second relational data has a third deceleration section and a fourth deceleration section.
- the third deceleration zone is set at a position closer to the target design terrain than the fourth deceleration zone, and the degree of deceleration with respect to the change in the distance between the blade edge of the bucket and the target design terrain in the fourth deceleration zone is determined in the third deceleration zone.
- the degree of deceleration is greater than the change in the distance between the bucket edge and the target design topography.
- the fourth deceleration zone is set at a position closer to the target design terrain than the second deceleration zone.
- the speed of the bucket is increased by increasing the degree of deceleration with respect to the change in the distance between the bucket edge and the target design terrain. Can be drastically reduced. Further, at a position close to the target design landform, the degree of deceleration with respect to the change in the distance between the blade edge of the bucket and the target design landform can be reduced, and the blade edge of the bucket can be accurately matched to the target design landform.
- the work vehicle described above further includes a hydraulic cylinder that drives the work machine.
- the weight specifying unit specifies the weight of the bucket attached to the arm based on the pressure generated in the hydraulic cylinder in a state where the bucket is floating in the air.
- the above work vehicle further includes a monitor that allows an operator to input the weight of the bucket.
- specification part specifies the weight of the bucket with which the arm was mounted
- the work vehicle described above further includes an estimated speed determination unit and a direction control valve.
- the estimated speed determination unit estimates the speed of the boom based on the operation amount of the operation member.
- the direction control valve has a movable spool, and controls supply of hydraulic oil to a hydraulic cylinder that drives the work machine by movement of the spool.
- the storage unit stores a plurality of correlation data indicating the relationship between the cylinder speed of the hydraulic cylinder and the operation command value for operating the hydraulic cylinder according to the weight of the bucket.
- the estimated speed determination unit selects one correlation data from the plurality of correlation data stored in the storage unit based on the weight of the bucket specified by the weight specifying unit, and uses the selected one correlation data To obtain the estimated boom speed.
- the stop control unit executes stop control based on the estimated boom speed and the boom speed limit.
- FIG. It is a functional block diagram in the stop control part 54 of the control system 200 shown in FIG. It is a figure explaining the functional block explaining the calculation process of the estimated speed determination part 52 based on embodiment. It is a figure (A), (B), (C) explaining the calculation system of the vertical velocity components Vcy_bm and Vcy_bkt based on the embodiment. It is a figure explaining the distance d used as the shortest between the blade edge
- FIG. It is a flowchart explaining stop control of work vehicle 100 based on an embodiment.
- FIG. 13 It is a figure (A) explaining an example of the cutting edge speed limit table of the whole work machine 2 in the stop control based on the embodiment, and a figure (B) showing an enlarged region R in FIG. 13 (A). It is a flowchart for demonstrating the stop control method using the blade limit speed table based on embodiment. It is a figure which shows an example of the 1st correlation data which shows the relationship between the spool stroke and cylinder speed based on a modification. 10 is a flowchart for explaining a stop control method using first to third correlation data based on a modification.
- 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 has a vehicle main body 1 and a work implement 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 turning 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 include 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 has an engine room 9 in which the engine is accommodated, and a counterweight provided at the rear part 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 is for driving the boom 6.
- the arm cylinder 11 is for driving the arm 7.
- the bucket cylinder 12 is for driving 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 revolving body 3 via a 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.
- the bucket 8 is connected to the tip of the arm 7 via a 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.
- the bucket 8 is provided to be exchangeable with respect to the arm 7. For example, an appropriate type of bucket 8 is selected according to the excavation work content, and the selected bucket 8 is connected to the arm 7.
- 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 has 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, arm cylinder length, and 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 device 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 arranged 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.
- the control system 200 controls excavation processing using the work machine 2.
- the excavation process control includes stop control and follow-up control.
- the stop control means that the work implement is automatically stopped before the target design landform so that the cutting edge 8a of the bucket 8 does not bite into the target design landform.
- the stop control there is no operation of the arm 7 by the operator, the boom 6 or the bucket 8 is operated, and the distance between the cutting edge 8a of the bucket 8 and the target design topography and the speed of the cutting edge 8a of the bucket 8 satisfy a predetermined condition. If executed.
- the profile control means that the cutting edge 8a of the bucket 8 moves along the target design terrain, so that the soil abutting against the bucket is leveled and the profile work corresponding to the flat target design terrain is automatically controlled. This is also referred to as limited excavation control.
- the profile control is executed when the operator operates the arm 7 and the distance between the cutting edge of the bucket 8 and the target design topography and the speed of the cutting edge are within the reference. The operator normally operates the arm 7 while always operating the boom 6 in the direction of lowering the boom 6 during the follow-up 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, and an operating device.
- 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 hydraulic cylinder 60 is included.
- the operating device 25 is disposed in the cab 4 (FIG. 1).
- 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 amount of hydraulic oil supplied to the hydraulic cylinder 60 is adjusted by the direction control valve 64.
- the direction control valve 64 is operated by oil supplied to the first hydraulic chamber and the second hydraulic 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 (FIG. 1), 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 first operating lever 25R 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.
- the detected pressure generated in the pressure sensor 66 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 operation of the arm 7, and the raising operation and the lowering operation of the arm 7 are executed according to the operation in the front-rear direction.
- the second operating lever 25L is operated to operate the arm 7 and the pilot oil is supplied to the pilot oil passage 450, the detected pressure generated in the pressure sensor 66 is MA.
- the left / right operation 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 left / right operation.
- the raising operation of the boom 6 corresponds to a dumping operation.
- the lowering operation of the boom 6 corresponds to an excavation operation.
- the lowering operation of the arm 7 corresponds to an excavation operation.
- the raising operation of the arm 7 corresponds to a dumping operation.
- the lowering operation of the bucket 8 corresponds to an excavation operation.
- the lowering operation of the arm 7 is also referred to as a bending operation.
- the raising operation of the arm 7 is called an extension operation.
- 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 (PPC pressure).
- the detection results of the pressure sensor 66 and the pressure sensor 67 are output to the work machine controller 26.
- 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) in the front-rear direction of the first operation lever 25R. .
- the direction control valve 64 in which hydraulic oil supplied to the bucket cylinder 12 for driving the bucket 8 flows is driven according to the operation amount (bucket operation amount) in the left-right direction of the first operation lever 25R.
- the direction control valve 64 in which the hydraulic oil supplied to the arm cylinder 11 for driving the arm 7 flows is driven according to the operation amount (arm operation amount) of the second operation lever 25L in the front-rear direction.
- the direction control valve 64 in which the hydraulic oil supplied to the hydraulic actuator for driving the revolving structure 3 flows is driven according to the operation amount in the left-right direction of the second operation lever 25L.
- 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. Further, the left-right direction of the second operation lever 25L may correspond to the operation of the arm 7, and the operation in the front-rear direction may correspond to the operation of the revolving structure 3.
- the control valve 27 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 60 (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 includes operation buttons arranged around the display unit 322.
- the input unit 321 may include 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, etc. as basic information.
- the display unit 322 may be a touch panel (input device) that can operate the device by pressing a display on the screen.
- 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 reference position data P, the turning body orientation data Q, and the cylinder length data L, the positions of the boom 6, the arm 7, and the bucket 8 of the work vehicle 100 are specified. It is possible to generate bucket position data indicating the three-dimensional position of the bucket 8.
- 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 sensors 16, 17, and 18.
- 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 of the hydraulic cylinder 60 (the moving speed of the cylinder rod) is adjusted by adjusting the amount of hydraulic oil supplied to the hydraulic cylinder 60.
- the directions 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.
- a detection signal of the spool stroke sensor 65 is output to the work machine controller 26.
- each direction control valve 64 is adjusted by the operating device 25.
- the operation device 25 is a pilot hydraulic operation device as described above.
- 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 includes 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 arranged in the pilot oil passage 450.
- a pressure sensor 66 and a pressure sensor 67 for detecting the 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 includes 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 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 451A and the oil passage 452A.
- 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.
- the direction control valve 64 operates based on the pilot hydraulic pressure.
- the arm 7 performs two types of operations, a lowering operation and a raising operation, by operating the operating device 25.
- 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.
- 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, a lowering operation and a raising operation, by operating 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.
- 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 direction control valve 64 operates based on the pilot hydraulic pressure.
- 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. Specifically, as shown in FIG. 4, the work machine controller 26 opens the control valve 27. By opening 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. With the control valve 27 opened, the pilot hydraulic pressure (PPC pressure) is adjusted based on the operation amount of the operating device 25. Thereby, the direction control valve 64 is adjusted, and the lowering operation of the boom 6 and the bucket 8 described above can be executed.
- PPC pressure pilot hydraulic pressure
- automatic control stop 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 oil pressure for the direction control valve 64 connected to the boom cylinder 10.
- the spool moves to one side in the axial direction.
- the hydraulic 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 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 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 controls the movement of the boom 6 (stop control) so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U (FIG. 5).
- stop control refers to outputting a control signal to the control valve 27 connected to the boom cylinder 10 to control the position of the boom 6 so that the cutting edge 8a is prevented from entering the target excavation landform U. Called.
- the work machine controller 26 determines the target excavation landform U based on the target excavation landform U indicating the target design landform that is the target shape of the excavation target and the bucket position data S 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 bucket 8 and the bucket 8.
- the stop control in the hydraulic system 300 of the present embodiment is performed by controlling the solenoid valve 27A on the lowering side of the boom 6 to reduce the lowering speed of the boom 6.
- the oil passage 200 (300) is connected to the control valve 27A and supplies pilot oil supplied to the direction control valve 64 connected to the boom cylinder 10.
- the pressure sensor 66 detects the pilot oil pressure of the pilot oil in the oil passage 200 (300).
- the control valve 27A is controlled based on a control signal output from the work machine controller 26 in order to execute stop control.
- the work machine controller 26 controls the control valve 27C so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operation device 25.
- the control signal is output so as to close the oil passage 501.
- the work machine controller 26 when executing the stop control, 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 27A. Output.
- the work machine controller 26 controls the pilot hydraulic pressure output by the control valve 27 ⁇ / b> A to be lower than the pilot hydraulic pressure adjusted by the operating device 25.
- the valve 27A is controlled.
- the oil passages 501 and 502, the control valve 27C, the shuttle valve 51, and the pressure sensor 68 are used for automatically raising the boom at the time of control.
- FIG. 5 is a diagram schematically illustrating an example of the operation of the work machine 2 when the stop control based on the embodiment is performed.
- stop control for controlling the boom 6 is executed so that the bucket 8 does not enter the target design landform (target excavation landform U).
- the hydraulic system 300 controls the speed of the boom 6 so that the speed at which the bucket 8 approaches the target excavation landform U decreases when the cutting edge 8a of the bucket 8 approaches the target excavation landform U.
- FIG. 6 is a functional block diagram of a control system 200 that executes stop control based on the embodiment.
- stop control of the boom 6 will be described. As described above, the stop control is performed when the cutting edge 8a of the bucket 8 enters the target excavation landform U when the cutting edge 8a of the bucket 8 approaches the target excavation landform U from above the target excavation landform U by the boom lowering operation by the operator. The movement of the boom 6 is controlled so as not to occur.
- the work machine controller 26 determines the target excavation landform U based on the target excavation landform U indicating the target design landform that is the target shape of the excavation target and the bucket position data S indicating the position of the cutting edge 8a of the bucket 8. The distance d between the bucket 8 and the bucket 8 is calculated. Then, the control signal CBI to the control valve 27 by the stop 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 speed of the blade edge 8a of the bucket by the operation of the boom 6 and the bucket 8 based on the operation command by the operation of the operation device 25. Based on the calculation result, a boom speed limit (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, a control signal CBI is output to the control valve 27 so that the boom 6 operates at the boom speed limit.
- target speed target speed
- 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 can calculate the position of the local coordinates when viewed in the global coordinate system based on the detection result by the position detection device 20.
- 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 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 results of the cylinder stroke sensors 16, 17, and 18 are output to the work machine controller 26, and the work machine controller 26 determines the cylinder length (the 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 includes an HMI (Human Machine Interface) monitor as a guidance monitor for computerized construction.
- 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 stop control unit 54, a work machine control unit 57, a storage unit 58, and a bucket weight identification unit 59.
- the work machine controller 26 acquires the operation command (pressure MB, MT) from the operation device 25, the bucket position data S and the target excavation landform U from the display controller 28, and outputs the control signal CBI to the control valve 27. .
- 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. Further, the work machine controller 26 acquires the weight of the bucket 8 from the man-machine interface unit 32 (or the hydraulic cylinder 60).
- the estimated speed determination unit 52 calculates a boom estimated speed Vc_bm and a bucket estimated speed Vc_bkt corresponding to the lever operation of the operating device 25 for driving the boom 6 and the bucket 8.
- the boom estimated speed Vc_bm is the speed of the blade edge 8a of the bucket 8 when only the boom cylinder 10 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 a boom estimated speed Vc_bm corresponding to the boom operation command (pressure MB). Similarly, estimated speed determination unit 52 calculates bucket estimated speed Vc_bkt corresponding to the bucket operation command (pressure MT). Thereby, the speed of the blade edge 8a of the bucket 8 corresponding to each operation command can be calculated.
- the storage unit 58 stores data such as various tables for the estimated speed determination unit 52 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 acquires bucket position data S indicating the position of the blade edge 8a of the bucket 8 from the bucket position data generation unit 28B.
- the distance acquisition unit 53 calculates the distance d between the cutting edge 8a of the bucket 8 and the target excavation landform U in a direction perpendicular to the target excavation landform U based on the bucket position data S and the target excavation landform U.
- the bucket weight specifying unit 59 acquires the weight of the bucket 8 selected by the operator in the man-machine interface unit 32. When the weight of the bucket 8 selected by the operator is acquired, the bucket weight specifying unit 59 outputs the weight of the bucket 8 to the stop control unit 54.
- the operator may input the bucket weight to the man-machine interface unit 32 by an input operation to the input unit 321, or when the display unit 322 is a touch panel, the input to the display unit 322 is performed. May be.
- an item “bucket weight setting” is displayed.
- the display unit 322 displays “heavy weight”, “medium weight”, “weight” according to the weight of the bucket 8.
- the item “Small” is displayed.
- the weight of the bucket 8 is selected by the operator selecting one of these items “high weight”, “medium weight”, and “small weight”.
- the weight of the bucket 8 may be automatically detected based on the pressure generated in the hydraulic cylinder 60 (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12). Good.
- pressure generated inside the hydraulic cylinder 60 is detected in a state where the work vehicle 100 is in a specific posture and the bucket 8 is floating in the air.
- the detected pressure in the hydraulic cylinder 60 is input to the bucket weight specifying unit 59, for example.
- the bucket weight specifying unit 59 specifies the weight of the bucket 8 attached to the arm 7 from the input pressure in the hydraulic cylinder 60.
- the bucket weight specifying function by the bucket weight specifying unit 59 may be performed by the man-machine interface unit 32 or may be performed by the stop control unit 54. In this case, the bucket weight specifying unit 59 may be omitted.
- the stop control unit 54 executes stop control to stop the operation of the work implement 2 before the cutting edge 8a of the bucket 8 reaches the target design landform when the cutting edge 8a of the bucket 8 approaches the target design landform.
- the stop control unit 54 includes a storage unit 54a, a selection unit 54b, and a speed limit acquisition unit 54c.
- the storage unit 54a determines the relationship data defining the relationship between the distance d between the cutting edge 8a of the bucket 8 and the target design landform and the speed limit of the cutting edge 8a of the bucket 8 according to the weight of the bucket 8 for stop control. I remember multiple.
- the selection unit 54b selects one relation data from the plurality of relation data stored in the storage unit 54a.
- the selection unit 54b outputs the selected one relationship data to the speed limit acquisition unit 54c.
- the speed limit acquisition unit 54c acquires the speed limit Vc_lmt of the cutting edge 8a of the bucket 8 based on the distance d obtained by the distance acquisition unit 53 using one relational data selected by the selection unit 54b.
- the stop control unit 54 determines the speed limit Vc_bm_lmt of the boom 6 from the speed limit Vc_lmt of the cutting edge 8a of the bucket 8 acquired above and the estimated speeds Vc_bm and Vc_bkt acquired from the estimated speed determination part 52. Stop control unit 54 outputs the speed limit Vc_bm_lmt to work implement control unit 57.
- the work machine control unit 57 acquires the boom speed limit Vc_bm_lmt and generates a control signal CBI based on the boom speed limit Vc_bm_lmt.
- the work machine control unit 57 outputs the control signal CBI to the control valve 27C.
- control valve 27 connected to the boom cylinder 10 is controlled, and the stop control of the boom 6 is executed.
- the storage unit 58 stores a plurality of correlation data that defines the relationship between the cylinder speed of the hydraulic cylinder 60 and the operation command value for operating the hydraulic cylinder 60 in accordance with the weight of the bucket for stop control.
- the operation command value is at least one of the movement amount of the spool 80, the PPC pressure, and the EPC current.
- Stop control is executed when the boom estimated speed Vc_bm is higher than the boom limit speed Vc_bm_lmt that restricts the cutting edge 8a of the bucket 8 with respect to the target excavation landform U from approaching the target excavation landform U. Therefore, the stop control is not executed when the boom estimated speed Vc_bm is smaller than the boom limit speed Vc_bm_lmt.
- the boom speed limit Vc_bm_lmt restricts the cutting edge 8a of the bucket 8 with respect to the target excavation landform U from approaching the target excavation landform U.
- FIG. 9 is a diagram illustrating functional blocks for explaining the calculation processing of the estimated speed determination unit 52 based on the embodiment.
- the estimated speed determination unit 52 calculates a boom estimated speed Vc_bm corresponding to the boom operation command (pressure MB) and a bucket estimated speed Vc_bkt corresponding to the bucket operation command (pressure MT).
- the estimated boom speed Vc_bm is the speed of the blade edge 8a of the bucket 8 when only the boom cylinder 10 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 amount of movement of the spool (spool stroke) 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 boom speed Vc_bm corresponding to the boom operation command (pressure MB) 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 and the bucket 8, respectively, are obtained based on experiments or simulations, and are stored in the storage unit 58 in advance.
- 10 (A) to 10 (C) are diagrams for explaining a method of calculating the vertical velocity components Vcy_bm and Vcy_bkt based on the present embodiment.
- the stop control unit 54 sets the boom estimated speed Vc_bm to a speed component (vertical speed component) Vcy_bm in a direction perpendicular to the surface of the target excavation landform U.
- the velocity is converted into a velocity component (horizontal velocity component) Vcx_bm in a direction parallel to the surface of the target excavation landform U.
- the stop control unit 54 determines the inclination of the vertical axis of the local coordinate system (the turning axis AX of the turning body 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. 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.
- the stop control 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 stop control unit 54 uses the trigonometric function to calculate the estimated boom speed Vc_bm from the angle ⁇ 2 formed by the vertical axis of the local coordinate system and the direction of the estimated boom speed Vc_bm. Conversion is made into a velocity component VL1_bm in the vertical axis direction and a velocity component VL2_bm in the horizontal axis direction of the coordinate system.
- the stop control unit 54 uses the trigonometric function to calculate the vertical axis 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_bm in the direction and the velocity component VL2_bm in the horizontal axis direction are converted into a vertical velocity component Vcy_bm and a horizontal velocity component Vcx_bm for the target excavation landform U.
- the stop control 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. 11 is a diagram illustrating that the distance d between the cutting edge 8a of the bucket 8 and the target excavation landform U is acquired based on the embodiment.
- the distance acquisition unit 53 determines the surface of the cutting edge 8 a 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 8 a of the bucket 8.
- the shortest distance d between is calculated.
- stop 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. 12 is a flowchart illustrating an example of stop control. An example of the flow of stop control according to the present embodiment will be described with reference to FIGS. 6 and 9 to 14.
- a target design landform (target excavation landform U) is set (step SA1: FIG. 12).
- the work machine controller 26 determines the estimated speed Vc of the work machine 2 as shown in FIG. 6 (step SA2: FIG. 12).
- the estimated speed Vc of the work machine 2 includes a boom estimated speed Vc_bm and a bucket estimated speed Vc_bkt.
- the boom estimated speed Vc_bm is calculated based on the boom operation amount.
- the estimated bucket speed Vc_bkt is calculated based on the bucket operation amount.
- the storage unit 58 of the work machine controller 26 stores estimated speed information that defines the relationship between the boom operation amount and the boom estimated speed Vc_bm, as shown in FIG.
- the work machine controller 26 determines a boom estimated speed Vc_bm corresponding to the boom operation amount based on the estimated speed information.
- the estimated speed information is, for example, a map that describes the magnitude of the boom estimated speed Vc_bm with respect to the boom operation amount.
- the estimated speed information may be in the form of a table or a mathematical expression.
- the estimated speed information includes information that defines the relationship between the bucket operation amount and the bucket estimated speed Vc_bkt.
- the work machine controller 26 determines a bucket estimated speed Vc_bkt corresponding to the bucket operation amount based on the estimated speed information.
- the work machine controller 26 sets the estimated boom speed Vc_bm, the speed component (vertical speed component) Vcy_bm in the direction perpendicular to the surface of the target excavation landform U, and the surface of the target excavation landform U. Is converted into a velocity component (horizontal velocity component) Vcx_bm in a direction parallel to (step SA3: FIG. 12).
- the work machine controller 26 determines the inclination of the vertical axis of the local coordinate system (the turning axis AX of the turning body 3) with respect to the vertical axis of the global coordinate system and the vertical axis of the global coordinate system.
- the inclination of the surface of the target excavation landform U with respect to the vertical direction is obtained.
- the work machine controller 26 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 work implement controller 26 uses the trigonometric function to calculate the estimated boom speed Vc_bm in the local coordinates from the angle ⁇ 2 formed by the vertical axis of the local coordinate system and the direction of the boom target speed Vc_bm. This is converted into a velocity component VL1_bm in the vertical axis direction of the system and a velocity component VL2_bm in the horizontal axis direction.
- the work machine controller 26 uses the trigonometric function to calculate the vertical axis direction 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_bm and the velocity component VL2_bm in the horizontal axis direction are converted into a vertical velocity component Vcy_bm and a horizontal velocity component Vcx_bm for the target excavation landform U.
- the work machine controller 26 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.
- the work machine controller 26 acquires the distance d between the blade edge 8a of the bucket 8 and the target excavation landform U (step SA4: FIG. 12).
- the work machine controller 26 calculates the shortest distance d between the cutting edge 8a of the bucket 8 and the surface of the target excavation landform U from the position information of the cutting edge 8a, the target excavation landform U, and the like.
- stop 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.
- the work machine controller 26 calculates the speed limit Vcy_lmt of the work machine 2 as a whole based on the distance d between the cutting edge 8a of the bucket 8 and the surface of the target excavation landform U (step SA5: FIG. 12).
- the speed limit Vcy_lmt of the work implement 2 as a whole is a moving speed of the cutting edge 8a that is allowable in the direction in which the cutting edge 8a of the bucket 8 approaches the target excavation landform U (also referred to as an allowable speed or a cutting edge limiting speed).
- the storage unit 54a of the work machine controller 26 stores speed limit information that defines the relationship between the distance d and the speed limit Vcy_lmt.
- the speed limit Vcy_lmt of the work implement 2 as a whole is calculated from the speed limit information and the distance d calculated above.
- the speed limit information used for calculating the speed limit Vcy_lmt is a cutting edge speed limit table for the work implement 2 as a whole.
- the cutting edge speed limit table for the entire work machine 2 will be described with reference to FIGS. 13 (A) and 13 (B).
- FIG. 13A is a diagram for explaining an example of the cutting edge speed limit table for the entire work machine 2 in the stop control based on the embodiment.
- FIG. 13B is an enlarged view of the region R in FIG.
- the vertical axis represents the cutting edge speed limit in the target design topography direction
- the horizontal axis represents the distance d between the cutting edge and the target design topography. ing.
- Such a cutting edge speed limit table for the entire work machine 2 is stored in, for example, the storage unit 54a (FIG. 8) of the stop control unit 54.
- a plurality of cutting edge speed limit tables are stored in the storage unit 54a according to the weight of the bucket 8.
- a cutting edge speed limit table (first relational data) for a large bucket having a relatively large weight
- a cutting edge speed limiting table (second relational data) for a medium / small bucket having a relatively small weight. )
- the cutting edge speed limit table for the large bucket is indicated by a broken line
- the cutting edge speed limit table for the medium and small buckets is indicated by a solid line.
- the cutting edge speed limit table stored in the storage unit 54a is not limited to two, but may be three corresponding to large buckets, medium buckets, and small buckets, or four or more. May be.
- the cutting edge speed limit in the target design topography direction has a high speed area VH and a low speed area VL (corresponding to the area R).
- the high speed region VH the cutting edge speed limit of the large bucket 8 and the cutting edge speed limit of the medium / small bucket 8 are the same.
- the low speed region VL the cutting edge speed limit of the large bucket 8 and the cutting edge speed limit of the medium / small bucket 8 are different.
- the speed of the cutting edge 8a of the bucket 8 is as indicated by a two-dot chain line in the case of the large bucket 8 (first specific state) and in the case of the medium / small bucket 8 (second specific state).
- the distance da at which the cutting edge 8a starts to be decelerated in the cutting edge speed limit table for the large bucket indicated by the broken line starts the deceleration of the cutting edge 8a in the cutting edge speed limit table for the medium and small buckets. Is greater than the distance db.
- the speed of the blade edge 8a is the same when the large bucket 8 is used and when the medium / small bucket 8 is used.
- the large bucket 8 starts deceleration control for alignment from a position away from the target design terrain to the target design terrain than the middle / small bucket 8.
- the cutting edge speed limit table for a large bucket has a first deceleration zone D1 and a second deceleration zone D2.
- the degree of deceleration with respect to the change (decrease) in the distance d between the blade edge 8a and the target design landform in the second deceleration section D2 is the deceleration with respect to the change (decrease) in the distance d between the blade edge 8a and the target design landform in the first deceleration section D1. It is set larger than the degree.
- the cutting edge speed limit table for medium and small buckets has a third deceleration section D3 and a fourth deceleration section D4.
- the third deceleration section D3 is set at a position closer to the target design terrain than the fourth deceleration section D4.
- the degree of deceleration with respect to the change (decrease) in the distance d between the blade edge 8a and the target design landform in the fourth deceleration section D4 is the deceleration with respect to the change (decrease) in the distance d between the blade edge 8a and the target design landform in the third deceleration section D3. It is set larger than the degree.
- the third deceleration section D3 of the cutting edge speed limit table for medium and small buckets is set at a position closer to the target design terrain than the first deceleration section D1 of the cutting edge speed limit table for large buckets. Further, the fourth deceleration section D4 of the cutting edge speed limit table for medium and small buckets is set at a position closer to the target design terrain than the second deceleration section D2 of the cutting edge speed limit table for large buckets.
- FIG. 14 is a flowchart for explaining a stop control method using the cutting edge speed limit table.
- a plurality of relational data obtained according to the weight of the bucket 8 (the cutting edge speed limit table for large buckets and the cutting edge speed limits for medium and small buckets shown in FIG. 13). Table) is stored in the storage unit 54a (step SB1: FIG. 14).
- step SB2 the man-machine interface unit 32 is operated by the operator, and the weight data indicating the weight of the bucket 8 is received via the input unit 321 or the display unit 322. Is input.
- specification part 59 acquires weight data (step SB3: FIG. 14).
- the bucket weight specifying unit 59 specifies weight data and outputs the weight data to the selection unit 54b.
- the selection unit 54b selects one relational data corresponding to the weight data from the plurality of relational data stored in the storage unit 54a based on the weight data (step SB4: FIG. 14).
- a single cutting edge speed limit table corresponding to the weight data of the bucket 8 from, for example, a cutting edge speed limiting table for large buckets and a cutting edge speed limiting table for medium and small buckets as a plurality of related data. Is selected.
- the selection unit 54b outputs the selected relation data to the speed limit acquisition unit 54c.
- the bucket position data generation unit 28 ⁇ / b> B generates bucket position data S based on the reference position data P, the swing body orientation data Q, and the cylinder length data L.
- the target excavation landform data generation unit 28C generates the target excavation landform U using the bucket position data S acquired from the bucket position data generation unit 28B and the target construction information T stored in the target construction information storage unit 28A.
- the target excavation landform U is output to the distance acquisition unit 53.
- the distance acquisition unit 53 acquires the target excavation landform U from the display controller 28, and calculates the distance d based on the bucket position data S of the blade edge 8a and the target excavation landform U. .
- the step of calculating this distance d corresponds to step SA4 shown in FIG.
- the distance acquisition unit 53 outputs the distance d to the speed limit acquisition unit 54c.
- the speed limit acquisition unit 54c acquires the speed limit Vcy_lmt of the cutting edge 8a of the bucket 8 based on the relationship data input from the selection unit 54b and the distance d input from the distance acquisition unit 53 (step SB5: FIG. 14).
- the step of obtaining the speed limit Vcy_lmt corresponds to step SA5 shown in FIG.
- the work machine controller 26 After acquiring the speed limit Vcy_lmt, the work machine controller 26 determines the vertical speed component (limit vertical) of the speed limit (target speed) of the boom 6 from the speed limit Vcy_lmt of the work machine 2 as a whole, the estimated boom speed Vc_bm, and the estimated bucket speed Vc_bkt. Velocity component) Vcy_bm_lmt is calculated (step SA6: FIG. 12).
- the work machine controller 26 converts the limited vertical speed component Vcy_bm_lmt of the boom 6 into the limited speed (boom limited speed) Vc_bm_lmt of the boom 6 (step SA7: FIG. 12).
- the work machine controller 26 determines the direction perpendicular to the surface of the target excavation landform U from the rotation angle ⁇ of the boom 6, the rotation angle ⁇ of the arm 7, the rotation angle of the bucket 8, the vehicle body position data P, the target excavation landform U, and the like. And the direction of the boom limit speed Vc_bm_lmt are obtained, and the limit vertical speed component Vcy_bm_lmt of the boom 6 is converted into the boom limit speed Vc_bm_lmt. The calculation in this case is performed by a procedure reverse to the calculation for obtaining the vertical speed component Vcy_bm in the direction perpendicular to the surface of the target excavation landform U from the estimated boom speed Vc_bm. *
- the speed limit acquisition unit 54c outputs the acquired boom speed limit Vc_bm_lmt to the work implement control unit 57.
- the work machine control unit 57 determines a cylinder speed corresponding to the boom speed limit Vc_bm_lmt, and outputs a command current (control signal) corresponding to the cylinder speed to the control valve 27A. (Step SB6: FIG. 14). Thereby, the work machine 2 including the amount of movement of the spool is controlled.
- the absolute value of the limited vertical velocity component Vcy_bm_lmt of the boom 6 decreases as the blade edge 8a approaches the target excavation landform U, and the target excavation landform U
- the absolute value of the speed component (limited horizontal speed component) Vcx_bm_lmt of the speed limit of the boom 6 in the direction parallel to the surface is also reduced. Therefore, when the blade edge 8a is positioned above the target excavation landform U, the speed of the boom 6 in the direction perpendicular to the surface of the target excavation landform U increases as the blade edge 8a approaches the target excavation landform U. The speed in a direction parallel to the surface of the target excavation landform U is reduced.
- the weight of the large bucket 8 is larger than the weight of the medium / small bucket 8.
- the moving speed of the bucket 8 can be decelerated from a position away from the target design landform, compared to the state where the medium / small bucket 8 is used. For this reason, even when it replaces
- the moving speed is increased from a position db closer to the target design landform than when the large bucket 8 is used. Decelerated. If the moving speed is automatically decelerated from a position away from the target design landform, the operator may misunderstand that the work implement is out of order. For this reason, when the medium / small bucket 8 is used, the moving speed is decelerated from the position db closer to the target design landform, thereby suppressing the above-mentioned sensory misunderstanding.
- stop control can be performed with high accuracy and excavation accuracy is improved, and sensory misunderstanding by the operator can be suppressed when aligning the cutting edge 8a of the bucket 8 with the target design landform.
- the degree of deceleration with respect to a change in the distance d between the cutting edge 8a and the target design landform in the second deceleration section D2 away from the target design landform Is larger than the degree of deceleration with respect to the change in the distance d between the cutting edge 8a and the target design landform in the first deceleration zone D1 close to the target design landform.
- the degree of deceleration with respect to the change in the distance d between the blade edge 8a and the target design landform is increased at a position away from the target design landform. The speed of can be drastically reduced.
- the degree of deceleration with respect to a change in the distance d between the blade edge 8a and the target design landform can be reduced, and the blade edge 8a of the bucket 8 can be accurately matched to the target design landform.
- the speed of can be drastically reduced. Further, at a position close to the target design landform, the degree of deceleration with respect to a change in the distance d between the blade edge 8a and the target design landform can be reduced, and the blade edge 8a of the bucket 8 can be accurately matched to the target design landform.
- FIG. 15 is a diagram illustrating an example of spool stroke-cylinder speed characteristics. As shown in FIG. 15, the horizontal axis is the spool stroke, and the vertical axis is the cylinder speed.
- the state in which the spool stroke is zero (origin) is a state in which the spool is in the initial position.
- Line LN1 shows the first correlation data when bucket 8 is heavy.
- Line LN2 indicates the first correlation data when the bucket 8 is of medium weight.
- Line LN3 shows the first correlation data when the bucket 8 is light weight. As described above, the first correlation data changes according to the weight of the bucket 8.
- the work machine 2 moves up when the spool moves so that the spool stroke becomes positive.
- the work machine 2 is lowered.
- the amount of change in the cylinder speed differs depending on whether the work machine 2 is raised or lowered. That is, the change amount Vu of the cylinder speed when the spool stroke is changed from the origin by a predetermined amount Str so that the raising operation is executed, and the spool stroke is changed from the origin by a predetermined amount Str so that the lowering operation is executed. This is different from the cylinder speed change amount Vd.
- the operation of the work machine 2 is controlled with respect to the operation command values (spool stroke, PPC pressure, and cylinder speed) based on the correlation data regarding the lowering operation.
- the work machine 2 moves at a higher speed than the case of the raising operation due to the gravity action (self-weight) of the boom 6.
- the cylinder speed increases as the gravity of the bucket 8 increases. Therefore, in the lowering operation with the boom 6 (work machine 2), the speed profile of the cylinder speed varies greatly according to the weight of the bucket 8.
- the boom cylinder 10 executes the lowering operation of the boom 6 as described above. Therefore, even if the weight of the bucket 8 changes by controlling the boom cylinder 10 based on the first correlation data as shown in FIG. 15, the bucket 8 is moved with high accuracy based on the target design landform U. be able to. That is, when the hydraulic cylinder 60 starts to move, even when the weight of the bucket 8 is changed, the hydraulic cylinder 60 is finely controlled, so that highly accurate limited excavation control is executed.
- a plurality of pieces of first correlation data are obtained according to the weight of the bucket 8 and stored in the storage unit 58 (step SC1: FIG. 16).
- Second correlation data PPC pressure-spool stroke characteristics
- third correlation data cylinder speed-estimated speed characteristics
- a plurality of these second correlation data and third correlation data may be obtained according to the weight of the bucket 8 and stored in the storage unit 58.
- step SC2 After the bucket 8 is replaced (step SC2: FIG. 16), the operator operates the man-machine interface unit 32, and weight data indicating the weight of the bucket 8 is input to the bucket weight specifying unit 59 via the input unit 321. .
- Bucket weight specifying unit 59 acquires weight data (step SC3: FIG. 16). The bucket weight specifying unit 59 outputs the weight data to the estimated speed determining unit 52.
- the estimated speed determination unit 52 selects one first correlation data corresponding to the weight data from the plurality of first correlation data stored in the storage unit 58 based on the weight data (step SC4: FIG. 16). ).
- the first correlation data indicated by the line LN1 shown in FIG. 15, the first correlation data indicated by the line LN2, and the first correlation data indicated by the line LN3 correspond to the weight data of the bucket 8.
- One correlation data is selected.
- the second correlation data and the third correlation data corresponding to the weight data are selected.
- the estimated speed determination unit 52 calculates an estimated speed based on the selected first correlation data, second correlation data, and third correlation data, and input information (spool stroke, PPC pressure, and cylinder speed). Determine (step SC5: FIG. 16). This step of determining the estimated speed corresponds to step SA2 shown in FIG.
- the estimated speed determination unit 52 determines the cylinder speed based on the input spool stroke using the selected first correlation data. The estimated speed determination unit 52 determines the estimated speed based on the obtained cylinder speed using the selected second correlation data. If necessary, the estimated speed determination unit 52 may determine the spool stroke from the pilot pressure (PPC pressure) using the third correlation data.
- PPC pressure pilot pressure
- the estimated speed determination unit 52 outputs the determined estimated speed to the speed limit acquisition unit 54c.
- the speed limit acquisition unit 54c uses this estimated speed to determine the speed limit Vc_bm_lmt of the boom 6 in the flow of FIGS. 12 and 14.
- Stop control unit 54 outputs the speed limit Vc_bm_lmt to work implement control unit 57.
- the work machine control unit 57 acquires the boom speed limit Vc_bm_lmt and generates a control signal CBI based on the boom speed limit Vc_bm_lmt. Work implement control unit 57 outputs control signal CBI to control valve 27C (step SC6: FIG. 16).
- the work machine controller 26 shown in FIG. 8 can control the boom 6 so that the cutting edge 8a of the bucket 8 does not enter the target excavation landform U by stop control.
- the operation device 25 is a pilot hydraulic system, but the operation device 25 may be an electric lever system.
- 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. This control is performed by the work machine controller, but may be performed by another controller such as the sensor controller 30.
- the storage units 54a and 58 are shown separately as shown in FIG. 8, but the storage units 54a and 58 may be included in one RAM, ROM, etc., and are mutually common storage units. There may be. The storage units 54a and 58 may be included in different RAMs and ROMs.
- the work vehicle is the hydraulic excavator 100.
- the work vehicle is not limited to the hydraulic excavator, and may be another type of work vehicle.
- acquisition of the position of the excavator 100 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 target design landform is not limited to GNSS, and may be performed by other positioning means.
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、停止制御及びならい制御を含む。
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を操作するために第1操作レバー25Rが操作され、パイロット油路450にパイロット油が供給された時、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、アーム7の操作に対応し、前後方向の操作に応じてアーム7の上げ動作及び下げ動作が実行される。アーム7を操作する為に第2操作レバー25Lが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時、圧力センサ66に発生する検出圧力をMAとする。
図4は、実施形態に基づく油圧システムの構成を説明する図である。
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とを含んでいる。
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。
まずは、自動制御(停止制御)を実行しない、通常制御について説明する。
具体的には、図4に示されるように、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圧力)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、バケット8の下げ動作を実行することが可能である。
自動制御(停止制御)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。
図5は、実施形態に基づく停止制御が行われている際の作業機2の動作の一例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とを有している。表示コントローラ28は、位置検出装置20による検出結果に基づいて、グローバル座標系で見たときのローカル座標の位置を算出可能である。
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及び傾斜角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。
図9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を説明する図である。
ブーム制限速度を算出するにあたり、ブーム6及びバケット8の各々の推定速度Vc_bm、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_bm、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_bm、Vcy_bktを算出する方式について説明する。
図11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12は、停止制御の一例を示すフローチャートである。図6、図9~図14を用いて、本実施形態に係る停止制御のフローの一例について説明する。
図14は、刃先制限速度テーブルを用いた停止制御方法を説明するためのフローチャートである。
バケット8の種別が異なると、バケット8の重量が異なる場合が多い。重量が異なるバケット8がアーム7に接続されると、作業機2を駆動する油圧シリンダ60に作用する負荷が変わり、方向制御弁のスプールの移動量に対するシリンダ速度が変わる。これにより停止制御の制御誤差が大きくなり、停止制御が精度良く行われない可能性がある。その結果、掘削精度が低下する可能性がある。例えば重量の大きいバケットに交換された場合には、バケットの慣性が大きくなるため、作業機の動作が停止しにくくなり、停止制御による停止の精度が悪化する。
本変形例の停止制御においては、図13に示す関係データ(刃先制限速度テーブル)による制御に加えて、以下の相関データによる制御が行われてもよい。
本変形例は、図9における推定速度決定部52のシリンダ速度演算部52Bで利用される、スプールストローク-シリンダ速度特性をバケット重量に応じて変更するものである。このようにすることで、バケット重量の違いを推定速度に反映させることができ、推定速度の精度を上げることが可能となり、停止制御の精度向上につながる。
図15に示されるように、横軸はスプールストロークであり、縦軸はシリンダ速度である。スプールストロークが零(原点)である状態は、スプールが初期位置に存在する状態である。ラインLN1は、バケット8が大重量である場合の第1相関データを示す。ラインLN2は、バケット8が中重量である場合の第1相関データを示す。ラインLN3は、バケット8が小重量である場合の第1相関データを示す。このように第1相関データは、バケット8の重量に応じて変化する。
次に、本変形例に係る油圧ショベル100の動作の一例について図16を用いて説明する。
以上、本発明の一実施形態及び変形例について説明したが、本発明は上記実施形態及び変形例に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。
Claims (8)
- ブームと、アームと、バケットとを含む作業機と、
前記アームに装着された前記バケットの重量を特定するための重量特定部と、
前記バケットの刃先と目標設計地形との距離を取得する距離取得部と、
前記バケットの前記刃先が前記目標設計地形に接近するとき前記バケットの前記刃先が前記目標設計地形に到達する手前で前記作業機の動作を停止する停止制御を実行する停止制御部と、
を備え、
前記停止制御部は、前記重量特定部により前記バケットの重量が第1の重量であると特定される第1特定状態と前記バケットの重量が前記第1の重量よりも小さい第2の重量であると特定される第2特定状態との双方において前記バケットの前記目標設計地形へ向かう方向の移動速度が同じであるとき、前記第1特定状態においては前記第2特定状態よりも前記目標設計地形から離れた位置から前記バケットの前記目標設計地形へ向かう方向の移動速度が減速されるよう制御する、作業車両。 - 前記停止制御部は、
前記バケットの前記刃先と前記目標設計地形との距離と、前記バケットの前記刃先の制限速度との関係を規定する関係データを、前記バケットの重量に応じて複数記憶する記憶部と、
前記重量特定部で特定された前記バケットの重量に基づき、前記記憶部に記憶された複数の前記関係データの中から、1つの関係データを選択する選択部と、
前記選択部により選択された前記1つの関係データを用いて、前記距離取得部で得られた前記距離に基づいて前記バケットの前記刃先の前記制限速度を取得する制限速度取得部と、を有し、
前記停止制御部は、前記バケットの前記刃先の前記制限速度に基づいて前記停止制御を実行する、請求項1に記載の作業車両。 - 複数の前記関係データは、第1関係データと、第2関係データとを含み、
前記第1関係データが選択されるときの前記バケットの重量は、前記第2関係データが選択されるときの前記バケットの重量よりも大きく、
前記第1関係データにおいて前記バケットの前記刃先の前記制限速度の減速が開始される前記距離は、前記第2関係データにおいて前記バケットの前記刃先の前記制限速度の減速が開始される前記距離よりも大きい、請求項2に記載の作業車両。 - 前記第1関係データは、第1減速区間と、第2減速区間とを有し、
前記第1減速区間は前記第2減速区間よりも前記目標設計地形に近い位置に設定され、かつ前記第2減速区間における前記バケットの前記刃先と前記目標設計地形との距離の変化に対する減速の度合いは、前記第1減速区間における前記バケットの前記刃先と前記目標設計地形との距離の変化に対する減速の度合いよりも大きい、請求項3に記載の作業車両。 - 前記第2関係データは、第3減速区間と、第4減速区間とを有し、
前記第3減速区間は前記第4減速区間よりも前記目標設計地形に近い位置に設定され、かつ前記第4減速区間における前記バケットの前記刃先と前記目標設計地形との距離の変化に対する減速の度合いは、前記第3減速区間における前記バケットの前記刃先と前記目標設計地形との距離の変化に対する減速の度合いよりも大きく、
前記第4減速区間は前記第2減速区間よりも前記目標設計地形に近い位置に設定される、請求項4記載の作業車両。 - 前記作業機を駆動する油圧シリンダをさらに備え、
前記重量特定部は、前記バケットが宙に浮いている状態での前記油圧シリンダの内部に発生する圧力に基づいて、前記アームに装着された前記バケットの重量を特定する、請求項1から請求項5のいずれか1項に記載の作業車両。 - オペレータが前記バケットの重量を入力操作可能なモニタをさらに備え、
前記重量特定部は、前記オペレータによって前記モニタに入力された前記バケットの重量に基づいて、前記アームに装着された前記バケットの重量を特定する、請求項1から請求項5のいずれか1項に記載の作業車両。 - 操作部材の操作量に基づいて前記ブームの速度を推定する推定速度決定部と、
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作業機を駆動する油圧シリンダに対する作動油の供給を制御する方向制御弁とをさらに備え、
前記記憶部は、前記バケットの重量に応じた、前記油圧シリンダのシリンダ速度と前記油圧シリンダを動作させる操作指令値との関係を示す複数の相関データを記憶しており、
前記推定速度決定部は、前記重量特定部で特定された前記バケットの重量に基づき、前記記憶部に記憶された複数の前記相関データの中から1つの相関データを選択し、かつ選択された前記1つの相関データを用いて前記ブームの推定速度を取得し、
前記停止制御部は、前記ブームの前記推定速度と前記ブームの前記制限速度とに基づいて前記停止制御を実行する、請求項2に記載の作業車両。
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US9556594B2 (en) | 2017-01-31 |
KR101658325B1 (ko) | 2016-09-22 |
DE112014000127T5 (de) | 2015-06-25 |
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US20160258135A1 (en) | 2016-09-08 |
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JP5791827B2 (ja) | 2015-10-07 |
DE112014000127B4 (de) | 2022-11-17 |
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