WO2015137528A1 - Système de commande et procédé de commande pour équipement de construction - Google Patents

Système de commande et procédé de commande pour équipement de construction Download PDF

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Publication number
WO2015137528A1
WO2015137528A1 PCT/JP2015/065958 JP2015065958W WO2015137528A1 WO 2015137528 A1 WO2015137528 A1 WO 2015137528A1 JP 2015065958 W JP2015065958 W JP 2015065958W WO 2015137528 A1 WO2015137528 A1 WO 2015137528A1
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WO
WIPO (PCT)
Prior art keywords
operation amount
arm
bucket
boom
limit
Prior art date
Application number
PCT/JP2015/065958
Other languages
English (en)
Japanese (ja)
Inventor
仁 北嶋
義樹 上
健夫 山田
徹 松山
市原　将志
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to KR1020157029630A priority Critical patent/KR20150139541A/ko
Priority to DE112015000043.7T priority patent/DE112015000043B4/de
Priority to US14/782,937 priority patent/US20160040398A1/en
Priority to KR1020177008391A priority patent/KR101791395B1/ko
Priority to JP2015528764A priority patent/JP6014260B2/ja
Priority to CN201580000564.8A priority patent/CN105324540B/zh
Publication of WO2015137528A1 publication Critical patent/WO2015137528A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the present invention relates to a construction machine control system and a construction machine control method.
  • a construction machine such as a hydraulic excavator includes a work machine including a boom, an arm, and a bucket, and an operation device operated by an operator to drive the work machine.
  • limited excavation control is known in which a bucket is moved based on a target excavation landform indicating a target shape of an excavation target as disclosed in Patent Document 1 and Patent Document 2.
  • An object of an aspect of the present invention is to provide a construction machine control system, a construction machine, and a construction machine control method capable of suppressing the drop of the cutting edge.
  • a detector for detecting a posture of a work machine including a boom, an arm, and a bucket, and an operating device operated for driving a movable member including at least one of the arm and the bucket.
  • a detection device that detects an operation amount of the operation device, a control valve that adjusts a supply amount of hydraulic oil supplied to a hydraulic cylinder that drives the work implement, and the bucket based on a detection result of the detector
  • a bucket position data generation unit that generates cutting edge position data indicating a cutting edge position of the tool, and acquires a target excavation landform indicating a target shape of an excavation target by the working machine, and based on the cutting edge position data and the target excavation landform
  • a distance acquisition unit that calculates the distance between the blade edge of the bucket and the target excavation landform, and a limit operation amount for limiting the speed of the movable member based on the detection result of the detection device Providing the limit value setting unit that constant to the movable member control portion to which the movable member in the limit operation amount and outputs a control signal to the control valve so as to drive the construction machine control system comprising a.
  • the limit value setting unit sets the limit operation amount so that the limit operation amount increases as the distance increases.
  • a timer that starts time measurement based on a detection result of the detection device is provided, and the limit value setting unit increases the time elapsed from the time measurement start time by the timer. It is preferable to set the limit operation amount so that the limit operation amount becomes large.
  • the movable member control unit may output a control signal so that the movable member is driven with the limited operation amount in a predetermined period from the start of the time measurement by the timer. preferable.
  • the time measurement start time of the timer is the start time of the operation of the operation device, the time when the detection value of the detection device exceeds a threshold, and the unit of the detection value of the detection device It is preferable to include at least one of the time points when the increase amount per hour exceeds the allowable value.
  • the driving based on the limited operation amount is canceled after the predetermined period has elapsed from the start of the time measurement.
  • the limited operation amount in the first half of the predetermined period is smaller than the limited operation amount in the second half.
  • a speed limit is determined according to the distance, and the speed of the boom is limited so that a speed in a direction in which the work machine approaches the target excavation landform is equal to or less than the speed limit.
  • the hydraulic system is operated such that the boom is raised and the arm is lowered, and the arm is lowered and driven by the limited operation amount.
  • the hydraulic system includes a hydraulic pump that supplies hydraulic oil.
  • the hydraulic oil In the first operation mode, the hydraulic oil is supplied from the hydraulic pump at a first maximum discharge capacity, and the second operation is performed.
  • a pump control unit that controls the hydraulic pump so that the hydraulic oil is supplied from the hydraulic pump at a second maximum discharge capacity that is smaller than the first maximum discharge capacity in the mode;
  • the limited operation amount is preferably smaller than the limited operation amount in the first work mode.
  • the movable member is replaceable, and the limit operation amount when the first weight of the movable member is connected to the boom is a second weight smaller than the first weight. It is preferable that the limit operation amount is smaller when the movable member is connected.
  • the output of the control signal is started so that the movable member is driven with the limit operation amount when the increase amount per unit time of the detection value of the detection device exceeds an allowable value.
  • the increase amount preferably includes a difference between an operation amount of the operation device and a processing amount generated by low-pass filter processing of the operation amount.
  • the construction machine includes a vehicle main body that supports the boom, and the working machine is driven such that a reference position of the vehicle main body and the bucket are at a first distance.
  • the limit operation amount is preferably smaller than the limit operation amount when the work implement is driven so that the reference position and the bucket are at a second distance shorter than the first distance.
  • the output of the control signal is started so that the movable member is driven with the limit operation amount when the increase amount per unit time of the detection value of the detection device exceeds an allowable value.
  • the increase amount preferably includes a difference between an operation amount of the operation device and a processing amount generated by low-pass filter processing of the operation amount.
  • an operating device for detecting a posture of a work machine including a boom, an arm, and a bucket with a detector and driving a movable member including at least one of the arm and the bucket.
  • Operating detecting an operation amount of the operating device with a detecting device, generating cutting edge position data indicating a cutting edge position of the bucket based on a detection result of the detector, and excavation by the working machine Obtaining a target excavation landform indicating the target shape of the target, calculating a distance between the blade edge of the bucket and the target excavation landform based on the cutting edge position data and the target excavation landform, and a detection result of the detection device
  • setting a limit operation amount for limiting the speed of the movable member on the basis of the hydraulic operation, and a hydraulic series that drives the work implement so that the movable member is driven by the limit operation amount.
  • the decrease in excavation accuracy is suppressed.
  • FIG. 1 is a perspective view showing an example of a construction machine.
  • FIG. 2 is a side view schematically showing an example of the construction machine.
  • FIG. 3 is a rear view schematically showing an example of the construction machine.
  • FIG. 4A is a block diagram illustrating an example of a control system.
  • FIG. 4B is a block diagram illustrating an example of a control system.
  • FIG. 5 is a schematic diagram illustrating an example of target construction information.
  • FIG. 6 is a flowchart illustrating an example of limited excavation control.
  • FIG. 7 is a diagram for explaining an example of limited excavation control.
  • FIG. 8 is a diagram for explaining an example of limited excavation control.
  • FIG. 9 is a diagram for explaining an example of limited excavation control.
  • FIG. 10 is a diagram for explaining an example of limited excavation control.
  • FIG. 10 is a diagram for explaining an example of limited excavation control.
  • FIG. 11 is a diagram for explaining an example of limited excavation control.
  • FIG. 12 is a diagram for explaining an example of limited excavation control.
  • FIG. 13 is a diagram for explaining an example of limited excavation control.
  • FIG. 14 is a diagram for explaining an example of limited excavation control.
  • FIG. 15 is a diagram illustrating an example of a hydraulic cylinder.
  • FIG. 16 is a diagram illustrating an example of a cylinder stroke sensor.
  • FIG. 17 is a diagram illustrating an example of a control system.
  • FIG. 18 is a diagram illustrating an example of a control system.
  • FIG. 19 is a schematic diagram illustrating an example of the operation of the construction machine.
  • FIG. 20 is a functional block diagram illustrating an example of a control system.
  • FIG. 21 is a flowchart showing an example of a construction machine control method.
  • FIG. 22 is a diagram for explaining an example of a construction machine control method.
  • FIG. 23 is a diagram for explaining an example of a construction machine control method.
  • FIG. 24 is a diagram for explaining an example of a construction machine control method.
  • FIG. 25 is a functional block diagram illustrating an example of a control system.
  • FIG. 26 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 27 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 28 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 29 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 30 is a functional block diagram illustrating an example of a control system.
  • FIG. 30 is a functional block diagram illustrating an example of a control system.
  • FIG. 31 is a diagram for explaining an example of a construction machine control method.
  • FIG. 32 is a diagram for explaining an example of a construction machine control method.
  • FIG. 33 is a flowchart illustrating an example of a construction machine control method.
  • FIG. 34 is a diagram for explaining an example of a construction machine control method.
  • FIG. 35 is a diagram for explaining an example of a construction machine control method.
  • FIG. 36 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 37 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 38 is a functional block diagram illustrating an example of a control system.
  • FIG. 39 is a flowchart illustrating an example of a construction machine control method.
  • FIG. 39 is a flowchart illustrating an example of a construction machine control method.
  • FIG. 40 is a diagram for explaining an example of a construction machine control method.
  • FIG. 41 is a diagram for explaining an example of a construction machine control method.
  • FIG. 42 is a diagram for explaining an example of a construction machine control method.
  • FIG. 43 is a functional block diagram illustrating an example of a control system.
  • FIG. 44 is a schematic diagram illustrating an example of the operation of the construction machine.
  • FIG. 45 is a diagram for explaining an example of a method of controlling the construction machine.
  • FIG. 46 is a diagram for explaining an example of a construction machine control method.
  • FIG. 47 is a diagram for explaining an example of a construction machine control method.
  • FIG. 48 is a functional block diagram illustrating an example of a control system.
  • FIG. 49 is a diagram for explaining an example of a construction machine control method.
  • FIG. 50 is a flowchart showing an example of a construction machine control method.
  • FIG. 1 is a perspective view showing an example of a construction machine 100 according to the present embodiment.
  • the construction machine 100 is a hydraulic excavator 100 including the work machine 2 that operates by hydraulic pressure will be described.
  • the excavator 100 includes a vehicle body 1 and a work implement 2. As will be described later, the excavator 100 is equipped with a control system 200 that executes excavation control.
  • the vehicle body 1 includes a turning body 3, a cab 4, and a traveling device 5.
  • the swing body 3 is disposed on the traveling device 5.
  • the traveling device 5 supports the revolving unit 3.
  • the swing body 3 may be referred to as the upper swing body 3.
  • the traveling device 5 may be referred to as the lower traveling body 5.
  • the revolving structure 3 can revolve around the revolving axis AX.
  • the driver's cab 4 is provided with a driver's seat 4S on which an operator is seated.
  • the operator operates the excavator 100 in the cab 4.
  • the traveling device 5 has a pair of crawler belts 5Cr.
  • the excavator 100 travels by the rotation of the crawler belt 5Cr.
  • the traveling device 5 may include wheels (tires).
  • the front-rear direction refers to the front-rear direction based on the driver's seat 4S.
  • the left-right direction refers to the left-right direction based on the driver's seat 4S.
  • the direction in which the driver's seat 4S faces the front is the front direction, and the direction facing the front direction is the rear direction.
  • the right side and the left side of the side direction are the right direction and the left direction, respectively.
  • the swing body 3 includes an engine room 9 in which the engine is accommodated, and a counterweight provided at the rear portion of the swing body 3.
  • a handrail 19 is provided in front of the engine room 9.
  • an engine, a hydraulic pump, and the like are arranged.
  • Work machine 2 is supported by revolving unit 3.
  • the work implement 2 drives the boom 6 connected to the revolving structure 3, the arm 7 connected to the boom 6, the bucket 8 connected to the arm 7, the boom cylinder 10 that drives the boom 6, and the arm 7.
  • Each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 is a hydraulic cylinder driven by hydraulic oil.
  • the base end portion of the boom 6 is connected to the swing body 3 via the boom pin 13.
  • the proximal end portion of the arm 7 is connected to the distal end portion of the boom 6 via the arm pin 14.
  • Bucket 8 is connected to the tip of arm 7 via bucket pin 15.
  • the boom 6 can rotate around the boom pin 13.
  • the arm 7 is rotatable around the arm pin 14.
  • the bucket 8 can rotate around the bucket pin 15.
  • Each of the arm 7 and the bucket 8 is a movable member that can move on the distal end side of the boom 6.
  • FIG. 2 is a side view schematically showing the excavator 100 according to the present embodiment.
  • FIG. 3 is a rear view schematically showing the excavator 100 according to the present embodiment.
  • the length L ⁇ b> 1 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 tip 8a of the bucket 8.
  • the bucket 8 has a plurality of blades.
  • the tip 8a of the bucket 8 is appropriately referred to as a 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 excavator 100 includes a first cylinder stroke sensor 16 arranged in the boom cylinder 10, a second cylinder stroke sensor 17 arranged in the arm cylinder 11, and a first cylinder arranged in the bucket cylinder 12.
  • 3 cylinder stroke sensor 18 Based on the detection result of the first cylinder stroke sensor 16, 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 length of the boom cylinder 10 is appropriately referred to as a boom cylinder length
  • the stroke length of the arm cylinder 11 is appropriately referred to as an arm cylinder length
  • the stroke length of the bucket cylinder 12 is appropriately determined. This is called the bucket cylinder length.
  • the boom cylinder length, the arm cylinder length, and the bucket cylinder length are collectively referred to as cylinder length data L as appropriate.
  • the hydraulic excavator 100 includes a position detection device 20 that can detect the position of the hydraulic excavator 100.
  • the position detection device 20 includes an antenna 21, a global coordinate calculation unit 23, and an IMU (Inertial Measurement Unit) 24.
  • the antenna 21 is an antenna for GNSS (Global Navigation Satellite Systems).
  • the antenna 21 is an antenna for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems).
  • the antenna 21 is provided on the revolving unit 3. In the present embodiment, the antenna 21 is provided on the handrail 19 of the revolving structure 3.
  • the antenna 21 may be provided in the rear direction of the engine room 9. For example, 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 based on the reference position Pr installed in the work area. As shown in FIG. 2, in this embodiment, the reference position Pr is the position of the tip of the reference pile set in the work area.
  • the global coordinate system is a coordinate system based on the origin Pr (see FIG. 2) fixed to the earth.
  • the local coordinate system is a coordinate system based on the origin P2 (see FIG. 2) fixed to the vehicle body 1 of the construction machine 100.
  • the local coordinate system may be referred to as a vehicle body coordinate system.
  • the global coordinate system is indicated by an XgYgZg orthogonal coordinate system.
  • the reference position (origin) Pr of the global coordinate system is located in the work area.
  • One direction in the horizontal plane is defined as the Xg axis direction
  • a direction orthogonal to the Xg axis direction in the horizontal plane is defined as the Yg axis direction
  • a direction orthogonal to each of the Xg axis direction and the Yg axis direction is defined as the Zg axis direction.
  • the rotation (tilt) directions around the Xg axis, the Yg axis, and the Zg axis are the ⁇ Xg, ⁇ Yg, and ⁇ Zg directions, respectively.
  • the Xg axis is orthogonal to the YgZg plane.
  • the Yg axis is orthogonal to the XgZg plane.
  • the Zg axis is orthogonal to the XgYg plane.
  • the XgYg plane is parallel to the horizontal plane.
  • the Zg axis direction is the vertical direction.
  • the local coordinate system is indicated by an XYZ orthogonal coordinate system.
  • the reference position (origin) P2 of the local coordinate system is located at the turning center AX of the turning body 3.
  • One direction in a certain plane is defined as an X-axis direction
  • a direction orthogonal to the X-axis direction in the plane is defined as a Y-axis direction
  • a direction orthogonal to each of the X-axis direction and the Y-axis direction is defined as a Z-axis direction.
  • the rotation (inclination) directions around the X axis, Y axis, and Z axis are the ⁇ X, ⁇ Y, and ⁇ Z directions, respectively.
  • the X axis is orthogonal to the YZ plane.
  • the Y axis is orthogonal to the XZ plane.
  • the Z axis is orthogonal to the XY plane.
  • 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 first antenna 21A detects the installation position P1a and the second antenna 21B detects the installation position P1b and outputs the detected position to the global coordinate calculation unit 23.
  • 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. In the present embodiment, the IMU 24 is disposed below the cab 4. In the revolving structure 3, a highly rigid frame is disposed below the cab 4. The IMU 24 is placed on the frame. The IMU 24 may be disposed on the side (right side or left side) of the turning axis AX (reference position P2) of the turning body 3. The IMU 24 detects an inclination angle ⁇ 4 with respect to the left-right direction of the vehicle main body 1 and an inclination angle ⁇ 5 with respect to the front-rear direction of the vehicle main body 1 with respect to the global coordinates.
  • FIG. 4A is a block diagram illustrating a functional configuration of the control system 200 according to the present embodiment.
  • the control system 200 controls excavation processing using the work machine 2.
  • the control of the excavation process includes limited excavation control.
  • the control system 200 includes a first cylinder stroke sensor 16, a second cylinder stroke sensor 17, a third cylinder stroke sensor 18, an antenna 21, a global coordinate calculation unit 23, an IMU 24,
  • the operation device 25 the work machine controller 26, the pressure sensor 66 and the pressure sensor 67, the control valve 27, the direction control valve 64, the display controller 28, the display unit 29, the sensor controller 30, and the work mode setting.
  • a man-machine interface unit 32 for performing.
  • the operating device 25 is disposed in the cab 4.
  • the operating device 25 is operated by the operator.
  • the operation device 25 receives an operator operation for driving the work machine 2.
  • the operating device 25 is a pilot hydraulic system operating device.
  • the oil supplied to the hydraulic cylinders for operating the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12) is appropriately referred to as hydraulic oil.
  • the directional control valve 64 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder.
  • the direction control valve 64 is operated by supplied oil.
  • the oil supplied to the direction control valve 64 in order to operate the direction control valve 64 is appropriately referred to as pilot oil.
  • the pressure of the pilot oil is appropriately referred to as pilot oil pressure.
  • the hydraulic oil and pilot oil may be sent from the same hydraulic pump.
  • part of the hydraulic oil sent from the hydraulic pump may be decompressed by a pressure reducing valve, and the decompressed hydraulic oil may be used as pilot oil.
  • the hydraulic pump that sends hydraulic oil (main hydraulic pump) and the hydraulic pump that sends pilot oil (pilot hydraulic pump) may be different hydraulic pumps.
  • the operating device 25 has a first operating lever 25R and a second operating lever 25L.
  • the first operation lever 25R is disposed on the right side of the driver's seat 4S, for example.
  • the second operation lever 25L is disposed on the left side of the driver's seat 4S, for example.
  • the front / rear and left / right operations correspond to the biaxial operations.
  • the boom 6 and the bucket 8 are operated by the first operation lever 25R.
  • the operation in the front-rear direction of the first operation lever 25R corresponds to the operation of the boom 6, and the lowering operation and the raising operation of the boom 6 are executed according to the operation in the front-rear direction.
  • the operation in the left-right direction 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 operation in the left-right direction.
  • 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 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 may be referred to as a bending operation.
  • the raising operation of the arm 7 may be referred to as an extension operation.
  • Pilot oil sent from the hydraulic pump and reduced to pilot hydraulic pressure 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, and the direction control valve 64 through which the hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12) flows according to the pilot hydraulic pressure. Is driven.
  • a pressure sensor 66 and a pressure sensor 67 are disposed in the pilot hydraulic line 450. The pressure sensor 66 and the pressure sensor 67 detect pilot oil pressure. The detection results of the pressure sensor 66 and the pressure sensor 67 are output to the work machine controller 26.
  • the first operation lever 25R is operated in the front-rear direction for driving the boom 6.
  • the direction control valve 64 through which hydraulic oil supplied to the boom cylinder 10 for driving the boom 6 flows is driven according to the operation amount (boom operation amount) of the first operation lever 25R in the front-rear direction. Further, the pressure generated in the sensor 66 during the lever operation is defined as the boom lever operation amount MB.
  • the first operating lever 25R is operated in the left-right direction for driving the bucket 8.
  • the direction control valve 64 in which the hydraulic oil supplied to the bucket cylinder 12 for driving the bucket 8 flows is driven according to the operation amount (bucket operation amount) of the first operation lever 25R in the left-right direction. Further, the pressure generated in the sensor 66 during the lever operation is defined as a bucket lever operation amount MT.
  • the second operation lever 25L is operated in the front-rear direction for driving the arm 7.
  • the direction control valve 64 through which 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. Further, the pressure generated in the sensor 66 during the lever operation is defined as an arm lever operation amount MA.
  • the second operating lever 25L is operated in the left-right direction for driving the revolving structure 3.
  • the direction control valve 64 through which hydraulic oil supplied to the hydraulic actuator for driving the revolving structure 3 flows is driven.
  • the left / right operation of the first operation lever 25R may correspond to the operation of the boom 6 and the front / rear operation may correspond to the operation of the bucket 8.
  • the left / right direction of the second operation lever 25L may correspond to the operation of the arm 7 and the operation in the front / rear direction may correspond to the operation of the revolving structure 3.
  • the control valve 27 operates to adjust the amount of hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12).
  • the control valve 27 operates based on a control signal from the work machine controller 26.
  • the sensor controller 30 calculates the boom cylinder length based on the detection result of the first cylinder stroke sensor 16.
  • the first cylinder stroke sensor 16 outputs to the sensor controller 30 a pulse of phase displacement that accompanies the orbiting operation.
  • the sensor controller 30 calculates the boom cylinder length based on the phase displacement pulse output from the first cylinder stroke sensor 16.
  • the sensor controller 30 calculates the arm cylinder length based on the detection result of the second cylinder stroke sensor 17.
  • the sensor controller 30 calculates the bucket cylinder length based on the detection result of the third cylinder stroke sensor 18.
  • the sensor controller 30 calculates the posture 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 first cylinder stroke sensor 16.
  • the sensor controller 30 calculates the posture angle ⁇ 2 of the arm 7 relative to the boom 6 from the arm cylinder length acquired based on the detection result of the second cylinder stroke sensor 17.
  • the sensor controller 30 calculates the posture angle ⁇ 3 of the blade edge 8a of the bucket 8 with respect to the arm 7 from acquiring the bucket cylinder length acquired based on the detection result of the third cylinder stroke sensor 18.
  • the first, second, and third cylinder stroke sensors 16, 17, and 18 function as detectors that detect the attitude of the work machine 2.
  • the posture of the work implement 2 includes at least one of the posture angle ⁇ 1 of the boom 6, the posture angle ⁇ 2 of the arm 7, and the posture angle ⁇ 3 of the blade edge 8a of the bucket 8.
  • the posture angle ⁇ 1 of the boom 6, the posture angle ⁇ 2 of the arm 7, and the posture angle ⁇ 3 of the bucket 8 may not be detected by the cylinder stroke sensor.
  • the attitude 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 posture angle ⁇ 1.
  • the posture angle ⁇ 2 of the arm 7 may be detected by an angle detector attached to the arm 7.
  • the attitude angle ⁇ 3 of the bucket 8 may be detected by an angle detector attached to the bucket 8.
  • FIG. 4B is a block diagram showing the work machine controller 26, the display controller 28, and the sensor controller 30.
  • the sensor controller 30 acquires cylinder length data L from the detection results of the first, second, and third cylinder stroke sensors 16, 17, and 18.
  • the sensor controller 30 outputs the data of the inclination angle ⁇ 4 and the data of the inclination angle ⁇ 5 of the vehicle body 1 output from the IMU 24.
  • the sensor controller 30 outputs data of the posture angles ⁇ 1 to ⁇ 3 and the inclination angle ⁇ 5 of each work machine to the display controller 28 and the work machine controller 26, respectively.
  • the detection result of the cylinder stroke sensor (16, 17, 18) and the detection result of the IMU 24 are output to the sensor controller 30, and the sensor controller 30 performs a predetermined calculation process.
  • the function of the sensor controller 30 may be substituted by the work machine controller 26.
  • the detection result of the cylinder stroke sensor (16, 17, 18) is output to the work machine controller 26, and the work machine controller 26 uses the cylinder length (16, 17, 18) based on the detection result of the cylinder stroke sensor (16, 17, 18). Boom cylinder length, arm cylinder length, and bucket cylinder length) may be calculated.
  • the detection result of the IMU 24 may be output to the work machine controller 26.
  • the 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 acquires the reference position data P and the turning body orientation data Q from the global coordinate calculation unit 23.
  • the display controller 28 acquires cylinder attitude data ⁇ 1 to ⁇ 3 from the sensor controller 30.
  • the bucket position data generation unit 28B generates bucket position data indicating the three-dimensional position of the bucket 8 based on the reference position data P, the swing body orientation data Q, and the cylinder attitude data ⁇ 1 to ⁇ 3.
  • the bucket position data is cutting edge position data S indicating the three-dimensional position of the cutting edge 8a.
  • the target excavation landform data generation unit 28C generates a target excavation landform U indicating the target shape of the excavation target by using the cutting edge position data S and target construction information T described later stored in the target construction information storage unit 28A. Further, the display controller 28 causes the display unit 29 to display the target excavation landform U based on the target excavation landform U.
  • the display unit 29 is a monitor, for example, and displays various types of information on the excavator 100. In the present embodiment, the display unit 29 includes an HMI (Human Machine Interface) monitor as a guidance monitor for computerized construction.
  • HMI Human Machine Interface
  • 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 local coordinate system is a three-dimensional coordinate system based on the excavator 100.
  • the reference position of the local coordinate system is, for example, a reference position P2 located on the turning axis AX of the turning body 3.
  • 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 target construction information T may be transferred from a connection type recording device such as a memory.
  • the target excavation landform data generation unit 28C includes the posture angle ⁇ 1 of the boom 6, the posture angle ⁇ 2 of the arm 7, the posture angle ⁇ 3 of the bucket 8, the length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8. And the position P3 of the bucket blade edge 8a in the global coordinate system with respect to the reference position P2 of the global coordinate system is calculated from the position information of the boom pin 13.
  • the target excavation landform data generation unit 28C based on the target construction information T and the cutting edge position data 8a, as shown in FIG. An intersection line E with the design landform is acquired as a candidate line for the target excavation landform U.
  • the target excavation landform data generation unit 28 ⁇ / b> C sets a point immediately below the bucket edge 8 a on the candidate line of the target excavation landform U as a reference point AP of the target excavation landform U.
  • the target excavation landform data generation unit 28C determines one or a plurality of inflection points before and after the reference point AP of the target excavation landform U and lines before and after the target excavation landform U to be excavated.
  • the target excavation landform data generation unit 28C generates a target excavation landform U indicating the design landform that is the target shape of the excavation target. Based on the target excavation landform U and the bucket blade edge 8a, the relative distance d between the target excavation landform U and the blade edge 8a is acquired.
  • the target excavation landform data generation unit 28C outputs the target excavation landform U and the bucket blade edge 8a and the distance between the target excavation landform U and the bucket blade edge 8a to the display unit 29.
  • the display unit 29 displays the positional relationship between the target excavation landform and the bucket 8 as an image, and displays the distance d between the target excavation landform U and the bucket blade edge 8a.
  • the target excavation landform data generation unit 28 ⁇ / b> C outputs the calculated target excavation landform U to the work machine controller 26.
  • the man-machine interface unit 32 has an input unit and a display unit.
  • the display unit includes a monitor such as a flat panel display.
  • the input unit of the man-machine interface unit 32 includes operation buttons arranged around the display unit of the man-machine interface unit 32. Note that the input unit of the man-machine interface unit 32 may include a touch panel.
  • the man-machine interface unit 32 may be referred to as a multi-monitor 32.
  • the input unit of the man-machine interface unit 32 is operated by an operator.
  • a command signal generated by operating the input unit is output to the work machine controller 26.
  • the work machine controller 26 controls the display unit of the man-machine interface unit 32 to display predetermined information on the display unit.
  • the work machine controller 26 includes a target speed determination unit 52, a distance acquisition unit 53, a speed limit determination unit 54, a work machine control unit 57, and an arm control unit 263 for the bucket 8 determined with respect to the operation amount of the operation device 25.
  • the work machine controller 26 receives the position information of the posture angles ⁇ 1, ⁇ 2, ⁇ 3 and the boom pin 13 from the sensor controller 30, the angle ⁇ 5 output from the IMU 24, the detection result by the position detection device 20, and the position information of the antenna 21.
  • the position P3 of the blade edge 8a in the local coordinate system is derived.
  • the work machine controller 26 acquires blade edge position information independently of the display controller 28.
  • the target speed determination unit 52 uses the inclination angle ⁇ 5 with respect to the front-rear direction of the vehicle body 1 and the operation amounts MB, MA, and MT acquired from the sensor 66 for driving the work machines of the boom 6, arm 7, and bucket 8. Obtained as Vc_bm, Vc_am, Vc_bk corresponding to the lever operation.
  • the distance acquisition unit 53 acquires the target excavation landform U from the display controller 28.
  • 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 the direction perpendicular to the target excavation landform U based on the cutting edge position data P3 and the target excavation landform U.
  • the speed limit determining unit 54 limits the movement of the boom 6 according to the distance d and the target speed.
  • the work machine control unit 57 determines an intervention command CBI for the intervention valve 27C for the speed limit speed limit Vc_bm_lmt.
  • the work implement controller 28 executes limited excavation control (intervention control) by outputting the intervention speed for the boom 6 in accordance with the above command.
  • the arm control unit 263 acquires the operation amount MA of the arm 7 from the target speed determination unit 52.
  • the speed limit Vc_am_lmt is output to the work machine control unit 57.
  • the work machine control unit 57 outputs a deceleration command CA to the control valve 27 (27A, 27B) according to the speed limit Vc_am_lmt.
  • the determination of the restriction of the arm control unit 263 will be described in detail later.
  • FIG. 6 is a flowchart illustrating an example of limited excavation control according to the present embodiment.
  • the target excavation landform U is set (step SA1).
  • the work machine controller 26 determines the target speed Vc of the work machine 2 (step SA2).
  • the target speed Vc of the work machine 2 includes a boom target speed Vc_bm, an arm target speed Vc_am, and a bucket target speed Vc_bkt.
  • the boom target speed Vc_bm is the speed of the cutting edge 8a when only the boom cylinder 10 is driven.
  • the arm target speed Vc_am is the speed of the cutting edge 8a when only the arm cylinder 11 is driven.
  • the bucket target speed Vc_bkt is the speed of the blade edge 8a when only the bucket cylinder 12 is driven.
  • the boom target speed Vc_bm is calculated based on the boom operation amount.
  • the arm target speed Vc_am is calculated based on the arm operation amount.
  • the bucket target speed Vc_bkt is calculated based on the bucket operation amount.
  • the storage unit 264 of the work machine controller 26 stores target speed information that defines the relationship between the boom operation amount and the boom target speed Vc_bm.
  • the work machine controller 26 determines the boom target speed Vc_bm corresponding to the boom operation amount based on the target speed information.
  • the target speed information is, for example, a map that describes the magnitude of the boom target speed Vc_bm with respect to the boom operation amount.
  • the target speed information may be in the form of a table or a mathematical expression.
  • the target speed information includes information that defines the relationship between the arm operation amount and the arm target speed Vc_am.
  • the target speed information includes information that defines the relationship between the bucket operation amount and the bucket target speed Vc_bkt.
  • the work machine controller 26 determines the arm target speed Vc_am corresponding to the arm operation amount based on the target speed information.
  • the work machine controller 26 determines a bucket target speed Vc_bkt corresponding to the bucket operation amount based on the target speed information.
  • the work machine controller 26 sets the boom target 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 and a direction parallel to the surface of the target excavation landform U. Are converted into Vcx_bm (step SA3).
  • 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 machine controller 26 uses a trigonometric function to calculate the boom target speed Vc_bm from the angle ⁇ 2 between the vertical axis of the local coordinate system and the direction of the boom target speed Vc_bm.
  • the velocity component VL1_bm in the direction and the velocity component VL2_bm in the horizontal axis direction are converted.
  • the work machine controller 26 uses a trigonometric function to calculate a velocity component VL1_bm in 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. Then, the velocity component VL2_bm in the horizontal axis direction is converted into a vertical velocity component Vcy_bm and a horizontal velocity component Vcx_bm for the target excavation landform U. Similarly, the work machine controller 26 converts the arm target speed Vc_am into a vertical speed component Vcy_am and a horizontal speed component Vcx_am in the vertical axis direction of the local coordinate system. The work machine controller 26 converts the bucket target 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 a distance d between the cutting edge 8a of the bucket 8 and the target excavation landform U (step SA4).
  • the work machine controller 26 calculates the shortest distance d between the blade edge 8a of the bucket 8 and the surface of the target excavation landform U from the position information of the blade edge 8a and the target excavation landform U.
  • limited excavation 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).
  • the speed limit Vcy_lmt of the work implement 2 as a whole is a movement speed of the cutting edge 8a that is allowable in a direction in which the cutting edge 8a of the bucket 8 approaches the target excavation landform U.
  • the storage unit 264 of the work machine controller 26 stores speed limit information that defines the relationship between the distance d and the speed limit Vcy_lmt.
  • FIG. 11 shows an example of speed limit information according to the present embodiment.
  • the horizontal axis is the distance d
  • the vertical axis is the speed limit Vcy_lmt.
  • the distance d when the cutting edge 8a is located outside the surface of the target excavation landform U that is, the distance d when the excavator 100 is located on the working machine 2 side is a positive value
  • the cutting edge 8a is inward of the surface of the target excavation landform U. That is, the distance d when located on the inner side of the excavation object with respect to the target excavation landform U is a negative value.
  • the distance d when the cutting edge 8a is located above the surface of the target excavation landform U is a positive value.
  • the distance d when the cutting edge 8a is located below the surface of the target excavation landform U is a negative value.
  • the distance d when the cutting edge 8a is in a position where it does not erode with respect to the target excavation landform U is a positive value.
  • the distance d when the cutting edge 8a is in a position where it erodes with respect to the target excavation landform U is a negative value.
  • the speed when the blade edge 8a goes from the inside of the target excavation landform U to the outside is a positive value
  • the speed when the blade edge 8a goes from the outside of the target excavation landform U to the inside is negative. Value. That is, the speed at which the blade edge 8a is directed above the target excavation landform U is a positive value, and the speed at which the blade edge 8a is directed below the target excavation landform U is a negative value.
  • the slope of the speed limit Vcy_lmt when the distance d is between d1 and d2 is smaller than the slope when the distance d is greater than or equal to d1 or less than d2.
  • d1 is greater than zero.
  • d2 is smaller than 0.
  • the slope when the distance d is between d1 and d2 is the slope when the distance d is d1 or more or d2 or less. Make it smaller than the slope.
  • the speed limit Vcy_lmt is a negative value, and the speed limit Vcy_lmt decreases as the distance d increases.
  • the speed toward the lower side of the target excavation landform U increases as the cutting edge 8a is farther from the surface of the target excavation landform U above the target excavation landform U, and the absolute value of the speed limit Vcy_lmt is growing.
  • the speed limit Vcy_lmt is a positive value, and the speed limit Vcy_lmt increases as the distance d decreases.
  • the speed limit Vcy_lmt is Vmin.
  • the predetermined value dth1 is a positive value and is larger than d1.
  • Vmin is smaller than the minimum value of the target speed. That is, when the distance d is greater than or equal to the predetermined value dth1, the operation of the work machine 2 is not limited. Therefore, when the cutting edge 8a is far away from the target excavation landform U above the target excavation landform U, the operation of the work machine 2, that is, limited excavation control is not performed.
  • the distance d is smaller than the predetermined value dth1, the operation of the work machine 2 is restricted.
  • the operation of the boom 6 is restricted.
  • the work machine controller 26 calculates the vertical speed component (restricted vertical speed component) Vcy_bm_lmt of the speed limit of the boom 6 from the speed limit Vcy_lmt, the arm target speed Vc_am, and the bucket target speed Vc_bkt of the work machine 2 as a whole (step SA6).
  • the work machine controller 26 subtracts the vertical speed component Vcy_am of the arm target speed and the vertical speed component Vcy_bkt of the bucket target speed from the speed limit Vcy_lmt of the work machine 2 as a whole.
  • the limited vertical velocity component Vcy_bm_lmt is calculated.
  • the work machine controller 26 converts the limited vertical speed component Vcy_bm_lmt of the boom 6 into a speed limit (boom speed limit) Vc_bm_lmt of the boom 6 (step SA7).
  • 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 boom target speed Vc_bm. Thereafter, a cylinder speed corresponding to the boom intervention amount is determined, and an opening command corresponding to the cylinder speed is output to an intervention valve 27C described later.
  • the pilot pressure based on the lever operation is filled in the oil passage 451B, and the pilot pressure based on the boom intervention is filled in the oil passage 502.
  • the shuttle valve 51 described later selects the one with the larger pressure (step SA8).
  • the restriction condition is not satisfied when the boom limit speed Vc_bm_lmt below the boom 6 is smaller than the boom target speed Vc_bm below. Further, when the boom 6 is raised by intervention of the boom 6, the restriction condition is satisfied when the boom limit speed Vc_bm_lmt upward of the boom 6 is larger than the boom target speed Vc_bm upward. Yes.
  • the work machine controller 26 controls the work machine 2.
  • the work machine controller 26 controls the boom cylinder 10 by transmitting a boom command signal to the intervention valve 27C.
  • the boom command signal has a current value corresponding to the boom command speed.
  • the shuttle valve 51 selects the supply of hydraulic oil from the oil passage 451B, and the normal operation is performed (step SA9).
  • the work machine controller 26 operates the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 according to the boom operation amount, the arm operation amount, and the bucket operation amount.
  • the boom cylinder 10 operates at the boom target speed Vc_bm.
  • the arm cylinder 11 operates at the arm target speed Vc_am.
  • the bucket cylinder 12 operates at the bucket target speed Vc_bkt.
  • the shuttle valve 51 selects the supply of hydraulic oil from the oil passage 502, and the restricted excavation control is executed (step SA10).
  • the limited vertical speed component Vcy_bm_lmt of the boom 6 is calculated by subtracting the vertical speed component Vcy_am of the arm target speed and the vertical speed component Vcy_bkt of the bucket target speed from the limited speed Vcy_lmt of the work machine 2 as a whole. Therefore, when the speed limit Vcy_lmt of the work implement 2 as a whole is smaller than the sum of the vertical speed component Vcy_am of the arm target speed and the vertical speed component Vcy_bkt of the bucket target speed, the limit vertical speed component Vcy_bm_lmt of the boom 6 is increased. Negative value.
  • the work machine controller 27 lowers the boom 6 but decelerates the boom target speed Vc_bm. For this reason, it can prevent that the bucket 8 erodes the target excavation landform U, suppressing an operator's uncomfortable feeling small.
  • the limit vertical speed component Vcy_bm_lmt of the boom 6 becomes a positive value.
  • the boom speed limit Vc_bm_lmt is a positive value.
  • the work machine controller 26 raises the boom 6 even if the operating device 25 is operated in the direction in which the boom 6 is lowered. For this reason, the expansion of the erosion of the target excavation landform U can be suppressed quickly.
  • the absolute value of the limited vertical speed component Vcy_bm_lmt of the boom 6 decreases as the cutting edge 8a approaches the target excavation landform U, and the surface of the target excavation landform U
  • the absolute value of the speed component (restricted horizontal speed component) Vcx_bm_lmt of the speed limit of the boom 6 in the parallel direction 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. Both the speed in the direction parallel to the surface of the target excavation landform U is reduced.
  • FIG. 14 shows a change in the speed limit of the boom 6 when the distance d between the target excavation landform U and the cutting edge 8a of the bucket 8 is smaller than a predetermined value dth1, and the cutting edge 8a of the bucket 8 moves from the position Pn1 to the position Pn2.
  • a predetermined value dth1 a predetermined value dth1
  • the cutting edge 8a of the bucket 8 moves from the position Pn1 to the position Pn2.
  • the distance between the blade edge 8a and the target excavation landform U at the position Pn2 is smaller than the distance between the blade edge 8a and the target excavation landform U at the position Pn1. Therefore, the limited vertical speed component Vcy_bm_lmt2 of the boom 6 at the position Pn2 is smaller than the limited vertical speed component Vcy_bm_lmt1 of the boom 6 at the position Pn1.
  • the boom limit speed Vc_bm_lmt2 at the position Pn2 is smaller than the boom limit speed Vc_bm_lmt1 at the position Pn1.
  • the limited horizontal speed component Vcx_bm_lmt2 of the boom 6 at the position Pn2 is smaller than the limited horizontal speed component Vcx_bm_lmt1 of the boom 6 at the position Pn1.
  • the arm target speed Vc_am and the bucket target speed Vc_bkt are not limited.
  • this embodiment can suppress the uncomfortable feeling in the operation at the time of excavation of the operator while suppressing the expansion of the erosion of the target excavation landform U.
  • the work machine controller 26 is based on the target excavation landform U indicating the design landform that is the target shape of the excavation target and the blade edge position data S indicating the position of the blade edge 8a of the bucket 8.
  • the speed of the boom 6 is limited so that the relative speed at which the bucket 8 approaches the target excavation landform U is reduced according to the distance d between the target excavation landform U and the blade edge 8a of the bucket 8.
  • the work machine controller 26 uses the target excavation landform U and the cutting edge 8a of the bucket 8 based on the target excavation landform U indicating the design landform that is the target shape of the excavation target and the cutting edge position data S indicating the position of the cutting edge 8a of the bucket 8.
  • the speed limit is determined according to the distance d, and the work equipment 2 is controlled so that the speed in the direction in which the work equipment 2 approaches the target excavation landform U is equal to or lower than the speed limit. Thereby, the excavation restriction control for the cutting edge 8a is executed, and the position of the cutting edge 8a with respect to the target excavation landform U is controlled.
  • intervention control it is appropriate to output 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 intrusion of the cutting edge 8a into the target excavation landform U is suppressed. This is called intervention control.
  • Intervention control is executed when the relative speed of the cutting edge 8a in the vertical direction with respect to the target excavation landform U is larger than the speed limit.
  • the intervention control is not executed when the relative speed of the cutting edge 8a is smaller than the speed limit. That the relative speed of the blade edge 8a is smaller than the speed limit includes the movement of the bucket 8 with respect to the target excavation landform U so that the bucket 8 and the target excavation landform U are separated.
  • the work machine controller 26 controls the arm 7 and the bucket 8.
  • the work machine controller 26 transmits a pilot command hydraulic pressure for driving the arm cylinder 11 by transmitting an arm command signal CA to the control valve 27 (27A, 27B) when an arm speed limit command is output from an arm control unit described later.
  • the supply of The drive of the arm cylinder 11 is restricted by the supply restriction of the pilot hydraulic pressure.
  • the arm command signal CA has a current value corresponding to the arm command speed.
  • the work machine controller 26 controls the bucket cylinder 12 in the same manner as the arm cylinder 11 by transmitting a bucket command signal to the control valve 27.
  • the bucket command signal has a current value corresponding to the bucket command speed.
  • the cylinder stroke sensor 16 is attached to the boom cylinder 10.
  • the cylinder stroke sensor 16 measures the stroke of the piston.
  • the boom cylinder 10 includes a cylinder tube 10X and a cylinder rod 10Y that can move relative to the cylinder tube 10X in the cylinder tube 10X.
  • a piston 10V is slidably provided on the cylinder tube 10X.
  • a cylinder rod 10Y is attached to the piston 10V.
  • the cylinder rod 10Y is slidably provided on the cylinder head 10W.
  • a chamber defined by the cylinder head 10W, the piston 10V, and the cylinder inner wall is a rod-side oil chamber 40B.
  • An oil chamber opposite to the rod-side oil chamber 40B via the piston 10V is a cap-side oil chamber 40A.
  • the cylinder head 10W is provided with a seal member that seals the gap with the cylinder rod 10Y and prevents dust and the like from entering the rod-side oil chamber 40B.
  • the cylinder rod 10Y is degenerated when hydraulic oil is supplied to the rod-side oil chamber 40B and discharged from the cap-side oil chamber 40A. Further, the cylinder rod 10Y extends when the hydraulic oil is discharged from the rod-side oil chamber 40B and the hydraulic oil is supplied to the cap-side oil chamber 40A. That is, the cylinder rod 10Y moves linearly in the left-right direction in the figure.
  • a case 164 that covers the cylinder stroke sensor 16 and accommodates the cylinder stroke sensor 16 therein is provided outside the rod-side oil chamber 40B and in close contact with the cylinder head 10W.
  • the case 164 is fastened to the cylinder head 10W by a bolt or the like and fixed to the cylinder head 10W.
  • the cylinder stroke sensor 16 has a rotating roller 161, a rotation center shaft 162, and a rotation sensor unit 163.
  • the surface of the rotating roller 161 is in contact with the surface of the cylinder rod 10Y, and is rotatably provided according to the direct movement of the cylinder rod 10Y. That is, the linear motion of the cylinder rod 10Y is converted into rotational motion by the rotating roller 161.
  • the rotation center shaft 162 is disposed so as to be orthogonal to the linear movement direction of the cylinder rod 10Y.
  • the rotation sensor unit 163 is configured to be able to detect the rotation amount (rotation angle) of the rotation roller 161 as an electrical signal.
  • An electric signal indicating the rotation amount (rotation angle) of the rotating roller 161 detected by the rotation sensor unit 163 is output to the sensor controller 30 via the electric signal line.
  • the sensor controller 30 converts the electric signal into the position (stroke position) of the cylinder rod 10Y of the boom cylinder 10.
  • the rotation sensor unit 163 has a magnet 163a and a Hall IC 163b.
  • a magnet 163a as a detection medium is attached to the rotating roller 161 so as to rotate integrally with the rotating roller 161.
  • the magnet 163a rotates in accordance with the rotation of the rotating roller 161 about the rotation center shaft 162.
  • the magnet 163a is configured such that the N pole and the S pole are alternately switched according to the rotation angle of the rotating roller 161.
  • the magnet 163a is configured such that the magnetic force (magnetic flux density) detected by the Hall IC 163b periodically varies with one rotation of the rotating roller 161 as one cycle.
  • the Hall IC 163b is a magnetic sensor that detects the magnetic force (magnetic flux density) generated by the magnet 163a as an electrical signal.
  • the Hall IC 163b is provided at a position separated from the magnet 163a by a predetermined distance along the axial direction of the rotation center shaft 162.
  • the electrical signal (phase displacement pulse) detected by the Hall IC 163b is output to the sensor controller 30.
  • the sensor controller 30 converts the electrical signal from the Hall IC 163b into a rotation amount of the rotating roller 161, that is, a displacement amount (boom cylinder length) of the cylinder rod 10Y of the boom cylinder 10.
  • the relationship between the rotation angle of the rotating roller 161 and the electrical signal (voltage) detected by the Hall IC 163b will be described with reference to FIG.
  • the magnetic force (magnetic flux density) transmitted through the Hall IC 163b periodically changes according to the rotation angle, and an electric signal (voltage) that is a sensor output. Changes periodically.
  • the rotation angle of the rotating roller 161 can be measured from the magnitude of the voltage output from the Hall IC 163b.
  • the number of rotations of the rotating roller 161 can be measured by counting the number of times one cycle of the electrical signal (voltage) output from the Hall IC 163b is repeated. Then, the displacement amount (boom cylinder length) of the cylinder rod 10Y of the boom cylinder 10 is calculated based on the rotation angle of the rotation roller 161 and the rotation number of the rotation roller 161.
  • the sensor controller 30 can calculate the moving speed (cylinder speed) of the cylinder rod 10Y based on the rotation angle of the rotation roller 161 and the rotation speed of the rotation roller 161.
  • Each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 is a hydraulic cylinder.
  • the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are collectively referred to as a hydraulic cylinder 60 as appropriate.
  • FIG. 17 is a schematic diagram illustrating an example of the control system 200 according to the present embodiment.
  • FIG. 18 is an enlarged view of a part of FIG.
  • the hydraulic system 300 includes a hydraulic cylinder 60 including a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12, and a swing motor 63 that rotates the swing body 3.
  • the hydraulic cylinder 60 operates with hydraulic oil supplied from the main hydraulic pump.
  • the turning motor 63 is a hydraulic motor, and is operated by hydraulic oil supplied from the main hydraulic pump.
  • a direction control valve 64 that controls the direction in which the hydraulic oil flows.
  • the hydraulic oil supplied from the main hydraulic pump is supplied to the hydraulic cylinder 60 via the direction control valve 64.
  • 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 (oil passage 48) and the supply of hydraulic oil to the rod side oil chamber 40B (oil passage 47) are switched. Further, the supply amount of hydraulic oil to the hydraulic cylinder 60 (supply amount per unit time) is adjusted by moving the spool in the axial direction. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the hydraulic cylinder 60.
  • the direction control valve 64 is provided with a spool stroke sensor 65 for detecting a moving distance (spool stroke) of the spool.
  • the detection signal of the spool stroke sensor 65 is output to the work machine controller 26 (not shown).
  • the driving of the direction control valve 64 is adjusted by the operation device 25.
  • the operating device 25 is a pilot hydraulic system operating device. Pilot oil sent from the main hydraulic pump and decompressed by the pressure reducing valve is supplied to the operating device 25. The pilot oil sent from a pilot hydraulic pump different from the main hydraulic pump may be 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.
  • the direction control valve 64 is provided in each of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the turning motor 63.
  • the direction control valve 64 connected to the boom cylinder 10 is appropriately referred to as a direction control valve 640.
  • the direction control valve 64 connected to the arm cylinder 11 is appropriately referred to as a direction control valve 641.
  • the direction control valve 64 connected to the bucket cylinder 12 is appropriately referred to as a direction control valve 642.
  • the operating device 25 and the directional control valve 64 are connected via a pilot hydraulic line 450.
  • the control valve 27, the pressure sensor 66, and the pressure sensor 67 are arranged in the pilot hydraulic line 450.
  • the pilot hydraulic line 450 between the operating device 25 and the control valve 27 in the pilot hydraulic line 450 is appropriately referred to as an oil passage 451, and the pilot between the control valve 27 and the direction control valve 64.
  • the hydraulic line 450 is appropriately referred to as an oil passage 452.
  • 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.
  • Oil path 451A and oil path 452A are connected to a direction control valve.
  • An oil passage 452 is connected to the direction control valve 64. Pilot oil is supplied to the directional control valve 64 via the oil passage 452.
  • the direction control valve 64 has a first pressure receiving chamber and a second pressure chamber.
  • 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 spool moves to one side with respect to the axial direction.
  • the pilot oil whose pilot oil pressure is adjusted by the operating device 25 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.
  • an oil passage 452A connected to the direction control valve 640 that supplies hydraulic oil to the boom cylinder 10 is appropriately referred to as an oil passage 4520A
  • an oil passage 452B connected to the direction control valve 640 is appropriately used. This is referred to as oil passage 4520B.
  • the oil passage 452A connected to the direction control valve 641 that supplies hydraulic oil to the arm cylinder 11 is appropriately referred to as an oil passage 4521A
  • the oil passage 452B connected to the direction control valve 641 is appropriately referred to as an oil passage 4521B. Called.
  • the oil passage 452A connected to the direction control valve 642 for supplying hydraulic oil to the bucket cylinder 12 is appropriately referred to as an oil passage 4522A
  • the oil passage 452B connected to the direction control valve 642 is appropriately referred to as an oil passage 4522B. Called.
  • the oil passage 451A connected to the oil passage 4520A is appropriately referred to as an oil passage 4510A
  • the oil passage 451B connected to the oil passage 4520B is appropriately referred to as an oil passage 4510B
  • the oil passage 451A connected to the oil passage 4521A is appropriately referred to as an oil passage 4511A
  • the oil passage 451B connected to the oil passage 4521B is appropriately referred to as an oil passage 4511B
  • the oil passage 451A connected to the oil passage 4522A is appropriately referred to as an oil passage 4512A
  • the oil passage 451B connected to the oil passage 4522B is appropriately referred to as an oil passage 4512B.
  • the boom 6 performs two types of operations, the lowering operation and the raising operation, by operating the operation device 25.
  • pilot oil is supplied to the direction control valve 640 connected to the boom cylinder 10 via the oil passage 4510B and the oil passage 4520B.
  • the The direction control valve 640 operates based on the pilot hydraulic pressure. Thereby, the hydraulic oil from the main hydraulic pump is supplied to the boom cylinder 10 and the boom cylinder 10 extends. The boom 6 is lifted by the extension of the boom cylinder.
  • pilot oil is supplied to the direction control valve 640 connected to the boom cylinder 10 via the oil passage 4510A and the oil passage 4520A.
  • the direction control valve 640 operates based on the pilot hydraulic pressure. Thereby, the hydraulic oil from the main hydraulic pump is supplied to the boom cylinder 10, and the boom cylinder 10 is retracted. The boom 6 is lowered as the boom cylinder is retracted.
  • 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 641 connected to the arm cylinder 11 via the oil passage 4511B and the oil passage 4521B.
  • the direction control valve 641 operates based on the pilot hydraulic pressure. Thereby, the hydraulic oil from the main hydraulic pump is supplied to the arm cylinder 11, and the arm cylinder 11 extends. The arm 7 is lowered by the extension of the arm cylinder 11.
  • the pilot oil is supplied to the direction control valve 641 connected to the arm cylinder 11 through the oil passage 4511A and the oil passage 4521A.
  • the direction control valve 641 operates based on the pilot hydraulic pressure. As a result, the hydraulic oil from the main hydraulic pump is supplied to the arm cylinder 11, and the arm cylinder 11 is degenerated. As the arm cylinder 11 is retracted, the arm 7 is raised.
  • 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 642 connected to the bucket cylinder 12 via the oil passage 4512B and the oil passage 4522B.
  • the direction control valve 642 operates based on the pilot hydraulic pressure. Thereby, the hydraulic oil from the main hydraulic pump is supplied to the bucket cylinder 12, and the bucket cylinder 12 extends.
  • the lowering operation of the bucket 8 is executed.
  • pilot oil is supplied to the direction control valve 642 connected to the bucket cylinder 12 via the oil passage 4512A and the oil passage 4522A.
  • the direction control valve 642 operates based on the pilot hydraulic pressure. As a result, hydraulic oil from the main hydraulic pump is supplied to the bucket cylinder 12 and the bucket cylinder 12 is degenerated. As the bucket cylinder 12 is retracted, the raising operation of the bucket 8 is executed.
  • 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 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 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.
  • the pilot oil pressure of the pilot oil supplied to the adjustable control valve 27A and the second pressure receiving chamber of the direction control valve 64 is adjusted, and the hydraulic oil supplied to the cap side oil chamber 40A via the direction control valve 64 is adjusted.
  • a control valve 27B capable of adjusting the supply amount.
  • a pressure sensor 66 and a pressure sensor 67 for detecting the pilot oil pressure are provided on both sides of the 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 can detect the pilot hydraulic pressure before being adjusted by the control valve 27.
  • the pressure sensor 67 can detect the pilot hydraulic 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 (not shown).
  • control valve 27 that can adjust the pilot hydraulic pressure for the direction control valve 640 that supplies hydraulic oil to the boom cylinder 10 will be appropriately referred to as a control valve 270.
  • control valve 270 one control valve (corresponding to the control valve 27A) is appropriately referred to as a control valve 270A, and the other control valve (corresponding to the control valve 27B) is appropriately referred to as a control valve 270B.
  • the control valve 27 that can adjust the pilot hydraulic pressure for the direction control valve 641 that supplies hydraulic oil to the arm cylinder 11 is appropriately referred to as a control valve 271.
  • control valve 271 one control valve (corresponding to the control valve 27A) is appropriately referred to as a control valve 271A, and the other control valve (corresponding to the control valve 27B) is appropriately referred to as a control valve 271B.
  • the control valve 27 that can adjust the pilot hydraulic pressure for the direction control valve 642 that supplies hydraulic oil to the bucket cylinder 12 is appropriately referred to as a control valve 272.
  • control valve 272A one control valve (corresponding to the control valve 27A) is appropriately referred to as a control valve 272A, and the other control valve (corresponding to the control valve 27B) is appropriately referred to as a control valve 272B.
  • the pressure sensor 66 that detects the pilot hydraulic pressure of the oil passage 451 connected to the direction control valve 640 that supplies hydraulic oil to the boom cylinder 10 is appropriately referred to as a pressure sensor 660 and is connected to the direction control valve 640.
  • the pressure sensor 67 that detects the pilot oil pressure of the connected oil passage 452 is appropriately referred to as a pressure sensor 670.
  • the pressure sensor 660 disposed in the oil passage 4510A is appropriately referred to as a pressure sensor 660A
  • the pressure sensor 660 disposed in the oil passage 4510B is appropriately referred to as a pressure sensor 660B.
  • the pressure sensor 670 disposed in the oil passage 4520A is appropriately referred to as a pressure sensor 670A
  • the pressure sensor 670 disposed in the oil passage 4520B is appropriately referred to as a pressure sensor 670B.
  • the pressure sensor 66 that detects the pilot hydraulic pressure of the oil passage 451 connected to the direction control valve 641 that supplies hydraulic oil to the arm cylinder 11 is appropriately referred to as a pressure sensor 661 and is connected to the direction control valve 641.
  • the pressure sensor 67 that detects the pilot oil pressure of the connected oil passage 452 is appropriately referred to as a pressure sensor 671.
  • the pressure sensor 661 disposed in the oil passage 4511A is appropriately referred to as a pressure sensor 661A
  • the pressure sensor 661 disposed in the oil passage 4511B is appropriately referred to as a pressure sensor 661B.
  • the pressure sensor 671 disposed in the oil passage 4521A is appropriately referred to as a pressure sensor 671A
  • the pressure sensor 671 disposed in the oil passage 4521B is appropriately referred to as a pressure sensor 671B.
  • the pressure sensor 66 that detects the pilot oil pressure of the oil passage 451 connected to the direction control valve 642 that supplies hydraulic oil to the bucket cylinder 12 will be appropriately referred to as a pressure sensor 662, and will be referred to as the direction control valve 642.
  • the pressure sensor 67 that detects the pilot oil pressure of the connected oil passage 452 is appropriately referred to as a pressure sensor 672.
  • the pressure sensor 661 disposed in the oil passage 4512A is appropriately referred to as a pressure sensor 661A
  • the pressure sensor 661 disposed in the oil passage 4512B is appropriately referred to as a pressure sensor 661B.
  • the pressure sensor 672 disposed in the oil passage 4522A is appropriately referred to as a pressure sensor 672A
  • the pressure sensor 672 disposed in the oil passage 4522B is appropriately referred to as a pressure sensor 672B.
  • the work machine controller 26 controls the control valve 27 to open the pilot hydraulic line 450.
  • the pilot hydraulic line 450 By opening the pilot hydraulic line 450, the pilot hydraulic pressure in the oil passage 451 and the pilot hydraulic pressure in the oil passage 452 become equal.
  • the pilot hydraulic line 450 opened the pilot hydraulic pressure is adjusted based on the operation amount of the operating device 25.
  • the work implement controller 26 When the work implement 2 is controlled by the work implement controller 26 such as limited excavation control, the work implement 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 relief valve.
  • a control signal is output from the work machine controller 26 to the control valve 27, the control valve 27 operates based on the control signal.
  • the hydraulic oil in the oil passage 451 is supplied to the oil passage 452 via the control valve 27.
  • the pressure of the hydraulic oil in the oil passage 452 is 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 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 after being adjusted by the control valve 27.
  • the work machine controller 26 can adjust the pilot hydraulic pressure for the direction control valve 640 connected to the boom cylinder 10 by outputting a control signal to at least one of the control valve 270A and the control valve 270B.
  • the work machine controller 26 can output a control signal to at least one of the control valve 271A and the control valve 271B to adjust the pilot hydraulic pressure for the direction control valve 641 connected to the arm cylinder 11.
  • the work machine controller 26 can adjust the pilot hydraulic pressure for the direction control valve 642 connected to the bucket cylinder 12 by outputting a control signal to at least one of the control valve 272A and the control valve 272B.
  • the work machine controller 26 determines the target excavation landform U and the bucket 8 based on the target excavation landform U indicating the design landform that is the target shape to be excavated and the bucket position data (blade position data S) indicating the position of the bucket 8.
  • the speed of the boom 6 is limited so that the speed at which the bucket 8 approaches the target excavation landform U is reduced according to the distance d.
  • the work machine controller 26 includes a boom intervention unit that outputs a control signal for limiting the speed of the boom 6.
  • the boom intervention portion of the work implement controller 26 outputs the blade 8a of the bucket 8 so as not to enter the target excavation landform U.
  • the movement of the boom 6 is controlled (intervention control). In the excavation with the bucket 8, the boom 6 is raised by the work machine controller 26 so that the cutting edge 8 a does not enter the target excavation landform U.
  • the oil passage 502 is connected to the control valve 27C that operates based on the control signal related to the intervention control output from the work machine controller 26 for the intervention control.
  • the oil passage 501 is connected to the control valve 27 ⁇ / b> C and supplies pilot oil supplied to the direction control valve 640 connected to the boom cylinder 10.
  • the oil passage 502 is connected to the control valve 27 ⁇ / b> C and the shuttle valve 51, and is connected to the oil passage 4520 ⁇ / b> B connected to the direction control valve 640 via the shuttle valve 51.
  • the shuttle valve 51 has two inlets and one outlet. One inlet is connected to the oil passage 502. The other inlet is connected to oil passage 4510B. The outlet is connected to oil passage 4520B.
  • Shuttle valve 51 connects between the oil passage 502 and oil passage 4510B, the oil passage having the higher pilot oil pressure, and oil passage 4520B. For example, when the pilot oil pressure of the oil passage 502 is higher than the pilot oil pressure of the oil passage 4510B, the shuttle valve 51 connects the oil passage 502 and the oil passage 4520B and does not connect the oil passage 4510B and the oil passage 4520B. Operate. As a result, the pilot oil in the oil passage 502 is supplied to the oil passage 4520 ⁇ / b> B via the shuttle valve 51.
  • shuttle valve 51 When the pilot oil pressure in oil passage 4510B is higher than the pilot oil pressure in oil passage 502, shuttle valve 51 operates so as to connect oil passage 4510B and oil passage 4520B and not to connect oil passage 502 and oil passage 4520B. . As a result, the pilot oil in the oil passage 4510B is supplied to the oil passage 4520B via the shuttle valve 51.
  • the oil passage 501 is provided with a pressure sensor 68 that detects the pilot oil pressure of the pilot oil in the oil passage 501. Pilot oil before passing through the control valve 27C flows through the oil passage 501. The pilot oil after passing through the control valve 27C flows through the oil passage 502. The control valve 27C is controlled based on a control signal output from the work machine controller 26 in order to execute intervention control.
  • the work machine controller 26 When the intervention control is not executed, the work machine controller 26 does not output a control signal to the control valve 27 so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operation device 25. For example, the work machine controller 26 fully opens the control valve 270B so that the direction control valve 640 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25, and opens the oil passage 501 with the control valve 27C. close.
  • the work machine controller 26 controls each control valve 27 so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the control valve 27C.
  • the work machine controller 26 controls the pilot hydraulic pressure adjusted by the control valve 27 ⁇ / b> C to be higher than the pilot hydraulic pressure adjusted by the operating device 25.
  • the valve 27C is controlled.
  • pilot oil from the control valve 27C is supplied to the direction control valve 640 via the shuttle valve 51.
  • the intervention control is not executed.
  • the operating device 25 is operated so that the boom 6 is raised at a high speed, and the pilot oil pressure is adjusted based on the operation amount, so that the pilot oil pressure adjusted by the operation of the operating device 25 is controlled by the control valve 27C. It becomes higher than the pilot oil pressure to be adjusted.
  • the pilot hydraulic pilot oil adjusted by the operation of the operating device 25 is supplied to the direction control valve 640 via the shuttle valve 51.
  • the work machine controller 26 determines that it is necessary to limit the excavation of the arm 7, the work machine controller 26 issues a command to restrict the flow rate to the control valve 271B. Thereby, the supply of the pilot hydraulic pressure to the oil passage 4521B by the lever operation to the arm cylinder 11 is restricted.
  • FIG. 19 is a diagram schematically illustrating an example of the operation of the work machine 2 when the limited excavation control (boom intervention control) is performed.
  • the hydraulic system 300 includes the boom cylinder 10 for driving the boom 6, the arm cylinder 11 for driving the arm 7, and the bucket cylinder 12 for driving the bucket 8.
  • the hydraulic system 300 is operated so that the boom 6 is raised and the arm 7 is lowered.
  • intervention control including raising operation of the boom 6 is executed so that the bucket 8 does not enter the target excavation landform U.
  • the boom 6 In the boom intervention control, the boom 6 cannot move at a high speed, and the arm 7 and the bucket 8 may be delayed with respect to the movement.
  • the arm 7 moves down, and can move at a higher speed than the boom 6 due to gravity (self-weight).
  • the boom 6 is raised by intervention control on the boom 6.
  • the arm cylinder 11 is loaded according to the weight of the arm 7 and the weight of the bucket 8, whereas the boom cylinder 10 is loaded according to the weight of the boom 6, the weight of the arm 7, and the weight of the bucket 8. Load is applied. That is, the load applied to the boom cylinder 10 is larger than the load applied to the arm cylinder 11.
  • the boom cylinder 10 needs to operate by overcoming the load.
  • the work machine controller 26 performs limit control of the arm 7 so that the arm 7 moves in accordance with the movement of the boom 6.
  • FIG. 20 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.
  • the control system 200 includes an operating device 25 that is operated to drive the arm 7, a detection device 70 that detects an operation amount MA (hereinafter simply referred to as M) of the operating device 25, Machine controller 26.
  • the work machine controller 26 uses a timer 261 for starting time measurement based on the detection result of the detection device 70, and a limit operation amount Mr for limiting the speed of the arm 7 as an elapsed time from the time measurement start time by the timer 261.
  • a control signal N is generated so that the arm 7 is driven with the limit operation amount Mr during a predetermined period from the start of time measurement by the timer 261 and the limit value setting unit 262 set in association with the control signal N.
  • An arm control unit 263 that outputs a speed limit Vc_am_lmt and a storage unit 264 are provided.
  • the detection device 70 includes a pressure sensor 66 (661B).
  • the detection device 70 detects the operation amount M of the operation device 25 by detecting the pilot hydraulic pressure adjusted by the operation device 25.
  • the working machine When the operating device 25 is operated at high speed (rapidly) by the operator to execute the lowering operation of the arm 7, the working machine is configured so that a delay in the raising intervention speed to the boom 6 with respect to the lowering speed of the arm 7 does not occur.
  • the controller 26 restricts the operation amount (arm operation amount) M of the operating device 25 and drives the arm 7 with the limited operation amount Mr. That is, in the present embodiment, in the boom intervention control, the arm 7 is driven with the limited operation amount Mr during at least a part of the period when the boom 6 is raised and the arm 7 is lowered.
  • the arm 7 moves at a limited speed (low speed). Occurrence of the follow-up delay of the boom 6 that delays the intervention speed is suppressed.
  • the limited operation amount Mr is a value that suppresses the occurrence of the follow-up delay of the boom 6 even if the arm 7 is operated with the limited operation amount Mr.
  • the limited operation amount Mr is obtained in advance by experiment or simulation, and is stored in the memory (storage unit) of the work machine controller 26.
  • the work machine controller 26 compares the arm operation amount M detected by the detection device 70 with the limited operation amount Mr.
  • the arm operation amount M detected by the detection device 70 and the limit operation amount Mr from the limit value setting unit 262 are output to the arm control unit 263.
  • the arm control unit 263 includes a comparison unit.
  • the comparison unit of the arm control unit 263 compares the arm operation amount M with the limited operation amount Mr.
  • the arm control unit 263 selects an operation amount having a smaller value from the arm operation amount M and the limit operation amount Mr, based on the comparison result between the arm operation amount M and the limit operation amount Mr.
  • the arm control unit 263 outputs the arm limit speed Vc_am_lmt to the work machine control unit 57 so that the arm 7 is driven with the selected operation amount among the arm operation amount M and the limit operation amount Mr.
  • the control for limiting the operation (speed) of the arm 7 so as not to cause a delay in the raising intervention speed to the boom 6 with respect to the lowering speed of the arm 7 is appropriately referred to as arm speed limit control.
  • the selected operation amount (small operation amount) is appropriately referred to as an operation amount Mf.
  • FIG. 21 is a flowchart for explaining an example of the operation of the control system 200 according to the present embodiment.
  • 22, FIG. 23, and FIG. 24 are timing charts for explaining an example of the operation of the control system 200 according to the present embodiment.
  • the operating device 25 is operated by the operator (step SB1).
  • the operator operates the operating device 25 to drive the arm 7.
  • the operating device 25 is operated so that the arm 7 performs the lowering operation.
  • Intervention control for the boom 6 is started so that the bucket 8 does not enter the target excavation landform U (step SB2).
  • the bucket 8 according to the distance d between the target excavation landform U and the bucket 8 based on the target excavation landform U indicating the target shape of the excavation target and the cutting edge position data S indicating the position of the cutting edge 8a of the bucket 8.
  • the speed of the boom 8 is limited so that the speed of approaching the target excavation landform U decreases.
  • the intervention control includes the raising operation of the boom 6.
  • the boom 6 is raised by intervention control on the boom 6.
  • the detecting device 70 detects the operation amount M of the operating device 25 (step SB3).
  • the detection device 70 includes a pressure sensor 66 and detects the operation amount M of the operation device 25 by detecting the pilot hydraulic pressure adjusted by the operation device 25.
  • at least the pilot hydraulic pressure (pilot hydraulic pressure of the oil passage 451) for the direction control valve 641 is detected by the pressure sensor 661.
  • the detection value of the detection device 70 (pressure sensor 661) is output to the timer 261.
  • the timer 261 starts time measurement based on the detection result of the detection device 70 (step SB4).
  • the timer 261 starts time measurement at the start of operation of the operating device 25 for driving the arm 7. That is, the time point t0 is a start time point of the operation of the controller device 25.
  • the time measurement start time by the timer 261 may be a time when the detection value of the detection device 70 exceeds a threshold value.
  • the threshold value may be the value of the limited operation amount Mr.
  • the time measurement start time point by the timer 261 may be a time point when the increase amount (change speed) of the detection value of the detection device 70 per unit time exceeds an allowable value.
  • the limit value setting unit 262 sets the limit operation amount Mr for limiting the speed (lowering speed) of the arm 7 in association with the elapsed time from the time measurement start time t0 by the timer 261 (step SB5).
  • the limit operation amount Mr is a value that suppresses the occurrence of the follow-up delay of the boom 6 even if the arm 7 is operated with the limit operation amount Mr.
  • the limited operation amount Mr is obtained in advance by experiment or simulation.
  • the limited operation amount Mr is set in association with the elapsed time from the time measurement start time t0 by the timer 261.
  • data indicating the limit operation amount Mr set in association with time is appropriately referred to as a limit pattern.
  • FIG. 22 shows the relationship between the elapsed time from the start time t0 and the operation amount M of the arm 7 of the operating device 25.
  • FIG. 23 shows the relationship between the elapsed time from the start time t0 and the limit operation amount Mr set by the limit value setting unit 262. That is, FIG. 23 shows a limit pattern.
  • FIG. 24 shows the relationship between the elapsed time from the start time t0 and the operation amount Mf of the arm 7.
  • the start time t0 is a time measurement start time by the timer 261.
  • the horizontal axis represents time (elapsed time).
  • the vertical axis represents the operation amount M of the arm 7 and the count value of the timer 261.
  • the vertical axis represents the limit operation amount Mr and the count value of the timer 261.
  • the vertical axis represents the operation amount Mf of the arm 7 and the count value of the timer 261.
  • the relationship between the elapsed time from the start time t0 and the operation amount M of the arm 7 of the operating device 25 is indicated by a line S1.
  • the relationship (limit pattern) between the elapsed time from the start time t0 and the limited operation amount Mr is indicated by a line S2.
  • the relationship (limit pattern) between the elapsed time from the start time t0 and the operation amount Mf is indicated by a line Sc.
  • Line Lt shows the count value by the timer 261.
  • the line S2 is indicated by a solid line
  • the line S1 is indicated by a dotted line.
  • the operation amount (M, Mr, Mf) of the arm 7 correlates with the pilot oil pressure acting on the directional control valve 641 connected to the arm cylinder 11.
  • the unit of the operation amount (M, Mr, Mf) of the arm 7 is megapascal (MPa).
  • the pilot oil pressure corresponding to the operation amount M is adjusted by the operation device 25.
  • the pilot hydraulic pressure corresponding to the limited operation amount Mr is adjusted by the control valve 271 controlled by the arm control unit 263.
  • the operation amount M corresponds to the detection value of the pressure sensor 661 that detects the pilot oil pressure acting on the directional control valve 640 connected to the arm cylinder 11.
  • the pressure sensor 661 outputs a detected value of pilot hydraulic pressure corresponding to the operation amount M of the operating device 25 for driving the arm cylinder 11.
  • the limit operation amount Mr corresponds to a target value (limit value) of the pilot hydraulic pressure that acts on the directional control valve 640 connected to the arm cylinder 11.
  • the correlation between the pilot hydraulic pressure and the limited operation amount Mr is obtained in advance and stored in the storage unit 264 of the work machine controller 26.
  • the arm control unit 263 determines the limit operation amount Mr so that the target value of the pilot oil pressure acts on the direction control valve 641, and obtains the pilot oil pressure corresponding to the limit operation amount Mr.
  • a control signal N is generated.
  • the operation amount Mf corresponds to a detection value of the pressure sensor 671 that detects the pilot oil pressure acting on the direction control valve 640 connected to the arm cylinder 11.
  • the operation amount Mf is the smaller operation amount of the operation amount M and the limited operation amount Mr.
  • the arm control unit 263 does not generate the control signal N.
  • the control valve 271 is fully opened, and the pilot hydraulic pressure based on the operation amount M acts on the direction control valve 641.
  • the arm control unit 263 When the operation amount M is larger than the limit operation amount Mr, the arm control unit 263 generates a control signal N to the control valve 271 so that the arm speed limit control is executed based on the limit operation amount Mr.
  • the pilot hydraulic pressure adjusted by the control valve 271 and based on the limit operation amount Mr acts on the direction control valve 641.
  • FIG. 22 shows an example of the profile of the operation amount M.
  • a profile of the operation amount M is indicated by a line S1.
  • the operating device 25 is operated by the operator to drive the arm 7.
  • the timer 261 starts time measurement.
  • the operating device 25 is operated by the operator so that the operation amount M suddenly increases from zero to a value M3, as indicated by a line S1 in FIG.
  • the manipulated variable M maintains the value M3 for a certain period after reaching the value M3, and then decreases until it reaches zero.
  • the operation amount M (Mf) has a profile indicated by a line S1 in FIG. In this case, there is a possibility that the raising intervention speed to the boom 6 is delayed with respect to the lowering speed of the arm 7.
  • FIG. 23 shows an example of a profile of the limited operation amount Mr.
  • a profile of the limited operation amount Mr is indicated by a line S2.
  • the limited operation amount Mr is an operation amount that is determined in advance so that a delay in the raising intervention speed to the boom 6 does not occur.
  • the value M1 is set as the lower limit threshold value so that the limited operation amount Mr is generated.
  • the limited operation amount Mr is smaller than the operation amount M.
  • the driving of the arm 7 is controlled so that the arm 7 is not operated with the operation amount M larger than the limit operation amount Mr during the predetermined period Ts in which the time measurement by the timer 261 is performed.
  • the predetermined period Ts is a period between time t0 and time t1.
  • the limit operation amount Mr increases from zero to the value M2. That is, in the vicinity of the start time t0, the limited operation amount Mr is the value M2.
  • the value M2 is a value smaller than the value M3.
  • the limit operation amount Mr maintains the value M2 for a certain period after reaching the value M2, and then gradually increases, and reaches the value M3 at the end time t1. After that, the limited operation amount Mr maintains the value M3 and then decreases until the operation amount M based on the operation of the operator becomes less than the value M1 until it becomes zero.
  • the limited operation amount Mr is set to be smaller than the operation amount M.
  • the value of the time point t0 that is the start point of the limit pattern S2 shown in FIG. 23 is the value M2
  • the value of the time point t1 that is the end point of the limit pattern S2 is the value M3.
  • the limited operation amount Mr matches the operation amount M.
  • the limited operation amount Mr in the first half of the predetermined period Ts is smaller than the limited operation amount Mr in the second half of the predetermined period Ts.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr, selects the smaller operation amount, and generates the control signal N based on the selected operation amount Mf.
  • the limited operation amount Mr is smaller than the operation amount M in the predetermined period Ts from the time point t0 to the time point t1. Therefore, during a predetermined period from time t0 to time t1, the arm control unit 263 generates the control signal N so that the arm 7 is driven based on the limited operation amount Mr.
  • the limit operation amount Mr is set to the value M3.
  • the limited operation amount Mr and the operation amount M are equal.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr and selects the operation amount M.
  • the arm speed limit control ends at time t1. That is, in the present embodiment, the driving of the arm 7 based on the limit operation amount Mr (arm speed limit control) is started at the time measurement start time t0 by the timer 261, and the end time after the elapse of the predetermined period Ts from the disclosure time t0 The process ends at t1. After a predetermined period Ts has elapsed from the time measurement start time t0 by the timer 261, the driving based on the limited operation amount Mr is released.
  • FIG. 24 shows an example of the profile of the operation amount Mf.
  • a profile of the operation amount Mf is indicated by a line Sc.
  • the pilot oil pressure is adjusted and the arm 7 is operated according to the limit operation amount Mr, as indicated by the line Sc.
  • the pilot oil pressure is adjusted according to the operation amount M, and the arm 7 is operated.
  • the profile of the operation amount Mf of the arm 7 is determined so as to change along the line Sc in FIG. Specifically, when the operation by the controller device 25 is started at the time point t0, the operation amount Mf increases rapidly from zero to the value M2, and is maintained at the value M2 for a certain period. Thereafter, the operation amount Mf gradually increases and reaches the value M3 at time t1. After the elapse of time t1, the value M3 is maintained for a certain period, and then decreases to zero.
  • the arm control unit 263 generates the control signal N so that the arm 7 is driven with the limited operation amount Mr during a predetermined period Ts from the time measurement start time t0 by the timer 261 (step SB6). That is, the arm control unit 263 generates the control signal N for driving the arm 7 so that the arm 7 is driven according to the profile of the limited operation amount Mr during the predetermined period Ts.
  • the arm control unit 263 generates the control signal N so that the arm 7 is driven with the limited operation amount Mr during the predetermined period Ts, and after the predetermined period Ts when the driving based on the limited operation amount Mr is released, The generation of the control signal N is stopped so that the arm 7 is driven by the operation amount M. That is, the arm control unit 263 generates the control signal N so that the arm 7 moves at a low speed during the predetermined period Ts and the arm 7 moves at a high speed after the predetermined period Ts has elapsed.
  • the arm limit speed Vc_am_lmt is output based on the control signal N generated by the arm control unit 263, and the arm operation command CA based on the arm limit speed Vc_am_lmt is output to the control valve 27 connected to the arm cylinder 11.
  • the control valve 27 Based on the control signal N, the control valve 27 adjusts (limits) the pilot hydraulic pressure so that the amount of hydraulic oil supplied to the arm cylinder 11 is adjusted (limited).
  • the cylinder speed is adjusted and the speed of the arm 7 is limited.
  • the arm control unit 263 suppresses the speed (lowering speed) of the arm 7 in the lowering operation of the arm 7.
  • the speed of the arm 7 is limited during the predetermined period Ts. However, even if the predetermined period Ts is not provided, an effect of suppressing the decrease in excavation accuracy can be obtained.
  • the control system 200 of the construction machine 100 including the work machine 2 including the boom 6, the arm 7, and the bucket 8 functions as a detector that detects the attitude of the work machine 2.
  • First, second and third cylinder stroke sensors 16, 17, 18, an operating device 25 operated to drive a movable member including at least one of the arm 7 and the bucket 8, and an operation amount of the operating device 25 A detection device 70 that detects M, a control valve 27 that adjusts the amount of hydraulic oil supplied to the hydraulic cylinders 10, 11, and 12 that drive the work machine 2, and a detection result of the detection device 70, And a work machine controller 26 that functions as a control device that outputs a control signal to the control valve 27.
  • the work machine controller 26 has cutting edge position data indicating the three-dimensional position of the bucket 8 based on the cylinder attitude data ⁇ 1, ⁇ 2, and ⁇ 3 that are detection results of the first, second, and third cylinder stroke sensors 16, 17, and 18.
  • the bucket position data generation unit 28B that generates S and the target excavation landform U indicating the target shape of the excavation target by the work implement 2 are acquired, and based on the cutting edge position data S and the target excavation landform U
  • the distance acquisition unit 53 that calculates the distance d between the blade edge 8a of the bucket 8 and the target excavation landform U, the timer 261 that starts time measurement based on the detection result of the detection device 70, and the start of time measurement by the timer 261 Based on the elapsed time from the time point, a limit value setting unit 262 that sets a limit operation amount Mr for limiting the speed of the movable member, and a detection result of the detection device 70 Based on the results, in the excavation work by the bucket 8, when the operation of the operating device 25 is
  • the digging work is determined, and the operation of the arm 7 is limited at the start of the digging. Since the timing at which the operation of the arm 7 is limited is limited at the start of excavation, a decrease in the work amount of the construction machine 100 is suppressed. Thereby, the control system 200 can aim at coexistence of suppression of the fall of the work amount of the construction machine 100, and suppression of the fall of the blade edge
  • the limit value setting unit 262 is configured so that the limit operation amount Mr increases as the elapsed time from the time measurement start time by the timer 261 increases, that is, as the elapsed time increases.
  • the restriction operation amount Mr is set so that the restriction on the operation of the above is relaxed.
  • the cutting edge 8a can be moved along the target excavation landform U by sufficiently restricting the operation of the arm 7 at the start of excavation and then gradually relaxing the restriction of the operation of the arm 7.
  • the speed of the arm 7 is limited in the intervention control (excavation restriction control) of the boom 6, the delay of the raising intervention speed of the boom 6 with respect to the excavation operation of the arm 7 is suppressed. The Therefore, a decrease in excavation accuracy is suppressed.
  • the timer 261 measures time, and the driving of the arm 7 is limited for a predetermined period Ts from the time measurement start time t0 by the timer 261. Thereby, the fall of excavation accuracy is suppressed, without causing complication of control. Further, after the predetermined period Ts has elapsed, the arm 7 is driven based on an operation by the operator, so that a reduction in workability is suppressed.
  • the time measurement start time (start time of driving limitation of the arm 7) t0 of the timer 261 is the start time of the operation of the operation device 25, the time when the detection value of the detection device 70 exceeds the threshold, and It includes at least one of the time points when the amount of increase in the detection value of the detection device 70 per unit time exceeds the allowable value.
  • the driving based on the limited operation amount Mr is released after the elapse of a predetermined period Ts from the time measurement start time t0 by the timer 261. Thereby, normal work can be performed based on the arm operation amount M by the operating device 25.
  • the limited operation amount Mr in the first half of the predetermined period Ts is smaller than the limited operation amount Mr in the second half.
  • the first half of the predetermined period Ts by tightening the restriction on the arm 7, the occurrence of the follow-up delay of the boom 6 is suppressed.
  • the latter half of the predetermined period Ts the reduction of work efficiency is suppressed by loosening the restriction on the arm 7.
  • the arm 7 is driven with the limited operation amount Mr during at least a part of the period when the boom 6 is raised and the arm 7 is lowered.
  • the arm 7 moves at a limited speed (low speed). Speed delay is suppressed.
  • the pilot oil pressure is adjusted by the control signal N, and the supply amount of hydraulic oil to the arm cylinder 11 can be adjusted accurately at high speed.
  • the movement of the arm 7 is limited in order to suppress the follow-up delay of the boom 6 in the boom intervention control.
  • the movement of the bucket 8 may be limited in the boom intervention control. That is, in the above-described embodiment, the operating device 25 is operated to drive the bucket 8, the operation amount of the operating device 25 is detected by the detection device 70 (pressure sensor 662), and the detection result of the detection device 70 is displayed. Based on this, the time measurement by the timer 261 is started, the limit operation amount for limiting the speed of the bucket 8 is set in association with the elapsed time from the time measurement start time by the timer 261, and the time measurement by the timer 261 is started.
  • a bucket control unit may be provided so that the bucket 8 is driven with a limited control amount during a predetermined period from the time point, and a control signal may be output from the bucket control unit. The same applies to the following embodiments.
  • FIG. 25 is a schematic diagram illustrating an example of the control system 200 according to the present embodiment.
  • 26, 27, and 28 are timing charts for explaining an example of the operation of the control system 200 according to the present embodiment.
  • the control system 200 includes a variable displacement hydraulic pump (main hydraulic pump) 41 that supplies hydraulic oil, and a directional control valve 641 (64) that is supplied with hydraulic oil from the hydraulic pump 41.
  • Arm cylinder 11 driven by hydraulic oil supplied from hydraulic pump 41 via direction control valve 641, pump controller (pump control unit) 49 for controlling hydraulic pump 41, mode setting unit 26M, working machine controller 26.
  • the pump controller 49 is connected to the work machine controller 26.
  • the pump controller 49 outputs a control signal to the pump swash plate control device 41C to control the pump swash plate of the hydraulic pump 41.
  • the work machine controller 26 is connected to the man-machine interface unit 32.
  • the man-machine interface unit 32 includes a mode setting unit 26M.
  • the mode setting unit 26M sets the work mode of the excavator 100 based on the operator's operation.
  • the mode setting unit 26M stores information related to the first work mode and information related to the second work mode.
  • the mode setting unit may be separately provided with a switch or the like.
  • the control system 200 controls the excavator 100 in the first work mode and the second work mode.
  • the first work mode is a work efficiency priority mode (P mode).
  • the second work mode is a fuel saving mode (economy mode).
  • the maximum discharge capacity of the hydraulic oil from the hydraulic pump 41 that becomes the second maximum discharge capacity is the maximum discharge capacity of the hydraulic oil from the hydraulic pump 41 that becomes the first maximum discharge capacity in the first work mode.
  • the hydraulic oil supply is limited to a maximum discharge capacity smaller than that.
  • both the limited operation amount (first work mode limit operation amount) Mr in the first work mode and the limited operation amount (second work mode limit operation amount) Mr in the second work mode are both. These are determined in advance and stored in the storage unit 264 (not shown in FIG. 25) of the work machine controller 26.
  • the work machine controller 26 When controlling the excavator 100 in the first work mode, the work machine controller 26 performs arm speed limit control using the limit operation amount Mr in the first work mode.
  • the work machine controller 26 controls the excavator 100 in the second work mode
  • the work machine controller 26 performs arm speed limit control using the limit operation amount Mr in the second work mode.
  • FIG. 26 shows the relationship between the elapsed time from the start time t0 and the limit operation amount Mr set by the limit value setting unit 262 for the first work mode (P mode).
  • a profile of the limited operation amount Mr in the first work mode is indicated by a line S2.
  • FIG. 26 also shows the relationship between the elapsed time from the start time t0 and the operation amount M of the arm 7 of the operating device 25.
  • a profile of the operation amount M is indicated by a line S1.
  • the horizontal axis represents time (elapsed time)
  • the vertical axis represents the operation amount (M, Mr) of the arm 7 and the count value of the timer 261.
  • FIG. 27 shows the relationship between the elapsed time from the start time t0 in the second work mode (economy mode) and the limit operation amount Mr set by the limit value setting unit 262.
  • a profile of the limited operation amount Mr in the second work mode is indicated by a line S3.
  • the profile of the limited operation amount Mr in the first work mode is also shown along line S2.
  • the horizontal axis represents time (elapsed time)
  • the vertical axis represents the operation amount (Mr) of the arm 7 and the count value of the timer 261.
  • FIG. 28 shows, as an example, the relationship between the elapsed time from the start time t0 and the operation amount Mf of the arm 7 in the second work mode.
  • the horizontal axis represents time (elapsed time)
  • the vertical axis represents the operation amount (Mf) of the arm 7 and the count value of the timer 261.
  • the operating device 25 is operated by the operator so that the operation amount M rapidly increases from zero to a value M3.
  • the manipulated variable M maintains the value M3 for a certain period after reaching the value M3, and then decreases until it reaches zero.
  • the operation amount M (Mf) has a profile indicated by a line S1 in FIG. In this case, there is a possibility that a delay in the raising intervention speed of the boom 6 with respect to the excavation operation of the arm 7 may occur.
  • FIG. 26 shows an example of a profile of the limited operation amount Mr in the first work mode.
  • the profile (limit pattern) of the limited operation amount Mr in the first work mode shown in FIG. 26 is equivalent to the profile of the limited operation amount Mr described with reference to FIG. Description of the profile of the limited operation amount Mr in the first work mode is omitted.
  • FIG. 27 shows an example of the profile of the limited operation amount Mr in the second work mode.
  • a profile of the limited operation amount Mr in the second work mode is indicated by a line S3. Similar to the limited operation amount Mr in the first work mode, the limited operation amount Mr in the second work mode is a predetermined operation amount so that the follow-up delay of the boom 6 does not occur.
  • the limited operation amount Mr in the second work mode is smaller than the limited operation amount Mr and the operation amount M in the first work mode.
  • the driving of the arm 7 is controlled so that the arm 7 is not operated with the operation amount M larger than the limit operation amount Mr indicated by the line S2 in the predetermined period Ts in which the time measurement by the timer 261 is performed. Is done.
  • the drive of the arm 7 is controlled so that the arm 7 is not operated with the operation amount M larger than the limit operation amount Mr indicated by the line S3 in the predetermined period Ts in which the time measurement by the timer 261 is performed. Is done.
  • the predetermined period Ts is a period between time t0 and time t1.
  • the limited operation amount Mr in the second work mode is zero and increases from zero to the value M2u.
  • the value M2u is larger than zero and smaller than the value M2. That is, in the vicinity of the start time t0, the limited operation amount Mr in the second work mode is the value M2u.
  • the limited operation amount Mr in the second work mode maintains the value M2u for a certain period after reaching the value M2u, and then gradually increases, and reaches the value M3 at the end time t1. Thereafter, the limit operation amount Mr decreases until it reaches zero after maintaining the value M3.
  • the limited operation amount Mr in the second work mode is set to be smaller than the limited operation amount Mr and the operation amount M in the first work mode.
  • the value of the time point t0 that is the start point of the limit pattern S3 shown in FIG. 27 is the value M2u
  • the value of the time point t1 that is the end point of the limit pattern S2 is the value M3.
  • the limited operation amount Mr in the second work mode matches the operation amount M. Similar to the first work mode, also in the second work mode, the limited operation amount Mr in the first half of the predetermined period Ts is smaller than the limited operation amount Mr in the second half of the predetermined period Ts.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr, selects the smaller operation amount, and generates the control signal N based on the selected operation amount Mf. Also in the present embodiment, the limited operation amount Mr is smaller than the operation amount M during a predetermined period Ts from time t0 to time t1. Therefore, during a predetermined period from time t0 to time t1, the arm control unit 263 generates the control signal N so that the arm 7 is driven based on the limited operation amount Mr.
  • the arm control unit 263 in the first work mode, causes the arm 7 to be driven based on the limited operation amount Mr for the first work mode indicated by the line S2 in FIG.
  • a control signal N is output to the control valve 271.
  • the arm control unit 263 In the second work mode, the arm control unit 263 generates the control signal N so that the arm 7 is driven based on the limited operation amount Mr for the second work mode indicated by the line S3 in FIG. .
  • the limited operation amount Mr in the second work mode is set to the value M3.
  • the limited operation amount Mr and the operation amount M in the second work mode are equal.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr and selects the operation amount M.
  • the arm speed limit control ends at time t1. That is, in the present embodiment, the driving of the arm 7 based on the limit operation amount Mr (arm speed limit control) is started at the time measurement start time t0 by the timer 261, and the end time after the elapse of the predetermined period Ts from the disclosure time t0 The process ends at t1. After a predetermined period Ts has elapsed from the time measurement start time t0 by the timer 261, the driving based on the limited operation amount Mr is released.
  • FIG. 28 shows an example of the profile of the operation amount Mf in the second work mode.
  • a profile of the operation amount Mf in the second work mode is indicated by a line Sc.
  • the pilot hydraulic pressure is adjusted and the arm 7 is operated according to the limit operation amount Mr for the second work mode as indicated by the line Sc.
  • the pilot oil pressure is adjusted according to the operation amount M, and the arm 7 is operated.
  • the profile of the operation amount Mf of the arm 7 is determined so as to change along the line Sc in FIG. Specifically, when the operation by the controller device 25 is started at time t0, the operation amount Mf increases rapidly from zero to the value M2u, and is maintained at the value M2u for a certain period. Thereafter, the operation amount Mf gradually increases and reaches the value M3 at time t1. After the elapse of time t1, the value M3 is maintained for a certain period, and then decreases to zero.
  • the arm control unit 263 generates the control signal N so that the arm 7 is driven with the limited operation amount Mr for the second work mode in a predetermined period Ts from the time measurement start time t0 by the timer 261.
  • the arm control unit 263 generates the control signal N so that the arm 7 is driven with the limited operation amount Mr for the second work mode in the predetermined period Ts, and the drive based on the limited operation amount Mr for the second work mode. After the predetermined period Ts has elapsed, the generation of the control signal N is stopped so that the arm 7 is driven with the operation amount M. Thereby, also in this embodiment, the arm 7 moves at a low speed during the predetermined period Ts, and the arm 7 moves at a high speed after the predetermined period Ts has elapsed.
  • the limited operation amount Mr in the second work mode is smaller than the limited operation amount Mr in the first work mode.
  • the second work mode is more advantageous than the first work mode from the viewpoint of fuel saving.
  • the amount of hydraulic oil supplied to the hydraulic cylinder 60 decreases. Therefore, in the second work mode, it is more difficult for the boom 6 and the arm 7 to move at a high speed than in the first work mode. In addition, there is a high possibility that a speed delay of the raising intervention to the boom 6 will occur.
  • the limited operation amount Mr in the second work mode is smaller than the limited operation amount Mr in the first work mode. That is, in the second work mode, the movement of the arm 7 is more strictly limited than in the first work mode. As a result, the occurrence of a speed delay of the raising intervention to the boom is suppressed. Therefore, a decrease in excavation accuracy is suppressed.
  • the bucket 8 is replaceable.
  • Various buckets 8 are connected to the tip of the arm 7.
  • a limit pattern indicated by a line S3 as described with reference to FIG. 27, for example, is set. Specifically, the display controller 26 transmits the selected type to the work machine controller 26 when the bucket type is selected. The work machine controller 26 selects a limit pattern corresponding to the type of bucket. In a state where the second weight bucket 8 that is smaller than the first weight is connected to the tip of the arm 7, the limit pattern indicated by the line S2 as described with reference to FIG. 26, for example, is set. That is, when the first weight bucket 8 is connected to the boom 6 via the arm 7, the limit operation amount Mr is connected to the boom 6 via the arm 7 that is a second weight bucket 8 smaller than the first weight. This is smaller than the limit operation amount Mr when the operation is performed.
  • the limit operation amount Mr when the first weight bucket 8 is connected is smaller than the limit operation amount Mr when the second weight bucket 8 is connected.
  • FIG. 29 is a diagram illustrating an example of the operation amount M and the limited operation amount Mr.
  • the operation amount M of the operation device 25 is derived from the detection result of the detection device 70 (pressure sensor 661).
  • the operation amount M derived from the detection result of the detection device 70 is compared with the limit operation amount Mr (limit pattern) prepared in advance and stored in the storage unit 264, and the operation amount M is smaller than the limit operation amount Mr.
  • the arm 7 operates based on the operation amount M of the operation device 25.
  • the operation amount M increases rapidly and the controller device 25 rapidly increases so as to exceed the limit operation amount Mr. May be operated. In that case, even if the operation amount M is compared with the limited operation amount Mr and the speed of the arm 7 is limited based on the limited operation amount Mr, the speed of the arm 7 may not be sufficiently limited.
  • the work machine controller 26 starts (restarts) the time measurement by the timer 261 when the operation amount M suddenly increases during the operation of the operation device 25, and sets the limit operation amount Mr.
  • the arm speed limit control is performed by changing a part.
  • the sudden increase in the operation amount M includes that the increase amount of the operation amount M per unit time exceeds an allowable value.
  • the operation amount M is derived from the detection result of the detection device 70.
  • the sudden increase in the operation amount M includes that the increase amount per unit time of the detection value of the detection device 70 (pressure sensor 661) exceeds the allowable value.
  • the work machine controller 26 restarts the time measurement by the timer 261 and sets the limit operation amount Mr.
  • the arm speed limit control is performed by changing the section.
  • the increase amount of the detection value of the detection device 70 is the operation amount M of the operation device 25 detected by the detection device 70 and the processing amount generated from the operation amount M by the low-pass filter processing.
  • the difference (deviation) from R is assumed to be.
  • FIG. 30 is a diagram illustrating an example of the control system 200 according to the present embodiment.
  • the detection value of the detection device 70 (the operation amount M of the operation device 25) is output to the work machine controller 26. Further, the detection value of the detection device 70 is output to the filter device 71.
  • the filter device 71 can perform first-order low-pass filter processing.
  • the filter device 71 performs first-order low-pass filter processing on the detection value of the detection device 70 to generate a processing amount R.
  • the work machine controller 26 obtains a deviation between the operation amount M and the processing amount R.
  • FIG. 31 is a schematic diagram showing the relationship between the operation amount M and the processing amount R when the operation device 25 is operated suddenly (at high speed). As shown in FIG. 31, when the operating device 25 is operated rapidly and the operation amount M increases stepwise, the deviation between the operation amount M and the processing amount R is large.
  • FIG. 32 is a schematic diagram showing a relationship between the operation amount M and the processing amount R when the operation device 25 is operated gently (low speed). As shown in FIG. 32, when the operating device 25 is operated gently and the operation amount M increases gently, the deviation between the operation amount M and the processing amount R is small.
  • FIG. 33 is a flowchart showing an example of the operation of the control system 200 according to the present embodiment.
  • 34, 35, and 36 are timing charts for explaining an example of the operation of the control system 200 according to the present embodiment.
  • 34, 35, and 36 the horizontal axis represents time, and the vertical axis represents the operation amount (M, Mr, Mf) of the arm 7 and the count value of the timer.
  • step SC1 when the operation of the arm 7 is started by the operating device 25, the time measurement by the timer 261 is started (step SC1).
  • step SC2 boom intervention control including raising operation of the boom 6 is executed according to the distance d between the target design landform U and the blade edge 8a (step SC2). .
  • the detecting device 70 detects the operation amount M of the operating device 25 for driving the arm 7 (step SC3).
  • the detection result of the operation amount M is output to the comparison unit of the arm control unit 263. Further, information regarding the limit operation amount Mr is output from the limit value setting unit 262 to the comparison unit of the arm control unit 263.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr according to the above-described embodiment (step SC4).
  • step SC4 If it is determined in step SC4 that the operation amount M is larger than the limited operation amount Mr, that is, if YES in step SC4, the arm control unit 263 selects the limited operation amount Mr and sets it as the operation amount Mf. The arm control unit 263 generates the control signal N based on the selected limited operation amount Mr. Thereby, the arm speed limit control is performed based on the limit operation amount Mr (step SC5).
  • step SC4 When it is determined in step SC4 that the operation amount M is equal to or less than the limited operation amount Mr, that is, in step SC4, No, the arm control unit 263 selects the operation amount M and sets it as the operation amount Mf. The arm control unit 263 does not generate the control signal N. The pilot oil pressure is adjusted based on the operation amount M of the operating device 25, and the arm 7 is driven (step SC6).
  • FIG. 34 shows an example of the profile of the operation amount M according to this embodiment.
  • a profile of the operation amount M is indicated by a line S1.
  • the operating device 25 is operated by the operator to drive the arm 7.
  • the timer 261 starts time measurement.
  • the operating device 25 is operated by the operator so that the operation amount M increases from zero to a value M1u as indicated by a line S1 in FIG.
  • the value M1u is smaller than the lower limit value M1 of the operation amount at which the limited operation amount Mr is generated and the value M2 of the limited operation amount Mr.
  • the manipulated variable M maintains the value M1u for a certain period after reaching the value M1u. In the present embodiment, the manipulated variable M is maintained at the value M1u during the period from the time point t0 to the time point t0n.
  • FIG. 34 shows a profile of the limited operation amount Mr by a line S2.
  • the limited operation amount Mr indicated by the line S2 is the same as the limited operation amount Mr described with reference to FIG. A detailed description of the limited operation amount Mr indicated by the line S2 is omitted.
  • the limited operation amount Mr indicated by the line S2 indicates the value M2.
  • the limited operation amount Mr is larger than the value M2 or the value M2. That is, in the example shown in FIG. 34, the operation amount M does not exceed the limit operation amount Mr indicated by the line S2 from the time point t0 to the time point t0n. Therefore, the arm 7 is driven based on the operation amount M of the operating device 25.
  • the operation amount is indicated as indicated by the line S1 in FIG.
  • the operating device 25 may be operated rapidly so that M increases rapidly and exceeds the limit operation amount Mr indicated by the line S2.
  • the controller device 25 is operated rapidly, and the operation amount M increases rapidly.
  • the operation amount M rapidly increases from the value M1u to the value M3v at the time point t0n.
  • the value M3v is larger than the value M3.
  • the amount of increase in the detection value of the detection device 70 is determined from the operation amount M of the operation device 25 detected by the detection device 70 and the operation amount M by the low-pass filter process. A difference (deviation) from the generated processing amount R is assumed.
  • the change in the operation amount M is detected by the detection device 70 (step SC7).
  • the detection result of the detection device 70 is output to the determination unit of the work machine controller 26.
  • the determination unit of the work machine controller 26 determines whether or not the deviation between the operation amount M and the processing amount R exceeds an allowable value (step SC8).
  • step SC8 When it is determined in step SC8 that the deviation is equal to or less than the allowable value, that is, in the case of No in step SC8, the work machine controller 26 returns to step SC4 and determines the increased operation amount M and the limited operation amount Mr. The comparison is performed and the above processing is executed.
  • step SC8 When it is determined in step SC8 that the deviation has exceeded the allowable value, that is, in the case of Yes in step SC8, work implement controller 26 resets the time measurement from time t0 and then starts time measurement by timer 261 ( (Restart) (step SC9).
  • the limit value setting unit 262 also resets the limit operation amount Mr indicated by the line S2 along with the reset of the time measurement, and associates the limit operation amount Mr with the elapsed time from the time measurement start time t0n by the timer 261. Set (reset).
  • FIG. 35 shows an example of the profile of the limited operation amount Mr that has been reset.
  • the reset profile of the limited operation amount Mr is indicated by a line S4.
  • the limited operation amount Mr is a predetermined operation amount so that the follow-up delay of the boom 6 does not occur.
  • the limited operation amount Mr is smaller than the operation amount M indicated by the line S1 in FIG.
  • the time measurement by the timer 261 is restarted at the time point t0n, and the arm 7 is driven so that the arm 7 is not operated with the operation amount M larger than the limit operation amount Mr during the predetermined period Tu in which the time measurement by the timer 261 is performed. Is controlled.
  • the predetermined period Tu is a period between the time point t0n and the time point t3.
  • the limited operation amount Mr is the value M2.
  • the value M2 is smaller than the value M3v.
  • the limited operation amount Mr set to the value M2 at the time point t0n maintains the value M2 for a certain period, and then gradually increases, and reaches the value M3 at the time point t2.
  • the limited manipulated variable Mr maintains the value M3 until time t3, and then decreases until it reaches zero.
  • the limited operation amount Mr is set to be smaller than the operation amount M in the predetermined period Tu from the time point t0n to the time point t3.
  • the value of the time point t0n that is the start point of the limit pattern S4 shown in FIG. 35 is the value M2, the value immediately before the time point t3 that is the end point of the limit pattern S4 is the value M3, and the value of the time point t3 is zero. is there.
  • the limited operation amount Mr in the first half of the predetermined period Tu is smaller than the limited operation amount Mr in the second half of the predetermined period Tu.
  • the arm control unit 263 compares the operation amount M with the reset limited operation amount Mr (step SC10).
  • step SC10 If it is determined in step SC10 that the operation amount M is equal to or less than the limit operation amount Mr, that is, if No in step SC10, the arm control unit 263 selects the operation amount M and sets it as the operation amount Mf. The arm control unit 263 does not generate the control signal N. The pilot oil pressure is adjusted based on the operation amount M of the operating device 25, and the arm 7 is driven (step SC11).
  • step SC10 If it is determined in step SC10 that the operation amount M is larger than the limited operation amount Mr, that is, if YES in step SC10, the arm control unit 263 selects the reset limited operation amount Mr indicated by the line S4. The operation amount is Mf. The arm control unit 263 generates the control signal N based on the selected limited operation amount Mr. As a result, arm speed limit control is performed based on the limit operation amount Mr (step SC12).
  • the operation amount M is larger than the limit operation amount Mr indicated by the line S4. Accordingly, the arm control unit 263 performs arm speed limit control based on the limit operation amount Mr.
  • FIG. 36 shows an example of the profile of the operation amount Mf according to the present embodiment.
  • a profile of the operation amount Mf is indicated by a line Sc.
  • the pilot oil pressure is adjusted and the arm 7 is operated according to the operation amount M as indicated by the line Sc. That is, the manipulated variable Mf increases from zero to the value M1u at time t0, maintains the value M1u until time t0n, and then increases from the value M1u to the value M2 at time t0n. Thereafter, the manipulated variable Mf gradually increases after maintaining the value M2 for a certain period, reaches the value M3 at time t2, and maintains the value M3 until time t3.
  • the operation amount (profile Sc) is a value based on the limit pattern S2ni at the time point t0n. It will increase rapidly to M3. As a result, the speed of the arm 7 increases abruptly, and the intervention speed of the boom 6 becomes slower than the raising speed of the arm 7, which may cause a decrease in excavation accuracy.
  • the time measurement by the timer 261 is reset, and then the time measurement is performed. While restarting, a part of the limit pattern S2 is changed and a new limit pattern S4 is set. Therefore, the arm 7 can be moved smoothly, and a decrease in excavation accuracy can be suppressed.
  • FIG. 37 is a diagram illustrating an example of the operation amount M and the limited operation amount Mr.
  • the arm 7 operates based on the limit operation amount Mr.
  • the controller device 25 may be operated so that the operation amount M decreases during the period in which the limited operation amount Mr increases.
  • the arm 7 is driven to accelerate even if the operation device 25 is operated so that the operation amount M decreases. In this case, the operator may feel uncomfortable.
  • the work implement controller 26 determines the operation amount decrease determination. And the limited operation amount Mr is maintained at a constant value from the decrease start time tg.
  • the limit operation amount Mr is maintained at a constant value without increasing, thereby preventing the operator from feeling uncomfortable.
  • FIG. 38 is a functional block diagram showing an example of the control system 200 according to the present embodiment.
  • FIG. 39 is a flowchart illustrating an example of the operation of the control system 200 according to the present embodiment.
  • 40, 41, and 42 are timing charts for explaining an example of the operation of the control system 200 according to the present embodiment. 40, 41, and 42, the horizontal axis represents time, and the vertical axis represents the operation amount (M, Mr, Mf) of the arm 7 and the count value of the timer.
  • the arm control unit 263 includes a comparison unit 263A.
  • the comparison unit 263A compares the operation amount M with the limited operation amount Mr according to the above-described embodiment.
  • step SD1 when the operation of the arm 7 is started by the operating device 25, the time measurement by the timer 261 is started (step SD1).
  • boom intervention control including raising operation of the boom 6 is executed according to the distance d between the target design landform U and the blade edge 8a (step SD2). .
  • the detecting device 70 detects the operation amount M of the operating device 25 for driving the arm 7 (step SD3).
  • the detection result of the operation amount M is output to the comparison unit 263A of the arm control unit 263. Further, information regarding the limit operation amount Mr is output from the limit value setting unit 262 to the comparison unit 263A of the arm control unit 263.
  • the arm control unit 263 compares the operation amount M and the limited operation amount Mr according to the above-described embodiment (step SD4).
  • step SD4 When it is determined in step SD4 that the operation amount M is larger than the limit operation amount Mr, that is, in step SD4, the arm control unit 263 selects the limit operation amount Mr and sets it as the operation amount Mf. The arm control unit 263 generates the control signal N based on the selected limited operation amount Mr. Thereby, arm speed restriction control is performed based on the restriction operation amount Mr (step SD5).
  • step SD4 when it is determined that the operation amount M is equal to or less than the limit operation amount Mr, that is, in step SD4, No, the arm control unit 263 selects the operation amount M and sets it as the operation amount Mf. The arm control unit 263 does not generate the control signal N. The pilot oil pressure is adjusted based on the operation amount M of the operating device 25, and the arm 7 is driven (step SD6).
  • FIG. 40 shows an example of the profile of the manipulated variable M according to this embodiment.
  • a profile of the operation amount M is indicated by a line S1.
  • the operating device 25 is operated by the operator to drive the arm 7.
  • the timer 261 starts time measurement.
  • the operating device 25 is operated by the operator so that the operation amount M increases from zero to a value M3v, as indicated by a line S1 in FIG.
  • the value M3v is a lower limit value M1 of the operation amount at which the limited operation amount Mr is generated, and a value M2 that is the limited operation amount. And greater than the maximum manipulated value M3.
  • the manipulated variable M maintains the value M3v for a certain period after reaching the value M3v.
  • the manipulated variable M is maintained at the value M3v during the period from time t0 to time tg.
  • the time point tg is a time point when a predetermined period Ts has elapsed from the start time point t0.
  • FIG. 40 shows a profile of the limited operation amount Mr by a line S2.
  • the limited operation amount Mr indicated by the line S2 is the same as the limited operation amount Mr described with reference to FIG. A detailed description of the limited operation amount Mr indicated by the line S2 is omitted.
  • the limited operation amount Mr indicated by the line S2 indicates the value M2.
  • the limited operation amount Mr is smaller than the value M3v of the operation amount M. That is, in the example shown in FIG. 40, the operation amount M exceeds the limit operation amount Mr indicated by the line S2 from the time point t0 to the time point ta. Therefore, the arm 7 is driven based on the limited operation amount Mr.
  • the operation device 25 is operated so that the operation amount M decreases at the time point tg of the predetermined period Ts. That is, in the state where the arm 7 is driven based on the limited operation amount Mr, as shown by the line S1 in FIG. 40, the operation amount M rapidly decreases at the time point tg, and is shown on the line S2 at the time point ta. In some cases, the controller device 25 is suddenly operated so as to be smaller than the limited operation amount Mr.
  • the operating device 25 is rapidly operated and the operation amount M is rapidly decreased at the time point tg.
  • the operation amount M rapidly decreases from the value M3v to the value M1v.
  • the value M1v of the operation amount M is larger than the value M1 and smaller than the value M2 of the limited operation amount Mr.
  • step SD7 When the manipulated variable M is suddenly decreased (decreased), a change in the manipulated variable M is detected by the detection device 70 (step SD7).
  • the detection result of the detection device 70 is output to the determination unit 262A of the limit value setting unit 262.
  • the determination unit 262A determines whether or not the decrease rate of the operation amount M (a decrease amount per unit time) exceeds the allowable amount (step SD8).
  • step SD8 When it is determined in step SD8 that the reduction rate is equal to or less than the allowable value, that is, in the case of No in step SD8, the work machine controller 26 returns to step SD4, and the operation amount M after reduction and the limited operation amount Mr. And the above-described processing is executed.
  • step SD8 When it is determined in step SD8 that the reduction rate of the operation amount M has exceeded the allowable value, that is, in the case of Yes in step SD8, the limit value setting unit 262 of the work machine controller 26 sets the limit at the decrease start time tg.
  • the operation amount Mr is maintained at a constant value M4 (step SD9).
  • the limited operation amount Mr is maintained at the value M4 from the time point tg as shown by the line S2a in FIG.
  • the arm 7 is driven based on the changed limit pattern S2a. This suppresses the operator from feeling uncomfortable.
  • the operation amount M When the operation device 25 is operated so that the operation amount M decreases, the operation amount M eventually becomes smaller than the limit operation amount Mr (value M4).
  • the arm controller 263 compares the operation amount M with the reset limited operation amount Mr indicated by the line S2a (step SD10).
  • step SD10 When it is determined in step SD10 that the operation amount M is equal to or less than the limit operation amount Mr, that is, in step SD10, No, the arm control unit 263 selects the operation amount M and sets it as the operation amount Mf. The arm control unit 263 does not generate the control signal N. The pilot oil pressure is adjusted based on the operation amount M of the operating device 25, and the arm 7 is driven (step SD11).
  • step SD10 When it is determined in step SD10 that the operation amount M is larger than the limit operation amount Mr, that is, in step SD10, Yes, the arm control unit 263 selects the limit operation amount Mr and sets it as the operation amount Mf. The arm control unit 263 generates the control signal N based on the selected limited operation amount Mr. Thus, arm speed limit control is performed based on the limit operation amount Mr (step SD12).
  • FIG. 41 shows an example of the reset limit pattern S4a.
  • FIG. 42 shows an example of the profile of the operation amount Mf according to the present embodiment.
  • a profile of the operation amount Mf is indicated by a line Sc.
  • the pilot oil pressure is adjusted and the arm 7 is operated according to the limit operation amount Mr, as indicated by the line Sc.
  • the pilot hydraulic pressure is adjusted according to the operation amount M, and the arm 7 is operated.
  • the pilot hydraulic pressure is adjusted and the arm 7 is operated according to the limited operation amount Mr.
  • FIG. 43 is a functional block diagram of the control system 200 according to the present embodiment. As shown in FIG. 43, in this embodiment, the work machine controller 26 includes a distance determination unit 262B.
  • FIG. 44 is a schematic diagram illustrating an example of a hydraulic excavator 100 according to the present embodiment.
  • the excavator 100 includes a vehicle main body 1 and a work implement 2.
  • the vehicle body 1 supports the boom 6.
  • the distance x between the reference position P2 of the vehicle body 1 and the position P3 of the blade edge 8a of the bucket 8 changes.
  • the distance x may be the distance between the position of the boom pin and the position of the blade edge 8a, or may be the distance between the installation position P1 and the position of the blade edge 8a.
  • the distance x between the reference position P2 and the position P3 is calculated from the attitude angles ⁇ 1 to ⁇ 3 of each work implement output from the sensor controller 30, and the distance x between the reference position P2 and the position P3 is the first.
  • the limit operation amount Mr when the work machine 2 is driven to be the distance is driven so that the distance x between the reference position P2 and the position P3 is a second distance shorter than the first distance. It is smaller than the limited operation amount Mr.
  • FIG. 45 is a timing chart for explaining an example of the operation of the control system 200 according to the present embodiment.
  • the horizontal axis represents time
  • the vertical axis represents the operation amount M (limit operation amount Mr) of the arm 7 and the count value of the timer.
  • a limit pattern as shown by the line S2 is set.
  • a limit pattern as shown by the line S5 is set.
  • the limit operation amount Mr of the limit pattern indicated by the line S2 is smaller than the limit operation amount Mr of the limit pattern indicated by the line S5.
  • FIG. 46 shows an example of a profile of the operation amount Mf determined based on the limit pattern S2.
  • FIG. 47 shows an example of the profile of the operation amount Mf determined based on the limit pattern S5.
  • the limited operation amount Mr at the first distance where the distance x is long is smaller than the limited operation amount Mr at the second distance where the distance x is short. That is, in the state of the first distance, the movement of the arm 7 is more strictly limited than in the state of the second distance. Thereby, generation
  • the limit operation amount Mr when the work implement 2 is driven so that the reference position of the vehicle main body 1 and the bucket 8 are the first distance is equal to that of the vehicle main body 1. Since the operation amount 2 is smaller than the limit operation amount Mr when the work machine 2 is driven so that the reference position and the bucket 8 become the second distance shorter than the first distance, the excavation accuracy can be improved while suppressing a decrease in work efficiency. The decrease can be suppressed.
  • FIG. 48 is a functional block diagram of the control system 200 according to the present embodiment. Similar to the above-described embodiment, the control system 200 includes the display controller 28, the work machine controller 26, the operating device 25 operated to drive a movable member including at least one of the arm 7 and the bucket 8, and the operating device. And a detection device 70 that detects 25 operation amounts M.
  • 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 bucket position data generation unit 28B is based on the respective attitude angles ⁇ 1, ⁇ 2, ⁇ 3 of the boom 6, the arm 7, and the bucket 8, which are detection results of the first, second, and third cylinder stroke sensors 16, 17, and 18. Then, the blade edge position data S indicating the three-dimensional position of the bucket 8 is generated.
  • the target excavation landform data generation unit 28C is an object to be excavated by the work implement 2 based on the target construction information T output from the target construction information storage unit 28A and the blade edge position data S output from the bucket position data generation unit 28B.
  • a target excavation landform U indicating the target shape is generated.
  • the work machine controller 26 acquires the target excavation landform (U) from the target excavation landform data generation unit 28C, and based on the cutting edge position data S and the target excavation landform U, the cutting edge 8a of the bucket 8 and the target excavation landform U
  • the distance acquisition unit 53 that calculates the distance d, the timer 261 that starts time measurement based on the detection result of the detection device 70, and the speed of the arm 7 based on the distance d calculated by the distance acquisition unit 53.
  • the boom 6 is raised and the arm 7 is lowered in the excavation work by the bucket 8. It has an arm control unit 263 that outputs a control signal N to the control valve 27 so that the arm 7 is driven with the limited operation amount Mr when the operation is started, and a storage unit 264.
  • the limit value setting unit 262 sets the limit operation amount Mr so that the limit operation amount Mr increases as the distance d increases. That is, the limit value setting unit 262 sets the limit operation amount Mr so that the limit of the operation of the arm 7 is relaxed as the distance d increases.
  • FIG. 49 is a diagram schematically illustrating an example of data stored in the storage unit 264.
  • the storage unit 264 stores an offset amount of the limited operation amount Mr with respect to the distance d for relaxing the limited operation amount Mr.
  • the offset amount increases proportionally as the distance d increases.
  • the offset amount is constant.
  • the arm control unit 263 adds an offset amount to the limited operation amount Mr.
  • FIG. 50 is a flowchart for explaining an example of the operation of the control system 200 according to the present embodiment.
  • the operating device 25 is operated by the operator (step SE1).
  • the operator operates the operating device 25 to drive the arm 7.
  • the operating device 25 is operated so that the arm 7 performs the lowering operation.
  • the detecting device 70 detects the operation amount M of the operating device 25 (step SE2).
  • the detection device 70 includes a pressure sensor 66 and detects the operation amount M of the operation device 25 by detecting the pilot hydraulic pressure adjusted by the operation device 25.
  • the detection value of the detection device 70 is output to the timer 261.
  • the timer 261 starts time measurement based on the detection result of the detection device 70 (step SE3).
  • the bucket position data generation unit 28B is a cutting edge that indicates the three-dimensional position of the bucket 8 based on the cylinder attitude data ⁇ 1, ⁇ 2, and ⁇ 3 that are detection results of the first, second, and third cylinder stroke sensors 16, 17, and 18.
  • Position data S is generated (step SE4).
  • the distance acquisition unit 53 calculates the distance d between the cutting edge 8a of the bucket 8 and the target excavation landform U based on the cutting edge position data S and the target excavation landform U (step SE5).
  • a limited operation amount Mr corresponding to the distance d is set (step SE6). Specifically, the arm control unit 263 adds the offset amount of the limited operation amount Mr to the operation amount M detected by the detection device 70.
  • the arm control unit 263 compares the operation amount M with the limited operation amount Mr obtained by adding the offset amount, selects the smaller operation amount, and generates the control signal N based on the selected operation amount Mf.
  • the generated control signal N is output to the control valve 27 (step ES7).
  • the operation of the arm 7 is limited at the start of digging. Since the timing at which the operation of the arm 7 is limited is limited at the start of excavation, a decrease in the work amount of the construction machine 100 is suppressed.
  • the limit value setting unit 262 increases the limit operation amount Mr as the distance d increases, that is, as the distance d increases, the limit of the operation of the arm 7 is relaxed. Then, the limited operation amount Mr is set.
  • the distance d is small, the operation of the arm 7 is sufficiently restricted, and when the distance d is large, the restriction of the operation of the arm 7 is relaxed, so that the cutting of the cutting edge 8a is controlled while suppressing a decrease in the work amount. It can be moved along the terrain U.
  • the operating device 25 is a pilot hydraulic system.
  • the operating device 25 may be an electric lever type.
  • an operation lever detector that detects an operation amount of the operation lever of the operation device 25 with a potentiometer or the like and outputs a detection value corresponding to the operation amount to the work machine controller 26 may be provided.
  • the work machine controller 26 may adjust the amount of hydraulic oil supplied to the hydraulic cylinder by outputting a control signal to the direction control valve 64 based on the detection result of the operation lever detection unit. This control may be performed not only by the work machine controller 226 but also by another controller such as the sensor controller 30.
  • a hydraulic excavator is cited as an example of a construction machine, but the present invention is not limited to a hydraulic excavator and may be applied to other types of construction machines.
  • the acquisition of the position of the hydraulic excavator CM in the global coordinate system is not limited to GNSS, and may be performed by other positioning means. Therefore, acquisition of the distance d between the blade edge 8a and the design landform is not limited to GNSS, and may be performed by other positioning means.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

　L'invention porte sur un système de commande pour équipement de construction comprenant : un détecteur qui détecte l'orientation de l'engin de chantier comportant une flèche, un balancier et un godet ; un dispositif de fonctionnement qui est actionné pour entrainer des éléments mobiles y compris le bras et/ou le godet ; un dispositif de détection qui détecte la quantité qui actionne le dispositif de fonctionnement ; une soupape de réglage qui règle la quantité d'huile hydraulique fournie à un vérin hydraulique entrainant l'engin de chantier ; une unité de génération de données de la position du godet qui génère les données de la position des dents indiquant leur position en fonction des résultats provenant du détecteur ; une unité d'acquisition de distance qui acquiert la topographie d'excavation cible exprimant la forme cible du site à excaver par l'engin de chantier et calcule la distance entre les dents du godet et la topographie d'excavation cible en fonction des données de la position et de la topographie d'excavation cible ; une unité de réglage de limite qui règle une quantité de fonctionnement limitée pour limiter la vitesse de l'élément mobile en fonction des résultats de détection provenant du dispositif de détection ; et une unité de commande de l'élément mobile qui émet des signaux de commande à la soupape de commande pour entrainer l'élément mobile en fonction de la quantité de fonctionnement limitée.
PCT/JP2015/065958 2014-06-02 2015-06-02 Système de commande et procédé de commande pour équipement de construction WO2015137528A1 (fr)

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KR1020157029630A KR20150139541A (ko) 2014-06-02 2015-06-02 건설 기계의 제어 시스템, 및 건설 기계의 제어 방법
DE112015000043.7T DE112015000043B4 (de) 2014-06-02 2015-06-02 Baumaschinensteuersystem und Verfahren zur Steuerung einer Baumaschine
US14/782,937 US20160040398A1 (en) 2014-06-02 2015-06-02 Construction machine control system and method of controlling construction machine
KR1020177008391A KR101791395B1 (ko) 2014-06-02 2015-06-02 건설 기계의 제어 시스템, 및 건설 기계의 제어 방법
JP2015528764A JP6014260B2 (ja) 2014-06-02 2015-06-02 建設機械の制御システム、及び建設機械の制御方法
CN201580000564.8A CN105324540B (zh) 2014-06-02 2015-06-02 建筑机械的控制系统及建筑机械的控制方法

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JPWO2015137528A1 (ja) 2017-04-06
JP6014260B2 (ja) 2016-10-25
US20170121930A1 (en) 2017-05-04
KR101791395B1 (ko) 2017-10-27
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DE112015000043B4 (de) 2019-02-28
DE112015000043T5 (de) 2015-12-03

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