WO2015186180A1 - 建設機械の制御システム、建設機械、及び建設機械の制御方法 - Google Patents
建設機械の制御システム、建設機械、及び建設機械の制御方法 Download PDFInfo
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- WO2015186180A1 WO2015186180A1 PCT/JP2014/064648 JP2014064648W WO2015186180A1 WO 2015186180 A1 WO2015186180 A1 WO 2015186180A1 JP 2014064648 W JP2014064648 W JP 2014064648W WO 2015186180 A1 WO2015186180 A1 WO 2015186180A1
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- bucket
- data
- boom
- arm
- axis
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—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
- 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
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
- E02F3/3663—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat hydraulically-operated
-
- 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
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
-
- 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
Definitions
- the present invention relates to a construction machine control system, a construction machine, 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.
- limited excavation control that moves a bucket based on a target excavation landform that is a target shape to be excavated as disclosed in Patent Document 1 and Patent Document 2 is known.
- tiltable buckets that can be tilted are known. If the tilt angle of the bucket varies due to the tilt of the bucket, the position of the blade edge of the bucket cannot be accurately grasped. As a result, excavation accuracy is reduced, and the intended construction may not be performed.
- 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 a decrease in excavation accuracy even when a tilt bucket is used.
- a boom rotatable with respect to a vehicle body about a boom axis, an arm rotatable with respect to the boom about an arm axis parallel to the boom axis, and the arm axis A construction machine control system comprising: a bucket axis parallel to the bucket axis; and a bucket that is rotatable with respect to the arm about each of a tilt axis orthogonal to the bucket axis, the dimensions of the boom, A first acquisition unit that acquires dimensional data including the dimensions of the arm and the bucket, a second acquisition unit that acquires the outer shape data of the bucket, and an excavation target in a work machine operation plane orthogonal to the bucket axis.
- a third acquisition unit that acquires target excavation landform data indicating a target excavation landform that is a two-dimensional target shape; and a boom angle that indicates a rotation angle of the boom about the boom axis 4th acquisition which acquires work machine angle data including data, arm angle data which shows the rotation angle of the arm centering on the arm axis, and bucket angle data which shows the rotation angle of the bucket centering on the bucket axis
- a fifth acquisition unit that acquires tilt angle data indicating a rotation angle of the bucket around the tilt axis, the dimension data, the outer shape data, the work implement angle data, and the tilt angle data.
- a control system for a construction machine comprising: a calculation unit that obtains two-dimensional bucket data indicating an outer shape of the bucket in the work machine operation plane.
- the outer shape data of the bucket includes first contour data of the bucket at one end with respect to a width direction of the bucket, and second contour data of the bucket at the other end, It is preferable that the calculation unit obtains the two-dimensional bucket data based on the first contour data, the position of the work machine operation plane, and the position of the bucket blade edge.
- the computing unit is based on the two-dimensional bucket data, the vehicle body position data indicating the current position of the vehicle body, and the vehicle body attitude data indicating the attitude of the vehicle body. It is preferable to obtain a relative position between the target excavation landform and the bucket.
- the third acquisition unit acquires target construction information that includes the target excavation landform and indicates a three-dimensional design landform that is a three-dimensional target shape of an excavation target
- the calculation unit includes: Based on the work implement angle data, the tilt angle data, the vehicle main body position data, the vehicle main body posture data, and the outer shape data of the bucket, a plurality of measurements determined on the tip of the bucket and the outer surface of the bucket Of the points, it is preferable that the closest approach point to the surface of the three-dimensional design landform is obtained, and the work implement operation plane passes through the closest approach point.
- WHEREIN It is preferable to provide the working machine control part which controls the said working machine based on the said two-dimensional bucket data.
- the two-dimensional bucket data includes bucket position data indicating a current position of the bucket in the work machine operation plane
- the work machine control unit includes the target excavation landform data and the bucket
- the speed limit is determined according to the distance between the target excavation landform and the bucket, and the speed in the direction in which the work machine approaches the target excavation landform is equal to or less than the speed limit. It is preferable to limit the speed of the boom.
- the two-dimensional bucket data includes bucket position data indicating a current position of the bucket in the work machine operation plane, and displays the target excavation landform data and the bucket position data. It is preferable to provide.
- a second aspect of the present invention includes a lower traveling body, an upper swing body supported by the lower traveling body, a boom, an arm, and a bucket, and a work implement supported by the upper swing body, And a control system according to the above aspect.
- a boom that is rotatable with respect to a vehicle body about a boom axis, an arm that is rotatable with respect to the boom about an arm axis parallel to the boom axis, and the arm axis.
- a construction machine including a working machine including a bucket shaft that is parallel to the bucket shaft and a bucket that is rotatable with respect to the arm about a tilt shaft that is orthogonal to the bucket shaft, the dimensions of the boom, Obtaining dimension data including the dimension of the arm and the dimension of the bucket; obtaining outer shape data of the bucket; and boom angle data indicating a rotation angle of the boom about the boom axis; Arm angle data indicating the rotation angle of the arm around the axis, and bucket angle data indicating the rotation angle of the bucket around the bucket axis Including the working machine angle data, obtaining tilt angle data indicating the rotation angle of the bucket about the tilt axis, and two-dimensional of the excavation target in the working machine operation plane orthogonal to the bucket axis Designating the target excavation landform data indicating the target excavation landform, which is the target shape, and the bucket in the work implement operation plane based on the dimension data, the outer shape data, the work implement angle data, and the tilt angle data
- a construction machine control method including obtaining two
- 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 sectional view showing an example of the bucket.
- FIG. 3 is a front view showing an example of a bucket.
- FIG. 4 is a side view schematically showing an example of the construction machine.
- FIG. 5 is a rear view schematically showing an example of the construction machine.
- FIG. 6 is a plan view schematically showing an example of the construction machine.
- FIG. 7 is a side view schematically showing an example of the bucket.
- FIG. 8 is a front view schematically showing an example of the bucket.
- FIG. 9 is a block diagram illustrating an example of a control system.
- FIG. 10 is a diagram illustrating an example of a hydraulic cylinder.
- FIG. 11 is a diagram illustrating an example of a stroke sensor.
- FIG. 12 is a diagram for explaining an example of limited excavation control.
- FIG. 13 is a diagram illustrating an example of a hydraulic system.
- FIG. 14 is a diagram illustrating an example of a hydraulic system.
- FIG. 15 is a diagram illustrating an example of a hydraulic system.
- FIG. 16 is a flowchart illustrating an example of a construction machine control method.
- FIG. 17A is a functional block diagram illustrating an example of a control system.
- FIG. 17B is a functional block diagram illustrating an example of a control system.
- FIG. 18 is a diagram for explaining an example of limited excavation control.
- FIG. 19 is a diagram schematically illustrating an example of a bucket.
- FIG. 20 is a diagram schematically illustrating an example of a bucket.
- FIG. 19 is a diagram schematically illustrating an example of a bucket.
- FIG. 21 is a diagram schematically illustrating an example of a bucket.
- FIG. 22 is a diagram schematically illustrating an example of a bucket.
- FIG. 23 is a diagram schematically illustrating an example of a work machine.
- FIG. 24 is a diagram schematically illustrating an example of a bucket.
- FIG. 25 is a schematic diagram for explaining an example of a method for controlling a construction machine.
- FIG. 26 is a flowchart illustrating an example of limited excavation control.
- FIG. 27 is a diagram for explaining an example of limited excavation control.
- FIG. 28 is a diagram for explaining an example of limited excavation control.
- FIG. 29 is a diagram for describing an example of limited excavation control.
- FIG. 30 is a diagram for explaining an example of limited excavation control.
- FIG. 31 is a diagram for explaining an example of limited excavation control.
- FIG. 32 is a diagram for explaining an example of limited excavation control.
- FIG. 33 is a diagram for describing an example of limited excavation control.
- FIG. 34 is a diagram for explaining an example of limited excavation control.
- FIG. 35 is a schematic diagram for explaining an example of a method of controlling the construction machine.
- FIG. 36 is a diagram illustrating an example of the display unit.
- FIG. 37 is a schematic diagram for explaining an example of a method for controlling a construction machine.
- FIG. 38 is a schematic diagram for explaining an example of a method for controlling a construction machine.
- FIG. 39 is a schematic diagram for explaining an example of a method for controlling a construction machine.
- FIG. 40 is a schematic diagram for explaining an example of a method of controlling the construction machine.
- the global coordinate system is a coordinate system based on the origin Pr (see FIG. 4) fixed to the earth.
- the local coordinate system is a coordinate system based on the origin P0 (see FIG. 4) fixed to the vehicle body 1 of the construction machine CM.
- 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) Pg 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) P0 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.
- FIG. 1 is a perspective view showing an example of the construction machine CM according to the present embodiment.
- the construction machine CM is a hydraulic excavator CM including the work machine 2 that operates by hydraulic pressure will be described.
- the hydraulic excavator CM includes a vehicle main body 1 and a work implement 2. As will be described later, the excavator CM 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 CM in the cab 4.
- the traveling device 5 has a pair of crawler belts 5Cr.
- the hydraulic excavator CM runs 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 left-right direction coincides with the vehicle width direction.
- 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 front-rear direction is the X-axis direction
- the left-right direction is the Y-axis direction.
- the direction in which the driver's seat 4S faces the front is the front direction (+ X direction), and the opposite direction to the front direction is the rear direction ( ⁇ X direction).
- one direction in the vehicle width direction is the right direction (+ Y direction), and the other direction in the vehicle width direction is the left direction ( ⁇ Y direction).
- 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.
- the work machine 2 is connected to the revolving unit 3.
- the work implement 2 is connected to the arm 7 via a boom 6 connected to the swing body 3 via a boom pin 13, an arm 7 connected to the boom 6 via an arm pin 14, and a bucket pin 15 and a tilt pin 80.
- the base end (boom foot) of the boom 6 and the revolving structure 3 are connected.
- the tip end portion (boom top) of the boom 6 and the base end portion (arm foot) of the arm 7 are connected.
- the distal end portion (arm top) of the arm 7 and the proximal end portion of the bucket 8 are connected.
- Each of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 30 is a hydraulic cylinder driven by hydraulic oil.
- the work implement 2 is disposed in the boom cylinder 10 and detects a stroke length of the boom cylinder 10.
- a second stroke sensor is disposed in the arm cylinder 11 and detects the stroke length of the arm cylinder 11. 17 and a third stroke sensor 18 that is disposed in the bucket cylinder 12 and detects the stroke length of the bucket cylinder 12.
- the boom 6 can rotate with respect to the revolving body 3 around a boom axis J1 which is a rotation axis.
- the arm 7 is rotatable with respect to the boom 6 about an arm axis J2 which is a rotation axis parallel to the boom axis J1.
- the bucket 8 is rotatable with respect to the arm 7 about a bucket axis J3 that is a rotation axis parallel to the boom axis J1 and the arm axis J2.
- the bucket 8 is rotatable with respect to the arm 7 about a tilt axis J4 that is a rotation axis orthogonal to the bucket axis J3.
- the boom pin 13 includes a boom shaft J1.
- the arm pin 14 includes an arm axis J2.
- Bucket pin 15 includes bucket shaft J3.
- the tilt pin 80 includes a tilt axis J4.
- each of the boom axis J1, the arm axis J2, and the bucket axis J3 is parallel to the Y axis.
- Each of the boom 6, the arm 7, and the bucket 8 can rotate in the ⁇ Y direction.
- the XZ plane includes the so-called vertical rotation surfaces of the boom 6 and the arm 7.
- the stroke length of the boom cylinder 10 is appropriately referred to as a boom cylinder length or a boom stroke
- the stroke length of the arm cylinder 11 is appropriately referred to as an arm cylinder length or an arm stroke
- the bucket cylinder 12 The stroke length is appropriately referred to as a bucket cylinder length or a bucket stroke
- the stroke length of the tilt cylinder 30 is appropriately referred to as a tilt cylinder length.
- the boom cylinder length, arm cylinder length, bucket cylinder length, and tilt cylinder length are collectively referred to as cylinder length data L as appropriate.
- FIG. 2 is a side sectional view showing an example of the bucket 8 according to the present embodiment.
- FIG. 3 is a front view showing an example of the bucket 8 according to the present embodiment.
- the bucket 8 is a tilt type bucket.
- the work machine 2 includes a bucket shaft J3 and a bucket 8 that can rotate with respect to the arm 7 about each of a tilt shaft J4 orthogonal to the bucket shaft J3.
- the bucket 8 is rotatably supported by the arm 7 around a bucket pin 15 (bucket shaft J3).
- the bucket 8 is rotatably supported by the arm 7 around a tilt pin 80 (tilt axis J4).
- Bucket axis J3 and tilt axis J4 are orthogonal to each other.
- the bucket 8 is rotatably supported by the arm 7 around the bucket axis J3 and the tilt axis J4 orthogonal to the bucket axis J3.
- the bucket 8 is connected to the tip of the arm 7 via a connecting member (frame) 90.
- the bucket pin 15 connects the arm 7 and the connection member 90.
- the tilt pin 80 connects the connection member 90 and the bucket 8.
- the bucket 8 is rotatably connected to the arm 7 via a connection member 90.
- the bucket 8 includes a bottom plate 81, a back plate 82, an upper plate 83, a side plate 84, and a side plate 85.
- the bottom plate 81, the upper plate 83, the side plate 84, and the side plate 85 define the opening 86 of the bucket 8.
- the bucket 8 has a bracket 87 provided on the upper part of the upper plate 83.
- the bracket 87 is installed at the front and rear positions of the upper plate 83.
- the bracket 87 is connected to the connection member 90 and the tilt pin 80.
- the connecting member 90 includes a plate member 91, a bracket 92 provided on the upper surface of the plate member 91, and a bracket 93 provided on the lower surface of the plate member 91.
- the bracket 92 is connected to the arm 7 and a second link pin 95 described later.
- the bracket 93 is installed on the upper portion of the bracket 87 and is connected to the tilt pin 80 and the bracket 87.
- the bucket pin 15 connects the bracket 92 of the connection member 90 and the tip of the arm 7.
- the tilt pin 80 connects the bracket 93 of the connection member 90 and the bracket 87 of the bucket 8.
- the work implement 2 includes a first link member 94 that is rotatably connected to the arm 7 via the first link pin 94P, and a second link member that is rotatably connected to the bracket 92 via the second link pin 95P. 95.
- the base end portion of the first link member 94 is connected to the arm 7 via the first link pin 94P.
- the base end portion of the second link member 95 is connected to the bracket 92 via the second link pin 95P.
- the distal end portion of the first link member 94 and the distal end portion of the second link member 95 are connected via a bucket cylinder top pin 96.
- the tip of the bucket cylinder 12 is rotatably connected to the tip of the first link member 94 and the tip of the second link member 95 via the bucket cylinder top pin 96.
- the connecting member 90 rotates about the bucket axis J3 together with the bucket 8.
- the tilt cylinder 30 is connected to each of a bracket 97 provided on the connection member 90 and a bracket 88 provided on the bucket 8.
- the rod of the tilt cylinder 30 is connected to the bracket 97 via a pin.
- the main body of the tilt cylinder 30 is connected to the bracket 88 via a pin.
- the bucket 8 rotates around the bucket axis J3 by the operation of the bucket cylinder 12.
- the bucket 8 rotates around the tilt axis J ⁇ b> 4 by the operation of the tilt cylinder 30.
- the tilt pin 80 tilt axis J4 rotates (tilts) together with the bucket 8 by the rotation of the bucket 8 about the bucket axis J3.
- the work implement 2 includes a tilt angle sensor 70 that detects tilt angle data indicating the rotation angle ⁇ of the bucket 8 around the tilt axis J4.
- the tilt angle sensor 70 detects the tilt angle (rotation angle) of the bucket 8 with respect to the horizontal plane in the global coordinate system.
- the tilt angle sensor 70 is a so-called biaxial angle sensor, and detects tilt angles in two directions related to a ⁇ Xg direction and a ⁇ Yg direction, which will be described later.
- the tilt angle sensor 70 is provided on at least a part of the bucket 8.
- the tilt angle in the global coordinate system is converted into the tilt angle ⁇ in the local coordinate system based on the detection result of the tilt sensor 24.
- the bucket 8 is not limited to this embodiment.
- a method of arbitrarily setting the inclination angle (tilt angle) of the bucket 8 may be used.
- the tilt angle axis may be increased by another axis.
- FIG. 4 is a side view schematically showing the excavator CM according to the present embodiment.
- FIG. 5 is a rear view schematically showing the excavator CM according to the present embodiment.
- FIG. 6 is a plan view schematically showing the excavator CM according to the present embodiment.
- the distance L1 between the boom axis J1 and the arm axis J2 is the boom length L1.
- a distance L2 between the arm axis J2 and the bucket axis J3 is defined as an arm length L2.
- a distance L3 between the bucket shaft J3 and the tip 8a of the bucket 8 is defined as a bucket length L3.
- the tip of the bucket 8 includes the tip of the blade that the bucket 8 has.
- the tip of the blade of the bucket 8 is straight.
- the bucket 8 may have a plurality of pointed blades.
- the tip 8a of the bucket 8 is appropriately referred to as a blade edge 8a.
- the hydraulic excavator CM has an angle detection device 22 that detects the angle of the work machine 2.
- the angle detection device 22 has boom angle data indicating the rotation angle ⁇ of the boom 6 centered on the boom axis J1, arm angle data indicating the rotation angle ⁇ of the arm 7 centered on the arm axis J2, and the bucket axis J3.
- Working machine angle data including bucket angle data indicating the rotation angle ⁇ of the bucket 8 is detected.
- the boom angle (rotation angle) ⁇ includes an inclination angle of the boom 6 with respect to an axis parallel to the Z axis of the local coordinate system.
- the arm angle (rotation angle) ⁇ includes the inclination angle of the arm 7 with respect to the boom 6.
- the bucket angle (rotation angle) ⁇ includes the inclination angle of the bucket 8 with respect to the arm 7.
- the angle detection device 22 includes a first stroke sensor 16 disposed in the boom cylinder 10, a second stroke sensor 17 disposed in the arm cylinder 11, and a third stroke sensor disposed in the bucket cylinder 12. 18 and so on. Based on the detection result of the first stroke sensor 16, the boom cylinder length is obtained. Based on the detection result of the second stroke sensor 17, the arm cylinder length is obtained. Based on the detection result of the third stroke sensor 18, the bucket cylinder length is obtained.
- the boom angle ⁇ is derived or calculated by detecting the boom cylinder length by the first stroke sensor 16.
- the arm angle ⁇ is derived or calculated.
- the bucket angle ⁇ is derived or calculated.
- the hydraulic excavator CM includes a position detection device 20 capable of detecting vehicle body position data P indicating the current position of the vehicle body 1 and vehicle body attitude data Q indicating the attitude of the vehicle body 1.
- the current position of the vehicle body 1 includes the current position (Xg position, Yg position, and Zg position) of the vehicle body 1 in the global coordinate system.
- the posture of the vehicle body 1 includes the position of the revolving body 3 with respect to the ⁇ Xg direction, the ⁇ Yg direction, and the ⁇ Zg direction.
- the posture of the vehicle body 1 is determined by the inclination angle (roll angle) ⁇ 1 of the revolving body 3 relative to the horizontal plane (XgYg plane), the inclination angle (pitch angle) ⁇ 2 of the revolving body 3 relative to the horizontal plane, It includes an angle (yaw angle) ⁇ 3 formed by the reference azimuth (for example, north) and the azimuth that the revolving unit 3 (work machine 2) faces.
- the position detection device 20 includes an antenna 21, a position sensor 23, and a tilt sensor 24.
- the antenna 21 is an antenna for detecting the current position of the vehicle body 1.
- 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 position sensor 23.
- the position sensor 23 includes a three-dimensional position sensor and a global coordinate calculation unit, and detects the installation position Pr of the antenna 21 in the global coordinate system.
- the global coordinate system is a three-dimensional coordinate system based on the reference position Pg installed in the work area. As shown in FIG. 4, in this embodiment, the reference position Pg is the position of the tip of the reference pile set in the work area.
- 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 with respect to the Y-axis direction (vehicle width direction of the revolving structure 3) of the local coordinate system.
- the position sensor 23 detects the installation position Pra of the first antenna 21A and the installation position Prb of the second antenna 21B.
- the position detection device 20 uses the position sensor 23 to acquire vehicle body position data P and vehicle body attitude data Q in global coordinates.
- the vehicle body position data P is data indicating a reference position P0 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 Pr.
- the position detection device 20 acquires vehicle body position data P including the reference position P0. Further, the position detection device 20 acquires vehicle body attitude data Q based on the two installation positions Pra and the installation position Prb.
- the vehicle body posture data Q is determined based on an angle formed by a straight line determined by the installation position Pra and the installation position Prb with respect to a reference direction (for example, north) of global coordinates.
- the vehicle body posture data Q indicates the direction in which the turning body 3 (work machine 2) is facing.
- the tilt sensor 24 is provided on the revolving unit 3.
- the inclination sensor 24 includes an IMU (Inertial Measurement Unit).
- the inclination sensor 24 is disposed in the lower part of the cab 4.
- a highly rigid frame is disposed below the cab 4.
- the tilt sensor 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 tilt sensor 24 is disposed on the frame.
- the position detection device 20 uses the inclination sensor 24 to acquire vehicle body posture data Q including the roll angle ⁇ 1 and the pitch angle ⁇ 2.
- FIG. 7 is a side view schematically showing the bucket 8 according to the present embodiment.
- FIG. 8 is a front view schematically showing the bucket 8 according to the present embodiment.
- the distance L4 between the bucket axis J3 and the tilt axis J4 is the tilt length L4.
- a distance L5 between the side plate 84 and the side plate 85 is defined as a width dimension L5 of the bucket 8.
- the tilt angle ⁇ is an inclination angle of the bucket 8 with respect to the XY plane.
- the tilt angle data indicating the tilt angle ⁇ is derived from the detection result of the tilt angle sensor 70.
- the tilt axis angle ⁇ is an inclination angle of the tilt axis J4 (tilt pin 80) with respect to the XY plane.
- the tilt angle data indicating the tilt axis angle ⁇ is derived from the detection result of the angle detection device 22.
- the tilt angle data is acquired from the detection result of the angle detection device 22, but the tilt angle of the bucket 8 is, for example, the stroke length (tilt cylinder length) of the tilt cylinder 30. It is also possible to calculate and acquire from the detected detection result.
- FIG. 9 is a block diagram showing 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 position detection device 20, an angle detection device 22, a tilt angle sensor 70, an operation device 25, a work machine controller 26, a pressure sensor 66, and a control valve 27.
- the display unit 29 displays predetermined information such as the target excavation landform to be excavated based on the control of the display controller 28.
- the input unit 36 is a touch panel or the like that performs input on the display unit, and is input by an operator. When operated by the operator, the input unit 36 generates an operation signal based on the operation and outputs the operation signal to the display controller 28.
- 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 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 includes a first operating lever 25R, a second operating lever 25L, and a third operating lever 25P.
- 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 third operation lever 25P is disposed, for example, on the second operation lever 25L. Note that the third operation lever 25P may be disposed on the first operation lever 25R.
- 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 bucket 8 is operated by the third operation lever 25P.
- the rotation of the bucket 8 about the bucket shaft J3 is operated by the first operation lever 25R.
- the rotation (tilt) of the bucket 8 about the tilt axis J4 is operated by the third operation lever 25P.
- 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 pilot hydraulic pump and reduced to pilot hydraulic pressure by the control valve is supplied to the operating device 25.
- the pilot oil pressure is adjusted based on the operation amount of the operating device 25, and the hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 40) flows according to the pilot oil pressure.
- the direction control valve 64 is driven.
- a pressure sensor 66 is disposed in the pilot hydraulic line 450. The pressure sensor 66 detects pilot oil pressure. The detection result of the pressure sensor 66 is 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.
- 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.
- 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.
- 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 third operation lever 25P is operated for driving the bucket 8 (rotation about the tilt axis J4).
- the direction control valve 64 through which the hydraulic oil supplied to the tilt cylinder 30 for tilting the bucket 8 flows is driven according to the operation amount of the third operation lever 25P.
- 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, the bucket cylinder 12, and the tilt cylinder 30).
- the control valve 27 operates based on a control signal from the work machine controller 26.
- the angle detection device 22 has boom angle data indicating the rotation angle ⁇ of the boom 6 centered on the boom axis J1, arm angle data indicating the rotation angle ⁇ of the arm 7 centered on the arm axis J2, and the bucket axis J3.
- Working machine angle data including bucket angle data indicating the rotation angle ⁇ of the bucket 8 is detected.
- the angle detection device 22 includes a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18.
- the detection result of the first stroke sensor 16, the detection result of the second stroke sensor 17, and the detection result of the third stroke sensor 18 are output to the sensor controller 32.
- the sensor controller 32 calculates the boom cylinder length based on the detection result of the first stroke sensor 16.
- the first stroke sensor 16 outputs to the sensor controller 32 a pulse of phase displacement associated with the orbiting operation.
- the sensor controller 32 calculates the boom cylinder length based on the phase displacement pulse output from the first stroke sensor 16.
- the sensor controller 32 calculates the arm cylinder length based on the detection result of the second stroke sensor 17.
- the sensor controller 32 calculates the bucket cylinder length based on the detection result of the third stroke sensor 18.
- the sensor controller 32 calculates the rotation angle ⁇ of the boom 6 with respect to the vertical direction of the vehicle body 1 from the boom cylinder length acquired based on the detection result of the first stroke sensor 16.
- the sensor controller 32 calculates the rotation angle ⁇ of the arm 7 with respect to the boom 6 from the arm cylinder length acquired based on the detection result of the second stroke sensor 17.
- the sensor controller 32 calculates the rotation angle ⁇ of the blade edge 8 a of the bucket 8 with respect to the arm 7 from the bucket cylinder length acquired based on the detection result of the third stroke sensor 18.
- the rotation angle ⁇ of the boom 6, the rotation angle ⁇ of the arm 7, and the rotation angle ⁇ of the bucket 8 may not be detected by the stroke sensor.
- the rotation angle ⁇ 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 rotation angle ⁇ .
- the rotation angle ⁇ of the arm 7 may be detected by an angle detector attached to the arm 7.
- the rotation angle ⁇ of the bucket 8 may be detected by an angle detector attached to the bucket 8.
- the sensor controller 32 acquires the cylinder length data L and the work machine angle data from the first, second and third stroke sensors 16, 17 and 18.
- the sensor controller 32 outputs work implement rotation angle data ⁇ to ⁇ to the display controller 28 and the work implement controller 26, respectively.
- the display controller 28 acquires vehicle body position data P and vehicle body attitude data Q from the position detection device 20. Further, the display controller 28 acquires tilt angle data indicating the tilt angle ⁇ from the tilt angle sensor 70.
- the display controller 28 includes a calculation unit 280A that performs calculation processing, a storage unit 280B that stores data, and an acquisition unit 280C that acquires data.
- the display controller 28 stores the target excavation landform data U based on the stored target construction information, dimensions of each work implement, vehicle body position data P, vehicle body posture data Q, and rotation angle data ⁇ to ⁇ of each work implement. Calculate and output to the work machine controller 26.
- the work machine controller 26 includes a work machine control unit 26A and a storage unit 26C.
- the work machine controller 26 receives the target excavation landform data U from the display controller 28 and obtains the rotation angle data ⁇ to ⁇ of each work machine from the sensor controller 32.
- the work machine controller 26 generates a control command to the control valve 27 based on the target excavation landform data U and the work machine rotation angle data ⁇ to ⁇ . Further, the work machine controller 26 issues an operation command to the pump controller 34 when using the tilt bucket.
- the pump controller 34 issues a drive command to the hydraulic pump 41 that supplies hydraulic oil to the work machine 2.
- the pump controller 34 gives a command to control valves 27D and 27E, which will be described later, in order to manipulate the tilt angle of the bucket 8.
- the stroke sensor 16 is attached to the boom cylinder 10.
- the 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 stroke sensor 16 and accommodates the 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 stroke sensor 16 includes a rotation 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.
- a signal indicating the rotation amount (rotation angle) of the rotation roller 161 detected by the rotation sensor unit 163 is sent to the sensor controller 32 via the electric signal line, and the work machine controller 26 uses the cylinder rod 10Y of the boom cylinder 10 to transmit the signal. It is converted to the position (stroke position).
- 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 electric signal detected by the Hall IC 163b is sent to the work machine controller 26, and the electric signal of the Hall IC 163b is sent from the work machine controller 26 to the rotation amount of the rotating roller 161, that is, the displacement amount of the cylinder rod 10Y of the boom cylinder 10. Converted to (stroke length).
- 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 electric signal (voltage) output from the Hall IC 163b is repeated.
- the displacement amount (stroke length) of the cylinder rod 10Y of the boom cylinder 10 is detected based on the rotation angle of the rotation roller 161 and the rotation speed of the rotation roller 161.
- the stroke sensor 16 can detect 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.
- the control system 200 includes a hydraulic system 300 and a work machine controller 26.
- Each of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 30 is a hydraulic cylinder. These hydraulic cylinders are operated by a hydraulic system 300.
- FIG. 13 is a diagram schematically illustrating an example of a hydraulic system 300 including the arm cylinder 11. The same applies to the bucket cylinder 12.
- the hydraulic system 300 includes a variable displacement main hydraulic pump 41 that supplies hydraulic oil to the arm cylinder 11 via the direction control valve 64, a pilot hydraulic pump 42 that supplies pilot oil, and pilot oil for the direction control valve 64.
- An operating device 25 for adjusting the pilot oil pressure an oil passage 43 (43A, 43B) through which pilot oil flows, a control valve 27 (27A, 27B) disposed in the oil passage 43, and a pressure sensor disposed in the oil passage 43 66 (66A, 66B) and a work machine controller 26 for controlling the control valve 27.
- the oil passage 43 is the same as the pilot hydraulic line 450 in FIG.
- the direction control valve 64 controls the direction in which hydraulic oil flows.
- the hydraulic oil supplied from the main hydraulic pump 41 is supplied to the arm cylinder 11 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.
- the supply of hydraulic oil to the cap side oil chamber 40A (oil passage 47) of the arm cylinder 11 and the supply of hydraulic oil to the rod side oil chamber 40B (oil passage 48) are switched. Further, the supply amount of hydraulic oil (supply amount per unit time) to the arm cylinder 11 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 arm cylinder 11.
- 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 delivered from the pilot hydraulic pump 42 is supplied to the operating device 25. Note that pilot oil sent from the main hydraulic pump 41 and decompressed by the pressure reducing valve 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.
- Two oil passages 43 through which pilot oil flows are provided for one directional control valve 64.
- the pilot oil supplied to one space (first pressure receiving chamber) of the spool of the direction control valve 64 flows into one oil passage 43A.
- Pilot oil supplied to the other space (second pressure receiving chamber) of the spool of the direction control valve 64 flows through the other oil passage 43B.
- a pressure sensor 66 is disposed in the oil passage 43.
- the pressure sensor 66 detects pilot oil pressure.
- the pressure sensor 66 includes a pressure sensor 66A that detects the pilot oil pressure in the oil passage 43A, and a pressure sensor 66B that detects the pilot oil pressure in the oil passage 43B. The detection result of the pressure sensor 66 is output to the work machine controller 26.
- the control valve 27 is an electromagnetic proportional control valve, and can adjust the pilot hydraulic pressure based on a control signal from the work machine controller 26.
- the control valve 27 includes a control valve 27A that can adjust the pilot oil pressure of the oil passage 43A, and a control valve 27B that can adjust the pilot oil pressure of the oil passage 43B.
- the control valve 27 When adjusting the pilot hydraulic pressure by operating the operating device 25, the control valve 27 is fully opened.
- pilot hydraulic pressure corresponding to the operation amount of the operation lever acts on the first pressure receiving chamber of the spool of the direction control valve 64.
- the pilot hydraulic pressure corresponding to the operating amount of the operating lever acts on the second pressure receiving chamber of the spool of the direction control valve 64.
- the spool of the directional control valve 64 moves by a distance corresponding to the pilot hydraulic pressure adjusted by the operating device 25.
- the hydraulic oil from the main hydraulic pump 41 is supplied to the cap side oil chamber 40A of the arm cylinder 11 and the arm cylinder 11 extends.
- the pilot hydraulic pressure acts on the second pressure receiving chamber the hydraulic oil from the main hydraulic pump 41 is supplied to the rod side oil chamber 40B of the arm cylinder 11 and the arm cylinder 11 is contracted.
- the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 41 to the arm cylinder 11 via the direction control valve 64 is adjusted.
- the cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied per unit time.
- the work machine controller 26 can adjust the pilot oil pressure by controlling the control valve 27.
- the work machine controller 26 drives the control valve 27.
- the control valve 27A is driven by the work machine controller 26
- the spool of the directional control valve 64 moves by a distance corresponding to the pilot hydraulic pressure adjusted by the control valve 27A.
- hydraulic oil from the main hydraulic pump 41 is supplied to the cap-side oil chamber 40A of the arm cylinder 11, and the arm cylinder 11 extends.
- the control valve 27B is driven by the work machine controller 26, the spool of the directional control valve 64 moves by a distance corresponding to the pilot hydraulic pressure adjusted by the control valve 27B.
- the hydraulic oil from the main hydraulic pump 41 is supplied to the rod side oil chamber 40B of the arm cylinder 11, and the arm cylinder 11 contracts.
- the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 41 to the arm cylinder 11 via the direction control valve 64 is adjusted.
- the cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied per unit time.
- FIG. 14 is a diagram schematically illustrating an example of a hydraulic system 300 including the boom cylinder 10.
- the boom 6 performs two types of operations, a lowering operation and a raising operation.
- the pilot hydraulic pressure corresponding to the operation amount of the operation device 25 acts on the direction control valve 64.
- the spool of the direction control valve 64 moves according to the pilot hydraulic pressure. Based on the amount of movement of the spool, the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 41 to the boom cylinder 10 via the direction control valve 64 is adjusted.
- the work machine controller 26 can adjust the pilot hydraulic pressure acting on the second pressure receiving chamber by driving the control valve 27A.
- the work machine controller 26 can adjust the pilot hydraulic pressure acting on the first pressure receiving chamber by driving the control valve 27B.
- the boom 6 is lowered by supplying pilot oil to the direction control valve 64 via the control valve 27A.
- the pilot oil is supplied to the direction control valve 64 via the control valve 27B, the raising operation of the boom 6 is executed.
- a control valve 27C that operates based on a control signal related to intervention control output from the work machine controller 26 is provided in the oil passage 43C for intervention control.
- the pilot oil sent from the pilot hydraulic pump 42 flows through the oil passage 43C.
- the oil passage 43 ⁇ / b> C is connected to the oil passage 43 ⁇ / b> B via the shuttle valve 51.
- the shuttle valve 51 selects and outputs an input from an oil passage with a large supply pressure for each connected oil passage.
- the oil passage 43C is provided with a control valve 27C and a pressure sensor 66C that detects the pilot oil pressure of the oil passage 43C.
- 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 27C so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operation device 25. For example, the work machine controller 26 fully opens the control valve 27B and drives the oil passage 43C with the control valve 27C so that the direction control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25. close.
- the work machine controller 26 controls each control valve 27 so that the direction control valve 64 is driven based on the pressure of the pilot oil 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.
- the pilot pressure supplied from the oil passage 43C is larger than the pilot pressure supplied from the oil passage 43B.
- pilot oil from the control valve 27 ⁇ / b> C is supplied to the direction control valve 64 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 oil pilot oil adjusted by the operation of the operating device 25 is supplied to the direction control valve 64 via the shuttle valve 51.
- FIG. 15 is a diagram schematically showing an example of the hydraulic system 300 including the tilt cylinder 30.
- the hydraulic system 300 includes a directional control valve 64 that adjusts the amount of hydraulic oil supplied to the tilt cylinder 30, a control valve 27D and a control valve 27E that adjust the pressure of pilot oil supplied to the directional control valve 64, and an operation pedal 25F. And a pump controller 34.
- the pump controller 34 outputs a command signal to the swash plate of the main hydraulic pump 41 to control the amount of hydraulic oil supplied to the hydraulic cylinder.
- the control valve 27 is controlled based on a control signal generated by the pump controller 34 based on an operation signal of the operation device 25 (third operation lever 25P).
- the operation signal generated by the operation of the third operation lever 25P is output to the pump controller 34.
- An operation signal generated by operating the third operation lever 25P may be output to the work machine controller 26.
- the control valve 27 may be controlled by the pump controller 34 or may be controlled by the work machine controller 26.
- the operating device 25 includes an operating pedal 25F for adjusting the pilot pressure for the direction control valve 64.
- the operation pedal 25F is disposed in the cab 4 and is operated by an operator.
- the operation pedal 25F is connected to the pilot hydraulic pump 42.
- the operation pedal 25F is connected to an oil passage through which pilot oil sent from the control valve 27D flows through a shuttle valve 51A.
- the operation pedal 25F is connected to an oil passage through which pilot oil delivered from the control valve 27E flows through a shuttle valve 51B.
- an operation signal (command signal) based on the operation of the third operation lever 25P is output to the pump controller 34 (or the work machine controller 26).
- the pump controller 34 outputs a control signal to at least one of the control valve 27D and the control valve 27E based on the operation signal output from the third operation lever 25P.
- the control valve 27D that has acquired the control signal is driven to open and close the oil passage.
- the control valve 27E that has acquired the control signal is driven to open and close the oil passage.
- pilot oil pressure adjusted by the control valve 27D When the pilot oil pressure adjusted by the control valve 27D is higher than the pilot oil pressure adjusted by the operation pedal 25F by the operation of at least one of the operation pedal 25F and the third operation lever 25P, the control valve is selected by the shuttle valve 51A. Pilot oil of pilot pressure adjusted by 27D is supplied to the direction control valve 64. When the pilot oil pressure adjusted by the operation pedal 25F is higher than the pilot oil pressure adjusted by the control valve 27D, pilot oil of the pilot oil pressure adjusted by the operation pedal 25F is supplied to the direction control valve 64.
- pilot hydraulic pressure adjusted by the control valve 27E When the pilot hydraulic pressure adjusted by the control valve 27E is higher than the pilot hydraulic pressure adjusted by the operation pedal 25F by the operation of at least one of the operation pedal 25F and the third operation lever 25P, the control valve is selected by the shuttle valve 51B. Pilot oil of pilot pressure adjusted by 27E is supplied to the direction control valve 64. When the pilot oil pressure adjusted by the operation pedal 25F is higher than the pilot oil pressure adjusted by the control valve 27E, the pilot oil of the pilot oil pressure adjusted by the operation pedal 25F is supplied to the direction control valve 64.
- FIG. 12 is a diagram schematically illustrating an example of the operation of the work machine 2 when the limited excavation control is performed.
- limited excavation control is performed so that the bucket 8 does not enter the target excavation landform indicating the two-dimensional target shape of the excavation target on the work machine operation plane MP orthogonal to the bucket axis J3.
- the hydraulic system 300 In the excavation by the bucket 8, the hydraulic system 300 is operated so that the boom 6 is raised in response to the excavation operation of the arm 7 and the bucket 8.
- intervention control including raising operation of the boom 6 is executed so that the bucket 8 does not enter the target excavation landform.
- Control method An example of a control method for the hydraulic excavator CM according to the present embodiment will be described with reference to a flowchart of FIG.
- the display controller 28 acquires various parameters used for excavation control (step SP1).
- the parameter is acquired by the acquisition unit 28C of the display controller 28.
- FIG. 17A is a functional block diagram showing an example of the display controller 28, the work machine controller 26, and the sensor controller 32 according to the present embodiment.
- the sensor controller 32 includes a calculation unit 28A, a storage unit 28B, and an acquisition unit 28C.
- the calculation unit 28A includes a work implement angle calculation unit 281A, a tilt angle data calculation unit 282A, and a two-dimensional bucket data calculation unit 283A.
- the acquisition unit 28C includes a work implement data acquisition unit 281C, a bucket external shape data acquisition unit 282C, a work implement angle acquisition unit 284C, and a tilt angle acquisition unit 285C.
- FIG. 17B is a functional block diagram illustrating an example of a work machine control unit 26A of the work machine controller 26 according to the present embodiment.
- the work machine control unit 26A of the work machine controller 26 includes a relative position calculation unit 260A, a distance calculation unit 260B, a target speed calculation unit 260C, an intervention speed calculation unit 260D, and an intervention command calculation unit. 260E.
- the work machine control unit 26 ⁇ / b> A performs the target excavation landform and the bucket 8 (blade edge) based on the target excavation landform data U indicating the target excavation landform that is the target shape to be excavated and the bucket position data indicating the position of the bucket 8 (blade edge 8 a).
- the speed of the boom 6 is limited so that the relative speed at which the bucket 8 approaches the target excavation landform decreases according to the distance d to 8a).
- calculation is performed in the local coordinate system.
- the display controller 283C includes a target excavation landform acquisition unit 283C and a target excavation landform calculation unit 284A.
- the acquisition unit 28C includes a work machine data acquisition unit (first acquisition unit) 281C, a bucket outer shape data acquisition unit (second acquisition unit) 282C, and a work machine angle acquisition unit (fourth acquisition unit) that acquires work machine angle data. 284C and a tilt angle acquisition unit (fifth acquisition unit) 285C for acquiring tilt angle data.
- the target excavation landform acquisition unit (third acquisition unit) 283C is included in the display controller 28.
- the calculation unit 28A includes a work machine angle calculation unit 281A that calculates a work machine angle and a two-dimensional bucket data calculation unit 283A that calculates two-dimensional bucket data.
- a relative position calculation unit 260A that calculates a relative position between the target excavation landform and the bucket 8 is included in the work machine controller 26 (work machine control unit 26A).
- the target excavation landform calculation unit 284A is included in the display controller 28.
- the work machine angle calculation unit 281A acquires the boom cylinder length from the first stroke sensor 16 and calculates the boom angle ⁇ .
- the work machine angle calculation unit 281A acquires the arm cylinder length from the second stroke sensor 17 and calculates the arm angle ⁇ .
- the work machine angle calculation unit 281A acquires the bucket cylinder length from the third stroke sensor 18 and calculates the bucket angle ⁇ .
- the work machine angle acquisition unit 284C acquires work machine angle data including boom angle data, arm angle data, and bucket angle data (step SP1.2).
- the acquisition unit 28C (the work machine angle acquisition unit 284C) of the sensor controller 32 performs boom angle data indicating the boom angle ⁇ , arm angle data indicating the arm angle ⁇ , and bucket angle ⁇ .
- Work implement angle data including a bucket angle data indicating
- the acquisition unit 28C tilt angle acquisition unit 285C acquires tilt angle data including a tilt angle ⁇ ′ indicating a rotation angle of the bucket around a tilt axis, which will be described later, based on the detection result of the tilt angle sensor 70. To do.
- the acquisition unit 28C (tilt angle acquisition unit 285C) acquires tilt axis angle data including the tilt axis angle ⁇ ′ indicating the rotation angle of the bucket around the tilt axis based on the detection result of the angle detection device 22. To do. In driving the work implement 2, the angle detection device 22 and the tilt angle sensor 70 monitor the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , the tilt angle ⁇ , and the tilt axis angle ⁇ . The acquisition unit 28C acquires the angle data in real time when the work machine 2 is driven.
- the boom angle ⁇ , the arm angle ⁇ , and the bucket angle ⁇ may not be detected by the stroke sensor.
- the boom angle ⁇ may be detected by an inclination angle sensor attached to the boom 6.
- the arm angle ⁇ may be detected by an inclination angle sensor attached to the arm 7.
- the bucket angle ⁇ may be detected by an inclination angle sensor attached to the bucket 8.
- the angle detection device 22 includes a tilt angle sensor, the work machine angle data acquired by the angle detection device 22 is output to the sensor controller 32.
- the tilt angle sensor 70 detects tilt angle data indicating the tilt angle ⁇ of the bucket 8 around the tilt axis J4.
- the tilt angle data acquired by the tilt angle sensor 70 is output to the sensor controller 32 via the display controller 28.
- the tilt angle acquisition unit 285C acquires tilt angle data indicating the rotation angle of the bucket around the tilt axis (step SP1.4).
- the tilt angle acquisition unit 285C acquires tilt axis angle data indicating the tilt angle ⁇ of the tilt axis J4 with respect to the XY plane based on the detection result of the angle detection device 22.
- the storage unit 28B of the sensor controller 32 stores work implement data.
- the work machine data includes dimension data of the work machine 2 and outer shape data of the bucket 8.
- the dimension data of the work machine 2 includes the dimension data of the boom 6, the dimension data of the arm 7, and the dimension data of the bucket 8.
- the dimension data of the work machine 2 includes a boom length L1, an arm length L2, a bucket length L3, and a tilt length L4.
- the boom length L1, the arm length L2, the bucket length L3, and the tilt length L4 are dimensions in the XZ plane (in the vertical rotation plane).
- the work machine data acquisition unit 281C acquires the size data of the work machine 2 including the dimension data of the boom 6, the dimension data of the arm 7, and the dimension data of the bucket 8 from the storage unit 28B.
- the outer shape data of the bucket 8 includes contour data of the outer surface of the bucket 8.
- the outer shape data of the bucket 8 is data for specifying the size and shape of the bucket 8.
- the outer shape data of the bucket 8 includes tip position data indicating the position of the tip 8 a of the bucket 8.
- the outer shape data of the bucket 8 includes coordinate data of each of a plurality of positions on the outer surface of the bucket 8, for example, with the tip 8a as a reference.
- the outer shape data of the bucket 8 includes a dimension L5 of the bucket 8 in the width direction of the bucket 8.
- the width dimension L5 of the bucket 8 is the dimension of the bucket 8 in the Y-axis direction in the local coordinate system.
- the width dimension L5 of the bucket 8 is different from the dimension of the bucket 8 in the Y-axis direction in the local coordinate system.
- the bucket outline data acquisition unit 282C acquires the outline data of the bucket 8 from the storage unit 28B.
- the working unit dimension data including the boom length L1, the arm length L2, the bucket length L3, the tilt length L4, and the bucket width L5 and the outer shape data of the bucket 8 are stored in the storage unit 28B. Both the bucket outline data including are stored.
- the work implement angle calculation unit 281A calculates work implement angle data that is the rotation angle of each work implement from the cylinder strokes of the boom 6, the arm 7, and the bucket 8.
- the tilt angle calculation unit 282A calculates a tilt angle ⁇ , a tilt axis angle ⁇ , and ⁇ ′ and tilt axis angle ⁇ ′, which are tilt angle data indicating the rotation angle of the bucket 8 around the tilt axis from the tilt angles ⁇ 1 and ⁇ 2. get.
- the two-dimensional bucket data calculation unit 283A indicates the outer shape of the bucket 8 in the work machine operation plane MP based on the work machine angle data, the work machine dimension data, the outer shape data of the bucket 8, the Y coordinate and the tilt angle data of the cross section.
- the dimension bucket data S and the cutting edge position Pa of the cutting edge 8a of the bucket 8 are generated.
- the target excavation landform acquisition unit 283C acquires the vehicle main body position data P and the vehicle main body posture data Q from the target construction information T indicating the three-dimensional design landform that is the three-dimensional target shape to be excavated and the position detection device 20.
- the target excavation landform calculation unit 284A includes the data acquired by the target excavation landform acquisition unit 283C, the inclination angles ⁇ 1 and ⁇ 2 acquired from the two-dimensional bucket data calculation unit 283A, the two-dimensional bucket data S and the bucket indicating the outer shape of the bucket 8
- the target excavation landform data U indicating the target excavation landform that is the two-dimensional target shape of the excavation target in the work machine operation plane MP orthogonal to the bucket axis J3 is generated from the eight cutting edges 8a.
- the relative position calculation unit 260A is described later based on the rotation angle data ⁇ to ⁇ of each work implement input from the sensor controller 32, the two-dimensional bucket data S, and the target excavation landform data U input from the display controller 28.
- the relative position on the bucket 8 is calculated so as to be the shortest distance from the target excavation landform on the contour point Ni of the bucket 8, and is output to the distance calculation unit 260B.
- the distance calculation unit 260B calculates the shortest distance d between the target excavation landform and the bucket 8 based on the target excavation landform and the relative position of the bucket 8.
- the target speed calculation unit 260C inputs the pressures of the pilot pressure sensors 66A and 66B based on the lever operation of each work implement lever described later.
- the target speed calculation unit 260C derives the target speeds Vc_bm, Vc_am, Vc_bk of each work implement using a table that defines the relationship of the target speed of each work implement to the pressure stored in the storage unit 27C from the pressure sensors 66A, 66B. It outputs to intervention speed calculation part 260D.
- the intervention speed calculation unit 260D calculates a speed limit according to the distance d between the target excavation landform and the relative position of the bucket 8 based on the target speed of each work implement and the target excavation landform data U and the distance d between the buckets 8. .
- the speed limit is output to the intervention command calculation unit 260E as the speed at which the boom work machine intervenes.
- the intervention command calculation unit 260E determines the intervention command for extending to the boom cylinder 10 corresponding to the speed limit.
- the intervention command calculation unit 260E outputs the control valve 27C so that the pilot hydraulic pressure is generated to the control valve 27C by the intervention command.
- the boom 6 is driven so that the speed in the direction in which the work machine 2 approaches the target excavation landform becomes the speed limit. Thereby, the excavation restriction control for the cutting edge 8a is executed, and the speed of the bucket 8 with respect to the target excavation landform is adjusted.
- the display controller 28 causes the display unit 29 to display the target excavation landform based on the target excavation landform data U. Further, the display controller 28 causes the display unit 29 to display the target excavation landform data U and the two-dimensional bucket data S.
- the display unit 29 is a monitor, for example, and displays various types of information on the excavator CM.
- 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 P0 of the local coordinate system is, for example, the reference position P0 located at the turning center AX of the turning body 3.
- the target excavation landform data output to the work machine controller 26 is converted into local coordinates, but other calculations in the display controller 28 are performed in the global coordinate system.
- the input from the sensor controller 32 is also converted into the global coordinate system in the display controller 28.
- the acquisition unit 28C includes the boom length L1, the arm length L2, the bucket length L3, the tilt length L4, and the width dimension L5 of the bucket 8 from the work implement data stored in the storage unit 28B.
- Get work machine dimension data The work machine data including the dimension data of the work machine 2 may be supplied to the acquisition unit 28C (work machine data acquisition unit 281C) via the input unit 36.
- the acquisition unit 28C (bucket outer shape data acquisition unit 282C) acquires the outer shape data of the bucket 8.
- the outer shape data of the bucket 8 may be stored in the storage unit 28B, or may be acquired by the acquisition unit 28C (bucket outer shape data acquisition unit 282C) via the input unit 36.
- the acquisition unit 28C acquires the vehicle main body position data P and the vehicle main body attitude data Q based on the position detection result of the position detection device 20.
- the acquisition unit 28C acquires these data in real time when the hydraulic excavator CM is driven.
- the acquisition unit 28C acquires target construction information (three-dimensional design landform data) T indicating a three-dimensional design landform that is a three-dimensional target shape to be excavated in the work area.
- the target construction information T includes target excavation landform data (two-dimensional design landform data) U indicating the target excavation landform that is a two-dimensional target shape to be excavated.
- the target construction information T is stored in the storage unit 28 ⁇ / b> B of the display controller 28.
- the target construction information T includes coordinate data and angle data required to generate the target excavation landform data U.
- the target construction information T may be supplied to the display controller 28 through an external memory or the like, for example, via the wireless communication device.
- the tilt angle sensor 70 detects the tilt angle in the global coordinate system.
- the tilt angle in the global coordinate system is converted to the tilt angle ⁇ in the local coordinate system based on the vehicle body attitude data Q.
- the tilt angle ⁇ may be obtained by a method in which the attitude information of the IMU and the contraction information of the tilt cylinder 30 are obtained by a method similar to that for each work implement and the tilt angle is calculated.
- target excavation landform data U indicating the target excavation landform, which is a two-dimensional target shape to be excavated, on the work machine operation plane MP orthogonal to the bucket axis J3 is designated (step SP2).
- the designation of the target excavation landform data U includes designation of a cross section of the target construction information T parallel to the XZ plane.
- the designation of the target excavation landform data U includes designation of which position (Y coordinate) to cut the target construction information T in the Y-axis direction.
- the target construction information T in the cross section parallel to the XZ plane having the Y coordinate becomes the designated target excavation landform data U.
- the target construction information T is represented by a plurality of triangular polygons.
- a work machine operation plane MP orthogonal to the bucket axis J3 is designated.
- the work machine operation plane MP is an operation plane (vertical rotation plane) of the work machine 2 defined in the front-rear direction of the swing body 3.
- the work machine operation plane MP is an operation plane of the arm 6.
- the work machine operation plane MP is parallel to the XZ plane.
- the position of the blade edge 8a of the bucket 8 (Y coordinate of the work machine operation plane MP) may be specified by the operator. For example, data relating to the Y coordinate specified by the operator in the input unit 36 may be input.
- the designated Y coordinate is acquired by the acquisition unit 28C.
- the acquiring unit 28C obtains a cross section of the target construction information T on the work machine operation plane MP having the Y coordinate. Thereby, the target excavation landform calculation part 283C acquires the target excavation landform data U of the designated Y coordinate.
- the Y coordinate of the point closest to the bucket 8 in the surface of the target construction information may be designated as the Y coordinate of the work machine operation plane MP.
- the display controller 28 sets the intersection line E between the work implement operation plane MP and the target construction information as shown in FIG. Obtained as a candidate line of information.
- the display controller 28 sets the point immediately below the blade edge 8a as the reference point AP of the target excavation landform on the candidate line of the target excavation landform.
- the display controller 28 determines one or a plurality of inflection points before and after the reference point AP of the target excavation landform and lines before and after it as the target excavation landform to be excavated.
- the display controller 28 generates target excavation landform data U in the work machine operation plane MP.
- the calculation unit 28A (two-dimensional bucket data calculation unit 283A) of the sensor controller 32 shows the outer shape of the bucket 8 in the work machine operation plane MP based on each parameter (data) acquired in step SP1.
- Data S is obtained (step SP3).
- FIG. 19 is a rear view schematically showing an example of the bucket 8 in a tilted state.
- 20 is a side view taken along the line AA in FIG.
- FIG. 21 is a side view taken along the line BB in FIG. 22 is a side view taken along the line CC in FIG.
- the outer shape (contour) of the bucket 8 in the XZ plane changes according to the tilt angle ⁇ .
- the outer shape (contour) of the bucket 8 in each cross section is different.
- the distance between the target excavation landform and the bucket 8 changes.
- the outer shape (contour) of the bucket 8 in each cross section is substantially equal even if the Y coordinate of the cross section changes in a cross section parallel to the XZ plane.
- the outer shape of the bucket 8 in a cross section parallel to the XZ plane changes according to the Y coordinate in accordance with the tilt (tilt angle ⁇ ) of the bucket 8. Therefore, due to the tilt of the bucket 8, the distance between the target excavation landform and the bucket 8 and the outer shape of the bucket 8 may change, and at least a part of the bucket 8 may enter the target excavation landform. Therefore, unless the shape of the bucket 8 for performing limited excavation control (the cross-sectional shape in the XZ plane) is not specified, there is a possibility that the limited excavation control cannot be performed with high accuracy.
- the sensor controller 32 (two-dimensional bucket calculation unit 283A) obtains two-dimensional bucket data S indicating the outer shape of the cross section of the bucket 8 along the work machine operation plane MP to be controlled.
- the work implement controller 26A of the work implement controller 26 determines the distance d between the target excavation landform and the bucket 8 based on the two-dimensional bucket data S and the two-dimensional design landform data U along the work implement operation plane MP.
- the limited excavation control of the work machine 2 is performed (step SP5).
- the sensor controller 32 causes the display unit 29 to display the target excavation landform (step SP6).
- a control object is specified on the basis of the work machine operation plane MP, and the limited excavation control is performed with high accuracy.
- FIG. 23 is a diagram schematically illustrating the work machine 2 according to the present embodiment.
- the origin of the local coordinate system is a reference position P0 located at the turning center of the turning body 3.
- the position of the tip 8a of the bucket 8 in the local coordinate system is Pa.
- the work implement 2 has a first joint centered on the boom axis J1, a second joint centered on the arm axis J2, a third joint centered on the bucket axis J3, and a tilt axis J4.
- the tilt axis J4 is inclined in the ⁇ Y direction by the rotation of the bucket 8 about the bucket axis J3.
- the motion of each joint can be expressed by the following equations (1) to (6).
- Expression (1) is an expression for performing coordinate conversion between the origin (reference position) P0 and the boom foot.
- Expression (2) is an expression for performing coordinate conversion between the boom foot and the boom top.
- Expression (3) is an expression for performing coordinate conversion between the boom top and the arm top.
- Expression (4) is an expression for performing coordinate conversion between the arm top and one end of the tilt axis J4.
- Expression (5) is an expression for performing coordinate conversion between one end and the other end of the tilt axis J4.
- Expression (6) is an expression for performing coordinate conversion between the other end of the tilt axis J4 and the bucket 8.
- xboom-foot, yboom-foot and zboom-foot are the coordinates of the boom foot in the local coordinate system.
- Lboom corresponds to the boom length L1.
- Larm corresponds to the arm length L2.
- Lbucket_corrected is the corrected bucket length shown in FIG.
- Ltilt corresponds to the tilt length L4.
- ⁇ boom corresponds to the boom angle ⁇ .
- ⁇ arm corresponds to the arm angle ⁇ .
- ⁇ bucket corresponds to the bucket angle ⁇ .
- ⁇ tilt_x corresponds to the tilt angle ⁇ .
- ⁇ tilt_y is an angle shown in FIG.
- the outer shape data of the bucket 8 includes coordinate data of the blade edge 8a of the bucket 8 and a plurality of positions (points) on the outer surface of the bucket 8.
- the outer shape data of the bucket 8 includes the first contour data of the outer surface of the bucket 8 at one end and the first contour data of the outer surface of the bucket 8 at the other end in the width direction of the bucket 8. 2 contour data.
- the first contour data includes the coordinates of six contour points J at one end of the bucket 8.
- the second contour data includes the coordinates of the six contour points K at the other end of the bucket 8.
- the coordinates of the contour point J and the coordinates of the contour point K are coordinate data based on the coordinates (position Pa) of the tip 8a.
- the positional relationship among the coordinates of the tip 8a, the coordinates of the contour point J, and the coordinates of the contour point K is known. Therefore, the coordinates of each contour point J and each contour point K with respect to the origin of the local coordinate system can be obtained by obtaining the positional relationship between the origin in the local coordinate system and the coordinates of the tip 8a.
- each contour point J and each contour point K in the outer shape data of the bucket 8 are (x1, y1, z1), (x2, y2, z2), ..., (x12, y12, z12), the bucket with respect to the origin The coordinates (x1 ′, y1 ′, z1 ′), (x2 ′, y2 ′, z2 ′),..., (X12 ′, y12 ′, z12 ′) of each contour point J and each contour point K of FIG. (9).
- the arithmetic unit 28A After obtaining the coordinates of the plurality of contour points J and contour points K based on the work machine angle data, work machine dimension data, outer shape data of the bucket 8, and tilt angle data, the arithmetic unit 28A performs the work machine operation plane MP. 2D bucket data S indicating the outer shape of the bucket 8 is obtained.
- FIG. 25 is a diagram schematically showing the relationship between the contour points J and K and the work machine operation plane MP.
- the position (Y coordinate) of the work machine operation plane MP in the direction parallel to the bucket axis J3 is specified in step SP2.
- Two-dimensional bucket data S indicating the outer shape of the bucket 8 in the operation plane MP can be obtained.
- the calculation unit 28A includes the first contour point data including the coordinate data of the plurality of contour points Ji in the local coordinate system and the first contour data including the coordinate data of the plurality of contour points Ki in the local coordinate system.
- Two-dimensional bucket data S including a plurality of contour points (intersection points) Ni can be obtained based on the two contour point data and the position of the work machine operation plane MP in the Y-axis direction parallel to the bucket axis J3.
- the coordinates of the blade edge 8a in the local coordinate system of the bucket 8 without the tilt mechanism are the dimensions of the work implement 2 (the dimensions of the boom 6, the dimensions of the arm 7, and the dimensions of the bucket 8) and the work implement angle (the rotation angle ⁇ , It can be derived from the rotation angle ⁇ and the rotation angle ⁇ ).
- the contour point is determined based on the tilt length L4, the width dimension L5, the tilt angle ⁇ , and the outer shape data of the bucket 8 with reference to the coordinates.
- Ji, contour point Ki, and two-dimensional bucket data S may be obtained.
- the two-dimensional bucket data S indicates the current position of the bucket 8 in the local coordinate system. That is, the two-dimensional bucket data S includes bucket position data indicating the current position of the bucket 8 on the work machine operation plane MP.
- the two-dimensional bucket data S is output from the display controller 28 to the work machine controller 26.
- the work implement control unit 26A of the work implement controller 26 controls the work implement 2 based on the two-dimensional bucket data S.
- FIG. 26 is a flowchart illustrating an example of limited excavation control according to the present embodiment.
- the target excavation landform 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 of the work machine controller 26 stores target speed information that defines the relationship between the pilot hydraulic pressure acquired from the pressure sensor 66A or 66B corresponding to 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 graph describing 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 pilot hydraulic pressure acquired from the pressure sensor 66A or 66B corresponding to the arm operation amount and the arm target speed Vc_am.
- the target speed information includes information that defines the relationship between the pilot hydraulic pressure acquired from the pressure sensor 66A or 66B corresponding to 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 in a direction parallel to the surface of the target excavation landform and a speed component (vertical speed component) Vcy_bm in a direction perpendicular to the surface of the target excavation landform.
- the speed component (horizontal speed component) and Vcx_bm are converted (step SA3).
- the work machine controller 26 tilts 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 vertical inclination of the surface of the target excavation landform is obtained.
- the work machine controller 26 obtains an angle ⁇ 2 representing the inclination between the vertical axis of the local coordinate system and the vertical direction of the surface of the target excavation landform 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 calculates the 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 using a trigonometric function.
- 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.
- 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 blade edge 8a of the bucket 8 and the target excavation landform (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 from the position information of the blade edge 8a and the target excavation landform.
- 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.
- 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 (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.
- the memory 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. 31 shows an example of speed limit information according to the present embodiment.
- the distance d when the cutting edge 8a is located outside the surface of the target excavation landform, that is, on the working machine 2 side of the excavator 100 is a positive value
- the cutting edge 8a is the surface of the target excavation landform.
- the distance d is a negative value when it is located on the inner side of the excavation target with respect to the target excavation landform.
- the distance d when the cutting edge 8a is located above the surface of the target excavation landform is a positive value.
- the distance d when the cutting edge 8a is located below the surface of the target excavation landform 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 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 is a negative value.
- the distance d is 0 when the cutting edge 8a is located on the target excavation landform, that is, when the cutting edge 8a is in contact with the target excavation landform.
- the speed when the blade edge 8a goes from the inside of the target excavation landform to the outside is a positive value
- the speed when the blade edge 8a goes from the outside of the target excavation landform to the inside is a negative value.
- the speed at which the blade edge 8a is directed above the target excavation landform is a positive value
- the speed at which the blade edge 8a is directed below the target excavation landform 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 inclination when the distance d is between d1 and d2 is the inclination when the distance d is d1 or more or d2 or less. Smaller than.
- 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 increases as the cutting edge 8a is further from the surface of the target excavation landform above the target excavation landform, and the absolute value of the speed limit Vcy_lmt increases.
- the speed limit Vcy_lmt is a positive value, and the speed limit Vcy_lmt increases as the distance d decreases. That is, when the distance d at which the blade edge 8a of the bucket 8 moves away from the target excavation landform is 0 or less, the speed toward the upper side of the target excavation landform increases as the blade edge 8a is further from the target excavation landform below the target excavation landform.
- the absolute value of the speed Vcy_lmt increases.
- 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 blade edge 8a is far away from the target excavation landform above the target excavation landform, the operation of the work machine 2, that is, the 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, whereby the boom 6
- 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 based on 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, and the like.
- the relationship between the direction of the limit speed Vc_bm_lmt is 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 opposite to the calculation for obtaining the vertical speed component Vcy_bm in the direction perpendicular to the surface of the target excavation landform from the boom target speed Vc_bm. Thereafter, the cylinder speed corresponding to the boom intervention amount is determined, and an opening command corresponding to the cylinder speed is output to the control valve 27C.
- the pilot pressure based on the lever operation is filled in the oil passage 43B, and the pilot pressure based on the boom intervention is filled in the oil passage 43C.
- the shuttle valve 51 selects the larger pressure (step SA8).
- the restriction condition is satisfied when the boom limit speed Vc_bm_lmt downward of the boom 6 is smaller than the magnitude of the boom target speed Vc_bm downward.
- 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.
- 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 control valve 27C.
- the boom command signal has a current value corresponding to the boom command speed.
- the work machine controller 26 controls the arm 7 and the bucket 8 as necessary.
- the work machine controller 26 controls the arm cylinder 11 by transmitting an arm command signal to the control valve 27.
- the arm command signal has a current value corresponding to the arm command speed.
- the work machine controller 26 controls the bucket cylinder 12 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 shuttle valve 51 selects the supply of hydraulic oil from the oil passage 43B, 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 43C, and the limited 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 boom speed limit Vc_bm_lmt is a negative value.
- the work machine controller 27 lowers the boom 6 but decelerates the boom target speed Vc_bm. For this reason, it is possible to prevent the bucket 8 from eroding the target excavation landform while suppressing the operator's uncomfortable feeling.
- 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 can be quickly suppressed.
- the absolute value of the limited vertical velocity component Vcy_bm_lmt of the boom 6 decreases as the cutting edge 8a approaches the target excavation landform, and the direction parallel to the surface of the target excavation landform
- the absolute value of the speed component of the speed limit of the boom 6 (restricted horizontal speed component) Vcx_bm_lmt is also reduced. Therefore, when the cutting edge 8a is positioned above the target excavation landform, the speed of the boom 6 in the direction perpendicular to the surface of the target excavation landform and the target excavation landform of the boom 6 are increased as the cutting edge 8a approaches the target excavation landform. The speed in the direction parallel to the surface of the surface is reduced.
- FIG. 34 shows the change in the speed limit of the boom 6 when the distance d between the target excavation landform 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 at the position Pn2 is smaller than the distance between the blade edge 8a and the target excavation landform 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 an operator, suppressing the expansion of erosion of the target excavation landform.
- the work machine controller 26 performs the target excavation based on the target excavation landform indicating the design landform that is the target shape of the excavation target and the blade edge position data 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 becomes small according to the distance d between the landform and the blade edge 8a of the bucket 8.
- the work machine controller 26 determines the distance between the target excavation landform and the blade edge 8a of the bucket 8 based on the target excavation landform indicating the design landform that is the target shape to be excavated and the blade edge position data indicating the position of the blade edge 8a of the bucket 8.
- the speed limit is determined according to d, and the work implement 2 is controlled so that the speed in the direction in which the work implement 2 approaches the target excavation landform is equal to or less than the speed limit. Thereby, 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 is automatically adjusted.
- a control signal is output to the control valve 27 connected to the boom cylinder 10 so that the intrusion of the blade edge 8a into the target excavation landform is suppressed, and the position of the boom 6 is controlled.
- the intervention control is executed when the relative speed Wa is larger than the speed limit V.
- the intervention control is not executed when the relative speed Wa is smaller than the speed limit V. That the relative speed Wa is smaller than the speed limit V includes the movement of the bucket 8 with respect to the target excavation landform so that the bucket 8 and the target excavation landform are separated.
- the two-dimensional bucket data S is used for deriving the relative position between the target excavation landform and the bucket 8, and the two-dimensional bucket data S coordinate-converted from the local coordinate system to the polar coordinate system is used as the work implement. It may be used for the second control.
- the arm top (bucket axis J3) is the origin of the polar coordinate system, and a plurality of contour points A, B, C, D, E of the bucket 8 on the work machine operation plane MP are from the origin.
- the distance and the angles ⁇ A, ⁇ B, ⁇ C, ⁇ D, and ⁇ E with respect to the reference line may be used.
- the reference line may be a line connecting the bucket shaft J3 and the tip 8a of the bucket 8.
- FIG. 36 is a diagram illustrating an example of the display unit 29.
- the display unit 29 displays the two-dimensional bucket data S including the target excavation landform data U and bucket position data (step SP6).
- the display unit 29 displays at least one of distance data indicating the distance between the target excavation landform on the work machine operation plane MP and the bucket 8 and outline data indicating the outline of the bucket 8 on the work machine operation plane MP.
- the screen of the display unit 29 includes a front view 282 showing the target excavation landform and the bucket 8, and a side view 281 showing the target excavation landform and the bucket 8.
- the front view 282 includes an icon 101 indicating the bucket 8 and a line 102 indicating a cross section of the three-dimensional design landform (target construction information).
- the front view 282 includes distance data 291A indicating the distance between the target excavation landform and the bucket 8 (distance in the Z-axis direction) and angle data 292A indicating the angle formed by the target excavation landform and the blade edge 8a.
- Side view 281 includes icon 103 indicating bucket 8 and line 104 indicating the surface of the target excavation landform on work implement operation plane MP.
- the icon 103 indicates the outer shape of the bucket 8 on the work machine operation plane MP.
- the side view 281 shows the angle between the distance data 292A indicating the distance between the target excavation landform and the bucket 8 (the shortest distance between the target excavation landform and the bucket 8) and the angle formed between the target excavation landform and the bottom surface of the bucket 8.
- Data 292B Data 292B.
- the outer shape of the bucket 8 and the target excavation landform along the work machine operation plane MP to be controlled by the limited excavation control are specified. Even if the distance between the target excavation landform and the bucket 8 changes due to the tilt of the bucket 8, the limited excavation control can be performed with high accuracy so that the bucket 8 does not enter the target excavation landform.
- a two-dimensional bucket indicating the outer shape of the bucket 8 in the work machine operation plane MP based on the dimension data of the work machine 2, the outer shape data of the bucket 8, the work machine angle data, and the tilt angle data. Since the data is obtained, the position of the blade edge 8a of the bucket 8 on the work machine operation plane MP can be grasped even if the tilt angle of the bucket 8 fluctuates. Therefore, it is possible to accurately grasp the relative position between the target excavation landform and the cutting edge 8a, and execute the intended construction while suppressing a decrease in excavation accuracy.
- the outer shape data of the bucket 8 includes the first contour data of the bucket 8 at one end and the second contour data of the bucket 8 at the other end with respect to the width direction of the bucket 8, and the first contour data.
- 2D bucket data is obtained based on the second contour data and the position of the work machine operation plane MP in the direction parallel to the bucket axis. As a result, the two-dimensional bucket data can be obtained accurately and quickly.
- the target excavation landform and the bucket 8 are Find the relative position. Thereby, the relative position between the target excavation landform and the bucket 8 can be accurately obtained.
- the work implement 2 is controlled by the work implement control unit 26A based on the two-dimensional bucket data.
- the work implement control unit 26A derives the distance d between the target excavation landform and the bucket 8 based on the two-dimensional bucket data S and the target excavation landform along the work implement operation plane MP. 2 limited excavation control can be performed.
- the work machine control unit 26A determines the speed limit according to the distance between the target excavation landform and the bucket 8 based on the target excavation landform data U and the bucket position data, and the work machine 2 The work implement 2 is controlled so that the speed in the direction approaching the excavation landform is equal to or less than the speed limit. Thereby, the bucket 8 is prevented from entering the target excavation landform, and a decrease in excavation accuracy is suppressed.
- target excavation landform data and bucket position data are displayed on the display unit 26.
- a control object is specified on the basis of the work machine operation plane MP, and the limited excavation control is performed with high accuracy.
- the vehicle body position data P and vehicle body attitude data Q of the hydraulic excavator CM in the global coordinate system are acquired, and the position of the bucket 8 (two-dimensional bucket data S) obtained in the local coordinate system;
- the vehicle body position data P and the vehicle body attitude data Q the relative position between the target excavation landform and the bucket 8 in the global coordinate system is acquired.
- the target excavation landform data may be defined in the local coordinate system, and the device position between the target excavation landform and the bucket 8 in the local coordinate system may be acquired. The same applies to the following embodiments.
- the limited excavation control (intervention control) is performed using the two-dimensional bucket data S.
- the limited excavation control may not be performed.
- the operation device 25 may be operated such that the operator visually observes the display unit 29 and the bucket 8 moves along the target excavation landform on the work machine operation plane MP. The same applies to the following embodiments.
- the acquisition unit 28C acquires the target construction information T that includes the target excavation landform and indicates the three-dimensional design landform that is the three-dimensional target shape to be excavated.
- the arithmetic unit 28A is configured to use the work implement angle data, the tilt angle data, the vehicle main body position data P, the vehicle main body posture data Q, and the outer shape data of the bucket 8, and the tip 8a and the bucket 8 of the bucket 8.
- the closest point closest to the surface of the target construction information is obtained from a plurality of measurement points Pen determined on the outer surface of the target.
- the Y coordinate of the work implement operation plane MP is designated so that the work implement operation plane MP passes through the closest point.
- the display controller 28 acquires bucket data.
- the bucket data includes outer shape data of the bucket 8 and dimension data of the work machine 2. Similar to the above-described embodiment, the outer shape data of the bucket 8 and the dimension data of the work machine 2 are known data.
- the outer shape data of the bucket 8 includes the outer shape of the bottom portion of the bucket 8. The bottom portion refers to a partial region of the outer surface of the bucket 8 that protrudes so as to bulge outward.
- a plurality of measurement points Pen are determined in a direction intersecting the width direction of the bucket 8.
- the reference line is a line connecting the bucket shaft J3 and the tip 8a of the bucket 8.
- the display controller 28 acquires measurement point position data indicating the current positions of the plurality of measurement points Pen of the bucket 8 when the work machine 2 is driven. Further, the display controller 28 acquires tip position data indicating the current position of the tip 8 a of the bucket 8. The display controller 28 measures the measurement point Pen in the local coordinate system based on the work machine angle data detected by the angle detection device 22, the tilt angle data detected by the tilt angle sensor 70, and the bucket data that is known data. Measurement point position data indicating the current position of the tip, and tip position data indicating the current position of the tip 8a can be acquired.
- the display controller 28 intersects the target construction information with the XZ plane passing through the measurement point Pen of the bucket 8 based on the current position of the measurement point Pen of the bucket 8 and the acquired three-dimensional design landform data T (see FIG.
- the target excavation landform data U indicating the target excavation landform represented by 18) is derived.
- the display controller 28 obtains the current position of the tip 8a and the plurality of measurement points Pen of the bucket 8 based on the vehicle body position data P and the vehicle body posture data Q, and among the tip 8a and the measurement points Pen, Find the part closest to the surface of the construction information (the closest point).
- FIG. 38 is a diagram for explaining the shortest distance between the tip 8a of the bucket 8 and the surface of the target construction information.
- FIG. 38 corresponds to a view of the bucket 8 as seen from above.
- the display controller 28 calculates an imaginary line segment LSa that passes through the tip 8a of the bucket 8 and matches the dimension in the width direction of the bucket 8.
- the measurement points Ci indicate a plurality of positions in the width direction of the bucket 8 at the tip 8a.
- the display controller 28 obtains the current position of the measurement point Ci based on the vehicle body position data P and the vehicle body attitude data Q.
- FIG. 39 is a diagram for explaining the shortest distance between the bottom of the bucket 8 and the surface of the target construction information.
- FIG. 39 corresponds to a view of the bucket 8 as viewed from above.
- the display controller 28 calculates a virtual line segment Lsen that passes through the measurement point Pen of the bucket 8 and matches the dimension of the bucket 8 in the width direction.
- the measurement points Ceni indicate a plurality of positions in the width direction of the bucket 8 at the bottom.
- the display controller 28 obtains the current position of the measurement point Ceni based on the vehicle body position data P and the vehicle body attitude data Q.
- a plurality of measurement points are provided in the front-rear direction of the bucket 8 and a plurality of measurement points are provided in the left-right direction (width direction) of the bucket 8. That is, the plurality of measurement points are provided in a matrix on the outer surface of the bucket 8.
- the display controller 28 includes the intersection lines MAi, MBi, and MCi included in the intersection line Mi. A distance between the i-th measurement point Ci and Ceni is calculated.
- intersection line MAi, MBi, MCi included in the intersection line Mi a perpendicular line passing through the i-th measurement point Ci, Ceni is calculated, and the intersection line MAi, MBi, MCi and the i-th measurement point Ci, Ceni The distance between is calculated.
- the i th measurement point Ci is located in the target area A1 among the target areas A1, A2, and A3, and the intersection line passing through the i th measurement point Ci.
- a perpendicular line of MAi is calculated, and distances DAi and Deni between the i-th measurement points Ci and Ceni and the intersection line MAi are calculated. Also, as shown in FIGS.
- the display controller 28 determines the shortest distance that is the minimum distance from the calculable distances shown in FIGS. 38, 39, and 40.
- the display controller 28 obtains a plurality of distances De1i and DAi with respect to the measurement point Pe1 and the blade edge 8a when the positions of the same measurement point Pe1 and the blade edge 8a are in the normal direction of the plurality of intersection lines MAi and the intersection line MCi. .
- the closest measurement point closest to the surface of the target construction information is obtained.
- the work machine operation plane MP is specified so as to pass through the closest measurement point.
- 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 bucket 8 and the target excavation landform is not limited to GNSS, and may be performed by other positioning means.
- the boom operation amount, the arm operation amount, and the bucket operation amount are not limited to the pilot hydraulic method, and the operation signal of the operation lever is used as a method for outputting an electric signal indicating the operation of the operation lever (25R, 25L). 26 may be input.
- Each process performed in each controller may be performed by another controller.
Abstract
Description
図1は、本実施形態に係る建設機械CMの一例を示す斜視図である。本実施形態においては、建設機械CMが、油圧により作動する作業機2を備える油圧ショベルCMである例について説明する。
次に、本実施形態に係るバケット8について説明する。図2は、本実施形態に係るバケット8の一例を示す側断面図である。図3は、本実施形態に係るバケット8の一例を示す正面図である。本実施形態において、バケット8は、チルト式バケットである。
図4は、本実施形態に係る油圧ショベルCMを模式的に示す側面図である。図5は、本実施形態に係る油圧ショベルCMを模式的に示す背面図である。図6は、本実施形態に係る油圧ショベルCMを模式的に示す平面図である。
次に、本実施形態に係る制御システム200の概要について説明する。図9は、本実施形態に係る制御システム200の機能構成を示すブロック図である。
次に、図10及び図11を参照して、ストロークセンサ16について説明する。以下の説明においては、ブームシリンダ10に取り付けられたストロークセンサ16について説明する。アームシリンダ11に取付けられたストロークセンサ17なども同様である。
次に、本実施形態に係る油圧システム300の一例について説明する。制御システム200は、油圧システム300と、作業機コントローラ26とを含む。ブームシリンダ10、アームシリンダ11、バケットシリンダ12、及びチルトシリンダ30のそれぞれは、油圧シリンダである。それら油圧シリンダは、油圧システム300により作動する。
図12は、制限掘削制御が行われるときの作業機2の動作の一例を模式的に示す図である。本実施形態においては、バケット軸J3と直交する作業機動作平面MPにおける掘削対象の2次元の目標形状を示す目標掘削地形にバケット8が侵入しないように、制限掘削制御が行われる。
本実施形態に係る油圧ショベルCMの制御方法の一例について、図16のフローチャートを参照して説明する。表示コントローラ28は、掘削制御に用いる各種のパラメータを取得する(ステップSP1)。パラメータは、表示コントローラ28の取得部28Cに取得される。
図36は、表示部29の一例を示す図である。本実施形態においいて、表示部29は、目標掘削地形データU及びバケット位置データを含む2次元バケットデータSを表示する(ステップSP6)。表示部29は、作業機動作平面MPにおける目標掘削地形とバケット8との距離を示す距離データ、及び作業機動作平面MPにおけるバケット8の外形を示す外形データの少なくとも一方を表示する。
以上説明したように、本実施形態によれば、チルト式バケットにおいて、制限掘削制御の制御対象となる作業機動作平面MPに沿ったバケット8の外形と目標掘削地形とを特定するようにしたので、バケット8のチルトにより、目標掘削地形とバケット8との距離が変化しても、バケット8が目標掘削地形に侵入しないように、精度良く制限掘削制御を行うことができる。
上述の実施形態においては、作業機動作平面MPのY座標がオペレータに指定される等の例について説明した。以下、作業機動作平面MPのY座標の指定方法の別の例について説明する。
2 作業機
3 旋回体
4 運転室
5 走行装置
5Cr 履帯
6 ブーム
7 アーム
8 バケット
9 エンジンルーム
10 ブームシリンダ
11 アームシリンダ
12 バケットシリンダ
13 ブームピン
14 アームピン
15 バケットピン
16 第1ストロークセンサ
17 第2ストロークセンサ
18 第3ストロークセンサ
19 手すり
20 位置検出装置
21 アンテナ
22 角度検出装置
23 位置センサ
24 傾斜センサ
25 操作装置
25F 操作ペダル
25L 第2操作レバー
25R 第1操作レバー
25P 第3操作レバー
26 作業機コントローラ
27 制御弁
28 表示コントローラ
29 表示部
30 チルトシリンダ
32 センサコントローラ
36 入力部
40A キャップ側油室
40B ロッド側油室
41 メイン油圧ポンプ
42 パイロット油圧ポンプ
43 メインバルブ
51 シャトル弁
70 チルト角度センサ
80 チルトピン
81 底板
82 背板
83 上板
84 側板
85 側板
86 開口部
87 ブラケット
88 ブラケット
90 接続部材
91 プレート部材
92 ブラケット
93 ブラケット
94 第1リンク部材
94P 第1リンクピン
95 第2リンク部材
95P 第2リンクピン
96 バケットシリンダトップピン
97 ブラケット
161 回転ローラ
162 回転中心軸
163 回転センサ部
164 ケース
200 制御システム
300 油圧システム
AX 旋回軸
CM 建設機械(油圧ショベル)
J1 ブーム軸
J2 アーム軸
J3 バケット軸
J4 チルト軸
L1 ブーム長さ
L2 アーム長さ
L3 バケット長さ
L4 チルト長さ
L5 バケットの幅の寸法
P 車両本体位置データ
Q 車両本体姿勢データ(旋回体方位データ)
S 2次元バケットデータ
T 目標施工情報
U 目標掘削地形データ
α ブームの回転角度
β アームの回転角度
γ バケットの回転角度
δ チルト角度
ε チルト軸角度
Claims (9)
- ブーム軸を中心に車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを含む作業機を備える建設機械の制御システムであって、
前記ブームの寸法、前記アームの寸法、及び前記バケットの寸法を含む寸法データを取得する第1取得部と、
前記バケットの外形データを取得する第2取得部と、
前記バケット軸と直交する作業機動作平面における掘削対象の2次元の目標形状である目標掘削地形を示す目標掘削地形データを取得する第3取得部と、
前記ブーム軸を中心とする前記ブームの回転角度を示すブーム角度データ、前記アーム軸を中心とする前記アームの回転角度を示すアーム角度データ、及び前記バケット軸を中心とする前記バケットの回転角度を示すバケット角度データを含む作業機角度データを取得する第4取得部と、
前記チルト軸を中心とする前記バケットの回転角度を示すチルト角度データを取得する第5取得部と、
前記寸法データ、前記外形データ、前記作業機角度データ、及びチルト角度データに基づいて、前記作業機動作平面における前記バケットの外形を示す2次元バケットデータを求める演算部と、
を備える建設機械の制御システム。 - 前記バケットの外形データは、前記バケットの幅方向に関して一端部における前記バケットの第1輪郭データと、他端部における前記バケットの第2輪郭データとを含み、
前記演算部は、前記第1輪郭データと、前記作業機動作平面の位置と、バケット刃先の位置とに基づいて、前記2次元バケットデータを求める請求項1に記載の建設機械の制御システム。 - 前記演算部は、前記2次元バケットデータ、前記車両本体の現在位置を示す車両本体位置データ、及び前記車両本体の姿勢を示す車両本体姿勢データに基づいて、前記目標掘削地形と前記バケットとの相対位置を求める請求項1又は請求項2に記載の建設機械の制御システム。
- 前記第3取得部は、前記目標掘削地形を含み、掘削対象の3次元の目標形状である立体設計地形を示す目標施工情報を取得し、
前記演算部は、前記作業機角度データ、前記チルト角度データ、前記車両本体位置データ、前記車両本体姿勢データ、及び前記バケットの外形データに基づいて、前記バケットの先端部及び前記バケットの外面に定められた複数の計測点のうち前記立体設計地形の表面に最も近い最接近点を求め、
前記作業機動作平面は、前記最接近点を通る請求項3に記載の建設機械の制御システム。 - 前記2次元バケットデータに基づいて、前記作業機を制御する作業機制御部を備える請求項1から請求項4のいずれか一項に記載の建設機械の制御システム。
- 前記2次元バケットデータは、前記作業機動作平面における前記バケットの現在位置を示すバケット位置データを含み、
前記作業機制御部は、前記目標掘削地形データと前記バケット位置データとに基づいて、前記目標掘削地形と前記バケットとの距離に応じて制限速度を決定し、前記作業機が前記目標掘削地形に接近する方向の速度が前記制限速度以下になるように前記ブームの速度を制限する請求項5に記載の建設機械の制御システム。 - 前記2次元バケットデータは、前記作業機動作平面における前記バケットの現在位置を示すバケット位置データを含み、
前記目標掘削地形データ及び前記バケット位置データを表示する表示部を備える請求項1から請求項6のいずれか一項に記載の建設機械の制御システム。 - 下部走行体と、
前記下部走行体に支持される上部旋回体と、
ブームとアームとバケットとを含み、前記上部旋回体に支持される作業機と、
請求項1から請求項7のいずれか一項に記載の制御システムと、
を備える建設機械。 - ブーム軸を中心に車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを含む作業機を備える建設機械の制御方法であって、
前記ブームの寸法、前記アームの寸法、及び前記バケットの寸法を含む寸法データを取得することと、
前記バケットの外形データを取得することと、
前記ブーム軸を中心とする前記ブームの回転角度を示すブーム角度データ、前記アーム軸を中心とする前記アームの回転角度を示すアーム角度データ、及び前記バケット軸を中心とする前記バケットの回転角度を示すバケット角度データを含む作業機角度データを取得することと、
前記チルト軸を中心とする前記バケットの回転角度を示すチルト角度データを取得することと、
前記バケット軸と直交する作業機動作平面における掘削対象の2次元の目標形状である目標掘削地形を示す目標掘削地形データを指定することと、
前記寸法データ、前記外形データ、前記作業機角度データ、及びチルト角度データに基づいて、前記作業機動作平面における前記バケットの外形を示す2次元バケットデータを求めることと、
前記2次元バケットデータに基づいて、前記作業機を制御することと、
を含む建設機械の制御方法。
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JPWO2019012699A1 (ja) * | 2017-07-14 | 2020-05-07 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
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JP7149917B2 (ja) | 2019-09-30 | 2022-10-07 | 日立建機株式会社 | 作業機械 |
KR102491288B1 (ko) | 2019-09-30 | 2023-01-26 | 히다찌 겐끼 가부시키가이샤 | 작업 기계 |
WO2021106938A1 (ja) * | 2019-11-27 | 2021-06-03 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の制御方法 |
JP7402026B2 (ja) | 2019-11-27 | 2023-12-20 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の制御方法 |
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KR20160021073A (ko) | 2016-02-24 |
DE112014000077B4 (de) | 2018-04-05 |
JP5848451B1 (ja) | 2016-01-27 |
US20160251835A1 (en) | 2016-09-01 |
KR101746324B1 (ko) | 2017-06-12 |
JPWO2015186180A1 (ja) | 2017-04-20 |
US9856628B2 (en) | 2018-01-02 |
DE112014000077T5 (de) | 2016-02-18 |
CN105431597B (zh) | 2017-12-29 |
CN105431597A (zh) | 2016-03-23 |
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