WO2017061485A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- WO2017061485A1 WO2017061485A1 PCT/JP2016/079658 JP2016079658W WO2017061485A1 WO 2017061485 A1 WO2017061485 A1 WO 2017061485A1 JP 2016079658 W JP2016079658 W JP 2016079658W WO 2017061485 A1 WO2017061485 A1 WO 2017061485A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- excavation
- mode
- control
- construction machine
- bucket
- Prior art date
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
Definitions
- the present invention relates to a construction machine.
- the hydraulic excavator is composed of an articulated front working device including a boom, an arm, and a bucket (working tool) that can rotate in the vertical direction, and a vehicle body that includes an upper swing body and a lower traveling body.
- Each part of the front working device is supported so as to be rotatable. For this reason, for example, when forming a linear finished surface (target excavation surface) at the bucket tip while pulling the arm toward the vehicle body, the operator operates each part of the front work device in combination to move the arm of the bucket tip.
- the trajectory needs to be linear, and the operator is required to be skilled.
- Patent Document 1 discloses a boom angle so that the trajectory (excavation trajectory) of the bucket tip during excavation works along a target excavation surface (sometimes referred to as a target surface).
- a technique for automatically changing is disclosed. In this way, the function of controlling the actuator automatically or semi-automatically in response to the operation of the operator and operating the drive target such as the boom, arm, bucket, or upper swing body is called machine control.
- the control means of the excavation support apparatus changes the boom rotation angle in accordance with the change in the arm rotation angle so that the bucket tip moves on the excavation track when the arm moves in the excavation direction. It is described that the boom rotation angle is changed in accordance with the change in the arm rotation angle so that the bucket tip moves a predetermined height above the excavation track during the operation in the direction opposite to the excavation direction.
- the hydraulic excavator requires different engine speed and hydraulic pump power (pump horsepower) depending on the work content, it is preferable to change the power of these power generators to appropriate values as needed. If the engine is operated at an inappropriate engine speed and pump horsepower, fuel consumption increases and operability deteriorates.
- the engine speed can be manually adjusted with an engine control dial installed in the cab. However, in general, both hands of an operator who is working often hold two operating levers, and it is not easy to adjust the engine control dial in this state. In addition, it is difficult for the operator who is working to determine the optimum engine speed according to the work.
- an engine load factor is read from an engine control unit that controls an electronically controlled fuel injection pump of the engine, and a stabilization process is performed.
- a stabilization process is performed.
- JP 2011-43002 A Japanese Patent Laid-Open No. 10-252521
- the actual excavation work when the boom angle is automatically changed by machine control so that the excavation trajectory of the bucket tip follows the target excavation surface is ( It can be divided into 1) “rough excavation work” for roughing the target excavation surface and (2) “finishing operation” for finishing according to the target excavation surface.
- rough excavation work it is preferable to move the bucket toe quickly in order to increase work efficiency, and in finishing work, it is preferable to reduce the speed and move the bucket toe along the target excavation surface with high accuracy.
- finishing work that requires accuracy
- the finishing work is not completed by a single arm pulling operation, and it is necessary to carry out finishing excavation multiple times. Therefore, even in finishing work, when returning the bucket to the excavation start point by the arm pushing operation, it is desirable to increase the work efficiency by speeding up the actuator operation. Furthermore, in order to ensure the control accuracy of the bucket toe in the finishing operation, the operation gain of the actuator with respect to the spool stroke is reduced and the control becomes easier when the engine speed is lowered.
- an arm and a turning operation are assigned to one lever (first lever) of two operation levers, and a boom and a bucket operation are assigned to the other lever (second lever).
- first lever first lever
- second lever second lever
- the work device Even if the output of the hydraulic pump as a system is changed by changing the tilt angle of the hydraulic pump or changing the number of hydraulic pumps operated in the excavator equipped with multiple hydraulic pumps, the work device The operation speed can be changed. For this reason, it is preferable to adjust the output range of the hydraulic pump according to the work content instead of or in addition to the adjustment of the engine speed described above, but only the engine speed can be adjusted with the engine control dial, and the hydraulic pump output Naturally it is not possible to adjust.
- the construction machine engine and the hydraulic pump control device described in Patent Document 2 are provided with a stabilization region and a switching region for switching the work mode, so that the effective engine load factor is equal to or longer than a certain time and the current work mode is changed. If it is located in the switching area at, the mode is switched. For this reason, once the work mode has been switched, even if the situation should return to the original work mode immediately, the switch to the original work mode will not be made again unless a certain period of time has passed. ing. In addition, the operation mode is not switched when the lever is operated.
- the drive source of the hydraulic pump is an engine
- the above-mentioned problem is common also in the case of a construction machine using another prime mover such as an electric motor or a motor generator instead of the engine.
- an object of the present invention is to provide a construction machine capable of controlling the power of at least one of a prime mover including an engine and a hydraulic pump in accordance with a work situation in a series of excavation work under execution of machine control.
- the present invention provides a working apparatus that operates by a prime mover, a hydraulic pump driven by power generated by the prime mover, and a plurality of hydraulic actuators driven by power generated by the hydraulic pump. And controlling at least one of the plurality of hydraulic actuators such that the working device has a working tool at the tip of the working device and the tip of the working tool is positioned on or above an arbitrarily set target surface.
- a control point position calculating unit that calculates a position of a control point set for the work tool based on a state quantity related to a position and a posture of the work device; and the control point When the distance between the target surface calculated based on the position of the target surface and the position of the target surface and the control point is equal to or smaller than a threshold value, the distance is larger than the threshold value.
- Kiyori also characterized in that it comprises a power generating device control unit that executes output restriction control is a process of limiting at least one output range of said prime mover and the hydraulic pump.
- the power of at least one of the prime mover including the engine and the hydraulic pump is controlled according to the work situation, so the work speed and control accuracy required for the work can be increased. Energy saving can be achieved while ensuring.
- the block diagram of the hydraulic excavator in embodiment of this invention The block diagram of the control system in 1st Embodiment of this invention.
- the functional block diagram of the control controller in 1st Embodiment of this invention The flowchart of the process which the control controller in the 1st Embodiment of this invention performs.
- the block diagram of the control system in the 4th Embodiment of this invention The flowchart of the process which the control controller in the 4th Embodiment of this invention performs.
- FIG. 1 is a configuration diagram of a hydraulic excavator according to the first embodiment of the present invention.
- the hydraulic excavator shown in this figure includes an articulated front working device 50 including a boom 8, an arm 9, and a bucket (working tool) 10 that can rotate in the vertical direction, an upper swing body 12, and a lower traveling body 11. It is made up of a car body.
- the base end portion of the boom 8 of the front work device 50 is rotatably supported by the upper swing body 12, and the bucket 10 is positioned at the front end of the front work device 50.
- tip of the front working apparatus 50 is the bucket 10 here is illustrated, it cannot be overemphasized that this Embodiment is applicable even if it replaces with another working tool. .
- the upper revolving body 12 is equipped with an engine (prime mover) 22 and a hydraulic pump 2 driven by power generated by the engine 22.
- Each part of the front working device 50 is operated by appropriately driving these hydraulic actuators 5, 6, 7 by supplying pressure oil generated by the hydraulic pump 2 to the boom cylinder 5, arm cylinder 6, bucket cylinder 7. To do.
- a right operation lever 1a, a left operation lever 1b, a traveling right lever 23a, and a traveling left lever 23b are provided in the cab on the upper swing body 12, a right operation lever 1a, a left operation lever 1b, a traveling right lever 23a, and a traveling left lever 23b are provided.
- the right operating lever 1a and the left operating lever 1b may be collectively referred to as the operating lever 1
- the traveling right lever 23a and the traveling left lever 23b may be collectively referred to as the traveling lever 23.
- the hydraulic pump 2 and the control valve 20 are controlled according to the lever operation amount (for example, lever stroke). Pilot pressure (hereinafter referred to as operation pressure) is generated. Pressure oil discharged from the hydraulic pump 2 is supplied to the traveling right hydraulic motor 3 a, traveling left hydraulic motor 3 b, turning hydraulic motor 4, boom cylinder 5, arm cylinder 6, and bucket cylinder 7 through the control valve 20. The boom cylinder 5, arm cylinder 6, and bucket cylinder 7 expand and contract with the pressure oil supplied from the hydraulic pump 2, so that the boom 8, arm 9, and bucket 10 rotate, and the position and posture of the bucket 10 change. .
- Pilot pressure hereinafter referred to as operation pressure
- the boom angle sensor 30 and the arm pin serving as the center of rotation of the arm 9 are arranged on the boom pin (not shown) serving as the center of rotation of the boom 8 so that the rotation angles of the boom 8, arm 9 and bucket 10 can be measured.
- the bucket angle sensor 32 is attached to a bucket link which is a link mechanism for connecting the arm angle sensor 31 and the arm 9 to the bucket 10.
- a vehicle body tilt sensor 33 is attached to the upper swing body 12 so as to be able to measure the front and rear, left and right tilts of the upper swing body 12.
- FIG. 2 is a configuration diagram of the excavation control system according to the embodiment of the present invention.
- the excavation control system shown in FIG. 2 includes a control controller 40 that is a computer (for example, a microcomputer) that controls the entire system, a target surface controller 41 that is a device including a computer that controls setting of a target surface, and a display unit. (Display device such as a liquid crystal monitor) 43 is provided with a display controller 42 that is a computer that controls display of the display 43.
- a control controller 40 that is a computer (for example, a microcomputer) that controls the entire system
- a target surface controller 41 that is a device including a computer that controls setting of a target surface
- a display unit Display device such as a liquid crystal monitor
- 43 is provided with a display controller 42 that is a computer that controls display of the display 43.
- the controller 40 includes a central processing unit (CPU) 92 which is a processor, a read only memory (ROM) 93 and a random access memory (RAM) 94 which are storage devices, and data / signals of an external device of the control controller 40. And an input / output unit (not shown) for communication.
- the other controllers 41 and 42 have hardware configurations corresponding to the CPU, ROM, RAM, and input / output unit, but are redundant, so only the configuration of the controller 40 will be described here.
- the ROM 93 is a recording medium in which a control program is stored, and the CPU 92 performs predetermined arithmetic processing on signals taken from the input / output unit and the memories 93 and 94 in accordance with the control program stored in the ROM 93.
- the input / output unit inputs / outputs data / signals from an external device, and performs A / D conversion or D / A conversion as necessary when inputting / outputting.
- the input / output unit inputs an operation signal from the operation lever 1 and angle signals from the angle sensors 30, 31, and 32 and the vehicle body tilt sensor 33 and performs A / D conversion.
- the input / output unit creates an output signal according to the calculation result in the CPU 92, and outputs the signal to the display controller 42, the electromagnetic valve 21, the engine 22, and the hydraulic pump 2, thereby outputting an output destination device. To control.
- ROM 93 includes a semiconductor memory such as a ROM 93 and a RAM 94 as storage devices, but may include a magnetic storage device such as a hard disk drive and store a control program therein.
- the control controller 40 includes a boom angle sensor 30 that detects the rotation angle of the boom 8, the arm 9, and the bucket 10 and the inclination angle (body inclination angle) of the upper swing body 12 as state quantities relating to the position and posture of the work device 50.
- An arm angle sensor 31, a bucket angle sensor 32, and a vehicle body tilt sensor 33 are connected, and detection angles of these angle sensors 30 to 33 are input to the controller 40.
- the controller 40 includes a target surface controller 41, a display controller 42, an operation lever 1, an electromagnetic valve 21, an engine 22, a hydraulic pump 2, a machine control ON / OFF switch (hereinafter referred to as an MC switch) 48, a mode. Selection switches 44 are connected to each other.
- the solenoid valve 21 is provided in the pilot pressure (operating pressure) hydraulic line described with reference to FIG. 1, and the operating pressure generated by the operation of the operating lever 1 by the operator can be increased or decreased downstream.
- the target surface controller 41 is an apparatus for arbitrarily setting a target surface. For example, one or both grips (gripping portions) of the two operation levers 1 or a plurality of switches provided in the vicinity thereof, or Includes similar operating devices.
- the target surface controller 41 of the present embodiment includes a setting switch (not shown) used for setting a target excavation surface and a release switch (not shown) for releasing the target surface once set.
- the setting switch When the setting switch is pressed, the position of the tip of the bucket 10 at that time is stored in the controller 40.
- the pressing operation of the setting switch is repeated, two points are stored in the controller 40, and the target plane is set by a straight line defined by the two points.
- the release switch is pressed, the target plane set by the setting switch can be released.
- the reference coordinates of the excavator are set on a plane including the turning center axis and passing through the center of the front work machine, and the target plane is set by selecting two points on the reference coordinates.
- the target plane is a plane that includes the two points described above and is orthogonal to the reference coordinates.
- the excavator reference coordinates are set on the plane.
- the target surface set by the setting switch is displayed on the display unit (monitor) 43 as a schematic diagram or numerically so that the operator can confirm the set target excavation surface. Also good.
- the MC switch 48 has two switching positions, ON and OFF, and a signal for selectively switching ON / OFF of machine control (area limited excavation control) according to the switching position (ON / OFF in FIG. 3). Signal) to the controller 40.
- the controller 40 uses a solenoid valve to prevent the toes of the bucket 10 from entering the target excavation surface (the region below the target excavation surface). 21 is controlled, so-called area limited excavation control is executed as machine control. Conversely, when the MC switch 48 is in the OFF position, the area limited excavation control is not executed.
- the control controller 40 uses the three types so that the tip of the bucket 10 is positioned on or above the target excavation surface set by the target surface controller 41.
- Area limited excavation control in which at least the boom cylinder 5 of the hydraulic cylinders 5, 6, 7 is controlled by the electromagnetic valve 21 is executed.
- the toes of the bucket 10 are prevented from entering the region below the target excavation surface, and it becomes easy to form a precise target excavation surface regardless of the presence or absence of the operator's technique.
- the controller 40 selectively selects the finishing mode (first mode) and the rough excavation mode (second mode) as the excavation mode under the execution of the area limited excavation control (when the MC switch 48 is ON). It is configured to be possible.
- a mode selection switch (switching device) 44 is provided as a device that allows the operator to arbitrarily select the excavation mode.
- the mode selection switch 44 has two switching positions for the finishing mode and the rough excavation mode, and a signal for selectively switching between the finishing mode and the rough excavation mode according to the switching position (selection in FIG. 3). Mode signal) to the controller 40.
- the mode selection switch 44 is desirably provided in a place where the operator can easily operate, such as the grip portion of the right operation lever 1a or the left operation lever 1b or the vicinity thereof, or a console in the cab.
- the excavation speed is prioritized over the excavation accuracy, so that the rate of deceleration of the actuator with respect to the operator operation is controlled to be small.
- the solenoid valve 21 when performing horizontal excavation by an arm pulling operation, the solenoid valve 21 is controlled so that the arm pulling speed corresponds to the operator input, and also prevents the toes from entering the area below the target excavation surface. Therefore, the solenoid valve 21 is controlled so that the boom raising operation is performed. At this time, the solenoid valve 21 may be controlled so that the angle of the bucket 10 with respect to the target excavation surface is constant.
- priority is given to excavation accuracy, so the rate of deceleration of the hydraulic actuator relative to the operator's operation is greater than in the rough excavation mode.
- FIG. 3 is a block diagram showing functions executed by the control program stored in the ROM 93 of the controller 40 according to the embodiment of the present invention.
- the controller 40 functions as a control point position calculation unit (tip position calculation unit) 301, an excavation mode determination unit 302, an actuator control unit 303, an engine control unit 304, and a pump control unit 305.
- the engine control unit 304 and the pump control unit 305 may be collectively referred to as a power generation device control unit 310.
- 3 may be configured as software as a control program stored in the ROM 93, or may be configured as hardware using a circuit or a device. At that time, two or more functions may be integrated, or one function may be distributed to a plurality of functions.
- the controller 40 receives position information of the target excavation surface with respect to the excavator reference coordinates from the target surface controller 41.
- a control point position calculation unit (toe position calculation unit) 301 determines the toe position of the bucket 10 relative to the excavator reference coordinates according to the values detected by the boom angle sensor 30, the arm angle sensor 31, the bucket angle sensor 32, and the vehicle body tilt sensor 33. Calculate as the control point position.
- the toe of the bucket 10 is used as a control point.
- a point other than the toe is used as a control point, and the position is set as a control point position calculation unit 301. You may calculate by.
- the excavation mode determination unit 302 determines ON / OFF of the machine control function based on the ON / OFF signal received from the MC switch 48, and the mode (coarse mode) currently selected based on the selection mode signal received from the mode selection switch 44. (Excavation mode or finishing mode). Although details will be described in an embodiment described later, the excavation mode determination unit 302 detects the relationship between the target excavation surface and the toe position of the bucket 10 and values detected by sensors (not shown) attached to each actuator (for example, Mode selection / determination may be automatically performed according to the arm cylinder pressure. In FIG. 3, determination results of “machine control on / off” and “rough excavation mode / finishing mode” are output from the excavation mode determination unit 302 to the outside.
- the actuator control unit 303 responds to the operation amount of the operator's operation lever 1 (operation pressure of the boom, arm, and bucket), the on / off determination result of the machine control (area limited excavation control), the target excavation surface, and the toe position of the bucket 10. Then, a command value for the electromagnetic valve 21 (target operation pressures for the boom, arm, and bucket) is output, and the three types of hydraulic cylinders 5, 6, and 7 are appropriately driven to operate the front work device 50.
- the actuator control unit 303 prevents the toe position of the bucket 10 from entering a region below the target excavation surface.
- the boom raising operation can be controlled by outputting a command value for extending the boom cylinder 5.
- the front working device 50 can be operated so that the toe trajectory of the bucket 10 is horizontal.
- the engine control unit 304 cooperates with the actuator control unit 303 and / or the pump control unit 305 as necessary, and sends a command value (for example, target engine speed) to an engine controller (not shown) that controls output of the engine 22. ) To control the output of the engine 22.
- the pump control unit 305 cooperates with the actuator control unit 303 and / or the engine control unit 304 as necessary, and sends a command value (for example, a target pump flow rate or the like) to a regulator (not shown) that controls output control of the hydraulic pump 2. This is a part for controlling the output of the hydraulic pump 2 by outputting a target tilt angle determined based on the target pump torque.
- the engine control unit 304 and the pump control unit 305 are based on the toe position (control point position) of the bucket 10 and the position of the target excavation surface and the distance between the target excavation surface and the toe (control point) (hereinafter referred to as target surface distance). May be calculated).
- the engine control unit 304 may output a command value that limits the output range of the engine 22 to the engine controller depending on the combination of machine control on / off, excavation mode, bucket 10 movement direction, and target surface distance. In that case, when the target surface distance is equal to or smaller than the threshold value D, the engine control unit 304 executes a process (output restriction processing) for limiting the output range of the engine 22 more than when the target surface distance is larger than the threshold value D. In particular, in the present embodiment, the engine output is limited to the minimum value necessary for finishing excavation in the area limited excavation control by limiting the engine speed.
- the engine control unit 304 may change the command value according to the mode information determined by the excavation mode determination unit 302.
- the pump control unit 305 may output a command value for limiting the output range of the hydraulic pump 2 to the regulator depending on the combination of machine control ON / OFF, excavation mode, bucket 10 movement direction, and target surface distance. In that case, when the target surface distance is equal to or smaller than the threshold value D, the pump control unit 305 performs processing (output restriction processing) for limiting the output range of the pump 2 more than when the target surface distance is larger than the threshold value D. In particular, in this embodiment, by limiting the tilt of the hydraulic pump 2, the pump output is limited to a minimum value necessary for finishing excavation in the area limited excavation control.
- the pump control unit 305 may change the target pump flow rate and the target pump torque in accordance with the mode information determined by the excavation mode determination unit 302.
- the operator performs the work by setting the excavation mode to the rough excavation mode by the mode selection switch 44. At this time, in order to increase the excavation speed, it is necessary to allow the actuators 5, 6, and 7 to operate quickly without limiting the outputs of the engine 22 and the hydraulic pump 2.
- the finishing mode when the arm cylinder 6 is contracted and returned to the excavation start point by the aerial operation by the arm pushing operation, the excavation is performed more than the excavation accuracy in order to shorten the work time. Speed is important. In such a case, it is preferable that the actuators 5, 6 and 7 can be operated quickly without limiting the outputs of the engine 22 and the hydraulic pump 2.
- FIG. 4 is a flowchart of processing executed by the controller 40 according to the first embodiment. Of the processing contents shown in FIG. 4, processing 405 and processing 406 are executed by the engine control unit 304 and the pump control unit 305.
- process 401 it is determined whether the machine control function is on or off. If the function is on, the process proceeds to process 402. If the function is off, the process proceeds to step 406, where the outputs of the engine 22 and the hydraulic pump 2 are set to be equivalent to the case where the operator manually operates. In the example of FIG. 4, it is assumed that the engine speed can be adjusted by the operator using the engine control dial, and the output of the hydraulic pump 2 is set according to the maximum output of the engine 22 determined by the adjusted speed. Therefore, engine output and pump output are maximized. Note that the content of the processing 406 is merely an example, and any content can be applied as long as the output range is set larger than that set in processing 405 described later.
- the excavation mode is determined (coarse excavation / finishing mode determination). If the finishing mode is selected, the processing proceeds to processing 403. If not the finishing mode (coarse excavation mode), the processing proceeds to processing 404. .
- process 404 it is determined whether or not the target surface distance (the distance between the bucket toe and the target excavation surface) is equal to or less than the threshold value D. If the target surface distance is equal to or less than the threshold value D, the toe position of the bucket 10 is the target excavation surface. The process proceeds to step 405 on the assumption that the finishing work is being performed. If the target surface distance is larger than the threshold value D, the process proceeds to step 406, where the outputs of the engine 22 and the hydraulic pump 2 are set to be equivalent to the case where the operator manually operates.
- process 405 in order to prevent the toe position of the bucket 10 from entering the target excavation surface, a process of lowering the outputs of the engine 22 and the hydraulic pump 2 to a necessary minimum is executed.
- the hydraulic pump 2 is composed of a plurality of pumps and one pump can supply the minimum necessary power
- the tilt angle of a predetermined pump is increased and the tilt angles of other pumps are decreased. By controlling so as to do so, it is possible to minimize the decrease in efficiency due to the output change of the hydraulic pump 2.
- the hydraulic excavator controller 40 when the finishing mode (first mode) is selected, the bucket 10 approaches the hydraulic excavator. When moving in the direction (in the case of arm pulling operation), or when the bucket 10 moves in the direction away from the excavator (in the case of arm pushing operation) and the target surface distance is equal to or less than the threshold value D, the target surface distance is the threshold value D. If the output range of the engine 22 and the hydraulic pump 2 is limited (output restriction control (process 405)) than when it is larger, and (2) when the rough excavation mode (second mode) is selected When the target surface distance is equal to or less than the threshold value D regardless of the moving direction of the bucket 10, the output restriction control (process 405) is executed.
- the arm pulling operation (finishing excavation state) in the finishing mode is extracted in processing 402 and processing 403, and the output of the engine 22 and the hydraulic pump 2 is processed in processing 405. Therefore, the operating speed of the actuators 5, 6, and 7 is reduced, and the excavation accuracy of machine control can be increased. Further, by reducing the output of the engine 22 and the hydraulic pump 2 to the necessary minimum, wasteful fuel consumption can be suppressed and engine noise can be reduced.
- the actuator operation speed is maintained at a high speed, so that high work efficiency can be maintained.
- the rough excavation mode in the case other than the finishing mode
- only the situation in which the bucket toe is approaching the target excavation surface is extracted in the process 404, and the output is reduced. It is possible to prevent the bucket toe from entering the target excavation surface while suppressing the decrease.
- the target surface distance exceeds D and the bucket toe is separated from the target excavation surface, it is assumed that the operation of returning to the excavation start point by the aerial operation is performed by pushing the arm. Since the output of the hydraulic pump 2 is increased, the speed of the actuator operation in the rough excavation mode is maintained, and high work efficiency can be maintained.
- the speed is secured by increasing the output range of the engine 22 or the pump 2 in the rough excavation work requiring speed and the return operation to the excavation start point.
- the output of the engine 22 or the pump 2 can be reduced to the minimum necessary to ensure the toe accuracy and energy saving can be achieved.
- the output ranges of both the engine 22 and the hydraulic pump 2 are limited to the minimum necessary values for the purpose of pursuing energy saving. Even if one of the output ranges is limited to a necessary minimum value, an energy saving effect can be obtained. Further, in the process 405, the output range of the engine 22 or the hydraulic pump 2 does not necessarily have to be reduced to a necessary minimum value, and is set to an arbitrary range as long as the output range is limited as compared with the process 406. It is possible. Also, in the process 406, the output of the engine 22 and the pump 2 is not necessarily the maximum, and can be arbitrarily set within a range in which the output becomes larger than that in the process 405.
- the movement direction of the bucket 10 is detected by detecting the arm operation pressure.
- the movement direction of the bucket 10 is determined by detecting the operation pressure of the boom 8 and / or the bucket 10. It may be detected.
- the moving direction of the bucket 10 can also be detected by calculating the time change of the position of the bucket 10 calculated based on the outputs of the angle sensors 30 to 33. The above items are the same for each embodiment described later.
- FIG. 5 shows a flowchart of processing executed by the controller 40 according to the second embodiment, but since all processing in FIG. 5 has been described with reference to FIG. 4, detailed description thereof will be omitted.
- the target surface distance calculated based on the position of the bucket toe (control point) and the target surface is equal to or less than the threshold value D
- the target surface distance The control controller 40 executes the process of limiting the output ranges of the engine 22 and the hydraulic pump 2 (output restriction control) more than when the value is larger than the threshold value D.
- the target surface distance is equal to or less than the threshold value D
- the rough excavation mode and the finishing mode are selected as the excavation mode by the operation of the mode selection switch 44 by the operator.
- the bucket at the excavation operation time is selected.
- the controller 40 automatically selects the excavation mode according to the 10 movement trajectories.
- a process in which the controller 40 selects the excavation mode will be described using horizontal excavation as an example.
- a threshold input interface 45 that is a device for an operator to input a threshold ⁇ for switching the excavation mode is connected to the control controller 40.
- the threshold value ⁇ may be left as the initial setting at the time of excavator shipment.
- the excavation mode determination unit 302 in the controller 40 includes the shape and position of the target excavation surface derived from the information from the target surface controller 41, the boom angle sensor 30, the arm angle sensor 31, the bucket angle sensor 32, and the vehicle body tilt sensor.
- the movement trajectory of the tip of the bucket 10 calculated from 33 and its position are compared, and an index indicating the degree of coincidence (coincidence) is calculated.
- the higher the degree of coincidence between the two indicates that the toes move closer to the target excavation surface, so the accuracy of finishing work increases.
- the lower the degree of coincidence between the two the farther the toes move away from the target excavation surface. Since it indicates that the position is moved, the accuracy of rough excavation work is increased.
- a threshold is set for the degree of coincidence, and it is estimated based on the threshold whether the work currently being performed is finishing or rough excavation.
- a difference ⁇ which will be described later, is calculated as an index indicating the degree of coincidence, and ⁇ is adopted as a threshold value for determining whether finishing or rough excavation.
- the excavation mode determination unit 302 outputs a signal to the power generator control unit 310 when the difference ⁇ is equal to or less than the threshold value ⁇ to set the excavation mode to the finishing mode, and generates power when the difference ⁇ exceeds the threshold value ⁇ .
- a signal is output to the apparatus control unit 310 to set the rough excavation mode.
- the threshold value ⁇ is preferably smaller than the threshold value D of the first embodiment.
- the threshold D when the threshold D is a value included in the range of 10 cm ⁇ 3 cm, the threshold ⁇ may be a value included in the range of 3 cm ⁇ 2 cm.
- the index indicating the degree of coincidence is not limited to the difference ⁇ , and any other index can be used as long as it can quantitatively represent the degree of coincidence between the two.
- a method for calculating the difference ⁇ during excavation work in the present embodiment will be described.
- Horizontal excavation is performed by an operation of pulling horizontally by an arm pulling operation and an operation of returning to the excavation start point by an arm pushing operation, and this series of operations is defined as one cycle.
- the difference ⁇ is calculated as an average value of the target surface distance during the horizontal pulling operation (during the arm pulling operation) in the previous cycle. For example, by determining the start / end of the arm pulling operation, the target surface distance (deviation between the target excavation surface and the toe position of the bucket 10) is integrated over the period from the start to the end, and the integrated value is divided by the operation time. Then, the difference ⁇ is calculated by obtaining the average value.
- FIG. 7 is a flowchart of processing executed by the controller 40 according to the third embodiment.
- the excavation mode of the controller 40 is set to the rough excavation mode.
- the difference ⁇ between the target excavation surface and the toe position of the bucket 10 becomes equal to or less than the threshold value ⁇ .
- the excavation mode of the controller 40 is set to the finishing mode during the next excavation work.
- control method of the controller 40 can be automatically switched depending on the magnitude relationship between the difference ⁇ between the bucket toe position and the target excavation surface and the threshold value ⁇ .
- the excavation mode is switched based on the difference ⁇ between the target excavation surface and the toe position of the bucket 10 and the threshold ⁇ , but in this embodiment, three types of hydraulic cylinders are used.
- the excavation mode is switched based on the pressure (load pressure) P of the arm cylinder 6 among 5, 6 and 7. This is because the pressure P of the arm cylinder 6 is relatively high because the excavation load is relatively high during rough excavation, but the pressure P of the arm cylinder 6 is relatively low because the excavation load is relatively low during finish excavation. This phenomenon is used.
- a threshold value ⁇ is set for the cylinder pressure P, and it is estimated based on the threshold value ⁇ whether the work currently being performed is finishing or rough excavation.
- the excavation mode determination unit 302 outputs a signal to the power generator control unit 310 when the cylinder pressure P is equal to or less than the threshold value ⁇ , sets the excavation mode to the finishing mode, and when the cylinder pressure P exceeds the threshold value ⁇ .
- a signal is output to the power generator control unit 310 to set the rough excavation mode.
- the calculation method of the arm cylinder pressure P during excavation work in the present embodiment will be described.
- a series of operations of arm pulling operation and arm pushing operation is defined as one cycle in horizontal excavation.
- the arm cylinder pressure P is calculated as an average value during the horizontal pulling operation in the previous cycle. For example, by determining the start / end of the arm pulling operation, the value of the arm cylinder pressure sensor 46 is integrated over the period from the start to the end, and the integrated value is divided by the operation time to obtain the average value.
- the pressure P is calculated.
- an oil passage for supplying and discharging pressure oil to and from the arm cylinder 6 or an arm cylinder pressure sensor 46 provided in the arm cylinder 6 is connected to the control controller 40.
- the excavation mode determination unit 302 of the controller 40 compares the arm cylinder pressure P with the pressure threshold value ⁇ .
- the pressure threshold ⁇ can be input by the operator through the threshold input interface 45 as in the third embodiment, but it may be left as the initial setting at the time of shipment.
- FIG. 9 is a flowchart of processing executed by the controller 40 according to the fourth embodiment.
- the excavation mode is set to the rough excavation mode by the controller 40 in accordance with the process 482 shown in the flowchart of FIG.
- the excavation mode is set to the finishing mode by the controller 40 in accordance with the process 482 shown in the flowchart of FIG.
- the excavation mode is switched using not only the difference ⁇ between the tip of the bucket 10 and the target excavation surface but also the arm cylinder pressure, the work situation can be determined more accurately. Thereby, it becomes possible to change the output range of the engine 22 or the hydraulic pump 2 more suitably than the third embodiment.
- both the difference ⁇ and the pressure P are used for automatic switching of the excavation mode from the viewpoint of improving the accuracy of determination of the work situation, but the excavation mode is based only on the magnitude relationship between the pressure P and the threshold ⁇ . May be switched.
- the excavation mode is automatically set using only the pressure (load pressure) of the arm cylinder 6 among the three types of hydraulic cylinders 5, 6, 7.
- the excavation load may be determined by using the pressure (load pressure) of the boom cylinder 5 and / or the bucket cylinder 7 to set the excavation mode.
- the present invention is not limited to the above-described embodiments, and includes various modifications.
- each of the above-described embodiments has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described.
- a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.
- the angle sensor that detects the angles of the boom 8, the arm 9, and the bucket 10 is used to calculate the toe position of the bucket 10, but the toe position is detected by using a cylinder stroke sensor instead of the angle sensor. You may do that.
- the target excavation plane setting by the target plane controller 41 may be in a form in which drawing information is stored in advance in a memory inside the control controller 40 or in a form in which the operator manually inputs it.
- the toe position of the bucket 10 is used as a control point, and the control is performed according to the distance from the target excavation surface. It is not necessary to be at the toe position, and the back surface of the bucket 10 may be used. If the bucket link 13 is closer to the target surface than the bucket 10 depending on the attitude of the front working device 50, the bucket link 13 may be compared with the target excavation surface.
- the currently selected excavation mode may be displayed on the display unit 43 and clearly shown to the operator.
Abstract
Description
本発明の第1実施形態を図1~図4を用いて説明する。
図1は、本発明の第1実施形態に係る油圧ショベルの構成図である。この図に示す油圧ショベルは、垂直方向それぞれに回動可能なブーム8、アーム9、バケット(作業具)10からなる多関節型のフロント作業装置50と、上部旋回体12及び下部走行体11からなる車体とで構成される。フロント作業装置50のブーム8の基端部は、上部旋回体12に回動可能に支持されており、フロント作業装置50の先端にはバケット10が位置する。なお、ここではフロント作業装置50の先端に取り付けられる作業具(アタッチメント)がバケット10の場合を例示するが、いうまでもなく他の作業具に交換しても本実施の形態は適用可能である。
ところで、図4の例では掘削モードに応じて制御を切り換えていたが、掘削モードを不問にしてマシンコントロールのオンオフと目標面距離だけに基づいてエンジン22とポンプ2の出力を制御しても良い。次にこれを第2実施形態として説明する。第2実施形態に係る制御コントローラ40によって実行される処理のフローチャートを図5に示すが、図5中の全処理は図4で説明済みなのでその詳細な説明は省略する。
次に、本発明の第3実施形態について、図6と図7を用いて説明する。
次に、本発明の第4実施形態について、図8と図9を用いて説明する。
Claims (8)
- 原動機と、
前記原動機で生成した動力によって駆動される油圧ポンプと、
前記油圧ポンプで生成した動力によって駆動される複数の油圧アクチュエータにより動作する作業装置であって、当該作業装置の先端に作業具を有する作業装置と、
任意に設定された目標面上又はその上方に前記作業具の先端が位置するように前記複数の油圧アクチュエータの少なくとも1つを制御するアクチュエータ制御部とを備える建設機械において、
前記作業装置に対して設定された制御点の位置を前記作業装置の位置と姿勢に関する状態量に基づいて算出する制御点位置算出部と、
前記制御点の位置と前記目標面の位置に基づいて算出される前記目標面と前記制御点の距離が閾値以下のとき、前記目標面と前記制御点の距離が閾値より大きいときよりも前記原動機及び前記油圧ポンプのうち少なくとも1つの出力範囲を制限する処理である出力制限制御を実行する動力発生装置制御部とを備えることを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記動力発生装置制御部は、前記作業具が前記建設機械に近づく方向に移動するとき、または、前記作業具が前記建設機械から離れる方向に移動し且つ前記目標面と前記制御点の距離が前記閾値以下のとき、前記出力制限制御を実行することを特徴とする建設機械。 - 請求項2に記載の建設機械において、
前記動力発生装置制御部は、
前記作業具が前記建設機械に近づく方向に移動するとき、または、前記作業具が前記建設機械から離れる方向に移動し且つ前記目標面と前記制御点の距離が前記閾値以下のとき、前記出力制限制御を実行する第1モードと、前記作業具の移動方向に関わらず前記目標面と前記制御点の距離が前記閾値以下のとき、前記出力制限制御を実行する第2モードとを択一的に選択可能に構成されていることを特徴とする建設機械。 - 請求項3に記載の建設機械において、
切換位置に応じて、前記第1モードと前記第2モードを択一的に切り換える信号を前記動力発生装置制御部に出力する切換装置をさらに備えることを特徴とする建設機械。 - 請求項3に記載の建設機械において、
前記作業装置による掘削動作時における前記作業具の移動軌跡と前記目標面の形状及び位置との一致度に基づいて、前記第1モード及び前記第2モードを択一的に切り換える信号を前記動力発生装置制御部に出力するモード判定部をさらに備えることを特徴とする建設機械。 - 請求項3に記載の建設機械において、
前記アクチュエータ制御部、前記制御点位置算出部および前記動力発生装置制御部を有する制御コントローラを備え、
前記制御コントローラは、前記複数の油圧アクチュエータのいずれかの負荷圧に応じて、前記第1モード及び前記第2モードを択一的に切り換える信号を前記動力発生装置制御部に出力するモード判定部をさらに有することを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記出力制限制御は、前記原動機の回転数を制限して前記原動機の出力範囲を制限する処理であることを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記出力制限制御は、前記油圧ポンプの傾転を制限して前記油圧ポンプの出力範囲を制限する処理であることを特徴とする建設機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16853639.9A EP3361007B1 (en) | 2015-10-08 | 2016-10-05 | Construction machinery |
US15/764,425 US10435870B2 (en) | 2015-10-08 | 2016-10-05 | Construction machine |
KR1020187009112A KR102041895B1 (ko) | 2015-10-08 | 2016-10-05 | 건설 기계 |
CN201680058489.5A CN108138460B (zh) | 2015-10-08 | 2016-10-05 | 工程机械 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015200531A JP6532797B2 (ja) | 2015-10-08 | 2015-10-08 | 建設機械 |
JP2015-200531 | 2015-10-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017061485A1 true WO2017061485A1 (ja) | 2017-04-13 |
Family
ID=58487745
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/079658 WO2017061485A1 (ja) | 2015-10-08 | 2016-10-05 | 建設機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10435870B2 (ja) |
EP (1) | EP3361007B1 (ja) |
JP (1) | JP6532797B2 (ja) |
KR (1) | KR102041895B1 (ja) |
CN (1) | CN108138460B (ja) |
WO (1) | WO2017061485A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020101006A1 (ja) * | 2018-11-14 | 2020-05-22 | 住友重機械工業株式会社 | ショベル、ショベルの制御装置 |
EP3730698A4 (en) * | 2017-12-22 | 2021-12-15 | Hitachi Construction Machinery Co., Ltd. | WORKING MACHINE |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6271771B2 (ja) * | 2016-11-29 | 2018-01-31 | 株式会社小松製作所 | 建設機械の制御装置及び建設機械の制御方法 |
JP7152148B2 (ja) * | 2017-12-18 | 2022-10-12 | 住友重機械工業株式会社 | 建設機械 |
EP3767041B1 (en) * | 2018-03-15 | 2024-02-07 | Hitachi Construction Machinery Co., Ltd. | Work machine |
JP7045926B2 (ja) | 2018-05-22 | 2022-04-01 | 株式会社小松製作所 | 油圧ショベル、およびシステム |
JP7177608B2 (ja) | 2018-06-11 | 2022-11-24 | 株式会社小松製作所 | 作業機械を含むシステム、コンピュータによって実行される方法、学習済みの位置推定モデルの製造方法、および学習用データ |
EP3848515B1 (en) * | 2018-09-03 | 2024-01-10 | Hitachi Construction Machinery Co., Ltd. | Work machine |
JP7123735B2 (ja) * | 2018-10-23 | 2022-08-23 | ヤンマーパワーテクノロジー株式会社 | 建設機械及び建設機械の制御システム |
JP7316052B2 (ja) * | 2019-01-29 | 2023-07-27 | 株式会社小松製作所 | 作業機械を含むシステム、およびコンピュータによって実行される方法 |
WO2020204240A1 (ko) * | 2019-04-05 | 2020-10-08 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계 |
JP7193419B2 (ja) * | 2019-06-18 | 2022-12-20 | 日立建機株式会社 | 建設機械 |
CN112128175B (zh) * | 2020-08-27 | 2022-04-19 | 中联重科股份有限公司 | 基于夹角检测的工程机械动力调整方法及液压动力系统 |
CN113250255B (zh) * | 2021-06-08 | 2022-08-19 | 上海三一重机股份有限公司 | 一种基于电子围墙的工程机械控制方法、装置及工程机械 |
JP2023060687A (ja) * | 2021-10-18 | 2023-04-28 | 株式会社小松製作所 | 作業機械の制御装置 |
CN115288218A (zh) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | 用于控制臂架的方法、挖掘机、存储介质及处理器 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH108490A (ja) * | 1996-06-26 | 1998-01-13 | Hitachi Constr Mach Co Ltd | 建設機械のフロント制御装置及び領域設定方法 |
JP3056254B2 (ja) * | 1994-04-28 | 2000-06-26 | 日立建機株式会社 | 建設機械の領域制限掘削制御装置 |
JP2005060970A (ja) * | 2003-08-08 | 2005-03-10 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 油圧ショベルの油圧回路 |
JP2006017195A (ja) * | 2004-06-30 | 2006-01-19 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 建設機械の制御装置 |
WO2012121252A1 (ja) * | 2011-03-08 | 2012-09-13 | 住友建機株式会社 | ショベル及びショベルの制御方法 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6355222A (ja) * | 1986-08-26 | 1988-03-09 | Kubota Ltd | 旋回型バツクホウ |
JP3571142B2 (ja) * | 1996-04-26 | 2004-09-29 | 日立建機株式会社 | 建設機械の軌跡制御装置 |
US6169948B1 (en) | 1996-06-26 | 2001-01-02 | Hitachi Construction Machinery Co., Ltd. | Front control system, area setting method and control panel for construction machine |
JP3155722B2 (ja) | 1997-03-06 | 2001-04-16 | 住友建機株式会社 | 建設機械のエンジン及び油圧ポンプ制御装置 |
JP3471583B2 (ja) * | 1997-10-02 | 2003-12-02 | 日立建機株式会社 | 油圧建設機械の原動機のオートアクセル装置 |
JP4741521B2 (ja) * | 2007-01-12 | 2011-08-03 | 日立建機株式会社 | 油圧ショベルのフロント制御装置 |
JP2011043002A (ja) | 2009-08-24 | 2011-03-03 | Naomasa Nitta | 掘削支援装置 |
CN102561445B (zh) * | 2012-01-09 | 2014-05-21 | 三一重工股份有限公司 | 用于判断挖掘机的工作姿态的系统和方法、挖掘机 |
US9464406B2 (en) * | 2013-04-12 | 2016-10-11 | Komatsu Ltd. | Control system for construction machine and control method |
KR101751164B1 (ko) * | 2014-05-30 | 2017-06-26 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 기계의 제어 시스템, 작업 기계 및 작업 기계의 제어 방법 |
WO2015181990A1 (ja) * | 2014-05-30 | 2015-12-03 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、油圧ショベルの制御システム及び作業機械の制御方法 |
JP5856685B1 (ja) * | 2014-06-02 | 2016-02-10 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
US20170121930A1 (en) * | 2014-06-02 | 2017-05-04 | Komatsu Ltd. | Construction machine control system, construction machine, and method of controlling construction machine |
US9856628B2 (en) * | 2014-06-02 | 2018-01-02 | Komatsu Ltd. | Control system for construction machine, construction machine, and method for controlling construction machine |
DE112014000075B4 (de) * | 2014-06-03 | 2020-09-24 | Komatsu Ltd. | Steuersystem für Erdbewegungsmaschine und Erdbewegungsmaschine |
US9605412B2 (en) * | 2014-06-04 | 2017-03-28 | Komatsu Ltd. | Construction machine control system, construction machine, and construction machine control method |
JP5873217B1 (ja) * | 2014-06-04 | 2016-03-01 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
WO2015129931A1 (ja) * | 2014-06-04 | 2015-09-03 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
DE112015000021T5 (de) * | 2014-06-04 | 2015-11-19 | Komatsu Ltd. | Baumaschinensteuersystem, Baumaschine und Baumaschinensteuerverfahren |
-
2015
- 2015-10-08 JP JP2015200531A patent/JP6532797B2/ja not_active Expired - Fee Related
-
2016
- 2016-10-05 US US15/764,425 patent/US10435870B2/en active Active
- 2016-10-05 CN CN201680058489.5A patent/CN108138460B/zh active Active
- 2016-10-05 EP EP16853639.9A patent/EP3361007B1/en active Active
- 2016-10-05 WO PCT/JP2016/079658 patent/WO2017061485A1/ja active Application Filing
- 2016-10-05 KR KR1020187009112A patent/KR102041895B1/ko active IP Right Grant
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3056254B2 (ja) * | 1994-04-28 | 2000-06-26 | 日立建機株式会社 | 建設機械の領域制限掘削制御装置 |
JPH108490A (ja) * | 1996-06-26 | 1998-01-13 | Hitachi Constr Mach Co Ltd | 建設機械のフロント制御装置及び領域設定方法 |
JP2005060970A (ja) * | 2003-08-08 | 2005-03-10 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 油圧ショベルの油圧回路 |
JP2006017195A (ja) * | 2004-06-30 | 2006-01-19 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 建設機械の制御装置 |
WO2012121252A1 (ja) * | 2011-03-08 | 2012-09-13 | 住友建機株式会社 | ショベル及びショベルの制御方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3730698A4 (en) * | 2017-12-22 | 2021-12-15 | Hitachi Construction Machinery Co., Ltd. | WORKING MACHINE |
WO2020101006A1 (ja) * | 2018-11-14 | 2020-05-22 | 住友重機械工業株式会社 | ショベル、ショベルの制御装置 |
JPWO2020101006A1 (ja) * | 2018-11-14 | 2021-09-30 | 住友重機械工業株式会社 | ショベル、ショベルの制御装置 |
JP7301875B2 (ja) | 2018-11-14 | 2023-07-03 | 住友重機械工業株式会社 | ショベル、ショベルの制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CN108138460A (zh) | 2018-06-08 |
US10435870B2 (en) | 2019-10-08 |
JP2017071982A (ja) | 2017-04-13 |
US20180266083A1 (en) | 2018-09-20 |
JP6532797B2 (ja) | 2019-06-19 |
EP3361007B1 (en) | 2020-05-27 |
CN108138460B (zh) | 2020-08-25 |
EP3361007A1 (en) | 2018-08-15 |
KR102041895B1 (ko) | 2019-11-08 |
KR20180048918A (ko) | 2018-05-10 |
EP3361007A4 (en) | 2019-06-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017061485A1 (ja) | 建設機械 | |
US10801187B2 (en) | Work machine | |
KR102029828B1 (ko) | 작업 기계 | |
US11168459B2 (en) | Work machine | |
JP2011514456A (ja) | 半自律的掘削制御システム | |
JP6683620B2 (ja) | 作業車両およびエンジン出力制御方法 | |
US11313107B2 (en) | Work machine | |
CN110325747B (zh) | 作业机械 | |
WO2019176075A1 (ja) | 作業機械 | |
JP6695620B2 (ja) | 建設機械 | |
JP7171317B2 (ja) | 作業機械 | |
KR102588223B1 (ko) | 작업 기계 | |
JP6692568B2 (ja) | 建設機械 | |
US11555294B2 (en) | Work machine | |
JP2687169B2 (ja) | 建設機械の法面作業制御装置 | |
US20220266898A1 (en) | Valve system, work machine, method for controlling valve, program, and recording medium | |
JP2020133209A (ja) | 作業機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16853639 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15764425 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 20187009112 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2016853639 Country of ref document: EP |