WO2018030220A1 - 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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- WO2018030220A1 WO2018030220A1 PCT/JP2017/027910 JP2017027910W WO2018030220A1 WO 2018030220 A1 WO2018030220 A1 WO 2018030220A1 JP 2017027910 W JP2017027910 W JP 2017027910W WO 2018030220 A1 WO2018030220 A1 WO 2018030220A1
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- WIPO (PCT)
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- bucket
- tilt
- angle
- target
- 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
- 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
-
- 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
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers 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
- E02F3/3604—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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
-
- 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
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- 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
-
- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- 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
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
Definitions
- the present invention relates to a construction machine control system, a construction machine, and a construction machine control method.
- Patent Document 1 A construction machine having a working machine having a tilt bucket as disclosed in Patent Document 1 is known.
- intervention control In the technical field related to construction machine control, a technique for controlling a work machine in preference to operation of an operation device by a construction machine operator is known. In this specification, controlling the work machine in preference to the operation of the operating device by the operator of the construction machine is referred to as intervention control.
- the position or posture of at least one of the boom, the arm, and the bucket of the work machine is controlled with respect to the target construction landform indicating the target shape of the excavation target.
- the construction according to the target construction topography is carried out.
- the work efficiency of the construction machine is lowered unless the control specific to the tilt bucket is performed in addition to the existing intervention control.
- aspects of the present invention provide a construction machine control system, a construction machine, and a construction machine control method capable of suppressing a decrease in work efficiency in a construction machine including a work machine having a tilt bucket.
- control of a construction machine including an arm, and a working machine including a bucket shaft and a bucket that is rotatable with respect to the arm about each of a tilt shaft orthogonal to the bucket shaft.
- a tilt angle indicating an angle of the specific part of the bucket with the tilt axis as a center is determined so that a target construction topography indicating a target shape of an excavation target and the specific part of the bucket are parallel to each other.
- a construction machine control system comprising: an angle determination unit that controls the tilt cylinder that rotates the bucket around the tilt axis based on the tilt angle determined by the angle determination unit Is provided.
- an upper swing body a lower traveling body that supports the upper swing body, the arm and the bucket, and a work implement supported by the upper swing body
- a construction machine comprising the construction machine control system according to one aspect.
- control of a construction machine including an arm and a working machine including a bucket shaft and a bucket that is rotatable with respect to the arm about each of a tilt shaft orthogonal to the bucket shaft.
- a tilt angle indicating an angle of the specific part of the bucket with the tilt axis as a center is determined so that a target construction topography indicating a target shape of an excavation target and the specific part of the bucket are parallel to each other.
- a control method for the construction machine including: controlling a tilt cylinder that rotates the bucket about the tilt axis based on the tilt angle determined by the angle determination unit.
- a construction machine control system capable of suppressing a decrease in work efficiency in a construction machine including a work machine having a tilt bucket.
- FIG. 1 is a perspective view illustrating an example of a construction machine according to the present embodiment.
- FIG. 2 is a side sectional view showing an example of the bucket according to the present embodiment.
- FIG. 3 is a front view showing an example of the bucket according to the present embodiment.
- FIG. 4 is a side view schematically showing the hydraulic excavator according to the present embodiment.
- FIG. 5 is a rear view schematically showing the hydraulic excavator according to the present embodiment.
- FIG. 6 is a plan view schematically showing the hydraulic excavator according to the present embodiment.
- FIG. 7 is a side view schematically showing the bucket according to the present embodiment.
- FIG. 8 is a front view schematically showing the bucket according to the present embodiment.
- FIG. 1 is a perspective view illustrating an example of a construction machine according to the present embodiment.
- FIG. 2 is a side sectional view showing an example of the bucket according to the present embodiment.
- FIG. 3 is a front view showing an example of the bucket according to the
- FIG. 9 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
- FIG. 10 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
- FIG. 11 is a functional block diagram illustrating an example of a control system according to the present embodiment.
- FIG. 12 is a diagram schematically illustrating an example of the specified points set in the bucket according to the present embodiment.
- FIG. 13 is a schematic diagram illustrating an example of target construction data according to the present embodiment.
- FIG. 14 is a schematic diagram showing an example of the target construction landform according to the present embodiment.
- FIG. 15 is a schematic diagram illustrating an example of a tilt operation plane according to the present embodiment.
- FIG. 16 is a schematic diagram illustrating an example of a tilt operation plane according to the present embodiment.
- FIG. 17 is a diagram schematically illustrating the relationship between the cutting edge of the bucket and the target construction landform according to the present embodiment.
- FIG. 18 is a schematic diagram for explaining the intervention control for the tilt rotation according to the present embodiment.
- FIG. 19 is a diagram illustrating an example of the relationship between the operating distance and the target speed according to the present embodiment.
- FIG. 20 is a flowchart illustrating an example of a method for adjusting the tilt angle of the bucket according to the present embodiment.
- FIG. 21 is a schematic diagram for explaining an example of a method for adjusting the tilt angle of the bucket according to the present embodiment.
- FIG. 22 is a diagram schematically illustrating an example of the operation of the work machine according to the present embodiment.
- FIG. 23 is a diagram schematically illustrating an example of the operation of the work machine according to the present embodiment.
- FIG. 24 is a flowchart illustrating an example of a method for adjusting the tilt angle of the bucket according to the present embodiment.
- FIG. 25 is a schematic diagram for explaining an example of a method for adjusting the tilt angle of the bucket according to the present embodiment.
- FIG. 26 is a schematic diagram for explaining an example of a method for adjusting the tilt angle of the bucket according to the present embodiment.
- a three-dimensional global coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) are defined, and the positional relationship of each part will be described.
- the global coordinate system is a coordinate system based on the origin fixed on the earth.
- the global coordinate system is a coordinate system defined by GNSS (Global Navigation Satellite System).
- GNSS refers to the global navigation satellite system.
- GPS Global Positioning System
- the GNSS has a plurality of positioning satellites. The GNSS detects a position defined by latitude, longitude, and altitude coordinate data.
- the global coordinate system is defined by the Xg axis in the horizontal plane, the Yg axis orthogonal to the Xg axis in the horizontal plane, and the Zg axis orthogonal to the Xg axis and the Yg axis.
- the direction parallel to the Xg axis is the Xg axis direction
- the direction parallel to the Yg axis is the Yg axis direction
- the direction parallel to the Zg axis is the Zg axis direction.
- the rotation or tilt direction around the Xg axis is the ⁇ Xg direction
- the rotation or tilt direction around the Yg axis is the ⁇ Yg direction
- the rotation or tilt direction around the Zg axis is the ⁇ Zg direction.
- the Zg axis direction is the vertical direction.
- the vehicle body coordinate system is a coordinate system based on the origin fixed to the construction machine.
- the vehicle body coordinate system is defined by an Xm axis extending in one direction with respect to the origin fixed to the vehicle body of the construction machine, a Ym axis orthogonal to the Xm axis, and a Zm axis orthogonal to the Xm axis and the Ym axis.
- the direction parallel to the Xm axis is the Xm axis direction
- the direction parallel to the Ym axis is the Ym axis direction
- the direction parallel to the Zm axis is the Zm axis direction.
- the rotation or tilt direction around the Xm axis is taken as the ⁇ Xm direction
- the rotation or tilt direction around the Ym axis is taken as the ⁇ Ym direction
- the rotation or tilt direction around the Zm axis is taken as the ⁇ Zm direction.
- the Xm-axis direction is the longitudinal direction of the construction machine
- the Ym-axis direction is the vehicle width direction of the construction machine
- the Zm-axis direction is the vertical direction of the construction machine.
- FIG. 1 is a perspective view showing an example of a construction machine 100 according to the present embodiment.
- the construction machine 100 is a hydraulic excavator
- the construction machine 100 is appropriately referred to as a hydraulic excavator 100.
- a hydraulic excavator 100 includes a working machine 1 that is operated by hydraulic pressure, an upper swing body 2 that is a vehicle body that supports the work machine 1, and a lower traveling body that is a traveling device that supports the upper swing body 2. 3, an operating device 30 for operating the work machine 1, and a control device 50 for controlling the work machine 1.
- the upper swing body 2 can swing around the swing axis RX while being supported by the lower traveling body 3.
- the upper swing body 2 has a cab 4 in which an operator is boarded, and a machine room 5 in which an engine and a hydraulic pump are accommodated.
- the cab 4 has a driver's seat 4S on which an operator is seated.
- the machine room 5 is disposed behind the cab 4.
- the lower traveling body 3 has a pair of crawler belts 3C.
- the excavator 100 travels by the rotation of the crawler belt 3C.
- the lower traveling body 3 may have a tire.
- the work machine 1 is supported by the upper swing body 2.
- the work machine 1 includes a boom 6 connected to the upper swing body 2 via a boom pin, an arm 7 connected to the boom 6 via an arm pin, and a bucket 8 connected to the arm 7 via a bucket pin and a tilt pin. And have.
- the bucket 8 has a cutting edge 9.
- the blade edge 9 of the bucket 8 is the tip of a straight blade provided on the bucket 8.
- the blade edge 9 of the bucket 8 may be a tip of a convex blade provided on the bucket 8.
- the boom 6 can be rotated with respect to the upper swing body 2 around a boom axis AX1 which is a rotation axis.
- the arm 7 is rotatable with respect to the boom 6 around an arm axis AX2 that is a rotation axis.
- the bucket 8 is rotatable with respect to the arm 7 around a bucket axis AX3 that is a rotation axis and a tilt axis AX4 that is a rotation axis orthogonal to the bucket axis AX3.
- the rotation axis AX1, the rotation axis AX2, and the rotation axis AX3 are parallel to each other.
- the rotation axes AX1, AX2, AX3 and the axis parallel to the turning axis RX are orthogonal to each other.
- the rotation axes AX1, AX2, AX3 are parallel to the Ym axis of the vehicle body coordinate system.
- the turning axis RX is parallel to the Zm axis of the vehicle body coordinate system.
- the direction parallel to the rotation axes AX1, AX2, AX3 indicates the vehicle width direction of the upper swing body 2.
- the direction parallel to the turning axis RX indicates the vertical direction of the upper turning body 2.
- the direction orthogonal to both the rotation axes AX1, AX2, AX3 and the turning axis RX indicates the front-rear direction of the upper turning body 2.
- the direction in which the work implement 1 is present is based on the operator seated on the driver's seat 4S.
- the work machine 1 is operated by the power generated by the hydraulic cylinder 10.
- the hydraulic cylinder 10 includes a boom cylinder 11 that operates the boom 6, an arm cylinder 12 that operates the arm 7, and a bucket cylinder 13 and a tilt cylinder 14 that operate the bucket 8.
- the boom cylinder 11 can generate power for rotating the boom 6 around the boom axis AX1.
- the arm cylinder 12 can generate power for rotating the arm 7 about the arm axis AX2.
- the bucket cylinder 13 can generate power for rotating the bucket 8 about the bucket shaft AX3.
- the tilt cylinder 14 can generate power for rotating the bucket 8 about the tilt axis AX4.
- the rotation of the bucket 8 around the bucket axis AX3 is appropriately referred to as bucket rotation
- the rotation of the bucket 8 around the tilt axis AX4 is appropriately referred to as tilt rotation.
- the work machine 1 includes a boom stroke sensor 16 that detects a boom stroke that indicates the drive amount of the boom cylinder 11, an arm stroke sensor 17 that detects an arm stroke that indicates the drive amount of the arm cylinder 12, and the drive of the bucket cylinder 13.
- a bucket stroke sensor 18 that detects a bucket stroke indicating the amount and a tilt stroke sensor 19 that detects a tilt stroke indicating the drive amount of the tilt cylinder 14 are provided.
- the boom stroke sensor 16 is disposed in the boom cylinder 11.
- the arm stroke sensor 17 is disposed in the arm cylinder 12.
- the bucket stroke sensor 18 is disposed in the bucket cylinder 13.
- the tilt stroke sensor 19 is disposed on the tilt cylinder 14.
- the operating device 30 is arranged in the cab 4.
- the operation device 30 includes an operation member that is operated by an operator of the excavator 100.
- the operator operates the operating device 30 to activate the work machine 1.
- the operation device 30 includes a right work machine operation lever 30R, a left work machine operation lever 30L, a tilt operation lever 30T, and an operation pedal 30F.
- the relationship between the operation direction of the right work machine operation lever 30R and the left work machine operation lever 30L, the operation direction of the work machine 1, and the turning direction of the upper swing body 2 may not be the above-described relation.
- the control device 50 includes a computer system.
- the control device 50 includes a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), and an input / output And an interface device.
- a processor such as a CPU (Central Processing Unit)
- a non-volatile memory such as a ROM (Read Only Memory)
- a volatile memory such as a RAM (Random Access Memory)
- 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 1 has a bucket 8 that can rotate with respect to the arm 7 around a bucket axis AX3 and a tilt axis AX4 orthogonal to the bucket axis AX3.
- Bucket 8 is rotatably connected to arm 7 via bucket pin 8B.
- the bucket 8 is rotatably supported by the arm 7 via a tilt pin 8T.
- the bucket 8 is connected to the tip of the arm 7 via the connection member 90.
- the bucket pin 8 ⁇ / b> B connects the arm 7 and the connection member 90.
- the tilt pin 8T connects the connecting member 90 and the bucket 8 together.
- 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 opening 86 of the bucket 8 is defined by the bottom plate 81, the upper plate 83, the side plate 84, and the side plate 85.
- the cutting edge 9 is provided on the bottom plate 81.
- the bottom plate 81 has a flat floor surface 89 connected to the cutting edge 9.
- the floor surface 89 is the bottom surface of the bottom plate 81.
- the floor surface 89 is substantially flat.
- 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 coupled to the connection member 90 and the tilt pin 8T.
- 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 the second link pin 95P.
- the bracket 93 is installed on the upper portion of the bracket 87 and connected to the tilt pin 8T and the bracket 87.
- the bucket pin 8B connects the bracket 92 of the connection member 90 and the tip of the arm 7 together.
- the tilt pin 8T connects the bracket 93 of the connection member 90 and the bracket 87 of the bucket 8 together.
- the connecting member 90 and the bucket 8 are rotatable about the bucket axis AX3 with respect to the arm 7.
- the bucket 8 is rotatable about the tilt axis AX4 with respect to the connection member 90.
- the work machine 1 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 13 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 AX3 together with the bucket 8.
- the tilt cylinder 14 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 14 is connected to the bracket 97 via a pin.
- the main body of the tilt cylinder 14 is connected to the bracket 88 via a pin.
- the bucket 8 rotates around the bucket axis AX3 by the operation of the bucket cylinder 13.
- the bucket 8 rotates around the tilt axis AX4 by the operation of the tilt cylinder 14.
- the tilt pin 8T rotates together with the bucket 8.
- FIG. 4 is a side view schematically showing the excavator 100 according to the present embodiment.
- FIG. 5 is a rear view schematically showing the excavator 100 according to the present embodiment.
- FIG. 6 is a plan view schematically showing the excavator 100 according to the present embodiment.
- 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 detection system 400 includes a position calculation device 20 that calculates the position of the upper swing body 2, and a work machine angle calculation device 24 that calculates the angle of the work machine 1. Have.
- the position calculator 20 includes a vehicle body position calculator 21 that detects the position of the upper swing body 2, an attitude calculator 22 that detects the attitude of the upper swing body 2, and an orientation calculator 23 that detects the orientation of the upper swing body 2. Including.
- the vehicle body position calculator 21 includes a GPS receiver.
- the vehicle body position calculator 21 is provided on the upper swing body 2.
- the vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 defined by the global coordinate system.
- the absolute position Pg of the upper swing body 2 includes coordinate data in the Xg axis direction, coordinate data in the Yg axis direction, and coordinate data in the Zg axis direction.
- a plurality of GPS antennas 21 ⁇ / b> A are provided on the upper swing body 2.
- the GPS antenna 21 ⁇ / b> A receives a radio wave from a GPS satellite and outputs a signal generated based on the received radio wave to the vehicle body position calculator 21.
- the vehicle body position calculator 21 detects the position Pr where the GPS antenna 21A defined by the global coordinate system is installed based on the signal supplied from the GPS antenna 21A.
- the vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 based on the position Pr where the GPS antenna 21A is installed.
- the vehicle body position calculator 21 detects a position Pra where one GPS antenna 21A is installed and a position Prb where the other GPS antenna 21A is installed.
- the vehicle body position calculator 21A performs an arithmetic process based on at least one of the position Pra and the position Prb, and calculates the absolute position Pg of the upper swing body 2.
- the absolute position Pg of the upper swing body 2 is the position Pra.
- the absolute position Pg of the upper swing body 2 may be the position Prb or a position between the position Pra and the position Prb.
- the attitude calculator 22 includes an inertial measurement unit (Inertial Measurement Unit: IMU).
- IMU Inertial Measurement Unit
- the posture calculator 22 is provided in the upper swing body 2.
- the posture calculator 22 calculates an inclination angle of the upper swing body 2 with respect to a horizontal plane (XgYg plane) defined by the global coordinate system.
- the tilt angle of the upper swing body 2 with respect to the horizontal plane includes a roll angle ⁇ 1 that indicates the tilt angle of the upper swing body 2 in the vehicle width direction and a pitch angle ⁇ 2 that indicates the tilt angle of the upper swing body 2 in the front-rear direction.
- the azimuth calculator 23 is based on the position Pra where one GPS antenna 21A is installed and the position Prb where the other GPS antenna 21A is installed. Is calculated.
- the reference orientation is, for example, north.
- the azimuth calculator 23 performs a calculation process based on the position Pra and the position Prb, and calculates the azimuth of the upper swing body 2 with respect to the reference azimuth.
- the azimuth calculator 23 calculates a straight line connecting the position Pra and the position Prb, and calculates the azimuth of the upper swing body 2 with respect to the reference azimuth based on the angle formed by the calculated straight line and the reference azimuth.
- the azimuth of the upper swing body 2 with respect to the reference azimuth includes a yaw angle ⁇ 3 indicating an angle formed by the reference azimuth and the azimuth of the upper swing body 2.
- the work machine angle calculation device 24 indicates the tilt angle of the boom 6 with respect to the Zm axis of the vehicle body coordinate system based on the boom stroke detected by the boom stroke sensor 16.
- the boom angle ⁇ is calculated.
- the work machine angle calculation device 24 calculates an arm angle ⁇ indicating an inclination angle of the arm 7 with respect to the boom 6.
- the work machine angle calculation device 24 calculates a bucket angle ⁇ indicating the inclination angle of the blade edge 9 of the bucket 8 with respect to the arm 7 based on the bucket stroke detected by the bucket stroke sensor 18.
- the work machine angle calculation device 24 calculates a tilt angle ⁇ indicating the tilt angle of the bucket 8 with respect to the XmYm plane of the vehicle body coordinate system.
- the work machine angle calculation device 24 uses the boom stroke detected by the boom stroke sensor 16, the arm stroke detected by the arm stroke sensor 17, and the tilt stroke detected by the bucket stroke sensor 18 in the XmYm of the vehicle body coordinate system.
- a tilt axis angle ⁇ indicating the tilt angle of the tilt axis AX4 with respect to the plane is calculated.
- the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , the tilt angle ⁇ , and the tilt axis angle ⁇ may be detected by, for example, an angle sensor provided in the work implement 10 without using the stroke sensor. Further, the angle of the work machine 10 is optically detected by a stereo camera or a laser scanner, and the boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , tilt angle ⁇ , and tilt axis angle ⁇ are calculated using the detection results. May be.
- FIGS. 9 and 10 are schematic diagrams illustrating an example of a hydraulic system 300 according to the present embodiment.
- the hydraulic cylinder 10 including the boom cylinder 11, the arm cylinder 12, the bucket cylinder 13, and the tilt cylinder 14 is driven by a hydraulic system 300.
- the hydraulic system 300 supplies hydraulic oil to the hydraulic cylinder 10 to drive the hydraulic cylinder 10.
- the hydraulic system 300 has a flow control valve 25.
- the flow control valve 25 controls the amount of hydraulic oil supplied to the hydraulic cylinder 10 and the direction in which the hydraulic oil flows.
- the hydraulic cylinder 10 has a cap side oil chamber 10A and a rod side oil chamber 10B.
- the cap side oil chamber 10A is a space between the cylinder head cover and the piston.
- the rod side oil chamber 10B is a space in which the piston rod is disposed.
- FIG. 9 is a schematic diagram showing an example of a hydraulic system 300 that operates the arm cylinder 12.
- the hydraulic system 300 is disposed in a variable displacement main hydraulic pump 31 that supplies hydraulic oil, a pilot pressure pump 32 that supplies pilot oil, oil passages 33A and 33B through which pilot oil flows, and oil passages 33A and 33B.
- right work machine operation lever 30R and left work machine operation lever 30L for adjusting the pilot pressure for the flow rate control valve 25.
- Including an operating device 30 and a control device 50 The right working machine operating lever 30R and the left working machine operating lever 30L of the operating device 30 are pilot hydraulic operating devices.
- the hydraulic oil supplied from the main hydraulic pump 31 is supplied to the arm cylinder 12 via the flow control valve 25.
- the flow rate control valve 25 is a slide spool type flow rate control valve that switches a direction in which hydraulic oil flows by moving a rod-shaped spool in the axial direction. As the spool moves in the axial direction, the supply of hydraulic oil to the cap-side oil chamber 10A of the arm cylinder 12 and the supply of hydraulic oil to the rod-side oil chamber 10B are switched. Further, the amount of hydraulic oil supplied per unit time to the arm cylinder 12 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 12.
- the flow control valve 25 is operated by the operating device 30. Pilot oil sent from the pilot pressure pump 32 is supplied to the operating device 30. Pilot oil sent from the main hydraulic pump 31 and decompressed by the pressure reducing valve may be supplied to the operating device 30.
- the operating device 30 includes a pilot pressure adjustment valve. Based on the operation amount of the operating device 30, the control valves 37A and 37B are operated, and the pilot pressure acting on the spool of the flow control valve 25 is adjusted. The flow control valve 25 is driven by the pilot pressure. By adjusting the pilot pressure by the operating device 30, the moving amount, moving speed, and moving direction of the spool in the axial direction are adjusted.
- the flow control valve 25 has a first pressure receiving chamber and a second pressure receiving chamber.
- the left work implement operation lever 30L When the left work implement operation lever 30L is operated to tilt to one side from the neutral position and the spool moves due to the pilot pressure in the oil passage 33A, the hydraulic oil from the main hydraulic pump 31 is supplied to the first pressure receiving chamber, The hydraulic oil is supplied to the cap side oil chamber 10A through the path 35A.
- the left work implement operating lever 30L is operated so as to tilt from the neutral position to the other side and the spool is moved by the pilot pressure in the oil passage 33B, the hydraulic oil from the main hydraulic pump 31 is supplied to the second pressure receiving chamber, The hydraulic oil is supplied to the rod side oil chamber 10B through the path 35B.
- the pressure sensor 34A detects the pilot pressure in the oil passage 33A.
- the pressure sensor 34B detects the pilot pressure in the oil passage 33B. Detection signals from the pressure sensors 33A and 33B are output to the control device 50. When performing the intervention control, the control device 50 adjusts the pilot pressure by outputting a control signal to the control valves 37A and 37B.
- the hydraulic system 300 that operates the boom cylinder 11 and the bucket cylinder 13 has the same configuration as the hydraulic system 300 that operates the arm cylinder 12. A detailed description of the hydraulic system 300 that operates the boom cylinder 11 and the bucket cylinder 13 is omitted.
- an intervention control valve that intervenes in the raising operation of the boom 6 may be connected to the oil passage 33 ⁇ / b> A connected to the boom cylinder 11.
- the right work machine operation lever 30R and the left work machine operation lever 30L of the operation device 30 may not be of a pilot hydraulic system.
- the right work machine operation lever 30R and the left work machine operation lever 30L output an electrical signal to the control device 50 based on the operation amount (tilt angle) of the right work machine operation lever 30R and the left work machine operation lever 30L, and control them.
- An electronic lever system that directly controls the flow control valve 25 based on a control signal of the device 50 may be used.
- FIG. 10 is a diagram schematically illustrating an example of a hydraulic system 300 that operates the tilt cylinder 14.
- the hydraulic system 300 includes a flow control valve 25 that adjusts the amount of hydraulic oil supplied to the tilt cylinder 14, control valves 37A and 37B that adjust pilot pressure acting on the flow control valve 25, a pilot pressure pump 32, and an operation pedal 30F.
- the operation pedal 30F of the operation device 30 is a pilot hydraulic operation device.
- the tilt operation lever 30T of the operation device 30 is an electronic lever type operation device.
- the tilt operation lever 30T includes operation buttons provided on the right work machine operation lever 30R and the left work machine operation lever 30L.
- the operating pedal 30F of the operating device 30 is connected to the pilot pressure pump 32.
- the operation pedal 30F is connected to an oil passage 38A through which pilot oil sent from the control valve 37A flows through a shuttle valve 36A.
- the operation pedal 30F is connected to an oil passage 38B through which pilot oil sent from the control valve 37B flows through a shuttle valve 36B.
- an operation signal generated by the operation of the tilt operation lever 30T is output to the control device 50.
- the control device 50 generates a control signal based on the operation signal output from the tilt operation lever 30T, and controls the control valves 37A and 37B.
- the control valves 37A and 37B are electromagnetic proportional control valves.
- the control valve 37A opens and closes the oil passage 38A based on the control signal.
- the control valve 37B opens and closes the oil passage 38B based on the control signal.
- the pilot pressure is adjusted based on the operation amount of the operation device 30.
- the control device 50 outputs a control signal to the control valves 37A and 37B to adjust the pilot pressure.
- FIG. 11 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.
- the control system 200 includes a control device 50 that controls the work implement 1, a position calculation device 20, a work implement angle calculation device 24, a control valve 37 (37A, 37B), and target construction data. And a generation device 70.
- the position calculation device 20 includes a vehicle body position calculator 21, an attitude calculator 22, and an azimuth calculator 23.
- the position calculation device 20 detects the absolute position Pg of the upper swing body 2, the posture of the upper swing body 2 including the roll angle ⁇ 1 and the pitch angle ⁇ 2, and the orientation of the upper swing body 2 including the yaw angle ⁇ 3.
- the work machine angle calculation device 24 detects angles of the work machine 1 including the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , the tilt angle ⁇ , and the tilt axis angle ⁇ .
- the control valve 37 (37A, 37B) adjusts the amount of hydraulic oil supplied to the tilt cylinder 14.
- the control valve 37 operates based on a control signal from the control device 50.
- the target construction data generation device 70 includes a computer system.
- the target construction data generation device 70 generates target construction data indicating the target topography that is the target shape of the construction area.
- the target construction data indicates a three-dimensional target shape obtained after construction by the work machine 1.
- the target construction data generation device 70 is provided at a remote location of the excavator 100.
- the target construction data generation device 70 is installed in equipment of a construction management company, for example.
- the target construction data generation device 70 may be owned by a manufacturer or a rental company of the excavator 100.
- the target construction data generation device 70 and the control device 50 can communicate wirelessly.
- the target construction data generated by the target construction data generation device 70 is transmitted to the control device 50 wirelessly.
- the target construction data generation device 70 and the control device 50 may be connected by wire, and the target construction data may be transmitted from the target construction data generation device 70 to the control device 50.
- the target construction data generation device 70 may include a recording medium that stores the target construction data
- the control device 50 may include a device that can read the target construction data from the recording medium.
- the target construction data generation device 70 may be provided in the excavator 100.
- the target construction data may be supplied to the target construction data generation device 70 of the excavator 100 by wire or wireless from an external management device that manages the construction, and the target construction data supplied by the target construction data generation device 70 may be stored. .
- the control device 50 includes a vehicle body position data acquisition unit 51, a work machine angle data acquisition unit 52, a specified point position data calculation unit 53, a target construction landform generation unit 54, a tilt data calculation unit 55, and a tilt target landform calculation.
- the functions of the control unit 58 and the target speed determination unit 59 are exhibited by the processor of the control device 50.
- the function of the storage unit 60 is performed by the storage device of the control device 50.
- the function of the input / output unit 61 is performed by the input / output interface device of the control device 50.
- the input / output unit 61 is connected to the position calculation device 20, the work machine angle calculation device 24, the control valve 37, and the target construction data generation device 70, and includes a vehicle body position data acquisition unit 51, a work machine angle data acquisition unit 52, a specified point.
- the storage unit 60 stores specification data of the excavator 100 including work implement data.
- the vehicle body position data acquisition unit 51 acquires vehicle body position data from the position calculation device 20 via the input / output unit 61.
- the vehicle body position data includes the absolute position Pg of the upper swing body 2 defined by the global coordinate system, the attitude of the upper swing body 2 including the roll angle ⁇ 1 and the pitch angle ⁇ 2, and the orientation of the upper swing body 2 including the yaw angle ⁇ 3. Including.
- the work machine angle data acquisition unit 52 acquires the work machine angle data from the work machine angle calculation device 24 via the input / output unit 61.
- the work machine angle data detects angles of the work machine 1 including a boom angle ⁇ , an arm angle ⁇ , a bucket angle ⁇ , a tilt angle ⁇ , and a tilt axis angle ⁇ .
- the specified point position data calculation unit 53 includes vehicle body position data acquired by the vehicle body position data acquisition unit 51, work machine angle data acquired by the work machine angle data acquisition unit 52, and work stored in the storage unit 60. Based on the machine data, the position data of the specified point RP set in the bucket 8 is calculated.
- the work implement data includes a boom length L1, an arm length L2, a bucket length L3, a tilt length L4, and a bucket width L5.
- the boom length L1 is a distance between the boom axis AX1 and the arm axis AX2.
- the arm length L2 is a distance between the arm axis AX2 and the bucket axis AX3.
- Bucket length L3 is the distance between bucket axis AX3 and blade edge 9 of bucket 8.
- the tilt length L4 is a distance between the bucket axis AX3 and the tilt axis AX4.
- the bucket width L5 is a distance between the side plate 84 and the side plate 85.
- FIG. 12 is a diagram schematically illustrating an example of the specified point RP set in the bucket 8 according to the present embodiment.
- a plurality of specified points RP used for tilt bucket control are set in the bucket 8.
- the specified point RP is set on the outer surface of the bucket 8 including the blade edge 9 and the floor surface 89 of the bucket 8.
- a plurality of prescribed points RP are set in the bucket width direction at the blade edge 9.
- a plurality of specified points RP are set on the outer surface of the bucket 8 including the floor surface 89.
- the work machine data includes bucket outer shape data indicating the shape and dimensions of the bucket 8.
- the bucket outer shape data includes the width data of the bucket 8 indicating the bucket width L5. Further, the bucket outer shape data includes outer surface data of the bucket 8 including contour data of the outer surface of the bucket 8. Further, the bucket outer shape data includes coordinate data of a plurality of specified points RP of the bucket 8 with the cutting edge 9 of the bucket 8 as a reference.
- the specified point position data calculation unit 53 calculates the position data of the specified point RP.
- the specified point position data calculation unit 53 calculates the relative position of each of the specified points RP with respect to the reference position P0 of the upper-part turning body 2 in the vehicle body coordinate system.
- the specified point position data calculation unit 53 calculates the absolute position of each of the plurality of specified points RP in the global coordinate system.
- the specified point position data calculation unit 53 includes work implement data including a boom length L1, an arm length L2, a bucket length L3, a tilt length L4, and bucket outer shape data, a boom angle ⁇ , an arm angle ⁇ , and a bucket angle. calculating the relative position of each of the plurality of specified points RP of the bucket 8 with respect to the reference position P0 of the upper-part turning body 2 in the vehicle body coordinate system, based on work implement angle data including ⁇ , tilt angle ⁇ , and tilt axis angle ⁇ . Can do. As shown in FIG. 4, the reference position P ⁇ b> 0 of the upper swing body 2 is set to the swing axis RX of the upper swing body 2. The reference position P0 of the upper swing body 2 may be set to the boom axis AX1.
- the specified point position data calculation unit 53 is based on the absolute position Pg of the upper swing body 2 detected by the position calculation device 20 and the relative position between the reference position P0 of the upper swing body 2 and the bucket 8.
- the absolute position Pa of the bucket 8 in the coordinate system can be calculated.
- the relative position between the absolute position Pg and the reference position P0 is known data derived from the specification data of the excavator 100.
- the specified point position data calculation unit 53 includes vehicle body position data including the absolute position Pg of the upper swing body 2, the relative position between the reference position P0 of the upper swing body 2 and the bucket 8, work implement data, and work implement angle data. Based on the above, the absolute position of each of the plurality of defined points RP of the bucket 8 in the global coordinate system can be calculated.
- the target construction landform generation unit 54 generates the target construction landform CS indicating the target shape of the excavation target based on the target construction data supplied from the target construction data generation device 70 and stored in the storage unit 60.
- the target construction data generation device 70 may supply the target construction topography generation unit 54 with the three-dimensional target topography data as the target construction data, or a plurality of line data or a plurality of point data indicating a part of the target shape. You may supply to the target construction topography production
- FIG. 13 is a schematic diagram showing an example of the target construction data CD according to the present embodiment.
- the target construction data CD indicates the target topography of the construction area.
- the target landform includes a plurality of target construction landforms CS each represented by a triangular polygon.
- Each of the plurality of target construction terrain CS indicates a target shape to be excavated by the work machine 1.
- a point AP that is closest to the bucket 8 in the target construction topography CS is defined.
- a work machine operation plane WP that passes through the point AP and the bucket 8 and is orthogonal to the bucket axis AX3 is defined.
- the work machine operation plane WP is an operation plane in which the blade edge 9 of the bucket 8 is moved by at least one operation of the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13, and is parallel to the XZ plane.
- the specified point position data calculation unit 53 calculates the position data of the specified point RP whose vertical distance is specified closest to the point AP of the target construction landform CS based on the target construction landform CS and the outer shape data of the bucket 8. To do.
- the specified point RP at least data related to the width of the bucket 8 may be used. Further, the specified point RP may be designated by the operator.
- the target construction landform generation unit 54 acquires a line LX that is an intersection line between the work machine operation plane WP and the target construction landform CS. In addition, the target construction landform generation unit 54 acquires a line LY that passes through the point AP and is orthogonal to the line LX in the target construction landform CS. A line LY indicates an intersection line between the lateral motion plane VP and the target construction landform CS.
- the lateral motion plane VP is a plane that is orthogonal to the work implement motion plane WP and passes through the point AP.
- FIG. 14 is a schematic diagram showing an example of the target construction landform CS according to the present embodiment.
- the target construction landform generation unit 54 acquires the line LX and the line LY, and generates the target construction landform CS indicating the target shape of the excavation target based on the line LX and the line LY.
- the control device 50 moves the bucket 8 along a line LX that is an intersection line between the work machine operation plane WP passing through the bucket 8 and the target construction landform CS.
- the tilt data calculation unit 55 calculates a tilt operation plane TP that passes through the specified point RP of the bucket 8 and is orthogonal to the tilt axis AX4 as tilt data.
- FIG. 15 and 16 are schematic views showing an example of the tilt operation plane TP according to the present embodiment.
- FIG. 15 shows a tilt operation plane TP when the tilt axis AX4 is parallel to the target construction landform CS.
- FIG. 16 shows a tilt operation plane TP when the tilt axis AX4 is not parallel to the target construction landform CS.
- the tilt operation plane TP refers to an operation plane that passes through a specified point RPr selected from a plurality of specified points RP specified in the bucket 8 and is orthogonal to the tilt axis AX4. As the specified point RPr, the specified point RP that is closest to the target construction landform CS among the plurality of specified points RP is selected.
- the tilt operation plane TP is an operation plane in which the specified point RPr (the blade edge 9) of the bucket 8 is moved by the operation of the tilt cylinder 14.
- the tilt of the tilt operation plane TP also changes.
- the work machine angle calculation device 24 can calculate the tilt axis angle ⁇ indicating the tilt angle of the tilt axis AX4 with respect to the XY plane.
- the tilt axis angle ⁇ is acquired by the work machine angle data acquisition unit 52.
- the position data of the specified point RPr is calculated by the specified point position data calculating unit 53.
- the tilt data calculating unit 55 performs tilting based on the tilt axis angle ⁇ of the tilt axis AX4 acquired by the work implement angle data acquiring unit 52 and the position of the specified point RPr calculated by the specified point position data calculating unit 53.
- An operation plane TP can be calculated.
- the tilt target landform calculator 56 extends in the lateral direction of the bucket 8 in the target construction landform CS based on the position data of the specified point RPr selected from the plurality of specified points RP, the target construction landform CS, and the tilt data.
- the tilt target landform ST to be calculated is calculated.
- the tilt target landform calculator 56 calculates the tilt target landform ST defined by the intersection of the target construction landform CS and the tilt operation plane TP. As shown in FIGS. 15 and 16, the tilt target landform ST is represented by an intersection line between the target construction landform CS and the tilt operation plane TP.
- the angle determination unit 57 determines the tilt angle ⁇ indicating the angle of the specific part of the bucket 8 around the tilt axis AX4 so that the target construction landform CS and the specific part of the bucket 8 are parallel to each other.
- the specific part of the bucket 8 is the cutting edge 9 of the bucket 8.
- FIG. 17 is a diagram schematically showing the relationship between the cutting edge 9 of the bucket 8 and the target construction landform CS according to the present embodiment.
- FIG. 17A is a view of the bucket 8 as seen from the ⁇ Xm side.
- FIG. 17B is a view of the bucket 8 as viewed from the + Ym side.
- the angle determination unit 57 includes a tilt angle ⁇ r indicating an angle of the blade edge 9 of the bucket 8 around the tilt axis AX4 so that the target construction landform CS and the blade edge 9 of the bucket 8 are parallel to each other. To decide. That is, the angle determination unit 57 determines the tilt rotation angle ⁇ r of the blade edge 9 of the bucket 8 in the tilt rotation direction so that the blade edge 9 of the bucket 8 is parallel to the target construction landform CS.
- the angle determination unit 57 determines the tilt angle ⁇ r of the blade edge of the bucket 8 so that the tilt target landform ST and the blade edge 9 of the bucket 8 are parallel to each other.
- the work machine control unit 58 outputs a control signal for controlling the hydraulic cylinder 10.
- the work implement control unit 58 controls the tilt cylinder 14 based on the tilt angle ⁇ r determined by the angle determination unit 57 so that the target construction landform CS and the blade edge 9 of the bucket 8 are parallel.
- the work implement control unit 58 is centered on the tilt axis AX4 so that the bucket 8 does not exceed the target construction landform CS based on the operating distance Da indicating the distance between the specified point RPr of the bucket 8 and the tilt target landform ST.
- the tilt rotation of the bucket 8 is stopped. That is, the work implement control unit 58 stops the bucket 8 at the tilt target landform ST so that the bucket 8 that rotates by tilt does not exceed the tilt target landform ST.
- the tilt target landform ST and the line LY substantially coincide. Therefore, the intervention control for the tilt rotation based on the tilt target landform ST and the intervention control for the tilt rotation based on the line LY are substantially the same.
- the work machine control unit 58 performs intervention control for tilt rotation based on the specified point RPr having the shortest operating distance Da among the plurality of specified points RP set in the bucket 8. That is, the work implement control unit 58 is closest to the tilt target landform ST so that the specified point RPr closest to the tilt target landform ST among the plurality of specified points RP set in the bucket 8 does not exceed the tilt target landform ST. Based on the operating distance Da between the specified point RPr and the tilt target landform ST, intervention control for tilt rotation is performed.
- the target speed determination unit 59 determines the target speed U for the tilt rotation speed of the bucket 8 based on the operating distance Da.
- the target speed determination unit 59 limits the tilt rotation speed when the operating distance Da is equal to or less than the threshold line distance H.
- FIG. 18 is a schematic diagram for explaining the intervention control for the tilt rotation according to the present embodiment.
- a target construction landform CS is defined, and a speed limit intervention line IL is defined.
- the speed limit intervention line IL is parallel to the tilt axis AX4 and is defined at a position separated from the tilt target landform ST by the line distance H.
- the line distance H is desirably set so as not to impair the operator's operational feeling.
- the work machine control unit 58 limits the tilt rotation speed of the bucket 8 when at least a part of the bucket 8 that rotates by tilt exceeds the speed limit intervention line IL and the operating distance Da becomes equal to or less than the line distance H.
- the target speed determination unit 59 determines a target speed U for the tilt rotation speed of the bucket 8 that exceeds the speed limit intervention line IL.
- the tilt rotation speed is limited.
- the target speed determination unit 59 obtains an operation distance Da between the specified point RPr and the tilt target landform ST in a direction parallel to the tilt operation plane TP. In addition, the target speed determination unit 59 acquires a target speed U corresponding to the operating distance Da. When it is determined that the operation distance Da is equal to or less than the line distance H, the work machine control unit 58 limits the tilt rotation speed.
- FIG. 19 is a diagram showing an example of the relationship between the operating distance Da and the target speed U according to the present embodiment.
- FIG. 19 shows an example of the relationship between the operating distance Da and the target speed U for stopping the tilt rotation of the bucket 8 based on the operating distance Da.
- the target speed U is a speed that is uniformly determined according to the operating distance Da.
- the target speed U is not set when the operating distance Da is larger than the line distance H, and is set when the operating distance Da is equal to or less than the line distance H.
- the target speed U decreases.
- the target speed U decreases.
- the direction approaching the target construction landform CS is represented as a negative direction.
- the target speed determination unit 59 calculates a moving speed Vr when the specified point RP moves toward the target construction landform CS (tilt target landform ST) based on the operation amount of the tilt operation lever 30T of the operation device 30.
- the moving speed Vr is a moving speed of the specified point RPr in a plane parallel to the tilt operation plane TP.
- the moving speed Vr is calculated for each of the plurality of specified points RP.
- the moving speed Vr is calculated based on the current value output from the tilt operation lever 30T.
- a current corresponding to the operation amount of the tilt operation lever 30T is output from the tilt operation lever 30T.
- the storage unit 60 can store the cylinder speed of the tilt cylinder 14 corresponding to the operation amount of the tilt operation lever 30T.
- the cylinder speed may be obtained from detection by a cylinder stroke sensor.
- the target speed determination unit 59 converts the cylinder speed of the tilt cylinder 14 into moving speeds Vr of the plurality of specified points RP of the bucket 8 using a Jacobian determinant.
- the work machine control unit 58 When it is determined that the operating distance Da is equal to or less than the line distance H, the work machine control unit 58 performs speed limitation that limits the moving speed Vr of the specified point RPr with respect to the target construction landform CS to the target speed U.
- the work implement control unit 58 outputs a control signal to the control valve 37 in order to suppress the moving speed Vr of the specified point RPr of the bucket 8.
- the work machine control unit 58 outputs a control signal to the control valve 37 so that the moving speed Vr of the specified point RPr of the bucket 8 becomes the target speed U corresponding to the operating distance Da.
- the moving speed RP of the specified point RPr of the bucket 8 that rotates by tilting becomes slower as the specified point RPr approaches the target construction landform CS (tilt target landform ST), and the specified point RPr (cutting edge 9) becomes the target construction landform CD When it reaches, it becomes zero.
- FIG. 20 is a flowchart showing an example of a method for adjusting the tilt angle ⁇ of the bucket 8 according to this embodiment.
- FIG. 21 is a schematic diagram for explaining an example of a method for adjusting the tilt angle ⁇ of the bucket 8 according to the present embodiment.
- the specified point position data calculation unit 53 calculates the position data of the specified point RPa and the position data of the specified point RPb specified in the cutting edge 9 (step SA10).
- the specified point RPa and the specified point RPb are specified points on both sides in the width direction of the bucket 8 at the cutting edge 9.
- the specified point position data calculation unit 53 calculates position data of the specified point RPa and position data of the specified point RPb in the vehicle body coordinate system.
- the specified point position data calculation unit 53 calculates a direction vector Vec_ab connecting the specified point RPa and the specified point RPb based on the position data of the specified point RPa and the position data of the specified point RPb.
- the direction vector Vec_ab is defined by the following equation (1).
- the target construction landform generation unit 54 calculates the normal vector Nd of the target construction landform CS (Step SA20).
- the angle determination unit 57 calculates an intersection vector STr between the tilt operation plane TP and the target construction landform CS (step SA30).
- the angle determination unit 57 calculates the tilt angle ⁇ r of the blade edge 9 of the bucket 8 for making the blade edge 9 of the bucket 8 parallel to the target construction landform CS (step SA40).
- the angle determination unit 57 calculates the tilt angle ⁇ r by calculating the following equation (2).
- the work implement control unit 58 controls the tilt cylinder 14 based on the tilt angle ⁇ r determined by the angle determination unit 57 so that the target construction landform CS and the blade edge 9 of the bucket 8 are in parallel (step SA50). .
- the target construction landform CS and the blade edge 9 of the bucket 8 are parallel based on the relative angle of the blade edge 9 of the bucket 8 to the target construction landform CS.
- the angle determination unit 57 determines the tilt angle ⁇ r of the blade edge 9 of the bucket 8 around the tilt axis AX4.
- the work implement control unit 58 controls the tilt cylinder 14 that rotates the bucket 8 about the tilt axis AX4 based on the tilt angle ⁇ r determined by the angle determination unit 57.
- the blade edge 9 of the bucket 8 and the target construction landform CS can be made parallel in the tilt rotation direction. Therefore, the burden on the operation of the driver of the hydraulic excavator 1 during construction is reduced, and a high-quality construction result that does not depend on the skill level of the driver can be obtained.
- 22 and 23 are diagrams schematically illustrating an example of the operation of the work machine 1 according to the present embodiment. 22 and 23 show an example in which the construction is performed based on the target construction landform CS tilted using the working machine 1 having the tilt type bucket 8.
- FIG. 22 there is a case where it is desired to carry out the construction while moving the arm 7 in a state where the blade edge 9 of the bucket 8 and the target construction landform CS are parallel and the blade edge 9 and the target construction landform CS coincide with each other. . Further, as shown in FIG. 23, the construction is carried out while moving the arm 7 with the floor surface 89 of the bucket 8 and the target construction landform CS parallel to each other, and the floor surface 89 and the target construction landform CS are aligned. You may want to
- the work implement control unit 58 is installed in the tilt cylinder so that at least one of the cutting edge 9 and the floor surface 89 of the bucket 8 and the target construction landform CS are maintained in parallel with the arm 7 operating.
- An example of controlling at least one of 14 and the bucket cylinder 13 will be described.
- FIG. 24 is a flowchart showing an example of a method for adjusting the angle of the bucket 8 according to the present embodiment.
- 25 and 26 are schematic views for explaining an example of the method for adjusting the angle of the bucket 8 according to the present embodiment.
- FIG. 25 schematically illustrates an example of a method for adjusting the angle of the bucket 8 when the cutting edge 9 of the bucket 8 and the target construction landform CS are parallel to each other.
- FIG. 26 schematically illustrates an example of a method for adjusting the angle of the bucket 8 when the floor surface 89 of the bucket 8 and the target construction landform CS are parallel to each other.
- the blade edge 9 and the floor surface 89 of the bucket 8 are collectively referred to as a specific part of the bucket 8 as appropriate.
- the specified point position data calculation unit 53 calculates the position data of the specified point RPa and the position data of the specified point RPb specified for the cutting edge 9 and the position data of the specified point RPc specified for the floor surface 89 ( Step SB10).
- the specified point RPa and the specified point RPb are specified points on both sides of the bucket 8 in the width direction of the bucket 8.
- the specified point position data calculation unit 53 calculates position data of the specified point RPa and position data of the specified point RPb in the vehicle body coordinate system.
- the specified point RPc is a specified point of a part of the flat floor surface 89.
- the coordinates of the specified point RPa and the coordinates of the specified point RPc are equal.
- the specified point RPa is defined at one end of the bottom plate 81
- the defined point RPc is defined at the other end of the bottom plate 81.
- the specified point position data calculation unit 53 calculates a direction vector Vec_ab connecting the specified point RPa and the specified point RPb based on the position data of the specified point RPa and the position data of the specified point RPb.
- the specified point position data calculation unit 53 calculates a direction vector Vec_ac that connects the specified point RPa and the specified point RPc based on the position data of the specified point RPa and the position data of the specified point RPc.
- the specified point position data calculation unit 53 calculates a normal vector Vec_tilt of the tilt axis AX4.
- the angle determination unit 57 calculates a target normal vector Nref of a specific part of the bucket 8 that is parallel to the target construction landform CS (step SB20).
- the angle determination unit 57 sets the blade edge 9 of the bucket 8 orthogonal to the direction vector Vec_ab of the blade edge 9 of the bucket 8 as shown in FIG.
- a target normal vector Nref is calculated.
- the target normal vector Nref of the blade edge 9 of the bucket 8 is defined to be orthogonal to the direction vector Vec_ab of the blade edge 9 of the bucket 8 in the tilt operation plane TP.
- the target normal vector Nref of the blade edge 9 of the bucket 8 is also orthogonal to the normal vector Vec_tilt of the tilt axis AX4.
- the angle determination unit 57 performs the flooring of the bucket 8 orthogonal to the direction vector Vec_ac of the floor surface 89 of the bucket 8 as shown in FIG. A target normal vector Nref of the surface 89 is calculated.
- the floor surface 89 is substantially flat. Therefore, the target normal vector Nref of the floor surface 89 of the bucket 8 is uniquely determined.
- the direction vector Vec_ab is defined by the above equation (1).
- the direction vector Vec_ac is defined by the following equation (3).
- the target normal vector Nref of the blade edge 9 of the bucket 8 is defined by the following equation (4).
- the target normal vector Nref of the floor surface 89 of the bucket 8 is defined by the following equation (5).
- the target construction landform generation unit 54 calculates the normal vector Nd of the target construction landform CS (Step SB30).
- the angle detection unit 57 calculates the evaluation function Q (step SB40).
- the evaluation function Q is the sum of an evaluation function Q1 indicating a parallel error between the target normal vector Nref and the normal vector Nd, and an evaluation function Q2 indicating a distance Da between the cutting edge 9 and the target construction landform CS. That is, the following expressions (6), (7), and (8) are established.
- the angle detection unit 57 performs calculation processing by a predetermined numerical calculation method so that the evaluation function Q of (8) is minimized.
- arithmetic processing for example, a Newton method, a Powell method, a simplex method, or the like can be used.
- the angle detection unit 57 determines whether or not the evaluation function Q is minimized (step SB50). That is, the angle detection unit 57 performs a calculation process by a predetermined numerical calculation method to determine whether or not the evaluation function has become substantially zero.
- step SB50 When it is determined in step SB50 that the evaluation function Q is the minimum (step SB50: Yes), the angle detection unit 57 specifies the specific part of the bucket 8 for making the specific part of the bucket 8 and the target construction landform CS parallel to each other.
- the tilt angle ⁇ r and the bucket angle ⁇ r are calculated (step SB60). That is, the angle detector 57 determines the tilt angle ⁇ r and the bucket angle ⁇ r that minimize the evaluation function Q.
- the tilt angle ⁇ r indicates the angle of the specific part of the bucket 8 with the tilt axis AX4 as the center for making the target construction landform CS and the specific part of the bucket 8 parallel to each other.
- the bucket angle ⁇ r indicates an angle of a specific part of the bucket 8 around the bucket axis AX3.
- the work implement control unit 58 sets the tilt cylinder 14 and the bucket cylinder so that the target construction landform CS and the specific part of the bucket 8 are parallel to each other. 13 is controlled (step SB70).
- step SB50 when it is determined that the evaluation function Q is not the minimum (step SB50: No), the angle detection unit 57 updates the tilt angle ⁇ r or the bucket angle ⁇ r (step SB80), and returns to the process of step SB40.
- the evaluation function Q may be weighted to the evaluation function Q1 and the evaluation function Q2.
- the construction machine 100 is a hydraulic excavator.
- the components described in the above-described embodiments can be applied to a construction machine having a work machine other than the hydraulic excavator.
- the upper swing body 2 may be rotated by hydraulic pressure, or may be rotated by power generated by the electric actuator. Further, the work implement 1 may be operated not by the hydraulic cylinder 10 but by the power generated by the electric actuator.
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Abstract
Description
[建設機械]
図1は、本実施形態に係る建設機械100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100が油圧ショベルである例について説明する。以下の説明においては、建設機械100を適宜、油圧ショベル100、と称する。
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。
次に、本実施形態に係る油圧ショベル100の検出システム400について説明する。図4は、本実施形態に係る油圧ショベル100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100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100を模式的に示す平面図である。図7は、本実施形態に係るバケット8を模式的に示す側面図である。図8は、本実施形態に係るバケット8を模式的に示す正面図である。
次に、本実施形態に係る油圧ショベル100の油圧システム300の一例について説明する。図9及び図10は、本実施形態に係る油圧システム300の一例を示す模式図である。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、及びチルトシリンダ14を含む油圧シリンダ10は、油圧システム300により駆動する。油圧システム300は、油圧シリンダ10に作動油を供給して、油圧シリンダ10を駆動する。油圧システム300は、流量制御弁25を有する。流量制御弁25は、油圧シリンダ10に対する作動油の供給量及び作動油が流れる方向を制御する。油圧シリンダ10は、キャップ側油室10A及びロッド側油室10Bを有する。キャップ側油室10Aは、シリンダヘッドカバーとピストンとの間の空間である。ロッド側油室10Bは、ピストンロッドが配置される空間である。油路35Aを介してキャップ側油室10Aに作動油が供給されることにより、油圧シリンダ10が伸びる。油路35Bを介してロッド側油室10Bに作動油が供給されることにより、油圧シリンダ10が縮む。
次に、本実施形態に係る油圧ショベル100の制御システム200について説明する。図11は、本実施形態に係る制御システム200の一例を示す機能ブロック図である。
次に、本実施形態に係るバケット8のチルト角度δの調整方法について説明する。図20は、本実施形態に係るバケット8のチルト角度δの調整方法の一例を示すフローチャートである。図21は、本実施形態に係るバケット8のチルト角度δの調整方法の一例を説明するための模式図である。
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、目標施工地形CSに対するバケット8の刃先9の相対角度に基づいて、目標施工地形CSとバケット8の刃先9とが平行となるように、角度決定部57においてチルト軸AX4を中心とするバケット8の刃先9のチルト角度δrが決定される。作業機制御部58は、角度決定部57で決定されたチルト角度δrに基づいて、チルト軸AX4を中心にバケット8を回転させるチルトシリンダ14を制御する。これにより、チルト回転方向においてバケット8の刃先9と目標施工地形CSとを平行にすることができる。したがって、施工時における油圧ショベル1の運転者の操作の負担が軽減されるとともに、運転者の習熟度に依存しない高品質な施工結果が得られる。
第2実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成要素については同一の符号を付し、その説明を簡略又は省略する。
なお、上述の実施形態において、評価関数Qについて、評価関数Q1及び評価関数Q2に重み付けしてもよい。
Claims (6)
- アームと、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、
掘削対象の目標形状を示す目標施工地形と前記バケットの特定部位とが平行となるように、前記チルト軸を中心とする前記バケットの前記特定部位の角度を示すチルト角度を決定する角度決定部と、
前記角度決定部で決定された前記チルト角度に基づいて、前記チルト軸を中心に前記バケットを回転させるチルトシリンダを制御する作業機制御部と、
を備える建設機械の制御システム。 - 前記角度決定部は、前記目標施工地形と前記バケットの前記特定部位とが平行となるように、前記バケット軸を中心とする前記バケットの前記特定部位の角度を示すバケット角度を決定し、
前記作業機制御部は、前記角度決定部で決定された前記チルト角度及び前記バケット角度に基づいて、前記チルトシリンダ及び前記バケット軸を中心に前記バケットを回転させるバケットシリンダを制御する、
請求項1に記載の建設機械の制御システム。 - 前記バケットは、刃先と、前記刃先と接続される平坦な床面とを含み、
前記特定部位は、前記刃先及び前記床面を含む、
請求項2に記載の建設機械の制御システム。 - 前記作業機制御部は、前記アームが作動する状態で、前記バケットの前記特定部位と前記目標施工地形との平行が維持されるように、前記チルトシリンダ及び前記バケットシリンダの少なくとも一方を制御する、
請求項2又は請求項3に記載の建設機械の制御システム。 - 上部旋回体と、
前記上部旋回体を支持する下部走行体と、
前記アームと前記バケットとを含み、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4のいずれか一項に記載の建設機械の制御システムと、
を備える建設機械。 - アームと、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、
掘削対象の目標形状を示す目標施工地形と前記バケットの特定部位とが平行となるように、前記チルト軸を中心とする前記バケットの前記特定部位の角度を示すチルト角度を決定することと、
前記角度決定部で決定された前記チルト角度に基づいて、前記チルト軸を中心に前記バケットを回転させるチルトシリンダを制御することと、
を含む建設機械の制御方法。
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CN109154150A (zh) | 2019-01-04 |
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