WO2018123470A1 - Système de commande d'une machine de construction, et procédé de commande d'une machine de construction - Google Patents

Système de commande d'une machine de construction, et procédé de commande d'une machine de construction Download PDF

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Publication number
WO2018123470A1
WO2018123470A1 PCT/JP2017/043650 JP2017043650W WO2018123470A1 WO 2018123470 A1 WO2018123470 A1 WO 2018123470A1 JP 2017043650 W JP2017043650 W JP 2017043650W WO 2018123470 A1 WO2018123470 A1 WO 2018123470A1
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WIPO (PCT)
Prior art keywords
bucket
control
work implement
arm
distance
Prior art date
Application number
PCT/JP2017/043650
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English (en)
Japanese (ja)
Inventor
徹 松山
仁 北嶋
健 大井
知樹 根田
拓磨 中村
Original Assignee
株式会社小松製作所
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Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Publication of WO2018123470A1 publication Critical patent/WO2018123470A1/fr

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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
    • 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

Definitions

  • the present invention relates to a construction machine control device and a construction machine control method.
  • Patent Document 1 In a technical field related to a construction machine such as a hydraulic excavator, a construction machine that controls a work machine such that a bucket moves along a target excavation landform indicating a target shape to be excavated as disclosed in Patent Document 1 It has been known.
  • An object of an aspect of the present invention is to provide a construction machine control device and a construction machine control method capable of starting bucket angle control at an appropriate timing.
  • a construction machine including a work machine including a plurality of work machine elements including an arm and a bucket, a hydraulic cylinder that drives the work machine element, and an operating device that operates the hydraulic cylinder
  • a control valve that adjusts a pilot pressure based on an operation amount to adjust a supply amount of hydraulic oil supplied to the hydraulic cylinder, a detection data acquisition unit that acquires detection data of the pilot pressure, and a detection data
  • An operation determination unit that determines whether or not the plurality of operation devices that drive the plurality of work implement elements are operated in different directions, and a determination that the operation device is operated in different directions
  • a work machine control unit that outputs a control signal for controlling the bucket so that the state of the work machine is maintained, and a control device for the construction machine, Corresponding control method is provided.
  • a construction machine control device and a construction machine control method capable of starting bucket angle control at an appropriate timing.
  • FIG. 1 is a perspective view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 2 is a side view schematically showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 3 is a schematic diagram for explaining an example of the operation of the work implement driven based on the work implement control according to the present embodiment.
  • FIG. 4 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 5 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 6 is a functional block diagram illustrating an example of a control system according to the present embodiment.
  • FIG. 7 is a schematic diagram for explaining leveling assist control and bucket control according to the present embodiment.
  • FIG. 1 is a perspective view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 2 is a side view schematically showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 3 is a
  • FIG. 8 is a diagram illustrating an example of the relationship between the distance and the work implement speed limit according to the present embodiment.
  • FIG. 9 is a flowchart illustrating an example of a method for controlling the hydraulic excavator according to the present embodiment.
  • FIG. 10 is a schematic diagram for explaining the effect of the control device according to the present embodiment.
  • 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 will be described.
  • the construction machine 100 is appropriately referred to as a hydraulic excavator 100.
  • a hydraulic excavator 100 includes a work machine 1 that is operated by hydraulic pressure, a vehicle body 2 that supports the work machine 1, a traveling device 3 that supports the vehicle body 2, and operations for operating the work machine 1.
  • the apparatus 40 and the control apparatus 50 which controls the working machine 1 are provided.
  • the vehicle body 2 can turn around the turning axis RX while being supported by the traveling device 3.
  • the vehicle body 2 is disposed on the traveling device 3.
  • the vehicle body 2 is appropriately referred to as the upper swing body 2
  • the traveling device 3 is appropriately referred to as the lower traveling body 3.
  • the upper swing body 2 has a cab 4 in which an operator is boarded, a machine room 5 in which an engine, a hydraulic pump, and the like are accommodated, and a handrail 6.
  • 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 handrail 6 is disposed in front of the machine room 5.
  • the lower traveling body 3 has a pair of crawler belts 7.
  • the excavator 100 travels as the crawler belt 7 rotates.
  • the lower traveling body 3 may be a wheel (tire).
  • the work machine 1 is supported by the upper swing body 2.
  • the work machine 1 includes a bucket 11 having a cutting edge 10, an arm 12 connected to the bucket 11, and a boom 13 connected to the arm 12.
  • the cutting edge 10 of the bucket 11 may be the tip of a convex blade provided on the bucket 11.
  • the blade tip 10 of the bucket 11 may be the tip of a straight blade provided in the bucket 11.
  • Each of the bucket 11, the arm 12, and the boom 13 corresponds to a work machine element in the present invention.
  • the bucket 11 is connected to the tip of the arm 12.
  • the proximal end portion of the arm 12 is connected to the distal end portion of the boom 13.
  • a base end portion of the boom 13 is connected to the upper swing body 2.
  • the bucket 11 and the arm 12 are connected via a bucket pin.
  • the bucket 11 is supported by the arm 12 so as to be rotatable about the rotation axis AX1.
  • the arm 12 and the boom 13 are connected via an arm pin.
  • the arm 12 is supported by the boom 13 so as to be rotatable about the rotation axis AX2.
  • the boom 13 and the upper swing body 2 are connected via a boom pin.
  • the boom 13 is supported by the vehicle body 2 so as to be rotatable about the rotation 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 are orthogonal to the axis parallel to the turning axis RX.
  • the axial direction of the rotation axes AX1, AX2, AX3 is appropriately referred to as the vehicle width direction of the upper swing body 2, and the direction orthogonal to both the rotation axes AX1, AX2, AX3 and the rotation axis RX is appropriately determined.
  • the direction in which the work implement 1 is present with respect to the operator seated on the driver's seat 4S is the forward direction.
  • the bucket 11 may be a tilt bucket.
  • a tilt bucket is a bucket that can be tilted in the vehicle width direction by operation of a bucket tilt cylinder.
  • the bucket 11 can be tilted or tilted in the vehicle width direction to freely shape or level the slope or flat ground.
  • the operating device 40 is disposed in the cab 4.
  • the operating device 40 includes an operating member that is operated by an operator of the excavator 100.
  • the operation member includes an operation lever or a joystick.
  • the work implement 1 is operated by operating the operation member.
  • the control device 50 includes a computer system.
  • the control device 50 includes a processor such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface device.
  • a processor such as a CPU (Central Processing Unit)
  • a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory)
  • an input / output interface device such as a CPU (Central Processing Unit)
  • ROM Read Only Memory
  • RAM Random Access Memory
  • FIG. 2 is a side view schematically showing the excavator 100 according to the present embodiment.
  • the excavator 100 includes a hydraulic cylinder 20 that drives the work machine 1.
  • the hydraulic cylinder 20 is driven by hydraulic oil.
  • the hydraulic cylinder 20 includes a bucket cylinder 21 that drives the bucket 11, an arm cylinder 22 that drives the arm 12, and a boom cylinder 23 that drives the boom 13.
  • the excavator 100 includes a bucket cylinder stroke sensor 14 disposed in the bucket cylinder 21, an arm cylinder stroke sensor 15 disposed in the arm cylinder 22, and a boom cylinder stroke disposed in the boom cylinder 23.
  • Sensor 16 The bucket cylinder stroke sensor 14 detects the bucket cylinder length that is the stroke length of the bucket cylinder 21.
  • the arm cylinder stroke sensor 15 detects an arm cylinder length which is a stroke length of the arm cylinder 22.
  • the boom cylinder stroke sensor 16 detects the boom cylinder length that is the stroke length of the boom cylinder 23.
  • the hydraulic excavator 100 includes a position detection device 30 that detects the position of the upper swing body 2.
  • the position detection device 30 includes a vehicle body position detector 31 that detects the position of the upper swing body 2 defined by the global coordinate system, an attitude detector 32 that detects the attitude of the upper swing body 2, and the orientation of the upper swing body 2. And an orientation detector 33 for detecting.
  • the global coordinate system (XgYgZg coordinate system) is a coordinate system indicating an absolute position defined by GPS (Global Positioning System).
  • the local coordinate system (XYZ coordinate system) is a coordinate system that indicates a relative position as the reference position Ps of the upper swing body 2 of the excavator 100.
  • the reference position Ps of the upper swing body 2 is set to the swing axis RX of the upper swing body 2.
  • the reference position Ps of the upper swing body 2 may be set to the rotation axis AX3.
  • the position detection device 30 detects the three-dimensional position of the upper swing body 2 defined by the global coordinate system, the inclination angle of the upper swing body 2 with respect to the horizontal plane, and the orientation of the upper swing body 2 with respect to the reference orientation.
  • the vehicle body position detector 31 includes a GPS receiver.
  • the vehicle body position detector 31 detects the three-dimensional position of the upper swing body 2 defined by the global coordinate system.
  • the vehicle body position detector 31 detects the position of the upper swing body 2 in the Xg direction, the position in the Yg direction, and the position in the Zg direction.
  • a plurality of GPS antennas 31 ⁇ / b> A are provided on the upper swing body 2.
  • the GPS antenna 31 ⁇ / b> A receives a radio wave from a GPS satellite and outputs a signal based on the received radio wave to the vehicle body position detector 31.
  • the vehicle body position detector 31 detects the installation position P1 of the GPS antenna 31A defined by the global coordinate system based on the signal supplied from the GPS antenna 31A.
  • the vehicle body position detector 31 detects the absolute position Pg of the upper swing body 2 based on the installation position P1 of the GPS antenna 31A.
  • the vehicle body position detector 31 detects the installation position P1a of one GPS antenna 31A and the installation position P1b of the other GPS antenna 31A of the two GPS antennas 31A.
  • the vehicle body position detector 31A performs an arithmetic process based on the installation position P1a and the installation position P1b to detect the absolute position Pg and direction of the upper swing body 2.
  • the absolute position Pg of the upper swing body 2 is the installation position P1a.
  • the absolute position Pg of the upper swing body 2 may be the installation position P1b.
  • the attitude detector 32 includes an IMU (Inertial Measurement Unit).
  • the attitude detector 32 is provided on the upper swing body 2.
  • the attitude detector 32 is disposed below the cab 4.
  • the attitude detector 32 detects the inclination angle of the upper swing body 2 with respect to the horizontal plane (XgYg plane).
  • the tilt angle of the upper swing body 2 with respect to the horizontal plane includes the tilt angle ⁇ a of the upper swing body 2 in the vehicle width direction and the tilt angle ⁇ b of the upper swing body 2 in the front-rear direction.
  • the azimuth detector 33 has a function of detecting the azimuth of the upper swing body 2 with respect to the reference azimuth defined in the global coordinate system based on the installation position P1a of the one GPS antenna 31A and the installation position P1b of the other GPS antenna 31A.
  • the reference orientation is, for example, north.
  • the direction detector 33 performs arithmetic processing based on the installation position P1a and the installation position P1b, and detects the direction of the upper swing body 2 with respect to the reference direction.
  • the azimuth detector 33 calculates a straight line connecting the installation position P1a and the installation position P1b, and detects the azimuth of the upper swing body 2 with respect to the reference azimuth based on the inclination angle ⁇ c formed by the calculated straight line and the reference azimuth.
  • the direction detector 33 may be separate from the position detection device 30.
  • the orientation detector 33 may detect the orientation of the upper swing body 2 using a magnetic sensor.
  • the hydraulic excavator 100 includes a blade edge position detector 34 that detects the relative position of the blade edge 10 with respect to the reference position Ps of the upper swing body 2.
  • the blade edge position detector 34 includes a detection result of the bucket cylinder stroke sensor 14, a detection result of the arm cylinder stroke sensor 15, a detection result of the boom cylinder stroke sensor 16, a length L11 of the bucket 11, Based on the length L12 of the arm 12 and the length L13 of the boom 13, the relative position of the blade edge 10 with respect to the reference position Ps of the upper swing body 2 is calculated.
  • the blade edge position detector 34 calculates an inclination angle ⁇ 11 of the blade edge 10 of the bucket 11 with respect to the arm 12 based on the bucket cylinder length detected by the bucket cylinder stroke sensor 14.
  • the blade edge position detector 34 calculates the inclination angle ⁇ 12 of the arm 12 with respect to the boom 13 based on the arm cylinder length detected by the arm cylinder stroke sensor 15.
  • the blade edge position detector 34 calculates the tilt angle ⁇ 13 of the boom 13 with respect to the Z axis of the upper swing body 2 based on the boom cylinder length detected by the boom cylinder stroke sensor 16.
  • the length L11 of the bucket 11 is the distance between the blade edge 10 of the bucket 11 and the rotation axis AX1 (bucket pin).
  • the length L12 of the arm 12 is a distance between the rotation axis AX1 (bucket pin) and the rotation axis AX2 (arm pin).
  • the length L13 of the boom 13 is a distance between the rotation axis AX2 (arm pin) and the rotation axis AX3 (boom pin).
  • the blade edge position detector 34 determines the relative position of the blade edge 10 with respect to the reference position Ps of the upper swing body 2 based on the inclination angle ⁇ 11, the inclination angle ⁇ 12, the inclination angle ⁇ 13, the length L11, the length L12, and the length L13. calculate.
  • the blade edge position detector 34 is based on the absolute position Pg of the upper swing body 2 detected by the position detection device 30 and the relative position between the reference position Ps of the upper swing body 2 and the blade edge 10.
  • the absolute position Pb is calculated.
  • the relative position between the absolute position Pg and the reference position Ps is known data derived from the specification data of the excavator 100. Therefore, the blade edge position detector 34 is based on the absolute position Pg of the upper swing body 2, the relative position between the reference position Ps of the upper swing body 2 and the blade edge 10, and the specification data of the excavator 100.
  • the absolute position Pb can be calculated.
  • the cylinder stroke sensors 14, 15, and 16 are used to detect the tilt angles ⁇ 11, ⁇ 12, and ⁇ 13, but the cylinder stroke sensors 14, 15, and 16 may not be used.
  • the blade edge position detector 34 may detect the inclination angle ⁇ 11 of the bucket 11, the inclination angle ⁇ 12 of the arm 12, and the inclination angle ⁇ 13 of the boom 13 using an angle sensor such as a potentiometer or a level.
  • the operating device 40 includes a right operating lever disposed on the right side of an operator seated on the driver's seat 4S and a left operating lever disposed on the left side.
  • the boom 13 When the right operation lever is moved in the front-rear direction, the boom 13 performs a lowering operation and a raising operation.
  • the bucket 11 When the right operation lever is moved in the left-right direction (vehicle width direction), the bucket 11 performs excavation operation and dump operation.
  • the left operating lever is moved in the front-rear direction, the arm 12 performs a dumping operation and an excavating operation.
  • the left operating lever is moved in the left-right direction, the upper swing body 2 turns left and right.
  • the arm 12 performs dumping operation and excavation operation when the left operation lever is moved left and right.
  • Other operation patterns of the right operation lever and the left operation lever are also included in this embodiment.
  • the front / rear operation of the right operation lever can be an excavation operation and a dump operation of the arm 12
  • the left / right operation of the right operation lever can be a left turn and a right turn of the revolving structure.
  • the operation before and after the left operation lever is a lowering operation and a raising operation of the boom 13, and the left and right operations of the left operation lever are a dumping operation and an excavation operation of the bucket 11.
  • the dumping and excavation operation with respect to the front and rear operation of the arm 12 may be reversed. In this way, the operation of each work implement element with respect to the operation of the left and right operating devices of the operating device 40 can be arbitrarily set.
  • FIG. 3 is a schematic diagram for explaining an example of the operation of the work implement 1 driven based on the work implement control according to the present embodiment.
  • the work machine control includes leveling assist control and bucket control.
  • leveling assist control refers to controlling the work implement 1 so that the bucket 11 moves along the target excavation landform indicating the target shape of the excavation target.
  • the target excavation landform may be defined by a plane or a line.
  • the boom cylinder 23 is controlled so that the boom 13 is raised so that the bucket 11 does not exceed the target excavation landform.
  • the bucket 11 and the arm 12 are driven based on the operation of the operation device 40 by the operator.
  • the boom 13 is driven based on control by the control device 50.
  • Bucket control refers to controlling the work machine 1 so that the state of the work machine 1 is maintained in a constant state.
  • the state of the work machine 1 includes the posture of the work machine 1.
  • the posture of the work machine 1 includes the sum of the inclination angle ⁇ 11 of the bucket 11, the inclination angle ⁇ 12 of the arm 12, and the inclination angle ⁇ 13 of the boom 13. That is, in the present embodiment, bucket control refers to controlling the work machine 1 so that the posture of the work machine 1 indicating the sum of the tilt angle ⁇ 11, the tilt angle ⁇ 12, and the tilt angle ⁇ 13 is maintained at a constant angle.
  • FIG. For example, the normal vector of the target excavation landform and the normal vector for a part of the outline of the bucket 11 are set.
  • the work implement 1 is controlled so that the angle formed by each set vector is maintained.
  • the hydraulic cylinder 20 is controlled so that the angle of the bucket 11 with respect to the target excavation landform is maintained at a constant angle.
  • the arm 12 is driven based on the operation of the operation device 40 by the operator.
  • the bucket 11 is driven based on control by the control device 50.
  • the leveling assist control and the bucket control are performed so that the cutting edge 10 of the bucket 11 moves along the target excavation landform and the bottom surface 17 of the bucket 11 moves away from the target excavation landform. Is implemented.
  • the control device 50 causes the bucket 11 to perform a dumping operation and raises the boom 13 so that the bucket 11 moves along the target excavation landform while the arm 12 is being excavated by the operation of the operation device 40. .
  • the bucket control is performed when at least a part of the bucket 11 exists in the bucket control range.
  • the bucket control range is a range of a predetermined distance from the target excavation landform with the target excavation landform as a reference.
  • bucket control is performed when the distance D between the target excavation landform and the bucket 11 is equal to or less than the first threshold value H1.
  • the hydraulic cylinder 20 including the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23 is operated by a hydraulic system 300.
  • An operation command for the hydraulic cylinder 20 is determined by the operation of the operation device 40 and the intervention of the control device 50.
  • FIG. 4 is a schematic diagram showing an example of a hydraulic system 300 that operates the bucket cylinder 21.
  • the bucket 11 performs two types of operations, an excavation operation and a dump operation. When the bucket cylinder 21 extends, the bucket 11 excavates, and when the bucket cylinder 21 contracts, the bucket 11 dumps.
  • the hydraulic system 300 includes a variable displacement main hydraulic pump 42 that supplies hydraulic oil to the bucket cylinder 21 via the direction control valve 41, a sub hydraulic pump 43 that supplies pilot oil, an oil passage 44A through which the pilot oil flows, 44B, 47A, 47B, control valves 45A, 45B arranged in the oil passages 44A, 44B and adjusting the pilot pressure for the direction control valve 41, pressure sensors 46A, 46B arranged in the oil passages 47A, 47B, and control And a control device 50 for controlling the valves 45A and 45B.
  • Control valves 45A and 45B are electromagnetic proportional control valves.
  • the control valves 45A and 45B adjust the pilot pressure with respect to the direction control valve 41 by reducing the pilot pressure supplied from the oil passages 47A and 47B with respect to the operation amount of the operating device 40 that operates the hydraulic cylinder 20.
  • the pilot pressure for the direction control valve 41 By adjusting the pilot pressure for the direction control valve 41, the supply amount of the hydraulic oil supplied to the bucket cylinder 21 is adjusted.
  • the oil passages 47 ⁇ / b> A and 47 ⁇ / b> B are connected to the sub hydraulic pump 43 via the operation device 40. Pilot oil sent from the main hydraulic pump 42 and decompressed by the decompression valve may be supplied to the control valves 45A and 45B.
  • the direction control valve 41 controls the direction in which the hydraulic oil flows and the supply amount of the hydraulic oil.
  • the hydraulic oil supplied from the main hydraulic pump 42 is supplied to the bucket cylinder 21 via the direction control valve 41.
  • the direction control valve 41 switches between supplying hydraulic oil to the cap-side oil chamber 20A of the bucket cylinder 21 and supplying hydraulic oil to the rod-side oil chamber 20B. Further, the direction control valve 41 adjusts the amount of hydraulic oil supplied.
  • the cap side oil chamber 20A is a space between the cylinder head cover and the piston.
  • the rod side oil chamber 20B is a space in which the piston rod is disposed.
  • the pressure in the oil passage 47A and the pressure in the oil passage 47B change based on the operation amount of the operating device 40.
  • the pressure in the oil passage 47A is detected by the pressure sensor 46A.
  • the pressure in the oil passage 47B is detected by the pressure sensor 46B.
  • control device 50 can limit the pilot pressure acting on the directional control valve 41 by outputting a control signal to the control valves 45A and 45B in a situation where the operation device 40 is operated to one side.
  • the control valve 45A and the control valve 45B are controlled based on a control signal related to bucket control output from the control device 50.
  • the control valve 45A or the control valve 45B is controlled based on a control signal output from the control device 50 in order to execute bucket control.
  • the control valve 45A and the control valve 45B are instructed to be fully opened so that the direction control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. Is output.
  • bucket control is achieved by the control device 50 limiting the bucket drive for the operation of the bucket 11 by the operator.
  • the control device 50 fully opens the control valve 45A and the control valve 45B so that the directional control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. Is generated.
  • the arm 12 includes the same hydraulic system 300 as the bucket 11.
  • the arm 12 performs two types of operations, an excavation operation and a dump operation.
  • an excavation operation When the arm cylinder 22 is extended, the arm 12 is excavated, and when the arm cylinder 22 is contracted, the arm 12 is dumped.
  • the description of operating the arm cylinder 22 is omitted because it is the same as that of the bucket cylinder 21.
  • FIG. 5 is a schematic diagram illustrating an example of a hydraulic system 300 that operates the boom cylinder 23.
  • the hydraulic system 300 that operates the boom cylinder 23 includes a main hydraulic pump 42, a sub hydraulic pump 43, a direction control valve 41, an operating device 40 that adjusts a pilot pressure for the direction control valve 41, and an oil passage through which pilot oil flows.
  • the control valve 45C is an electromagnetic proportional control valve.
  • the control valve 45C adjusts the pilot pressure based on a command signal from the control device 50.
  • the control valve 45C adjusts the pilot pressure in the oil passage 44C.
  • pilot pressure corresponding to the operation amount of the operation device 40 acts on the direction control valve 41.
  • the spool of the direction control valve 41 moves according to the pilot pressure. Based on the amount of movement of the spool, the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 42 to the boom cylinder 23 via the direction control valve 41 is adjusted.
  • a control valve 45C that operates based on a control signal related to leveling assist control that is output from the control device 50 is provided in the oil passage 44C.
  • the pilot oil sent from the sub hydraulic pump 43 flows through the oil passage 44C.
  • the oil passage 44 ⁇ / b> C and the oil passage 44 ⁇ / b> B are connected to the shuttle valve 48.
  • the shuttle valve 48 supplies the directional control valve 41 with pilot oil in the oil passage having the higher pilot pressure in the oil passage 44B and the oil passage 44C.
  • the control valve 45C is controlled based on a control signal output from the control device 50 in order to execute leveling assist control.
  • the control device 50 When the leveling assist control is not executed, the control device 50 does not output a control signal to the control valve 45C so that the direction control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40.
  • the control device 50 closes the oil passage 44 ⁇ / b> C with the control valve 45 ⁇ / b> C so that the directional control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40.
  • the control device 50 controls the control valve 45C so that the direction control valve 41 is driven based on the pilot pressure adjusted by the control valve 45C. For example, when executing leveling assist control that restricts the movement of the boom 13, the control device 50 fully opens the control valve 45C so that the pilot pressure corresponds to the boom target speed. When the pilot pressure in the oil passage 44C becomes larger than the pilot pressure in the oil passage 44B, the pilot oil from the control valve 45C is supplied to the direction control valve 41 via the shuttle valve 48. Thereby, the boom cylinder 23 extends and the boom 13 is raised.
  • FIG. 6 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.
  • control system 200 includes a control device 50 that controls the work machine 1, a position detection device 30, a blade edge position detector 34, a control valve 45 (45A, 45B, 45C), and a pressure sensor. 46 (46A, 46B) and a target construction data generation device 70.
  • the position detection device 30 including the vehicle body position detector 31, the attitude detector 32, and the azimuth detector 33 detects the absolute position Pg of the upper swing body 2.
  • the absolute position Pg of the upper swing body 2 is appropriately referred to as a vehicle body position Pg.
  • Control valve 45 adjusts the amount of hydraulic oil supplied to hydraulic cylinder 20.
  • the control valve 45 operates based on a control signal from the control device 50.
  • the pressure sensor 46 (46A, 46B) detects the pilot pressure of the oil passage 44 (44A, 44B). Data detected by the pressure sensor 46 is output to 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 3D design landform 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 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 storage medium that stores the target construction data
  • the control device 50 may include a device that can read the target construction data from the storage medium.
  • the control device 50 includes a vehicle body position data acquisition unit 51, a bucket position data acquisition unit 52, a target excavation landform data acquisition unit 53, a distance data acquisition unit 54, a detection data acquisition unit 56, The machine target speed determination unit 57, the operation determination unit 58, the bucket control determination unit 59, the control start angle data acquisition unit 60, and the work machine control unit 61 are included.
  • the control device 50 includes a storage unit 62 that stores specification data of the excavator 100, which is realized by a storage device.
  • the control device 50 includes an input / output unit 63 that constitutes an input / output interface device.
  • the vehicle body position data acquisition unit 51 acquires vehicle body position data indicating the vehicle body position Pg from the position detection device 30 via the input / output unit 63.
  • the vehicle body position detector 31 detects the vehicle body position Pg based on at least one of the installation position P1a and the installation position P1b of the GPS antenna 31A.
  • the vehicle body position data acquisition unit 51 acquires vehicle body position data indicating the vehicle body position Pg from the vehicle body position detector 31.
  • the bucket position data acquisition unit 52 acquires bucket position data including the cutting edge position of the bucket 11 from the cutting edge position detector 34 via the input / output unit 63.
  • the bucket position data acquisition unit 52 acquires bucket position data including the cutting edge position that is the relative position of the cutting edge 10 with respect to the reference position Ps of the upper swing body 2 from the cutting edge position detector 34.
  • the target excavation landform data acquisition unit 53 uses the target construction data and the bucket position data supplied from the target construction data generation device 70 and uses the target excavation landform data indicating the target shape of the excavation target corresponding to the position of the bucket 11. Is generated.
  • the distance data acquisition unit 54 determines whether the bucket 11 and the target excavation landform are based on the position of the bucket 11 acquired by the bucket position data acquisition unit 52 and the target excavation landform generated by the target excavation landform data acquisition unit 53.
  • the distance D is calculated, and distance data indicating the distance D is acquired.
  • the distance D between the bucket 11 and the target excavation landform may be the distance between the cutting edge 10 of the bucket 11 and the target excavation landform, and includes the outer peripheral surface of the bucket 11 calculated using the external dimension data of the bucket 11. It may be a distance between an arbitrary position of the bucket 11 and the target excavation landform.
  • the distance D between the bottom surface 17 of the bucket 11 and the target excavation landform may be the distance D between the bucket 11 and the target excavation landform.
  • the detection data acquisition unit 56 acquires detection data of pilot pressure acting on the hydraulic cylinder 20 from the pressure sensor 46.
  • the detection data acquiring unit 56 acquires pilot pressure detection data acting on the bucket cylinder 21, pilot pressure detection data acting on the arm cylinder 22, and pilot pressure detection data acting on the bucket cylinder 23.
  • the amount of operation of the bucket operating lever of the operating device 40 for operating the bucket 11 correlates with the pilot pressure in the oil passages 47A and 47B.
  • the amount of operation of the arm operating lever of the operating device 40 for operating the arm 12 correlates with the pilot pressure in the oil passages 47A and 47B.
  • the amount of operation of the boom operating lever of the operating device 40 for operating the boom 13 correlates with the pilot pressure in the oil passages 44A and 44B.
  • the pilot pressures in the oil passages 44A and 44B are detected by pressure sensors 46A and 46B.
  • Correlation data indicating the correlation between the operation amount of the bucket operating lever of the operating device 40 for operating the bucket 11 and the pilot pressure of the oil passages 46A and 46B is obtained in advance by preliminary experiments or simulations and stored in the storage unit 62. Has been.
  • the correlation data indicating the correlation between the operation amount of the operating device 40 for operating at least one of the arm 12 and the boom 13 and the pilot pressure of the oil passages 44A and 44B is obtained in advance by a preliminary experiment or simulation, It is stored in the storage unit 62.
  • the detection data acquisition unit 56 operates the bucket 11 from the detection data (PPC pressure) of the pressure sensors 46A and 46B based on the detection data of the pressure sensors 46A and 46B and the correlation data stored in the storage unit 62.
  • the operation amount data indicating the operation amount of the bucket operation lever of the operation device 40 is acquired.
  • the detection data acquisition unit 56 uses the detection signals (PPC pressures) of the pressure sensors 46A and 46B based on the detection signals of the pressure sensors 46A and 46B and the correlation data stored in the storage unit 62. 11, the operation amount data indicating the operation direction of the arm 12, and the boom 13 and the operation amount of the operation device 40 for operating at least one of them are acquired.
  • the work machine target speed determination unit 57 determines a work machine speed limit indicating the speed limit of the work machine 1 as a whole based on the distance D between the bucket 11 and the target excavation landform.
  • the speed of the work implement 1 as a whole refers to the actual operating speed of the bucket 11 when the bucket 11, the arm 12, and the boom 13 are driven.
  • the work implement target speed determining unit 57 determines the boom target speed based on the distance D between the bucket 11 and the target excavation landform.
  • the work machine target speed determination unit 57 is based on the operation of the bucket 11 and the arm 12 based on the work machine speed limit and at least the arm operation amount and the bucket operation amount acquired by the detection data acquisition unit 56.
  • the boom target speed is calculated so that the deviation between the speed of the work implement 1 as a whole and the work implement limit speed is offset.
  • the movement of the bucket 11 and the movement of the arm 12 are based on the operation of the operation device 40 by the operator.
  • the work implement target speed determination unit 57 performs the raising operation so that the blade edge 10 of the bucket 11 moves along the target excavation landform while the bucket 11 and the arm 12 are operated by the operation device 40.
  • the boom target speed of the boom 13 to be determined is determined.
  • the operation determination unit 58 is based on the pilot pressure detection data for driving the bucket cylinder 21 and the pilot pressure detection data for driving the arm cylinder 22 acquired by the detection data acquisition unit 56. It is determined whether or not the operating device 40 for operating is operated in a different direction.
  • the operating device 40 for operating the bucket 11 includes a bucket operating lever that is an operating member that causes the bucket 11 to perform a digging operation or a dumping operation.
  • the operating device 40 for operating the arm 12 includes an arm operating lever that is an operating member that causes the arm 12 to perform a digging operation or a dumping operation.
  • the operation of the operation device 40 in different directions includes a first operation for causing the arm 12 to perform a digging operation and a dumping operation of the bucket 11, and a second operation for causing the arm 12 to perform a dumping operation and causing the bucket 11 to perform a digging operation.
  • a first operation for causing the arm 12 to perform a digging operation and a dumping operation of the bucket 11 includes a second operation for causing the arm 12 to perform a dumping operation and causing the bucket 11 to perform a digging operation.
  • At least one of the above. That is, that the operating device 40 is operated in different directions is an operation in which the operating directions of the arm 12 and the bucket 11 are different.
  • the direction of operation being different means that the direction of rotation of the arm 12 and the bucket 11 via the connection pin is different.
  • the bucket control determination unit 59 determines whether or not a bucket control condition for performing bucket control is satisfied based on the distance data acquired by the distance data acquisition unit 54 and the determination data of the operation determination unit 58.
  • the bucket control condition includes a condition in which the distance D is equal to or less than the first threshold value H1 and the operating device 40 for operating the bucket 11 is operated in different directions. That is, in the present embodiment, when the distance D is equal to or less than the first threshold value H1, the arm 12 is excavated, and the bucket 11 is performing the dumping operation, it is determined that the bucket control condition is satisfied.
  • the control start angle data acquisition unit 60 acquires bucket control start angle data indicating the angle of the bucket 11 when it is determined that the bucket control condition is satisfied. That is, the control start angle data acquisition unit 60 acquires the angle data of the bucket 11 when it is determined that the distance D is equal to or less than the first threshold value H1, the arm 12 is excavated, and the bucket 11 is dumping. To do. Further, the control start angle data acquisition unit 60 acquires angle data of the bucket 11 when it is determined that the distance D is equal to or less than the first threshold value H1, the arm 12 is dumped, and the bucket 11 is excavating. To do.
  • the work machine control unit 61 outputs a control signal for performing work machine control including leveling assist control and bucket control to the control valves 45A, 45B, and 45C.
  • the work machine control unit 61 controls the bucket cylinder 21 so that the angle of the bucket 11 with respect to the target excavation landform is maintained at a constant angle in a state where the bucket control condition is satisfied. Output a signal.
  • the control device 50 in a state where the bucket control condition is satisfied, the control device 50 outputs a command for limiting the pilot pressure to the control valves 45A and 45B.
  • the control valves 45 ⁇ / b> A and 45 ⁇ / b> B limit the pilot pressure at which the bucket 11 is operated based on a command from the control device 50. Thereby, the control device 50 can control the bucket 11.
  • the bucket cylinder 21 is driven based on the operation of the operation device 40.
  • the work implement control unit 61 drives the boom 13 so that the boom 13 moves based on the boom target speed when it is determined that the distance D is equal to or less than the second threshold H2 that is greater than the first threshold H1.
  • the control signal for controlling the boom cylinder 23 to be output is output, and the leveling assist control can be performed.
  • FIG. 7 is a schematic diagram for explaining leveling assist control and bucket control according to the present embodiment.
  • a speed limit intervention line SH2 is defined.
  • the speed limit line SH2 is parallel to the target excavation landform and is defined at a position away from the target excavation landform by a distance H2.
  • the distance H2 is a second threshold for the distance D between the bucket 11 and the target excavation landform.
  • the distance H2 is preferably set so that the operator's feeling of operation is not impaired.
  • the distance data acquisition unit 54 acquires a distance D that is the shortest distance between the bucket 11 and the target excavation landform in the normal direction of the target excavation landform.
  • the distance D is defined between the bottom surface 17 of the bucket 11 and the target excavation landform.
  • the work implement target speed determination unit 57 determines a work implement speed limit Vt that is a limit speed for leveling assist of the work implement 1 as a whole according to the distance D.
  • FIG. 8 is a diagram illustrating an example of the relationship between the second threshold value H2 and the distance D and the relationship between the distance D and the work implement speed limit Vt in the present embodiment.
  • the work implement speed limit Vt is not set when the distance D is greater than the second threshold value H2, and is set when the distance D is equal to or less than the second threshold value H2.
  • the work implement speed limit Vt becomes smaller.
  • the work implement speed limit Vt also becomes zero.
  • the speed when the bucket 11 goes from the lower side to the upper side of the target excavation landform is a positive value
  • the speed when the bucket 11 goes from the upper side to the lower side of the target excavation landform is a negative value.
  • the work machine target speed determination unit 57 increases the absolute value of the work machine speed limit Vt as the distance D increases, and decreases the absolute value of the work machine speed limit Vt as the distance D decreases. To decide.
  • the bucket control determination unit 59 determines whether or not the distance D is equal to or less than the first threshold value H1 and the bucket operation lever and the arm operation lever are operated in different directions. As shown in FIG. 7, the first threshold value H1 for bucket control is smaller than the second threshold value H2 for leveling assist control.
  • the bucket 11 gradually approaches the target excavation landform by the operation of the operation device 40, the distance D between the bucket 11 and the target excavation landform becomes equal to or less than the first threshold value H1, the arm 12 excavates, and the bucket 11 dumps.
  • the bucket control determination unit 59 determines that the bucket control condition is satisfied. Further, when the distance D between the bucket 11 and the target excavation landform is equal to or less than the first threshold value H1, and the operator operates the bucket operation lever and the arm operation lever so that the arm 12 performs the dump operation and the bucket 11 performs the excavation operation.
  • the bucket control determination unit 59 determines that the bucket control condition is satisfied.
  • the work machine control unit 61 starts bucket control when the distance D is equal to or less than the first threshold value H1 and the bucket operation lever and the arm operation lever are operated in different directions by the operator.
  • the control start angle data acquisition unit 60 indicates the angle of the bucket 11 with respect to the target excavation landform when the distance D is equal to or less than the first threshold value H1 and the bucket operation lever and the arm operation lever are operated in different directions by the operator. Acquire bucket control start angle data.
  • the work machine control unit 61 outputs a control signal for controlling the bucket cylinder 21 so that the angle of the bucket 11 is maintained at the bucket control start angle in a state where the bucket control condition is satisfied.
  • the bucket 11 gradually approaches the target excavation landform by driving at least one of the arm 12 and the boom 13 in a state where the bucket operation lever and the arm operation lever are operated, and the distance D is less than the first threshold value H1.
  • Work including bucket control and leveling assist control so that the angle of the bucket 11 with respect to the target excavation landform when the distance D becomes less than or equal to the first threshold value H1 when the large state becomes less than or equal to the first threshold value H1 Machine control is implemented.
  • the bucket operation lever and the arm operation lever are predeterminedly operated in the state where the distance D is equal to or less than the first threshold value H1
  • the bucket 11 with respect to the target excavation landform at the time when the bucket operation lever and the arm operation lever are predeterminedly operated.
  • the work implement control including the bucket control and the leveling assist control is performed such that the angle is maintained.
  • FIG. 9 is a flowchart showing a control method of the excavator 100 according to the present embodiment.
  • Target construction data is supplied from the target construction data generation device 70 to the control device 50.
  • the target excavation landform data acquisition unit 53 acquires the target construction data supplied from the target construction data generation device 70 (step S10).
  • the bucket position data is supplied from the blade edge position detector 34 to the control device 50.
  • the bucket position data acquisition unit 52 acquires bucket position data from the blade edge position detector 34 (step S20).
  • the distance data acquisition unit 54 determines the distance between the target excavation landform and the bucket 11 based on the target excavation landform acquired by the target excavation landform data acquisition unit 53 and the bucket position data acquired by the bucket position data acquisition unit 52. Distance data indicating D is calculated (step S30). Thereby, distance data between the target excavation landform and the bucket 11 is acquired.
  • the work machine speed limit determining unit 55 determines the work machine speed limit Vt of the bucket 11 based on the distance data. As described with reference to FIG. 8, map data indicating the relationship between the distance D and the work implement speed limit Vt is stored in the storage unit 62. The work machine speed limit determining unit 55 determines the work machine speed limit Vt corresponding to the distance D based on the distance data acquired by the distance data acquiring unit 54 and the map data stored in the storage unit 62. .
  • the work machine target speed determination unit 57 is based on the work machine speed limit Vt determined by the work machine speed limit determination unit 55 and at least one of the arm operation amount and the bucket operation amount acquired by the detection data acquisition unit 56.
  • the boom target speed Vb for leveling assist control is calculated.
  • the work implement target speed determination unit 57 determines whether or not an intervention command to the boom for leveling assist control is necessary based on the distance data acquired by the distance data acquisition unit 54 and the operation command of the arm 12 and the bucket 11. (Step S40).
  • step S40 when the distance D is less than or equal to the second threshold value H2 and there is at least an operation of the arm 12 (step S40: Yes), the work implement control unit 61 moves the boom 13 based on the boom target speed Vb. In this manner, a control signal for controlling the boom cylinder 23 is output to the control valve 45C (step S50). Thereby, the leveling assist control is started.
  • the detection data acquisition unit 56 acquires detection data of pilot pressure acting on the direction control valve 41 for driving the hydraulic cylinder 20 that drives the work machine 1 (step S60).
  • the detection data acquisition unit 56 acts on at least pilot pressure detection data acting on the direction control valve 41 for driving the bucket cylinder 21 and on the direction control valve 41 for driving the arm cylinder 22.
  • the pilot pressure detection data to be acquired is acquired from the pressure sensor 46 (46A, 46B).
  • the operation determination unit 58 determines whether or not the operation device 40 is operated in a predetermined manner based on the operation amount data acquired by the detection data acquisition unit 56.
  • the detection data acquisition unit 56 determines whether at least the bucket operation lever and the arm operation lever of the operation device 40 are operated in a predetermined manner.
  • the bucket control determination unit 59 determines that the distance D is equal to or less than the first threshold value H1 based on the distance data acquired in step S30 and determination data regarding whether or not the bucket operation lever and the arm operation lever are operated in a predetermined manner. It is determined whether or not the bucket control condition in which the bucket operating lever and the arm operating lever of the operating device 40 are operated in a predetermined manner is satisfied (step S70).
  • step S70 When it is determined in step S70 that the bucket control condition is satisfied (step S70: Yes), the control start angle data acquisition unit 60 determines the angle of the bucket 11 at the time point when it is determined that the bucket control condition is satisfied. The bucket control start angle data shown is acquired. The work implement control unit 61 determines the bucket control start angle in the bucket control based on the bucket control start angle data acquired by the control start angle data acquisition unit 60 (step S80).
  • the work machine control unit 61 drives at least the bucket 11 of the hydraulic cylinder 20 so that the angle of the bucket 11 with respect to the target excavation landform is maintained at a constant angle in a state where the bucket control condition is satisfied.
  • a control signal for controlling is output (step S90).
  • the work machine control unit 61 outputs a control signal to the control valves 45A and 45B for controlling the bucket cylinder 21 to perform bucket control.
  • step S40 the distance D is not less than or equal to the second threshold value H2, the arm 12 is not operated, the bucket 11 is not operated (step S40: No), or the bucket control condition is set in step S70. Is determined not to be satisfied (step S70: No), the process returns to step S10.
  • the hydraulic cylinder 20 is driven based on the operation of the operation device 40 by the operator.
  • the bucket control condition in which the distance D between the target excavation landform and the bucket 11 is equal to or less than the first threshold value H1 and the operating device 40 is operated in different directions is satisfied.
  • Bucket control is automatically started when Thereby, even if an operator does not perform special operation, the bucket control in which the angle of the bucket 11 with respect to the target excavation landform is maintained at a fixed angle is automatically started.
  • FIG. 10 is a schematic diagram for explaining the effect of the control system 200 according to the present embodiment.
  • the bucket control of the control device 50 for the bucket dump operation of the operator is performed.
  • the height of the bucket 11 and the inclination angle ⁇ 11 of the bucket 11 are controlled, and excavation is started.
  • the bucket control is canceled and the bucket angle is adjusted as indicated by an arrow y2. For example, when the operator wants to directly face the target excavation landform and the bottom surface 17 of the bucket 11, a bucket excavation operation by the operator is performed.
  • excavation is performed based on bucket control, as indicated by an arrow y3, by restarting the bucket dump operation by the operator.
  • the bucket control is canceled and the bucket angle is adjusted as indicated by the arrow y4.
  • the operator only needs to perform the excavation operation of the bucket 11 only during the initial period of excavation or the final period of excavation.
  • the bucket 11 is not in contact with the target excavation landform by performing the bucket control without performing the dumping operation accurately while considering the angle between the bucket 11 and the target excavation landform.
  • the relative angle can be maintained. Thereby, operativity and construction accuracy improve.
  • the bucket control is automatically started when the distance D is equal to or less than the first threshold value H1 and the bucket control condition in which the operation device 40 is operated in a predetermined manner is satisfied, the bucket control is performed for finishing excavation. Start at the right time.
  • the leveling assist control is performed based on the local coordinate system.
  • the leveling assist control may be performed based on the global coordinate system.
  • the operating device 40 is provided in the excavator 100.
  • the operating device 40 may be provided in a remote place away from the excavator 100, and the excavator 100 may be remotely operated.
  • a command signal indicating the operation amount of the work machine 1 is wirelessly transmitted to the excavator 100 from an operation device 40 provided at a remote place.
  • the detection data acquisition unit 56 of the control device 50 acquires a command signal indicating the operation amount transmitted wirelessly.
  • the construction machine 100 is the hydraulic excavator 100.
  • the control device 50 and the control method described in the above-described embodiment can be applied to general construction machines having work machines other than the hydraulic excavator 100.
  • Body position detector 31A ... GPS antenna, 32 ... Attitude detector, 33 ... Direction detection 34 ... Blade position detector 40 ... Operating device 41 ... Direction control valve 42 ... Main hydraulic pump 43 ... Sub hydraulic pump 44A, 44B, 4 C: Oil passage, 45A, 45B, 45C ... Control valve, 46A, 46B ... Pressure sensor, 47A, 47B ... Oil passage, 48 ... Shuttle valve, 50 ... Control device, 51 ... Body position data acquisition unit, 52 ... Bucket position Data acquisition unit 53 ... Target excavation landform data acquisition unit 54 ... Distance data acquisition unit 55 ... Work machine speed limit determination unit 56 ... Detection data acquisition unit 57 ... Work machine target speed determination unit 58 ... Operation determination unit , 59 ...
  • Bucket control determination unit 60 ... Control start angle data acquisition unit, 61 ... Work machine control unit, 62 ... Storage unit, 63 ... Input / output unit, 70 ... Target construction data generation device, 100 ... Hydraulic excavator (construction machine) ), 200 ... Control system, 300 ... Hydraulic system, AX1 ... Rotating shaft, AX2 ... Rotating shaft, AX3 ... Rotating shaft, L11 ... Length, L12 ... Length, L13 ... Length, Pb ... Absolute position of cutting edge , Pg ... absolute position of the vehicle body, RX ... pivot, [theta] 11 ... inclination angle, [theta] 12 ... inclination angle, .theta.13 ... tilt angle.

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

Abstract

L'invention concerne un dispositif de commande de machine de construction qui comprend : un vérin hydraulique pour entraîner une pluralité d'éléments de machine de travail; une soupape de commande pour ajuster le volume d'un fluide hydraulique fourni au vérin hydraulique par ajustement de la pression pilote sur la base de l'entrée de commande d'un dispositif d'actionnement qui fait fonctionner le vérin hydraulique; une unité d'acquisition de données de détection pour acquérir des données de détection de pression pilote; une unité de détermination d'opération pour déterminer si des dispositifs d'actionnement fonctionnent dans des directions différentes sur la base des données de detection; et une unité de commande de machine de travail pour fournir un signal de commande pour commander un godet de telle sorte que l'état de la machine de travail est maintenu lorsqu'il est déterminé que les dispositifs d'actionnement fonctionnent dans différentes directions.
PCT/JP2017/043650 2016-12-27 2017-12-05 Système de commande d'une machine de construction, et procédé de commande d'une machine de construction WO2018123470A1 (fr)

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JP2016-254110 2016-12-27
JP2016254110 2016-12-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112334618A (zh) * 2019-03-26 2021-02-05 日立建机株式会社 液压挖掘机

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0679855U (ja) * 1993-04-22 1994-11-08 新キャタピラー三菱株式会社 走行方向自動切換装置
JP2011043002A (ja) * 2009-08-24 2011-03-03 Naomasa Nitta 掘削支援装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0679855U (ja) * 1993-04-22 1994-11-08 新キャタピラー三菱株式会社 走行方向自動切換装置
JP2011043002A (ja) * 2009-08-24 2011-03-03 Naomasa Nitta 掘削支援装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112334618A (zh) * 2019-03-26 2021-02-05 日立建机株式会社 液压挖掘机

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