WO2019012699A1

WO2019012699A1 - Work machine and control method for work machine

Info

Publication number: WO2019012699A1
Application number: PCT/JP2017/025778
Authority: WO
Inventors: 徹松山; 歩大熊; 健夫山田
Original assignee: 株式会社小松製作所
Priority date: 2017-07-14
Filing date: 2017-07-14
Publication date: 2019-01-17
Also published as: JP6901406B2; JPWO2019012699A1; KR102088784B1; DE112017000085T5; KR20190019037A; US20190078289A1; CN109511268A

Abstract

A work machine according to one aspect of the present invention is equipped with a work device, an operation device for operating the work device, and a controller for controlling the work device. The controller: executes intervention control to lift the work device on the basis of an operation command from the operation device; determines whether to switch from intervention control to control of the work device according to the operation command from the operation device; determines, when executing a switch based on the determination results, whether the operation command from the operation device is a command to lift the work device or is a neutral command; determines the speed difference between a target lifting speed for the work device from the intervention control and a target speed according to the operation command from the operation device when, on the basis of the determination results, the operation command from the operation device is a command to lift the work device or is a neutral command; and in cases in which the speed difference is a prescribed value or greater, makes adjustments such that the target lifting speed of the work device gradually changes to the target speed according to the operation command from the operation device.

Description

Work machine and control method of work machine

The present invention relates to a working machine provided with a working machine and a control method of the working machine.

In a working machine provided with a front device including a bucket, control for moving a bucket along a boundary surface indicating a target shape to be constructed has been proposed (see, for example, Patent Document 1). Such control is called intervention control.

In the intervention control, for example, when there is no target shape to be constructed, or when the work machine does not erode the target shape by the operation of the operator, it is not necessary to execute the intervention control. It is not necessary to carry out the control for raising the working machine so that the working machine does not erode the target shape.

International Publication No. 2016/111384

When the execution of the intervention control is lost, the control is switched to the control of the working machine according to the operation command of the operating device.

Depending on the difference between the speed at which the work machine is raised by the intervention control and the speed at which the work machine rises in accordance with the operation command of the operating device, a rapid speed change may occur at the time of control switching. There is a possibility of causing it.

The present disclosure has been made to solve the above-described problems, and it is an object of the present disclosure to provide a work machine and a control method of the work machine capable of suppressing the discomfort of the operator's operation of the operation device. .

A work machine according to an aspect includes a work machine, an operating device that operates the work machine, and a controller that controls the work machine. The controller executes intervention control to raise the working machine based on the operation command from the operation device, determines switching from the intervention control to control of the work machine according to the operation command of the operation device, and operates in switching based on the determination result It is determined whether the operation command of the device is the lifting of the work machine or the neutral command, and if the operation command of the operating device is the lifting of the work machine or the neutral command based on the determination result, intervention control is performed. Determine the speed difference between the work target's elevated target speed and the target speed according to the operation command of the operating device, and if the speed difference is greater than or equal to the predetermined value, the target target rise speed of the work device follows the operation command of the operating device Adjust to gradually change in speed.

Preferably, the controller switches the intervention control unit that executes intervention control to raise the working machine based on the operation command from the operation device, and switching to determine switching from the intervention control to control of the work machine according to the operation command of the operation device A determination unit, an operation command determination unit that determines whether or not an operation command of the operation device is the lifting of the work machine or a neutral command in switching based on the determination result of the switching determination unit, and a determination result of the operation command determination unit Based on the operation command of the operating device based on the elevation of the work machine or the neutral command, the speed difference between the target speed of the work machine as a target for the intervention control and the target speed according to the operation command of the operation device If the speed difference is equal to or greater than the predetermined value based on the judgment result of the judgment unit and the speed difference judgment unit, the rising target speed of the working machine gradually changes to the target speed according to the operation command of the operating device. A and a speed adjustment unit configured to adjust.

Preferably, when the speed difference is less than the predetermined value, the controller switches the elevation target speed of the work implement to the target speed according to the operation command of the operating device.

A control method of a working machine according to a certain aspect is a control method of a working machine including a working machine and an operating device for operating the working machine, wherein the intervention control raises the working machine based on an operation command from the operating device. The step of executing the step, the step of determining the switching from the intervention control to the control of the working machine according to the operating command of the operating device, and the switching of the operating device in the switching based on the determination result is the lifting of the working machine or the neutral command And, if the operation command of the operating device based on the determination result is the lifting of the work machine or the neutral command, the target target speed of increase of the working machine by the intervention control and the operation command of the operating device In the step of determining the speed difference from the target speed according to the above, if the speed difference is greater than or equal to the predetermined value, the rising target speed of the working machine is gradually changed to the target speed according to the operation command And a step of adjusting to.

The work machine and the control method of the work machine can suppress the sense of discomfort of the operation of the operating device by the operator.

It is a perspective view of a work machine based on an embodiment. FIG. 1 is a block diagram showing a configuration of a control system 200 and a hydraulic system 300 of a hydraulic shovel 100 based on an embodiment. It is a figure showing an example of hydraulic circuit 301 of boom cylinder 10 based on an embodiment. It is a block diagram of work machine controller 26 based on an embodiment. It is a figure showing target excavation topography data U and bucket 8 based on an embodiment. It is a figure for explaining boom limit speed Vcy_bm based on an embodiment. It is a figure for demonstrating speed limit Vc_lmt based on an embodiment. It is a figure which shows the relationship between the bucket 8 based on embodiment, and the target excavation landform 43I. It is a figure which shows the relationship between the boom target speed Vbm which is the speed in which the boom 6 based on embodiment operates, and the time t. It is a figure explaining the flow which shows the control method of the working machine based on an embodiment.

Hereinafter, an embodiment of the present invention will be described based on the drawings. In the following description, the same components are denoted by the same reference numerals. Since their names and functions are also the same, detailed description about them will not be repeated. In the following description, “upper”, “lower”, “front”, “rear”, “left”, and “right” are terms based on the operator who is seated in the driver's seat.

<Overall configuration of working machine>
FIG. 1 is a perspective view of a working machine based on the embodiment.

FIG. 2 is a block diagram showing configurations of a control system 200 and a hydraulic system 300 of the hydraulic shovel 100 based on the embodiment.

As shown in FIG. 1, a hydraulic shovel 100 which is a working machine has a vehicle body 1 and a working machine 2.

The vehicle body 1 has an upper revolving unit 3 which is a revolving unit and a traveling device 5 as a traveling unit. The upper revolving superstructure 3 accommodates devices such as an internal combustion engine and a hydraulic pump as a power generation device inside the engine chamber 3EG. The engine room 3EG is disposed on one end side of the upper swing body 3.

Although the hydraulic shovel 100 uses, for example, a diesel engine or the like for an internal combustion engine as a power generation device, the power generation device is not limited to this.

The power generation device of the hydraulic shovel 100 may be, for example, a hybrid device in which an internal combustion engine, a generator motor and a storage device are combined.

The power generation device of the hydraulic shovel 100 may not have an internal combustion engine, and may combine a power storage device and a generator motor.

The upper swing body 3 has a driver's cab 4. The operator's cab 4 is installed on the other end side of the upper swing body 3. The operator's cab 4 is installed on the opposite side to the side where the engine room 3EG is disposed. In the operator's cab 4, a display unit 29 and an operating device 25 shown in FIG. 2 are arranged.

The traveling device 5 supports the upper swing body 3. The traveling device 5 has

crawler belts

5a and 5b. The traveling device 5 causes the hydraulic shovel 100 to travel by causing one or both of the traveling motors 5c provided on the left and right to drive and rotate the

crawler belts

5a and 5b. The work implement 2 is attached to the side of the cab 4 of the upper swing body 3.

The hydraulic shovel 100 may include a tire instead of the

crawler belts

5a and 5b, and may include a traveling device capable of traveling by transmitting the driving force of the engine to the tire via a transmission. As a hydraulic shovel 100 of such a form, there exists a wheel type hydraulic shovel, for example.

The hydraulic shovel 100 may be, for example, a backhoe loader.
As for the upper revolving superstructure 3, the side where the working machine 2 and the cab 4 are disposed is the front, and the side where the engine room 3EG is disposed is the rear. The left side toward the front is the left of the upper swing body 3, and the right side toward the front is the right of the upper swing body 3. The left and right direction of the upper swing body 3 is also referred to as a width direction. The traveling device 5 side of the hydraulic shovel 100 or the vehicle body 1 is below with reference to the upper swing body 3, and the upper swing body 3 is above with respect to the traveling device 5. The longitudinal direction of the hydraulic shovel 100 is the x direction, the width direction is the y direction, and the vertical direction is the z direction. When the hydraulic shovel 100 is installed on a horizontal surface, the lower side is the action direction side of gravity which is the vertical direction, and the upper side is the opposite side to the vertical direction.

The work machine 2 has a boom 6, an arm 7, a bucket 8 which is a work tool, a boom cylinder 10, an arm cylinder 11 and a bucket cylinder 12. The base end of the boom 6 is attached to the front of the vehicle body 1 via a boom pin 13. The proximal end of the arm 7 is attached to the distal end of the boom 6 via an arm pin 14. The bucket 8 is attached to the tip of the arm 7 via a bucket pin 15. The bucket 8 moves around the bucket pin 15. The bucket 8 has a plurality of blades 8 B attached to the side opposite to the bucket pin 15. The blade tip 8T is the tip of the blade 8B.

In the embodiment, that the work implement 2 is raised means an operation in which the work implement 2 moves in a direction from the ground contact surface of the hydraulic shovel 100 toward the upper swing body 3. The descent of the work implement 2 means an operation of the work implement 2 moving in a direction from the upper swing body 3 of the hydraulic shovel 100 toward the ground contact surface. The ground contact surface of the hydraulic shovel 100 is a plane defined by at least three points in the contact portion of the

crawler belts

5a and 5b.

In the case of a working machine that does not have the upper revolving superstructure 3, raising of the working machine 2 means an operation of moving the working machine 2 in a direction away from the ground contact surface of the working machine. The descent of the work implement 2 means an operation of moving the work implement 2 in a direction approaching the ground contact surface of the work machine. If the work machine comprises wheels rather than tracks, the ground plane is the plane defined by the part where at least three wheels touch.

The bucket 8 may not have a plurality of blades 8B. It may be a bucket which does not have a blade 8B as shown in FIG. 1 and whose cutting edge is formed in a straight shape by a steel plate. The work implement 2 may include, for example, a tilt bucket having a single blade. A tilt bucket is equipped with a bucket tilt cylinder. By tilting the bucket to the left and right, even if the hydraulic shovel is on a slope, the slope and flat ground can be shaped and ground freely, and the bottom plate turns It is a bucket that can be pressed. In addition to this, instead of the bucket 8, the working machine 2 may be provided with a drilling bucket attachment or the like provided with a slope bucket or a rock drilling tip as a working tool.

The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders driven by the pressure of the hydraulic fluid (hereinafter referred to as "hydraulic" as appropriate). The boom cylinder 10 drives the boom 6 to raise and lower it. The arm cylinder 11 drives the arm 7 to move around the arm pin 14. The bucket cylinder 12 drives the bucket 8 to operate around the bucket pin 15.

A direction control valve 64 shown in FIG. 2 is provided between the hydraulic cylinders such as the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12 and the

hydraulic pumps

36 and 37 shown in FIG. The direction control valve 64 controls the flow rate of the hydraulic oil supplied from the

hydraulic pumps

36 and 37 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the like, and switches the flow direction of the hydraulic oil. The direction control valve 64 is a traveling direction control valve for driving the traveling motor 5c, and a working machine for controlling the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor for swinging the upper swing body 3. And a directional control valve.

The work implement controller 26 shown in FIG. 2 controls the control valve 27 shown in FIG. 2 to control the pilot pressure of the hydraulic fluid supplied from the operating device 25 to the direction control valve 64. The control valve 27 is provided in the hydraulic system of the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12. The work machine controller 26 can control the operation of the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12 by controlling the control valve 27 provided in the pilot oil passage 450. In the embodiment, the work implement controller 26 can control the speed of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 to be reduced by closing the control valve 27.

The

antennas

21 and 22 are attached to the upper portion of the upper swing body 3. The

antennas

21 and 22 are used to detect the current position of the hydraulic shovel 100. The

antennas

21 and 22 are electrically connected to a position detection device 19 shown in FIG. 2 which is a position detection unit for detecting the current position of the hydraulic shovel 100.

The position detection device 19 detects the current position of the hydraulic shovel 100 using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means Global Navigation Satellite System). In the following description, the

antennas

21 and 22 will be appropriately referred to as

GNSS antennas

21 and 22, respectively. A signal corresponding to the GNSS radio wave received by the

GNSS antennas

21 and 22 is input to the position detection device 19. The position detection device 19 detects the installation positions of the

GNSS antennas

21 and 22. The position detection device 19 includes, for example, a three-dimensional position sensor.

<Hydraulic system 300>
As shown in FIG. 2, the hydraulic system 300 of the hydraulic shovel 100 includes an internal combustion engine 35 and

hydraulic pumps

36 and 37 as power generation sources. The hydraulic pumps 36 and 37 are driven by the internal combustion engine 35 and discharge hydraulic fluid. The hydraulic fluid discharged from the

hydraulic pumps

36 and 37 is supplied to the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12.

The hydraulic shovel 100 is provided with a swing motor 38. The swing motor 38 is a hydraulic motor, and is driven by hydraulic fluid discharged from the

hydraulic pumps

36 and 37. The swing motor 38 swings the upper swing body 3. Although two

hydraulic pumps

36 and 37 are illustrated in FIG. 2, only one hydraulic pump may be provided. The swing motor 38 is not limited to a hydraulic motor, and may be an electric motor.

<Control system 200>
As shown in FIG. 2, a control system 200 which is a control system of a work machine is a work which is a control device of a work machine according to an embodiment, a position detection device 19, a global coordinate operation unit 23, an operation device 25. A machine controller 26, a sensor controller 39, a display controller 28, and a display unit 29 are included.

The operating device 25 is a device for operating the work implement 2 and the upper swing body 3 shown in FIG. The operating device 25 is a device for operating the work machine 2. Operation device 25 receives an operation by an operator for driving work machine 2 and outputs a pilot hydraulic pressure according to the amount of operation.

The pilot hydraulic pressure corresponding to the operation amount is an operation command. The operation command is a command for operating the work machine 2.

The operation command is generated by the operating device 25. Since the operation device 25 is operated by the operator, the operation command is a command for operating the work machine 2 by the operation of the operator which is a manual operation.

Control of the working machine 2 by manual operation is control of the working machine 2 in accordance with an operation command from the operating device 25. It is control of the working machine 2 by operating the operating device 25 of the working machine 2.

In the embodiment, the operating device 25 has a left operating lever 25L installed on the left side of the operator and a right operating lever 25R located on the right side of the operator. The left control lever 25L and the right control lever 25R correspond to the operation of the arm 7 and the two axes of turning in the front, rear, left and right operation.

For example, the operation in the front-rear direction of the right control lever 25R corresponds to the operation of the boom 6. When the right control lever 25R is operated forward, the boom 6 is lowered, and when operated rightward, the boom 6 is raised. The operation of raising and lowering the boom 6 is executed according to the operation of the right control lever 25R in the front-rear direction.

The operation of the right control lever 25R in the left-right direction corresponds to the operation of the bucket 8. When the right control lever 25R is operated to the left, the bucket 8 is excavated, and when operated to the right, the bucket 8 is dumped. The digging or dumping operation of the bucket 8 is performed according to the operation of the right control lever 25R in the left-right direction.

The operation of the left control lever 25L in the front-rear direction corresponds to the operation of the arm 7. When the left control lever 25L is operated forward, the arm 7 dumps, and when operated rearward, the arm 7 excavates.

The operation in the left-right direction of the left operation lever 25L corresponds to the operation of turning the upper swing body 3. When the left control lever 25L is operated to the left, it turns left, and when it is operated right, it turns right.

In the embodiment, a pilot hydraulic system is used for the operating device 25. A hydraulic oil whose pressure is reduced to a predetermined pilot pressure by the pressure reducing valve 25V is supplied from the hydraulic pump 36 to the controller 25 based on the boom operation, the bucket operation, the arm operation, and the turning operation.

The pilot hydraulic pressure can be supplied to the pilot oil passage 450 according to the operation of the right control lever 25R in the front-rear direction, and the operator's operation of the boom 6 is accepted. The valve device provided in the right control lever 25R is opened in accordance with the amount of operation of the right control lever 25R, and the hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 detects the pressure of the hydraulic oil in the pilot oil passage 450 as a pilot pressure.

The pressure sensor 66 transmits the detected pilot pressure to the work machine controller 26 as the boom operation amount MB. Hereinafter, the operation amount of the right control lever 25R in the front-rear direction is appropriately referred to as a boom operation amount MB. The pilot oil passage 50 is provided with a control valve (hereinafter appropriately referred to as an intervention valve) 27C and a shuttle valve 51. The intervention valve 27C and the shuttle valve 51 will be described later.

According to the operation of the right control lever 25R in the left-right direction, the pilot oil pressure can be supplied to the pilot oil passage 450, and the operation of the bucket 8 by the operator is accepted. The valve device provided in the right control lever 25R is opened in accordance with the amount of operation of the right control lever 25R, and the hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 transmits the detected pilot pressure to the work unit controller 26 as a bucket operation amount MT. Hereinafter, the operation amount of the right control lever 25R in the left-right direction is appropriately referred to as a bucket operation amount MT.

The pilot hydraulic pressure can be supplied to the pilot oil passage 450 according to the operation of the left control lever 25L in the front-rear direction, and the operation of the arm 7 by the operator is accepted. The valve device provided in the left control lever 25L is opened according to the amount of operation of the left control lever 25L, and the hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 transmits the detected pilot pressure to the work unit controller 26 as an arm operation amount MA. Hereinafter, the operation amount of the left control lever 25L in the front-rear direction is appropriately referred to as an arm operation amount MA.

The operating device 25 supplies a pilot hydraulic pressure having a magnitude corresponding to the amount of operation of the right operating lever 25R to the direction control valve 64 by operating the right operating lever 25R.

The operating device 25 supplies a pilot hydraulic pressure having a magnitude corresponding to the amount of operation of the left operating lever 25L to the direction control valve 64 by operating the left operating lever 25L. The pilot control hydraulic pressure supplied from the controller 25 to the directional control valve 64 operates the directional control valve 64.

The control system 200 includes a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18. For example, the first stroke sensor 16 is provided to the boom cylinder 10, the second stroke sensor 17 is provided to the arm cylinder 11, and the third stroke sensor 18 is provided to the bucket cylinder 12.

The sensor controller 39 has a storage unit such as a random access memory (RAM) and a read only memory (ROM), and a processing unit such as a central processing unit (CPU).

The sensor controller 39 is a direction (z-axis) orthogonal to a horizontal coordinate system (xy plane) in the local coordinate system of the hydraulic shovel 100, more specifically, in the local coordinate system of the vehicle body 1, from the boom cylinder length LS1 detected by the first stroke sensor 16. The tilt angle θ1 of the boom 6 with respect to the direction is calculated and output to the work machine controller 26 and the display controller 28.

The sensor controller 39 calculates an inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length LS2 detected by the second stroke sensor 17 and outputs the inclination angle θ2 to the work machine controller 26 and the display controller 28.

The sensor controller 39 calculates the inclination angle θ3 of the cutting edge 8T of the blade 8 of the bucket 8 with respect to the arm 7 from the bucket cylinder length LS3 detected by the third stroke sensor 18, and outputs it to the work machine controller 26 and the display controller 28. Do.

The detection of the inclination angles θ1, θ2, θ3 can be performed by means other than the first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18. For example, an angle sensor such as a potentiometer can also detect the inclination angles θ1, θ2, and θ3.

The sensor controller 39 is connected to an IMU (Inertial Measurement Unit: inertial measurement device) 24. The IMU 24 acquires inclination information of the vehicle body such as a pitch around the y axis, a roll around the x axis, etc., of the hydraulic shovel 100 shown in FIG.

The work machine controller 26 includes a storage unit 26Q such as a RAM and a ROM (Read Only Memory), and a processing unit 26P such as a CPU.

The work machine controller 26 controls the intervention valve 27C and the control valve 27 based on the boom operation amount MB, the bucket operation amount MT, and the arm operation amount MA shown in FIG.

The direction control valve 64 shown in FIG. 2 is, for example, a proportional control valve, and is controlled by the hydraulic oil supplied from the controller 25.

The direction control valve 64 is disposed between the

hydraulic pumps

36 and 37 and hydraulic actuators such as the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the swing motor 38.

The direction control valve 64 controls the flow rate and direction of hydraulic fluid supplied from the

hydraulic pumps

36 and 37 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the swing motor 38.

The position detection device 19 included in the control system 200 includes the

GNSS antennas

21 and 22 described above. A signal corresponding to the GNSS radio wave received by the

GNSS antennas

21 and 22 is input to the global coordinate operation unit 23.

The GNSS antenna 21 receives reference position data P1 indicating its position from the positioning satellites. The GNSS antenna 22 receives reference position data P2 indicating its position from the positioning satellites.

The

GNSS antennas

21 and 22 receive the reference position data P1 and P2 at a predetermined cycle. The reference position data P1 and P2 are information on the position where the GNSS antenna is installed. The

GNSS antennas

21 and 22 output the reference position data P1 and P2 to the global coordinate calculator 23 each time they are received.

The global coordinate calculation unit 23 includes storage units such as a RAM and a ROM, and processing units such as a CPU. The global coordinate calculation unit 23 generates revolving unit arrangement data indicating the arrangement of the upper revolving unit 3 based on the two reference position data P1 and P2.

In the embodiment, the swing body arrangement data includes one reference position data P of two reference position data P1, P2 and a swing body orientation data Q generated based on the two reference position data P1, P2. Be The swinging body orientation data Q indicates the direction in which the work implement 2 which is the upper swinging body 3 is facing.

The global coordinate operation unit 23 updates the reference position data P and the rotating body orientation data Q which are the rotating body arrangement data each time the two reference position data P1 and P2 are obtained from the

GNSS antennas

21 and 22 at a predetermined cycle. And output to the display controller 28.

The display controller 28 includes storage units such as a RAM and a ROM, and processing units such as a CPU. The display controller 28 acquires reference position data P and revolving unit orientation data Q, which are revolving unit arrangement data, from the global coordinate operation unit 23.

In the embodiment, the display controller 28 generates bucket blade tip position data S indicating the three-dimensional position of the blade tip 8T of the bucket 8 as work machine position data. The display controller 28 generates the target excavation landform data U using the bucket blade tip position data S and the target construction information T.

The target construction information T is information to be a target of the work target of the work machine 2 provided in the hydraulic shovel 100, and in the embodiment, the finish of the target to be excavated. The target construction information T includes, for example, design information of a construction target of the hydraulic shovel 100. The work target of the work machine 2 is, for example, the ground. Examples of the work of the work machine 2 include, but are not limited to, excavating work and leveling work on the ground.

The display controller 28 derives target excavated landform data Ua for display based on the target excavated landform data U, and based on the target excavated landform data Ua for display, the display unit 29 becomes the target of the work object of the working machine 2 Display the shape, eg terrain.

The display unit 29 is, for example, a liquid crystal display device that receives an input by a touch panel, but is not limited to this. In the embodiment, the switch 29S is disposed adjacent to the display unit 29. The switch 29S is an input device for executing intervention control to be described later or stopping intervention control in progress.

The work machine controller 26 acquires the boom operation amount MB, the bucket operation amount MT, and the arm operation amount MA from the pressure sensor 66. The work machine controller 26 acquires the tilt angle θ1 of the boom 6, the tilt angle θ2 of the arm 7, and the tilt angle θ3 of the bucket 8 from the sensor controller 39.

The work machine controller 26 acquires target excavation landform data U from the display controller 28. The target excavation landform data U is information of a range in which the hydraulic shovel 100 is to work from now on among the target construction information T.

The target excavation topography data U is a part of the target construction information T. The target excavation landform data U, similarly to the target construction information T, represents a shape that is a target of the finish of the work object of the work machine 2. The target shape of the finish is hereinafter referred to as a target excavation topography as appropriate.

The work machine controller 26 calculates the position of the cutting edge 8T of the bucket 8 (hereinafter referred to as a cutting edge position as appropriate) from the angle of the work machine 2 acquired from the sensor controller 39.

The working machine controller 26 operates the working machine based on the distance between the target excavation landform data U and the cutting edge 8T of the bucket 8 and the speed of the work machine 2 so that the cutting edge 8T of the bucket 8 moves along the target excavation landform data U Control the operation of 2.

In order for the work machine controller 26 to prevent the bucket 8 from eroding the target shape of the work target of the work machine 2 which is the target excavation landform data U, the speed in the direction in which the work machine 2 approaches the construction target is Control to be below the speed limit. This control is appropriately referred to as intervention control.

The intervention control is executed, for example, when the operator of the hydraulic shovel 100 selects to execute the intervention control using the switch 29S shown in FIG. When calculating the distance between the target excavation topography to be described later and the bucket 8, the position serving as the reference of the bucket 8 is not limited to the blade edge 8T, and may be any place.

In intervention control, the work machine controller 26 generates a boom command signal CBI to control the work machine 2 to move the cutting edge 8T of the bucket 8 along the target excavation landform data U, as shown in FIG. It outputs to the intervention valve 27C.

Boom 6 operates in accordance with boom command signal CBI. The movement of the boom 6 in response to the boom command signal CBI controls the speed of the work implement 2, more specifically, the bucket 8. Depending on the distance between the bucket 8 and the target excavation landform data U, the speed at which the bucket 8 approaches the target excavation landform data U is limited.

<Configuration of Hydraulic Circuit 301>
FIG. 3 is a diagram showing an example of a hydraulic circuit 301 of the boom cylinder 10 based on the embodiment.

As shown in FIG. 3, the hydraulic circuit 301 is provided with a pilot oil passage 450 between the operating device 25 and the direction control valve 64. The direction control valve 64 is a valve that controls the direction in which the hydraulic oil supplied to the boom cylinder 10 flows.

In the embodiment, the direction control valve 64 is a spool type valve that switches the flow direction of the hydraulic oil by moving the rod-like spool 64S.

The spool 64S is moved by the hydraulic oil (hereinafter appropriately referred to as pilot oil) supplied from the operating device 25 shown in FIG. The direction control valve 64 supplies hydraulic fluid to the boom cylinder 10 by the movement of the spool 64S to operate the boom cylinder 10.

The pilot oil passage 50 and the pilot oil passage 450 B are connected to the shuttle valve 51.

One of the shuttle valve 51 and the direction control valve 64 is connected by an oil passage 452B. The other of the direction control valve 64 and the operating device 25 are connected by a pilot oil passage 450A and a pilot oil passage 452A. The pilot oil passage 50 is provided with an intervention valve 27C. The intervention valve 27C adjusts the pilot pressure of the pilot oil passage 50.

The pilot oil passage 450B is provided with a pressure sensor 66B and a control valve 27B. The pilot oil passage 450A is provided with a pressure sensor 66A between the control valve 27A and the operating device 25. The detection value of the pressure sensor 66 is acquired by the work machine controller 26 shown in FIG. 2 and used to control the boom cylinder 10.

The pressure sensor 66A and the pressure sensor 66B correspond to the pressure sensor 66 shown in FIG. The control valve 27A and the control valve 27B correspond to the control valve 27 shown in FIG.

The hydraulic oil supplied from the

hydraulic pumps

36 and 37 is supplied to the boom cylinder 10 via the direction control valve 64. As the spool 64S moves in the axial direction, the supply of the hydraulic fluid to the cap side oil chamber 48R of the boom cylinder 10 and the supply of the hydraulic fluid to the rod side oil chamber 47R are switched.

The axial movement of the spool 64S adjusts the flow rate, which is the amount supplied of hydraulic fluid to the boom cylinder 10 per unit time. By adjusting the flow rate of hydraulic fluid to the boom cylinder 10, the operating speed of the boom cylinder 10 is adjusted.

When the spool 64S of the direction control valve 64 moves in the first direction, the working oil is supplied from the direction control valve 64 to the cap side oil chamber 48R, and when the working oil is returned from the rod side oil chamber 47R to the direction control valve 64 The piston 10P of the boom cylinder 10 moves from the cap side oil chamber 48R toward the rod side oil chamber 47R. As a result, the rod 10L connected to the piston 10P extends from the boom cylinder 10.

When the spool 64S of the direction control valve 64 moves in the second direction opposite to the first direction based on the command from the operating device 25, the hydraulic oil is returned from the cap side oil chamber 48R to the direction control valve 64. Be When hydraulic fluid is supplied from the direction control valve 64 to the rod side oil chamber 47R, the piston 10P of the boom cylinder 10 moves from the rod side oil chamber 47R toward the cap side oil chamber 48R. As a result, the rod 10 </ b> L connected to the piston 10 </ b> P retracts to the boom cylinder 10. Thus, by adjusting the moving direction of the spool 64S of the direction control valve 64, the operating direction of the boom cylinder 10 is changed.

The movement amount of the spool 64S of the direction control valve 64 is adjusted to change the flow rate of the hydraulic oil supplied to the boom cylinder 10 and returned from the boom cylinder 10 to the direction control valve 64. The moving speeds of the piston 10P and the rod 10L, which are speeds, are changed.

As described above, the operation of the directional control valve 64 is controlled by the operating device 25. The hydraulic oil discharged from the hydraulic pump 36 shown in FIG. 2 and reduced in pressure by the pressure reducing valve 25V is supplied to the operating device 25 as a pilot oil.

The operating device 25 adjusts the pilot hydraulic pressure based on the operation of each operating lever. The direction control valve 64 is driven by the adjusted pilot pressure. By adjusting the magnitude of the pilot hydraulic pressure and the direction of the pilot hydraulic pressure by the operation device 25, the amount and direction of movement of the spool 64S in the axial direction are adjusted. As a result, the operating speed and direction of the boom cylinder 10 are changed.

In the intervention control, as described above, the work machine controller 26 determines the target excavation landform (target excavation landform data U) indicating the design topography which is the target shape to be excavated and the inclination angles θ1 and θ2 for determining the position of the bucket 8 , Θ 3, the speed of the boom 6 is limited so that the speed at which the bucket 8 approaches the target excavation land shape 43I becomes smaller according to the distance between the target excavation land shape 43I and the bucket 8.

In the embodiment, when the work machine 2 operates based on the operation of the operation device 25, the work machine controller 26 generates the boom command signal CBI so that the cutting edge 8T of the bucket 8 does not intrude into the target excavation landform 43I. To control the operation of the boom 6.

In detail, the work machine controller 26 raises the boom 6 so that the cutting edge 8T does not intrude into the target excavation land shape 43I in the intervention control. Control for raising the boom 6 executed in the intervention control is appropriately referred to as boom intervention control.

In the embodiment, in order for work implement controller 26 to implement boom intervention control, work implement controller 26 generates boom command signal CBI for boom intervention control and outputs it to intervention valve 27C.

The intervention valve 27C can adjust the pilot oil pressure of the pilot oil passage 50. Shuttle valve 51 has two inlets 51Ia and 51Ib and one outlet 51E. One inlet 51Ia is connected to the intervention valve 27C. The other inlet 51b is connected to the control valve 27B. The outlet 51E is connected to an oil passage 452B connected to the direction control valve 64.

The shuttle valve 51 connects the oil passage 452B to one of the two inlets 51Ia and 51Ib, which has the higher pilot hydraulic pressure.

For example, when the pilot oil pressure at the inlet 51Ia is higher than the pilot oil pressure at the inlet 51Ib, the shuttle valve 51 connects the intervention valve 27C to the oil path 452B. As a result, the pilot oil that has passed the intervention valve 27C is supplied to the oil passage 452B via the shuttle valve 51. When the pilot oil pressure at the inlet 51Ib is higher than the pilot oil pressure at the inlet 51Ia, the shuttle valve 51 connects the control valve 27B to the oil path 452B. As a result, the pilot oil that has passed through the control valve 27B is supplied to the oil passage 452B via the shuttle valve 51.

When the boom intervention control is not performed, the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25. For example, the work implement controller 26 opens (fully opens) the pilot oil passage 450B by the control valve 27B so that the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25. The intervention valve 27C is controlled to close the pilot oil passage 50.

When the boom intervention control is performed, the work implement controller 26 controls the control valve 27 such that the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the intervention valve 27C. For example, when executing control to limit movement of the bucket 8 to the target excavation land 43I, which is boom intervention control, the work implement controller 26 controls the pilot oil pressure of the pilot oil passage 50 adjusted by the intervention valve 27C The intervention valve 27C is controlled to be higher than the pilot oil pressure of the pilot oil passage 450B adjusted by 25. By doing this, the pilot oil from the intervention valve 27C is supplied to the directional control valve 64 via the shuttle valve 51.

When executing the boom intervention control, the work implement controller 26 generates a boom command signal CBI, which is a speed command for raising the boom 6, for example, and controls the intervention valve 27C. By doing this, the direction control valve 64 of the boom cylinder 10 supplies hydraulic fluid to the boom cylinder 10 so that the boom 6 is lifted at a speed corresponding to the boom command signal CBI. Raise

Although the hydraulic circuit 301 of the boom cylinder 10 has been described, the hydraulic circuit of the arm cylinder 11 and the hydraulic circuit of the bucket cylinder 12 exclude the intervention valve 27 C, the shuttle valve 51 and the pilot oil passage 50 from the hydraulic circuit 301 of the boom cylinder 10 It is a structure.

The boom intervention control is control for raising the boom 6 executed in the intervention control, but in the intervention control, the work machine controller 26 controls the arm 7 and the arm 6 in addition to or instead of raising the boom 6. At least one of the buckets 8 may be raised.

In the intervention control, the work implement controller 26 lifts at least one of the boom 6, the arm 7 and the bucket 8 constituting the work implement 2 to obtain the target shape of the work target of the work implement 2, in the embodiment, the target excavation topography Move work implement 2 in the direction away from 43I.

In the embodiment, when the work machine 2 operates based on the operation of the operation device 25, intervention control is performed to control at least one of the boom 6, the arm 7, and the bucket 8 that the work machine controller 26 configures the work machine 2. It is called.

The intervention control is control in which the work implement controller 26 operates the work implement 2 when the work implement 2 operates based on the manual operation which is the operation of the operation device 25. The boom intervention control described above is an aspect of the intervention control.

FIG. 4 is a block diagram of work implement controller 26 based on the embodiment.
FIG. 5 is a diagram showing the target excavation landform data U and the bucket 8 based on the embodiment.

FIG. 6 is a diagram for explaining the boom speed limit Vcy_bm based on the embodiment.
FIG. 7 is a diagram for explaining the speed limit Vc_lmt based on the embodiment.

The work implement controller 26 includes a determination unit 26J and a control unit 26CNT. Control unit 26CNT includes relative position calculation unit 26A, distance calculation unit 26B, target speed calculation unit 26C, intervention speed calculation unit 26D, intervention command calculation unit 26E, and intervention speed correction unit 26F.

The functions of the determination unit 26J, the relative position calculation unit 26A, the distance calculation unit 26B, the target speed calculation unit 26C, the intervention speed calculation unit 26D, the intervention command calculation unit 26E, and the intervention speed correction unit 26F are shown in FIG. The processing unit 26P of the controller 26 implements this.

When the intervention control is executed, the work machine controller 26 includes the boom operation amount MB, the arm operation amount MA, the bucket operation amount MT, the target excavation landform data U acquired from the display controller 28, the bucket blade tip position data S and the sensor controller 39. The boom command signal CBI required for intervention control is generated using the inclination angles θ1, θ2 and θ3 obtained from the above, the arm command signal and the bucket command signal are generated as necessary, and the control valve 27 and the intervention valve 27C are It drives and controls the work machine 2.

The relative position calculation unit 26A acquires bucket blade tip position data S from the display controller 28, and acquires inclination angles θ1, θ2, and θ3 from the sensor controller 39. The relative position calculation unit 26A obtains a blade edge position Pb which is a position of the blade edge 8T of the bucket 8 from the acquired inclination angles θ1, θ2, θ3.

The distance calculation unit 26B is a part of the cutting edge 8T of the bucket 8 and a part of the target construction information T from the cutting edge position Pb obtained by the relative position calculating unit 26A and the target excavation landform data U acquired from the display controller 28. A shortest distance d between the target excavation landform 431 represented by the target excavation landform data U is calculated. The distance d is a distance between the cutting edge position Pb, and a position Pu at which a straight line passing through the cutting edge position Pb is orthogonal to the target excavation topography 43I and the target excavation topography data U intersects.

The target excavation landform 43I is determined from the intersection line between the plane of the working machine 2 defined in the front-rear direction of the upper revolving superstructure 3 and passing through the drilling target position Pdg and the target construction information T represented by a plurality of target construction surfaces. Be

More specifically, one or more inflection points before and after the digging target position Pdg of the target construction information T and lines before and after that are the target excavation landforms 43I among the intersection lines described above.

In the example shown in FIG. 5, two inflection points Pv1 and Pv2 and lines before and after them are the target excavation landform 43I. The excavation target position Pdg is a point immediately below the cutting edge position Pb which is the position of the cutting edge 8T of the bucket 8. Thus, the target excavation landform 43I is a part of the target construction information T. The target excavation landform 431 is generated by the display controller 28 shown in FIG.

The target speed calculation unit 26C determines the boom target speed Vc_bm, the arm target speed Vc_am, and the bucket target speed Vc_bkt. The boom target speed Vc_bm is the speed of the cutting edge 8T when the boom cylinder 10 is driven. The arm target speed Vc_am is the speed of the cutting edge 8T when the arm cylinder 11 is driven. The bucket target speed Vc_bkt is the speed of the cutting edge 8T when the bucket cylinder 12 is driven. The boom target speed Vc_bm is calculated according to the boom operation amount MB. The arm target speed Vc_am is calculated according to the arm operation amount MA. The bucket target speed Vc_bkt is calculated according to the bucket operation amount MT.

The intervention speed calculation unit 26D obtains the speed limit Vc_bm of the boom 6 (boom speed limit) based on the distance d between the blade tip 8T of the bucket 8 and the target excavation land shape 43I.

As shown in FIG. 6, the intervention speed calculation unit 26D subtracts the arm target speed Vc_am and the bucket target speed Vc_bkt from the speed limit Vc_lmt of the entire work machine 2 shown in FIG. 1 to obtain the boom speed limit Vcy_bm. Ask.

The speed limit Vc_lmt is a movement speed of the cutting edge 8T that can be tolerated in the direction in which the cutting edge 8T of the bucket 8 approaches the target excavation land shape 43I.

The speed limit Vc_lmt, as shown in FIG. 7, is a negative value when the distance d is positive is a negative value when the work implement 2 descends, and is a positive value when the distance d is negative. It is a rising speed when the work implement 2 rises.

The negative value of the distance d means that the bucket 8 has eroded the target excavation topography 43I. As the speed limit Vc_lmt decreases, the absolute value of the speed decreases as the distance d decreases, and when the distance d becomes a negative value, the absolute value of the speed increases as the absolute value of the distance d increases.

The determination unit 26J determines whether to correct the boom speed limit Vcy_bm.
When the determination unit 26J determines to correct the boom speed limit Vcy_bm, the intervention speed correction unit 26F corrects and outputs the boom speed limit Vcy_bm. The boom speed limit after correction is represented by Vcy_bm '.

When the determination unit 26J determines that the boom speed limit Vcy_bm is not corrected, the intervention speed correction unit 26F outputs the boom speed limit Vcy_bm without correction. The intervention command calculation unit 26E generates a boom command signal CBI from the boom speed limit Vcy_bm obtained by the intervention speed correction unit 26F.

The boom command signal CBI is a command for setting the degree of opening of the intervention valve 27C to a level necessary for applying a pilot pressure necessary for the boom 6 to rise at the boom speed limit Vcy_bm to the shuttle valve 51. The boom command signal CBI is an electric current value according to the boom command speed in the embodiment.

Determination unit 26J includes a switching determination unit 26K, an operation command determination unit 26L, and a speed difference determination unit 26M.

The switching determination unit 26K determines whether or not the intervention control becomes unnecessary.
The operation command determination unit 26L determines whether the operator performs an operation to raise the boom 6 or the neutral operation with respect to the right control lever 25R. The neutral operation is a state in which the operation to raise or lower is not performed. The right control lever 25R is in the middle position.

The speed difference determination unit 26M determines the speed difference between the boom speed limit Vcy_bm and the boom target speed Vc_bm according to the operation by the operator to raise the boom 6 with respect to the right control lever 25R. Alternatively, the speed difference determination unit 26M determines the speed difference between the boom speed limit Vcy_bm and the boom target speed 0 according to the neutral operation of the right control lever 25R by the operator. Specifically, it is determined whether the speed difference is equal to or greater than a threshold value Dr.

In the embodiment, when the operator does not need to perform intervention control, the boom speed limit Vcy_bm and the right control lever 25R by the operator are operated when the operator performs an operation to raise the boom 6 with respect to the right control lever 25R. If the speed difference from the boom target speed Vc_bm according to the operation to raise the boom 6 with respect to is larger than the threshold value Dr, the boom speed limit Vcy_bm is corrected. In addition, when the operator does not perform the neutral operation on the right control lever 25R when the intervention control is not necessary, the determination unit 26J is a boom target according to the boom speed limit Vcy_bm and the neutral operation of the right control lever 25R by the operator. If the speed difference from the speed 0 is equal to or more than the threshold value Dr, the boom speed limit Vcy_bm is corrected.

<Aspect of boom intervention control>
FIG. 8 is a diagram showing the relationship between the bucket 8 and the target excavation landform 43I based on the embodiment.

As shown in FIG. 8, the intervention control is control for moving the bucket 8 so that the bucket 8 does not erode the target excavation land shape 43I. When the work implement controller 26 is executing intervention control, the work implement controller 26 executes boom intervention control when the bucket 8 tries to erode the target excavation land form 43I.

The intervention control is executed when the working machine tries to erode the target excavation land shape 43I by the operator operation as shown in FIG.

The intervention control is not executed when the bucket 8 moves in the direction of the arrow Y shown in FIG. 8 and the operator's operation causes the work machine not to erode the target excavation land form 43I.

Intervention control becomes unnecessary when the operator's operation causes the work machine not to erode the target excavation landform 43I.

When the work machine controller 26 is executing intervention control, the operator of the hydraulic shovel 100 may execute an operation of moving the work machine 2 and the bucket 8 upward.

As shown in FIG. 8, when the intervention control is released when the bucket 8 deviates from the area where the target excavation landform 431 exists, the intervention control is switched to the control of the work machine 2 by the manual operation.

When switching from the intervention control to the control of the work machine 2 by manual operation, the rapid speed change results in an uncomfortable feeling to the operator.

FIG. 9 is a view showing a relationship between a boom target speed Vbm, which is a speed at which the boom 6 operates based on the embodiment, and time t.

As shown in FIG. 9, the vertical axis is the boom target speed Vbm, and the horizontal axis is the time t. The boom target speed Vbm represents a rising speed which is a speed at which the boom 6 moves up when taking a positive value, and a lowering speed which shows a moving down speed of the boom 6 when taking a negative value.

Since the boom 6 is a part of the work machine 2, the boom target speed Vbm is the speed of the work machine 2. The rising speed of the boom 6 corresponds to the rising speed of the working machine 2, and the lowering speed of the boom 6 corresponds to the falling speed of the working machine 2.

In the embodiment, the rising speed and the falling speed of the work implement 2 are referred to as the movement speed of the work implement 2. The moving speed of the work implement 2 takes a positive value when the work implement 2 rises, and takes a negative value when the work implement 2 descends.

The work implement controller 26 determines the boom target speed Vbm by the operation of the operator of the hydraulic shovel 100 when the boom intervention control becomes unnecessary when the bucket 8 is out of the area where the target excavation landform 431 exists. Target boom speed Vbop.

The work machine controller 26 sets the boom target speed Vbm to a boom target speed Vbop by decreasing the boom target speed Vbm from the boom speed limit Vcy_bm1 before the boom intervention control becomes unnecessary at a constant rate of change VRC under a predetermined condition.

When the boom intervention control becomes unnecessary, the control is switched from the intervention control to the work machine 2 to the control of the work machine 2 based on the operation command from the operating device 25.

In the embodiment, when the boom intervention control becomes unnecessary, the work machine controller 26 controls the boom speed limit according to the boom intervention control when the operation command from the operating device 25 is the boom 6 elevation command or the neutral command. Vcy_bm1 is compared with the boom target speed Vbop or 0 determined by the operation of the operator. Then, the difference D between the boom speed limit Vcy_bm1 and the boom target speed Vbop or 0 is calculated. The larger the difference D between the boom speed limit Vcy_bm1 and the boom target speed Vbop or 0, the larger the speed change.

In the embodiment, it is determined whether the difference D between the boom speed limit Vcy_bm1 and the boom target speed Vbop or 0 is equal to or more than the threshold value Dr.

When the boom intervention control becomes unnecessary, the work implement controller 26 sets the boom speed limit Vcy_bm1 and the boom target speed Vbop or 0 when the operation command from the operation device 25 is the boom 6 uplift command or the neutral command. If the difference D is smaller than the threshold value Dr, the boom target speed Vbm before the boom intervention control becomes unnecessary is decreased at a constant rate of change VRC and changed to the boom target speed Vbop instructed by the operator.

When the boom target speed Vbm, which is a case where the boom 6 rises, is positive, changing the boom target speed Vbm at the change rate VRC decreases the increase speed, so the change rate VRC represents the decrease rate of the increase speed.

As a result of switching to the control of the work machine 2 based on the operation command from the operation device 25, when the change in speed is large, the boom 6 rapidly reduces the speed, so the operator feels unnatural.

During execution of the boom intervention control, and when the operator performs an operation of raising the boom 6 or performs a neutral operation, when the bucket 8 is removed from the area where the target excavation landform 431 exists and the boom intervention control becomes unnecessary. The boom target speed Vbm gradually changes from the boom speed limit Vcy_bm1 to the boom target speed Vbop instructed by the operator or 0. As a result, since the rapid deceleration of the boom 6 is alleviated, the sense of discomfort of the operator is reduced.

Further, the impact due to the rapid deceleration of the boom 6 can be reduced, and the influence on the soil loaded on the bucket 8 can be alleviated.

In detail, the intervention speed calculation unit 26D of the work machine controller shown in FIG. 4 obtains the boom speed limit Vcy_bm.

Next, in the determination unit 26J of the work unit controller 26 shown in FIG. 4, the switching determination unit 26K determines whether or not the boom intervention control becomes unnecessary. The operation command determination unit 26L determines whether the operator performs an operation to raise the boom 6 or the neutral operation with respect to the right control lever 25R when the boom intervention control is not required. The speed difference determination unit 26M controls the boom speed limit Vcy_bm and the boom by the operator when the operator performs an operation to raise the boom 6 or the neutral operation with respect to the right control lever 25R when the boom intervention control is not necessary. The speed difference with the boom target speed Vc_bm according to the operation of raising 6 or the boom target speed 0 according to the neutral operation is determined.

When the speed difference determination unit 26M determines that the speed difference is equal to or greater than the threshold value Dr, the determination unit 26J determines that the boom speed limit Vcy_bm is to be corrected and corrects the boom speed limit Vcy_bm in the intervention speed correction unit 26F. Instruct

The intervention speed correction unit 26F of the control unit 26CNT obtains the corrected boom speed limit Vcy_bm ', and outputs it to the intervention command calculation unit 26E of the control unit 26CNT.

The intervention command calculation unit 26E of the control unit 26CNT generates a boom command signal CBI using the corrected boom speed limit Vcy_bm 'to control the intervention valve 27C. By such processing, the work machine controller 26 changes the rising speed of the boom 6.

Specifically, the intervention speed correction unit 26F controls the boom speed limit Vcy_bm to change to the boom target speed Vbop according to the change rate VRC.

If the rate of change VRC is large, the boom 6 will stop rising as soon as the boom intervention control is no longer needed, but the boom target speed Vbop will change rapidly, causing impacts or the operator to feel uncomfortable. To

For this reason, the rate of change VRC is set in a range in which the change to the boom target speed Vbop does not become too rapid. In the embodiment, the rate of change VRC is determined by, for example, sensory evaluation of the operator, but the method of determining the rate of change VRC is not limited to such a method.

<Control method of working machine based on the embodiment>
FIG. 10 is a diagram for explaining the flow showing the control method of the working machine based on the embodiment.

As shown in FIG. 10, the control method of the working machine according to the embodiment is realized by the working machine controller 26.

In step S2, the switching determination unit 26K of the working unit controller 26 illustrated in FIG. 4 determines whether or not boom intervention control is unnecessary. If the switching determination unit 26K determines that the boom intervention control is unnecessary (YES in step S2), the operation command determination unit 26L performs an operation to raise the boom 6 or a neutral operation in step S4. It is determined whether or not it is (step S4).

In step S4, when the operation command determination unit 26L determines that the operator performs the operation of raising the boom 6 or performs the neutral operation (YES in step S4), the speed difference determination unit 26M controls the boom speed limit Vcy_bm. And, the speed difference between the boom target speed Vc_bm or the boom target speed 0 according to the operation of raising the boom 6 by the operator is determined (step S5).

The speed difference determination unit 26M determines whether the speed difference is equal to or greater than the threshold value Dr (step S6).

In step S6, when the speed difference determination unit 26M determines that the speed difference is equal to or greater than the threshold value Dr (YES in step S6), the intervention command calculation unit 26E of the work machine controller 26 determines the intervention speed in step S8. A boom command signal CBI is generated from the corrected boom speed limit Vcy_bm 'obtained by the correction unit 26F, and the intervention valve 27C is controlled based on the boom command signal.

Then, the process ends (end).
On the other hand, when the switch determination unit 26K determines that the boom intervention control is not unnecessary in step S2 (YNO in step S2), the intervention command calculation unit 26E of the work machine controller 26 does not correct the boom in step S16. The intervention valve 27C is controlled based on the boom command signal CBI using the speed limit Vcy_bm.

On the other hand, if it is determined in step S4 that the operator has not performed the operation for raising boom 6 or the neutral operation (NO in step S4), or if it is determined in step S6 that the speed difference is less than threshold value Dr. At (NO in step S6), work implement controller 26 generates boom command signal CBI using the target speed according to the command of the operating lever, and controls intervention valve 27C based on the boom command signal (step S12).

Then, the process ends (end).

<Electric control lever>
In the embodiment, the operating device 25 has the pilot hydraulic control lever, but may have the electric left control lever 25La and the right control lever 25Ra.

When the left control lever 25La and the right control lever 25Ra are electrically operated, the respective operation amounts are detected by the potentiometers. The operation amount of the left control lever 25La and the right control lever 25Ra detected by the potentiometer is acquired by the work implement controller 26.

The work machine controller 26 that has detected the operation signal of the control lever of the electrical system executes the same control as the pilot hydraulic system.

As described above, according to the embodiment, the boom speed limit Vcy_bm and the boom 6 are raised when the operator performs an operation to raise the boom 6 or the neutral operation with respect to the right control lever 25R when the intervention control becomes unnecessary. If the boom target speed Vc_bm according to the operation to be made or the speed difference with the boom target speed 0 according to the neutral operation is equal to or more than the threshold value Dr, the boom speed limit Vcy_bm is corrected. The boom speed limit Vcy_bm is decreased at a constant rate of change VRC and changed to the boom target speed Vbop or 0 instructed by the operator.

Although work implement 2 has boom 6, arm 7, and bucket 8, the attachment with which work implement 2 is attached is not restricted to this, and it is not limited to bucket 8. The work machine may have a work machine, and is not limited to the hydraulic shovel 100.

The embodiment disclosed this time is an example, and the present invention is not limited to the above content. The scope of the present invention is indicated by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

DESCRIPTION OF SYMBOLS 1 vehicle body, 2 working machine, 3 upper revolving superstructure, 4 cabs, 5 traveling devices, 6 booms, 7 arms, 8 buckets, 10 boom cylinders, 11 arm cylinders, 12 bucket cylinders, 13 boom pins, 14 arm pins, 15

buckets Pin

16, 16 1st stroke sensor, 17 2nd stroke sensor, 18 3rd stroke sensor, 19 position detection device, 26 working machine controller, 26A relative position calculation unit, 26B distance calculation unit, 26C target speed calculation unit, 26CNT control unit , 26D intervention speed calculation unit, 26E intervention command calculation unit, 26F intervention speed correction unit, 26J determination unit, 26K switching determination unit, 26L operation instruction determination unit, 26M speed difference determination unit, 26P processing unit, 26Q storage unit.

Claims

Working machine,
An operating device for operating the work machine;
A controller for controlling the work machine;
The controller
Executing intervention control for raising the work machine based on an operation command from the operation device;
Determining the switching from the intervention control to the control of the work machine according to the operation command of the operating device;
In the switching based on the determination result, it is determined whether or not the operation command of the operating device is the lifting or neutral command of the work machine,
When the operation command of the operating device is the elevation or neutral command of the working machine based on the determination result, the target target speed according to the operation command of the operating device according to the target target speed of elevation of the work machine by the intervention control To determine the speed difference of
A working machine which adjusts so that the elevation target speed of the working machine gradually changes to a target speed according to an operation command of the operating device when the speed difference is equal to or greater than a predetermined value.
The controller
An intervention control unit that executes intervention control that raises the work machine based on an operation command from the operation device;
A switching determination unit that determines switching from the intervention control to control of the work machine according to an operation command of the operating device;
An operation command determination unit that determines whether or not the operation command of the operation device is the lifting or neutral command of the work machine in the switching based on the determination result of the switching determination unit;
In the case where the operation command of the operating device is the lifting or neutral command of the working device based on the determination result of the operation command determining unit, an increase target speed of the working device by the intervention control and the operating device A speed difference determination unit that determines a speed difference from a target speed according to the operation command;
If the speed difference is equal to or greater than a predetermined value based on the judgment result of the speed difference judging unit, the target speed to be increased by the working machine is adjusted to gradually change to the target speed according to the operation command of the operating device. The work machine according to claim 1, further comprising: a speed adjustment unit.
The controller
The work machine according to claim 1, wherein, when the speed difference is less than the predetermined value, the work target lift target speed is switched to a target speed according to an operation command of the operating device.
A control method of a working machine, comprising a working machine and an operating device for operating the working machine,
Executing intervention control for raising the work machine based on an operation command from the operation device;
Determining switching from the intervention control to the control of the work machine according to the operation command of the operating device;
Determining whether or not an operation command of the operating device in the switching based on the determination result is the lifting or neutral command of the work machine;
When the operation command of the operating device is the elevation or neutral command of the working machine based on the determination result, the target target speed according to the operation command of the operating device according to the target target speed of elevation of the work machine by the intervention control Determining the speed difference of
Adjusting the target target speed of the work machine to gradually change to a target speed according to the operation command of the operating device if the speed difference is equal to or greater than a predetermined value.