WO2019012701A1 - 作業機械および作業機械の制御方法 - Google Patents
作業機械および作業機械の制御方法 Download PDFInfo
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- WO2019012701A1 WO2019012701A1 PCT/JP2017/025780 JP2017025780W WO2019012701A1 WO 2019012701 A1 WO2019012701 A1 WO 2019012701A1 JP 2017025780 W JP2017025780 W JP 2017025780W WO 2019012701 A1 WO2019012701 A1 WO 2019012701A1
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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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
Definitions
- the present invention relates to a working machine provided with a working machine and a control method of the working machine.
- 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.
- the response delay of the boom due to the intervention control may make it difficult to perform the highly accurate leveling operation.
- the present disclosure has been made to solve the above-described problems, and an object of the present disclosure is to provide a working machine capable of highly accurate leveling operation and a control method of the working machine.
- a work machine includes an arm, a boom, a cylinder for driving the boom, an operating device for operating the arm, and a controller for executing intervention control by the boom according to an operation command of the operating device for the leveling operation.
- the controller determines whether the operation command of the operating device is equal to or greater than a predetermined amount, and corrects the speed of the cylinder when the operation command of the operating device is equal to or greater than the predetermined amount.
- a first conversion table for calculating a first moving amount of the spool of the direction control valve for supplying the hydraulic oil to the cylinder, and a second moving amount for calculating a second moving amount different from the first moving amount of the spool It further comprises a memory in which the conversion table is stored.
- the controller calculates the target speed of the cylinder based on the target speed of the boom, and when the operation command of the controller device is less than the predetermined amount, the controller converts the calculated target speed of the cylinder using the first conversion table.
- the movement amount is calculated, and when the operation command of the operation device is equal to or more than the predetermined amount, the movement amount of the spool is calculated using the second conversion table from the calculated target speed of the cylinder.
- a first conversion table for calculating a first pilot hydraulic pressure supplied to the directional control valve corresponding to a movement amount of a spool of the directional control valve for supplying the hydraulic oil to the cylinder, and a first for supplying the directional control valve It further comprises a memory in which a second conversion table for calculating a second pilot hydraulic pressure different from the pilot hydraulic pressure is stored.
- the controller calculates the target velocity of the cylinder based on the target velocity of the boom, calculates the movement amount of the spool based on the calculated target velocity of the cylinder, and when the operation command of the operating device is less than the predetermined amount
- the pilot hydraulic pressure is calculated using the first conversion table from the calculated movement amount of the spool, and the second conversion table is calculated from the calculated movement amount of the spool when the operation command of the controller device is equal to or greater than the predetermined amount. Use it to calculate the pilot pressure.
- a first conversion table for calculating a first command current for driving a shuttle valve corresponding to a pilot oil pressure supplied to a direction control valve for supplying hydraulic fluid to a cylinder, and a first for driving the shuttle valve
- the memory further includes a second conversion table for calculating a second command current different from the command current.
- the controller calculates the target speed of the cylinder based on the target speed of the boom, calculates the movement amount of the spool based on the calculated target speed of the cylinder, and uses the direction control valve based on the calculated movement amount of the spool.
- the pilot hydraulic pressure to be supplied is calculated, and when the operation command of the operating device is less than the predetermined amount, the command current is calculated from the calculated pilot hydraulic pressure using the first conversion table, and the operating command of the operating device is If it is equal to or more than the predetermined amount, the command current is calculated from the calculated pilot pressure using the second conversion table.
- a control method of a working machine is a control method of a working machine including an arm, a boom, a cylinder for driving the boom, and an operating device for operating the arm, wherein a predetermined amount of operating command of the operating device And a step of correcting the speed of the cylinder if the operation command of the controller device is equal to or more than a predetermined amount.
- the work machine and the control method of the work machine are capable of highly accurate leveling work.
- 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. 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 an example figure showing the relation between bucket 8 based on an embodiment, and target excavation landform 43I.
- 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.
- 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.
- the hydraulic shovel 100 uses, for example, a diesel engine or the like for an internal combustion engine as a power generation device, but the power generation device is not limited to such.
- 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 be a combination of 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.
- a display unit 29 and an operating device 25 shown in FIG. 2 are arranged in the cab 4.
- 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 have a tire instead of the crawler belts 5a and 5b, and may have a traveling device capable of traveling by transmitting the driving force of the engine to the tire via a transmission.
- 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.
- 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.
- the lower side is the action direction side of gravity which is the vertical direction
- 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.
- 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.
- 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.
- 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 the blade 8B as shown in FIG. 1 and the 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.
- 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 hydraulic pressure of the hydraulic oil 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.
- the work machine 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.
- 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).
- RTK-GNSS Real Time Kinematic-Global Navigation Satellite Systems
- GNSS Global Navigation Satellite System
- 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.
- 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.
- 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.
- 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 operation in the front-rear direction of the right control lever 25R corresponds to the operation of the boom 6.
- the boom 6 is lowered, and when operated rightward, the boom 6 is raised.
- An operation of raising and lowering the boom 6 is executed according to the operation 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.
- 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 in the left and right direction.
- the operation of the left control lever 25L in the front-rear direction corresponds to the operation of the arm 7.
- the arm 7 dumps, and when operated rearward, the arm 7 excavates.
- the operation in the left and right direction of the left operation lever 25L corresponds to the turning of the upper swing body 3.
- the left control lever 25L When the left control lever 25L is operated to the left, it turns left, and when it is operated right, it turns right.
- a pilot hydraulic system is used for the operating device 25.
- a hydraulic oil reduced to a predetermined pilot oil 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 to the right control lever 25R is opened according to 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 fluid in the pilot oil passage 450 at that time as a pilot oil pressure.
- the pressure sensor 66 transmits the detected pilot hydraulic pressure to the work machine controller 26 as the boom operation amount MB.
- 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.
- 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 detects the pressure of the hydraulic fluid in the pilot oil passage 450 at that time as a pilot oil pressure.
- the pressure sensor 66 transmits the detected pilot hydraulic pressure to the work machine controller 26 as a bucket operation amount MT.
- 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 detects the pressure of the hydraulic fluid in the pilot oil passage 450 at that time as a pilot oil pressure.
- the pressure sensor 66 transmits the detected pilot hydraulic pressure to the work unit controller 26 as an arm operation amount MA.
- 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 By operating the right operating lever 25R, the operating device 25 supplies the pilot oil pressure of a magnitude corresponding to the amount of operation of the right operating lever 25R to the direction control valve 64.
- the operating device 25 By operating the left operating lever 25L, the operating device 25 supplies the pilot hydraulic pressure having a magnitude corresponding to the amount of operation of the left operating lever 25L to the direction control valve 64.
- 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.
- 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 to the bucket cylinder 12, respectively.
- the sensor controller 39 includes 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).
- a storage unit such as a random access memory (RAM) and a read only memory (ROM)
- ROM read only memory
- CPU central processing unit
- 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 ⁇ 1 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 the inclination angle ⁇ 2 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 ⁇ 2 to the work machine controller 26 and the display controller 28.
- the sensor controller 39 calculates the inclination angle ⁇ 3 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.
- an angle sensor such as a potentiometer can also detect the inclination angles ⁇ 1, ⁇ 2, and ⁇ 3.
- 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.
- 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.
- 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.
- 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. Then, 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 ground 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.
- 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 ⁇ 1 of the boom 6, the tilt angle ⁇ 2 of the arm 7, and the tilt angle ⁇ 3 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.
- 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.
- the position serving as the reference of the bucket 8 is not limited to the blade edge 8T, and may be any place.
- the work machine controller 26 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.
- the speed at which the bucket 8 approaches the target excavation landform data U is limited.
- FIG. 3 is a diagram showing an example of a hydraulic circuit 301 of the boom cylinder 10 based on the embodiment.
- 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.
- 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 oil 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.
- 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.
- 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.
- 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.
- the magnitude of the pilot hydraulic pressure and the direction of the pilot hydraulic pressure by the operating 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.
- 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 ⁇ 1 and ⁇ 2 for determining the position of the bucket 8 , ⁇ 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.
- the work machine controller 26 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.
- the work machine controller 26 raises or lowers the boom 6 so that the cutting edge 8T does not enter the target excavation land shape 43I in the intervention control.
- Control for raising or lowering the boom 6 executed in the intervention control is appropriately referred to as boom intervention control.
- work implement controller 26 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 or control valve 27A.
- 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 51 IE is connected to an oil passage 452 B 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.
- the shuttle valve 51 connects the intervention valve 27C to the oil path 452B.
- the pilot oil that has passed the intervention valve 27C is supplied to the oil passage 452B via the shuttle valve 51.
- the shuttle valve 51 connects the control valve 27B to the oil path 452B.
- the pilot oil that has passed through the control valve 27B is supplied to the oil passage 452B via the shuttle valve 51.
- the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25.
- 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.
- 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.
- 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.
- the work implement controller 26 When performing the boom intervention control, the work implement controller 26 generates a boom command signal CBI which is a speed command for raising or lowering the boom 6, for example, and controls the intervention valve 27C or the control valve 27A.
- a boom command signal CBI which is a speed command for raising or lowering the boom 6, for example, and controls the intervention valve 27C or the control valve 27A.
- hydraulic fluid is supplied to the boom cylinder 10 such that the boom 6 is raised at a speed corresponding to the boom command signal CBI by controlling the intervention valve 27C.
- the control valve 27A is controlled to supply hydraulic fluid to the boom cylinder 10 so that the boom 6 is lowered at a speed corresponding to the boom command signal CBI.
- the direction control valve 64 of the boom cylinder 10 supplies hydraulic oil to the boom cylinder 10 so that the boom 6 moves up or down at a speed corresponding to the boom command signal CBI. Raise or lower the boom 6.
- 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 are the hydraulic circuit 301 of the boom cylinder 10 with the intervention valve 27C, the shuttle valve 51 and the pilot oil passage 50 removed. It is a structure.
- 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.
- Work implement controller 26 includes control unit 26CNT.
- Control unit 26CNT includes relative position calculation unit 26A, distance calculation unit 26B, target velocity calculation unit 26C, intervention speed calculation unit 26D, and intervention command calculation unit 26E.
- the functions of the relative position calculation unit 26A, the distance calculation unit 26B, the target speed calculation unit 26C, the intervention speed calculation unit 26D, and the intervention command calculation unit 26E are realized by the processing unit 26P of the work machine controller 26 shown in FIG.
- the work machine controller 26 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 ⁇ 1, ⁇ 2 and ⁇ 3 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 ⁇ 1, ⁇ 2, and ⁇ 3 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 ⁇ 1, ⁇ 2, ⁇ 3.
- 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.
- 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.
- 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.
- 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 is, as shown in FIG. 7, a descending speed when the work implement 2 descends when the distance d is positive, and an increase speed when the work implement 2 rises when the distance d is negative. It is.
- the intervention command calculation unit 26E generates a boom command signal CBI from the boom speed limit Vcy_bm.
- the boom command signal CBI is a command for the intervention valve 27C to generate a pilot hydraulic pressure required to operate the boom 6 at the boom speed limit Vcy_bm.
- the boom command signal CBI is an electric current value according to the boom command speed in the embodiment.
- FIG. 8 is an example diagram showing the relationship between the bucket 8 and the target excavation landform 43I based on the embodiment.
- the intervention control is control for moving the bucket 8 so that the bucket 8 does not erode the target excavation land shape 43I.
- the arm 7 moves in the digging direction in accordance with the operator's operation command from the operating device 25.
- the work machine controller 26 calculates the digging movement amount of the arm 7 based on the arm operation amount MA, and the boom 6 so that the back surface of the bucket 8 moves along the target digging topography 43I with respect to the digging movement amount of the arm 7 Control the rise of As a result, it is possible to roll the back of the bucket 8 against the target excavation landform 43I.
- the amount of digging movement of the arm 7 based on the arm operation amount MA affects the behavior of the boom 6.
- control of the boom 6 is changed between the high speed area and the low speed area by classifying into a high speed area where the amount of excavation movement of the arm 7 is large and a low speed area where the amount of excavation movement of the arm 7 is small.
- a table for the high speed region and a table for the low speed region are provided, and when the operation amount of the arm 7 is a predetermined amount or more, the speed of the boom 6 is specified using the table for the high speed region. If the operation amount of the arm 7 is less than a predetermined amount, the speed of the cylinder defining the speed of the boom 6 is set using a table for the low speed range.
- the speed of the cylinder with respect to the target speed of the boom 6 is corrected by using a table for the high speed region.
- FIG. 9 is a diagram for explaining the intervention command calculation unit 26E based on the embodiment.
- the intervention command calculation unit 26E includes a boom cylinder speed command calculation unit 260, a spool stroke conversion unit 262, a pilot hydraulic pressure conversion unit 264, and a command current conversion unit 266.
- the boom cylinder speed command calculation unit 260 calculates a target boom cylinder speed command based on the boom speed limit Vcy_bm calculated by the intervention speed calculation unit 26D.
- the spool stroke conversion unit 262 calculates the movement amount (spool stroke) of the spool 64S of the direction control valve 64 that supplies the hydraulic fluid to the boom cylinder 10 corresponding to the boom cylinder speed command calculated by the boom cylinder speed command calculation unit 260. Do.
- it has a conversion table for calculating the movement amount of the spool 64S from the boom cylinder speed command.
- the pilot hydraulic pressure conversion unit 264 calculates the pilot hydraulic pressure supplied to the direction control valve 64 corresponding to the movement amount of the spool 64S of the direction control valve 64 calculated by the spool stroke conversion unit 262.
- it has a conversion table for calculating the pilot hydraulic pressure supplied to the direction control valve 64 from the movement amount of the spool 64S.
- the command current conversion unit 266 calculates a command current for driving the shuttle valve 51 corresponding to the pilot hydraulic pressure supplied to the direction control valve 64 calculated by the pilot hydraulic pressure conversion unit 264.
- the command current corresponds to the boom command signal CBI.
- the conversion table for calculating the command current for driving the shuttle valve 51 from the pilot hydraulic pressure supplied to the direction control valve 64 is provided.
- FIG. 10 is a diagram for explaining conversion tables for the high speed region and the low speed region based on the embodiment.
- a conversion table used by the spool stroke conversion unit 262 is shown in FIG.
- a conversion table L1 for the low speed region and a conversion table L2 for the high speed region are provided.
- the low speed range conversion table L1 and the high speed range conversion table L2 have different amounts of spool movement with respect to the cylinder speed.
- the case is shown where the amount of spool movement for a predetermined cylinder speed is larger in the high-speed conversion table L2 than in the low-speed conversion table L1.
- the conversion tables L1 and L2 are switched by the operation command amount of the arm 7. Specifically, when the arm operation amount MA is equal to or larger than the predetermined value R, the conversion table L2 for the high speed range is used. On the other hand, when the arm operation amount MA is less than the predetermined value R, the low speed range conversion table L1 is used.
- the spool movement amount is larger than that of the conversion table L1 for the low speed range.
- the response delay of the boom due to the intervention control may make accurate the ground leveling operation difficult, but for high speed range based on the embodiment
- highly accurate leveling operation can be performed.
- the intervention speed calculation unit 26D of the work machine controller shown in FIG. 4 obtains the boom speed limit Vcy_bm.
- the intervention command calculation unit 26E of the work machine controller 26 shown in FIG. 9 generates a boom command signal CBI from the boom speed limit Vcy_bm.
- the boom cylinder speed command calculation unit 260 calculates a target boom cylinder speed command based on the boom speed limit Vcy_bm calculated by the intervention speed calculation unit 26D. Then, the spool stroke conversion unit 262 moves the amount of movement (spool stroke) of the spool 64S of the direction control valve 64 supplying hydraulic fluid to the boom cylinder 10 corresponding to the boom cylinder speed command calculated by the boom cylinder speed command calculation unit 260.
- the spool stroke conversion unit 262 calculates the spool stroke based on the conversion table L2 for the high speed region.
- the spool stroke is calculated based on the low speed range conversion table L1.
- the pilot hydraulic pressure conversion unit 264 calculates the pilot hydraulic pressure supplied to the direction control valve 64 corresponding to the movement amount of the spool 64S of the direction control valve 64 calculated by the spool stroke conversion unit 262. Then, the command current conversion unit 266 calculates a command current for driving the shuttle valve 51 corresponding to the pilot hydraulic pressure supplied to the direction control valve 64 calculated by the pilot hydraulic pressure conversion unit 264. A boom command signal CBI corresponding to the command current is output to control the intervention valve 27C.
- the spool stroke conversion unit 262 has described the method of calculating the spool stroke by switching between the conversion table for the low speed region and the conversion table for the high speed region according to the arm operation amount MA.
- the present invention is not limited to this, and the pilot hydraulic pressure conversion unit 264 may switch between the conversion table for the low speed region and the conversion table for the high speed region according to the arm operation amount MA.
- the command current conversion unit 266 may switch between the conversion table for the low speed region and the conversion table for the high speed region according to the arm operation amount MA.
- FIG. 11 is a diagram for explaining the flow showing the control method of the working machine based on the embodiment.
- control method of the working machine according to the embodiment is realized by the working machine controller 26.
- step S2 the intervention command calculation unit 26E of the work machine controller 26 illustrated in FIG. 4 determines whether the arm operation amount MA is equal to or more than a predetermined value R.
- step S2 when it is determined that the arm operation amount MA is equal to or more than the predetermined value R (YES in step S2), the intervention command calculation unit 26E uses the conversion table for the high speed range with respect to the boom speed limit Vcy_bm.
- the intervention valve 27C or the control valve 27A is controlled based on the boom command signal CBI generated (step S4).
- step S6 the process ends (end).
- the conversion table for the low speed region with respect to the boom speed limit Vcy_bm The intervention valve 27C or the control valve 27A is controlled based on the boom command signal CBI generated by using (step S6).
- 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.
- 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.
- the restriction table Limit the boom speed based on.
- 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.
Abstract
Description
図1は、実施形態に基づく作業機械の斜視図である。
上部旋回体3は、作業機2及び運転室4が配置されている側が前であり、機関室3EGが配置されている側が後である。前に向かって左側が上部旋回体3の左であり、前に向かって右側が上部旋回体3の右である。上部旋回体3の左右方向は、幅方向とも言う。油圧ショベル100又は車両本体1は、上部旋回体3を基準として走行装置5側が下であり、走行装置5を基準として上部旋回体3側が上である。油圧ショベル100の前後方向がx方向、幅方向がy方向、上下方向がz方向である。油圧ショベル100が水平面に設置されている場合、下は鉛直方向である重力の作用方向側であり、上は鉛直方向とは反対側である。
図2に示されるように、油圧ショベル100の油圧システム300は、動力発生源としての内燃機関35と油圧ポンプ36,37とを備える。油圧ポンプ36,37は、内燃機関35によって駆動され、作動油を吐出する。油圧ポンプ36,37から吐出された作動油は、ブームシリンダ10とアームシリンダ11とバケットシリンダ12とに供給される。
図2に示されるように、作業機械の制御システムである制御システム200は、位置検出装置19と、グローバル座標演算部23と、操作装置25と、実施形態に係る作業機械の制御装置である作業機コントローラ26と、センサコントローラ39と、表示コントローラ28と、表示部29とを含む。
図3は、実施形態に基づくブームシリンダ10の油圧回路301の一例を示す図である。
シャトル弁51と方向制御弁64の一方は、油路452Bによって接続される。方向制御弁64の他方と操作装置25とは、パイロット油路450Aとパイロット油路452Aによって接続される。パイロット油路50には、介入弁27Cが設けられる。介入弁27Cは、パイロット油路50のパイロット油圧を調整する。
図5は、実施形態に基づく目標掘削地形データU及びバケット8を示す図である。
図7は、実施形態に基づく制限速度Vc_lmtを説明するための図である。
図8は、実施形態に基づくバケット8と目標掘削地形43Iとの関係を示す一例図である。
図9に示されるように介入指令算出部26Eは、ブームシリンダ速度指令計算部260と、スプールストローク変換部262と、パイロット油圧変換部264と、指令電流変換部266とを含む。
図10は、実施形態に基づく高速域用および低速域用の変換テーブルを説明する図である。
具体的には、アーム操作量MAが所定値R以上である場合には、高速域用の変換テーブルL2が用いられる。一方、アーム操作量MAが所定値R未満である場合には、低速域用の変換テーブルL1が用いられる。
詳細には、図4に示される作業機コントローラの介入速度算出部26Dは、ブーム制限速度Vcy_bmを求める。
図11は、実施形態に基づく作業機械の制御方法を示すフローを説明する図である。
一方、ステップS2において、介入指令算出部26Eは、アーム操作量MAが所定値R未満であると判断した場合(ステップS2においてNO)には、ブーム制限速度Vcy_bmに対して低速域用の変換テーブルを用いて生成したブーム指令信号CBIに基づいて介入弁27Cまたは制御弁27Aを制御する(ステップS6)。
実施形態において、操作装置25はパイロット油圧方式の操作レバーを有するが、電気方式の左操作レバー25La及び右操作レバー25Raを有してもよい。
Claims (5)
- アームと、
ブームと、
前記ブームを駆動するシリンダと、
前記アームを操作する操作装置と、
整地作業に対する前記操作装置の操作指令に従って前記ブームによる介入制御を実行するコントローラとを備え、
前記コントローラは、
前記操作装置の操作指令が所定量以上であるか否かを判断し、
前記操作装置の操作指令が所定量以上である場合には、前記シリンダの速度を補正する、作業機械。 - 前記シリンダに作動油を供給する方向制御弁のスプールの第1移動量を算出するための第1変換テーブルと、前記スプールの前記第1移動量と異なる第2移動量を算出するための第2変換テーブルとが格納されたメモリをさらに備え、
前記コントローラは、
前記ブームの目標速度に基づいて前記シリンダの目標速度を算出し、
前記操作装置の操作指令が所定量未満である場合には、算出された前記シリンダの目標速度から前記第1変換テーブルを用いて前記スプールの移動量を算出し、
前記操作装置の操作指令が所定量以上である場合には、算出された前記シリンダの目標速度から前記第2変換テーブルを用いて前記スプールの移動量を算出する、請求項1記載の作業機械。 - 前記シリンダに作動油を供給する方向制御弁のスプールの移動量に対応する前記方向制御弁に供給する第1パイロット油圧を算出するための第1変換テーブルと、前記方向制御弁に供給する前記第1パイロット油圧と異なる第2パイロット油圧を算出するための第2変換テーブルとが格納されたメモリをさらに備え、
前記コントローラは、
前記ブームの目標速度に基づいて前記シリンダの目標速度を算出し、
算出された前記シリンダの目標速度に基づいて前記スプールの移動量を算出し、
前記操作装置の操作指令が所定量未満である場合には、算出された前記スプールの移動量から前記第1変換テーブルを用いてパイロット油圧を算出し、
前記操作装置の操作指令が所定量以上である場合には、算出された前記スプールの移動量から前記第2変換テーブルを用いてパイロット油圧を算出する、請求項1記載の作業機械。 - 前記シリンダに作動油を供給する方向制御弁に対して供給するパイロット油圧に対応するシャトル弁を駆動する第1指令電流を算出するための第1変換テーブルと、前記シャトル弁を駆動する前記第1指令電流と異なる第2指令電流を算出するための第2変換テーブルとが格納されたメモリをさらに備え、
前記コントローラは、
前記ブームの目標速度に基づいて前記シリンダの目標速度を算出し、
算出された前記シリンダの目標速度に基づいて前記スプールの移動量を算出し、
算出された前記スプールの移動量に基づいて前記方向制御弁に対して供給するパイロット油圧を算出し、
前記操作装置の操作指令が所定量未満である場合には、算出されたパイロット油圧から前記第1変換テーブルを用いて指令電流を算出し、
前記操作装置の操作指令が所定量以上である場合には、算出されたパイロット油圧から前記第2変換テーブルを用いて指令電流を算出する、請求項1記載の作業機械。 - アームと、ブームと、前記ブームを駆動するシリンダと、前記アームを操作する操作装置とを備える、作業機械の制御方法であって、
前記操作装置の操作指令が所定量以上であるか否かを判断するステップと、
前記操作装置の操作指令が所定量以上である場合には、前記ブームの目標速度に対する前記シリンダの速度を補正するステップとを備える、作業機械の制御方法。
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