WO2021065384A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2021065384A1 WO2021065384A1 PCT/JP2020/034010 JP2020034010W WO2021065384A1 WO 2021065384 A1 WO2021065384 A1 WO 2021065384A1 JP 2020034010 W JP2020034010 W JP 2020034010W WO 2021065384 A1 WO2021065384 A1 WO 2021065384A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- target surface
- arm
- posture
- work
- distance
- Prior art date
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—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
- E02F9/2203—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
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- 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
- E02F9/2296—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
- E02F9/24—Safety devices, e.g. for preventing overload
- E02F9/245—Safety devices, e.g. for preventing overload for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Definitions
- the present invention relates to a work machine.
- a work machine such as a hydraulic excavator is known to have a machine control (hereinafter, appropriately referred to as MC) function for assisting an operator in operating a front work device (see Patent Document 1).
- MC machine control
- the distance from the boundary (target surface) of the set area to the tip of the bucket is a predetermined threshold value based on the area setting means for setting the movable area of the tip of the bucket and the position and posture of the front working device.
- a region-limited excavation control device that performs deceleration control that reduces the moving speed of the arm when it becomes smaller than is described.
- An object of the present invention is to improve the efficiency of work by a work machine.
- the work machine has a vehicle body, a boom, an arm, and a work tool, and has an articulated work device attached to the vehicle body, an operation device for operating the vehicle body and the work device, and a position of the vehicle body.
- a work tool-target surface which is the distance from the work tool to the target surface, is set based on the position sensor to be detected, the attitude sensor to detect the attitude of the work device, and the target surface, and based on the signals from the position sensor and the attitude sensor.
- control device that controls and executes deceleration control for decelerating the arm. Based on the set target surface and the signals from the position sensor and attitude sensor, the control device determines whether or not the work tool may invade the target surface when the arm is operated. When it is determined that the work tool is unlikely to enter the target surface, the deceleration control is not executed even if the work tool-target surface distance is smaller than the predetermined distance.
- the efficiency of work by a work machine can be improved.
- FIG. 2 is a detailed view of the hydraulic unit shown in FIG.
- the figure which shows the coordinate system in the hydraulic excavator of FIG. The figure which shows the structure of the control system of a hydraulic excavator.
- Functional block diagram of the controller The figure which shows various data which shows the positional relationship between a work apparatus and a target surface.
- the figure which shows the state which the arm cloud deceleration control is canceled by the angle ⁇ formed by the line segment Lpb and the target plane St (0) is 90 ° or more.
- a hydraulic excavator including a bucket 10 as a work tool (attachment) at the tip of the work device will be illustrated, but the present invention may be applied to a work machine having an attachment other than the bucket. Further, it can be applied to a work machine other than a hydraulic excavator as long as it is provided with an articulated work device having a boom, an arm and a work tool.
- FIG. 1 is a side view of the hydraulic excavator according to the embodiment of the present invention
- FIG. 2 is a view showing a controller of the hydraulic excavator according to the embodiment of the present invention together with a hydraulic drive device
- FIG. It is a detailed view of the unit 160.
- the hydraulic excavator 101 includes a vehicle body 1B and an articulated front working device (hereinafter, simply referred to as a working device) 1A attached to the vehicle body 1B.
- the vehicle body 1B is mounted on a lower traveling body 11 that travels by the left and right traveling hydraulic motors 3a and 3b (see FIG. 2) and an upper turning body 1B that is mounted on the lower traveling body 11 and swivels by a swivel hydraulic motor 4 (see FIG. 2). It has a body 12.
- a plurality of driven members that rotate in each vertical direction are connected in series.
- the base end portion of the boom 8 is rotatably supported at the front portion of the upper swing body 12 via the boom pin 91.
- An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin 92, and a bucket 10 as a work tool is rotatably connected to the tip of the arm 9 via a bucket pin 93. ing.
- the boom 8 is driven by a hydraulic cylinder that is an actuator (hereinafter, also referred to as a boom cylinder 5), the arm 9 is driven by a hydraulic cylinder that is an actuator (hereinafter, also referred to as an arm cylinder 6), and the bucket 10 is a hydraulic cylinder that is an actuator. It is driven by (hereinafter, also referred to as a bucket cylinder 7).
- a hydraulic cylinder that is an actuator hereinafter, also referred to as a boom cylinder 5
- the arm 9 is driven by a hydraulic cylinder that is an actuator
- the bucket 10 is a hydraulic cylinder that is an actuator. It is driven by (hereinafter, also referred to as a bucket cylinder 7).
- the boom pin 91 has a boom angle sensor 30, the arm pin 92 has an arm angle sensor 31, and the bucket link 13 has a bucket so that the rotation angles ⁇ , ⁇ , and ⁇ (see FIG. 4) of the boom 8, arm 9, and bucket 10 can be measured.
- An angle sensor 32 is attached, and a vehicle body inclination angle sensor 33 that detects an inclination angle ⁇ (see FIG. 4) of the upper rotating body 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane) is attached to the upper rotating body 12. .
- the angle sensors 30, 31, and 32 can be replaced with angle sensors that can detect the inclination angle (that is, the ground angle) with respect to the reference plane (horizontal plane), respectively.
- a traveling right lever 23a (FIG. 2), and an operating device 48 (FIG. 2) for operating the traveling right hydraulic motor 3a (lower traveling body 11).
- the operating device 49 (FIG. 2) for operating the traveling left hydraulic motor 3b (lower traveling body 11) having the traveling left lever 23b (FIG. 2) and the operating right lever 22a (FIG. 2) are shared and the boom cylinder.
- the operating devices 44 and 46 (FIG. 2) for operating the 5 (boom 8) and the bucket cylinder 7 (bucket 10) and the operating left lever 22b (FIG. 2) are shared, and the arm cylinder 6 (arm 9) and the swing hydraulic motor are shared.
- Operating devices 45 and 47 (FIG.
- the traveling right lever 23a and the traveling left lever 23b are collectively referred to as an operating lever 23, and the operating right lever 22a and the operating left lever 22b are collectively referred to as an operating lever 22.
- the engine 18 (see FIG. 2), which is the prime mover, is mounted on the upper swing body 12. As shown in FIG. 2, the engine 18 drives a main pump 2 and a pilot pump 19 which are hydraulic pumps.
- the main pump 2 is a variable-capacity pump whose capacity is controlled by the regulator 2a
- the pilot pump 19 is a fixed-capacity pump.
- the shuttle block 162 is provided in the middle of the pilot lines 144 to 149.
- the hydraulic signals output from the operating devices 44 to 49 are also input to the regulator 2a via the shuttle block 162.
- a hydraulic signal is input to the regulator 2a via the shuttle block 162, and the discharge flow rate of the main pump 2 is controlled according to the hydraulic signal.
- a lock valve 39 is provided on the pump line 170, which is the discharge pipe of the pilot pump 19.
- the downstream side of the lock valve 39 in the pump line 170 is branched into a plurality of valves and is connected to the operating devices 44 to 49 and each valve in the hydraulic unit 160 for controlling the working device 1A.
- the lock valve 39 is an electromagnetic switching valve in this example, and its electromagnetic drive unit is electrically connected to a position detector of a gate lock lever (not shown) arranged in the driver's cab 16 of the upper swing body 12. The position of the gate lock lever is detected by the position detector, and a signal corresponding to the position of the gate lock lever is input to the lock valve 39 from the position detector.
- the lock valve 39 is closed and the pump line 170 is shut off. If the gate lock lever is in the unlocked position, the lock valve 39 is opened and the pump line 170 is opened. That is, when the pump line 170 is cut off, the operations by the operating devices 44 to 49 are invalidated, and operations such as turning and excavation are prohibited.
- the operating devices 44 to 49 each include a pair of hydraulic pilot type pressure reducing valves. These operating devices 44 to 49 use the discharge pressure of the pilot pump 19 as the original pressure, and the operating amount (for example, lever stroke) of the operating levers 22 and 23 operated by the operator, respectively, and the pilot pressure (operating pressure) according to the operating direction. (Sometimes referred to as) occurs.
- the pilot pressure generated in this way is supplied to the hydraulic drive units 150a to 155b of the corresponding flow rate control valves 15a to 15f in the control valve unit 20 via the pilot lines 144a to 149b, and these flow rate control valves 15a to 15f are supplied. It is used as a control signal to drive.
- the pressure oil discharged from the main pump 2 is sent to the boom cylinder 5, the arm cylinder 6, the bucket cylinder 7, the swing hydraulic motor 4, the traveling right hydraulic motor 3a, and the traveling left hydraulic motor 3b via the flow control valves 15a to 15f. Be supplied.
- the boom cylinder 5, arm cylinder 6, and bucket cylinder 7 expand and contract with the supplied pressure oil, so that the boom 8, arm 9, and bucket 10 rotate, respectively, and the position of the bucket 10 and the posture of the work device 1A change. ..
- the swivel hydraulic motor 4 is rotated by the supplied pressure oil, so that the upper swivel body 12 is swiveled with respect to the lower traveling body 11.
- the lower traveling body 11 travels by rotating the traveling right hydraulic motor 3a and the traveling left hydraulic motor 3b by the supplied pressure oil.
- FIG. 4 is a diagram showing a coordinate system in the hydraulic excavator of FIG.
- the excavator reference coordinate system of FIG. 4 is a coordinate system set for the upper swivel body 12, with the central axis of the boom pin 91 as the origin, the Z axis in the vertical direction and the X axis in the horizontal direction in the upper swivel body 12. Set.
- the tilt angle of the boom 8 with respect to the X axis was defined as the boom angle ⁇
- the tilt angle of the arm 9 with respect to the boom 8 was defined as the arm angle ⁇
- the tilt angle of the bucket 10 with respect to the arm 9 was defined as the bucket angle ⁇ .
- the tilt angle of the vehicle body 1B (upper swivel body 12) with respect to the horizontal plane (reference plane), that is, the angle formed by the horizontal plane (reference plane) and the X-axis was defined as the vehicle body tilt angle ⁇ .
- the boom angle ⁇ is detected by the boom angle sensor 30, the arm angle ⁇ is detected by the arm angle sensor 31, the bucket angle ⁇ is detected by the bucket angle sensor 32, and the vehicle body tilt angle ⁇ is detected by the vehicle body tilt angle sensor 33.
- the boom angle ⁇ becomes the minimum when the boom 8 is raised to the maximum (maximum) (when the boom cylinder 5 is at the stroke end in the raising direction, that is, when the boom cylinder length is the longest), and the boom 8 is set to the minimum (minimum). It becomes maximum when it is lowered (when the boom cylinder 5 is at the stroke end in the lowering direction, that is, when the boom cylinder length is the shortest).
- the arm angle ⁇ becomes the minimum when the arm cylinder length is the shortest, and becomes the maximum when the arm cylinder length is the longest.
- the bucket angle ⁇ is the minimum when the bucket cylinder length is the shortest (in FIG. 4), and is maximum when the bucket cylinder length is the longest.
- the length from the center position of the boom pin 91 connecting the upper swing body 12 and the boom 8 to the center position of the arm pin 92 connecting the boom 8 and the arm 9 is L1, and from the center position of the arm pin 92 to the arm 9 and the bucket 10. If the length from the center position of the bucket pin 93 to the tip of the bucket 10 (for example, the toe of the bucket 10) is L3, the length to the center position of the bucket pin 93 connecting the bucket pins 93 is L2, and the bucket in the excavator reference coordinates.
- the position of the tip portion of 10 (hereinafter referred to as the tip position Pb) can be expressed by the following equations (1) and (2) with Xbk as the X-direction position and Zbk as the Z-direction position.
- the center position Pp of the arm pin 92 in the excavator reference coordinates can be expressed by the following equations (3) and (4) with Xp as the X-direction position and Zp as the Z-direction position.
- Xp L1cos ( ⁇ ) ... Equation (3)
- Zp L1sin ( ⁇ ) ... Equation (4)
- the hydraulic excavator 101 is provided with a pair of GNSS (Global Navigation Satellite System) antennas 14 (14A, 14B) on the upper swing body 12. Based on the information from the GNSS antenna 14, the position of the vehicle body 1B of the hydraulic excavator 101 and the position of the bucket 10 in the global coordinate system can be calculated. That is, the GNSS antenna 14 functions as a position sensor that detects the position of the vehicle body 1B.
- GNSS Global Navigation Satellite System
- FIG. 5 is a diagram showing the configuration of the control system 21 of the hydraulic excavator 101.
- the control system 21 includes a controller 40, an attitude detection device 50 connected to the controller 40 and outputting a signal to the controller 40, a target surface setting device 51, a GNSS antenna 14, and an operator operation detection device 52a. It has a display device 53a connected to the controller 40 and controlled based on a signal from the controller 40, and a hydraulic unit 160.
- an MC that operates the working device 1A according to predetermined conditions is executed.
- the control of the hydraulic actuators (5, 6, 7) in the MC forcibly sends a control signal (for example, the boom cylinder 5 is extended to forcibly raise the boom) to the corresponding flow control valves 15a, 15b, 15c. It is done by outputting.
- the MCs executed by the control system 21 include "ground leveling control (area limitation control)" executed when the operating device 45 operates the arm, and execution when the boom is lowered without operating the arm. "Stop control" to be performed is included.
- Ground leveling control controls at least one of the hydraulic actuators 5, 6 and 7 so that the work device 1A is located on or above a predetermined target surface St (see FIGS. 4 and 9). It is MC.
- the operation of the work device 1A is controlled so that the tip end portion of the bucket 10 moves along the target surface St by operating the arm.
- the controller 40 raises the boom so that the velocity vector of the tip portion (tip portion of the work device 1A) of the bucket 10 in the direction perpendicular to the target surface St becomes zero when the arm is operated.
- a fine movement command for lowering the boom is issued.
- the ground leveling control mode is set by a control mode changeover switch or the like (not shown), and the distance H1 between the bucket 10 and the target surface St is smaller than a predetermined distance. It is done when it becomes.
- the stop control is an MC that stops the boom lowering operation so that the tip of the bucket 10 does not enter below the target surface St.
- the controller 40 gradually decelerates the boom lowering operation as the tip of the bucket 10 approaches the target surface St during the boom lowering operation.
- the control point of the work device 1A at the time of MC is set to the toe of the bucket 10 of the hydraulic excavator 101, but if the control point is the point of the tip portion of the work device 1A, the bucket 10 Other than the toes, it can be changed.
- the bottom surface of the bucket 10 or the outermost part of the bucket link 13 may be set as a control point.
- a configuration may be adopted in which a point on the bucket 10 closest to the target surface St is appropriately set as a control point.
- a process of displaying the positional relationship between the target surface St and the work device 1A (for example, the bucket 10) on the display device 53a is performed. Will be done.
- the control system 21 includes an attitude detection device 50, a target surface setting device 51, a GNSS antenna 14, an operator operation detection device 52a, a display device 53a, and a plurality of electromagnetic proportional valves (electromagnetic decompression). It includes a hydraulic unit 160 having a valve) and a controller (control device) 40 that controls MG and MC.
- the posture detection device 50 includes a boom angle sensor 30 attached to the boom 8, an arm angle sensor 31 attached to the arm 9, a bucket angle sensor 32 attached to the bucket 10, and a vehicle body tilt angle sensor 33 attached to the vehicle body 1B.
- These angle sensors (30, 31, 32, 33) acquire information on the posture of the work device 1A and output a signal corresponding to the information. That is, the angle sensor (30, 31, 32, 33) functions as a posture sensor for detecting the posture of the work device 1A.
- the angle sensors 30, 31, and 32 can employ potentiometers that acquire boom angles, arm angles, and bucket angles as information on posture and output signals (voltages) according to the acquired angles.
- the vehicle body tilt angle sensor 33 acquires the angular velocities and accelerations of the three orthogonal axes as information on the posture, calculates the tilt angle ⁇ based on this information, and outputs a signal representing the tilt angle ⁇ to the controller 40 (IMU). Inertial Measurement Unit) can be adopted. The calculation of the tilt angle ⁇ may be performed by the controller 40 based on the output signal of the IMU.
- the target surface setting device 51 is a device capable of inputting information on the target surface St (position information of one target surface or a plurality of target surfaces, information on the inclination angle of the target surface with respect to the reference surface (horizontal plane), etc.) to the controller 40. is there.
- the target surface setting device 51 is connected to an external terminal (not shown) that stores three-dimensional data of the target surface defined on the global coordinate system (absolute coordinate system). The operator may manually input the target surface via the target surface setting device 51.
- the operator operation detection device 52a is a pressure sensor 70a, which acquires an operation pressure (first control signal) generated in the pilot lines 144, 145, 146 by the operation of the operation levers 22a, 22b (operation devices 44, 45, 46) by the operator. It has 70b, 71a, 71b, 72a, 72b (see FIG. 3). That is, the operator operation detection device 52a detects the operation of the hydraulic cylinders 5, 6 and 7 related to the work device 1A.
- the pressure sensors 70a and 70b are provided on the pilot lines 144a and 144b of the operating device 44 for the boom 8 and detect the pilot pressure (first control signal) as the operating amount of the operating lever 22a. It is an operation sensor.
- the pressure sensors 71a and 71b are operation sensors provided on the pilot lines 145a and 145b for the arm 9 and detect the pilot pressure (first control signal) as the operation amount of the operation lever 22b.
- the pressure sensors 72a and 72b are operation sensors provided on the pilot lines 146a and 146b for the bucket 10 and detect the pilot pressure (first control signal) as the operation amount of the operation lever 22a.
- FIG. 6 is an example of a display screen of the display device 53a.
- the display device 53a displays various display images on the display screen based on the display control signal from the controller 40.
- the display device 53a is, for example, a touch panel type liquid crystal monitor, and is installed in the driver's cab 16.
- the controller 40 can display a display image showing the positional relationship between the target surface St and the work device 1A (for example, the bucket 10) on the display screen of the display device 53a. In the example shown in the figure, an image showing the target surface St and the bucket 10 and the distance from the target surface St to the tip of the bucket 10 are displayed as the target surface distance.
- the hydraulic unit 160 for controlling the working device has an electromagnetic proportional valve 54a whose primary port side is connected to the pilot pump 19 via the pump line 170 and outputs the pilot pressure from the pilot pump 19 by reducing the pressure.
- the shuttle valve 82a that selects the high-pressure side of the flow control valve 15a and guides it to the hydraulic drive unit 150a of the flow control valve 15a, and the pilot line 144b provided on the pilot line 144b of the operating device 44 for the boom 8 It is provided with an electromagnetic proportional valve 54b that reduces the pilot pressure (first control signal) inside and outputs the output to the hydraulic drive unit 150b of the flow control valve 15a.
- the hydraulic unit 160 is provided in the pilot line 145a, reduces the pilot pressure (first control signal) in the pilot line 145a based on the control signal from the controller 40, and becomes the hydraulic drive unit 151a of the flow control valve 15b.
- the output electromagnetic proportional valve 55a and the pilot line 145b are provided, and the pilot pressure (first control signal) in the pilot line 145b is reduced based on the control signal from the controller 40 to reduce the pilot pressure (first control signal) of the flow control valve 15b. It is equipped with an electromagnetic proportional valve 55b that outputs to.
- the hydraulic unit 160 is provided in the pilot lines 146a and 146b, and the electromagnetic proportional valve 56a that reduces and outputs the pilot pressure (first control signal) in the pilot lines 146a and 146b based on the control signal from the controller 40.
- 56b electromagnetic proportional valves 56c and 56d whose primary port side is connected to the pilot pump 19 via the pump line 170 to reduce the pilot pressure from the pilot pump 19 and output, and the pilot line of the operating device 46 for the bucket 10.
- 146a, 146b and the secondary port side of the electromagnetic proportional valves 56c, 56d are connected, and the high pressure side of the pilot pressure in the pilot lines 146a, 146b and the control pressure output from the electromagnetic proportional valves 56c, 56d is selected to control the flow rate. It includes shuttle valves 83a and 83b that lead to the hydraulic drive units 152a and 152b of the valve 15c.
- the electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b have the maximum opening when not energized, and the opening becomes smaller as the current, which is a control signal from the controller 40, is increased.
- the electromagnetic proportional valves 54a, 56c, and 56d have the minimum opening degree (for example, 0 (zero)) when the electromagnetic proportional valves are not energized, and the opening degree increases as the current, which is a control signal from the controller 40, is increased. In this way, the opening degrees of the electromagnetic proportional valves 54, 55, and 56 correspond to the control signal from the controller 40.
- the pilot pressure is applied even when there is no operator operation of the corresponding operating devices 44, 46. Since (second control signal) can be generated, the boom raising operation, the bucket cloud operation, and the bucket dump operation can be forcibly executed.
- the electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b are driven by the controller 40, the pilot pressure (first control signal) generated by the operator operation of the operating devices 44, 45, 46 is reduced. Pressure (second control signal) can be generated, and the speed of boom lowering operation, arm cloud / dump operation, and bucket cloud / dump operation can be forcibly reduced from the value of the operator operation.
- the pilot pressure generated by the operation of the operating devices 44, 45, 46 is referred to as the "first control signal”.
- the pilot pressure generated by correcting (reducing) the first control signal by driving the electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b with the controller 40 and The pilot pressure newly generated separately from the first control signal by driving the electromagnetic proportional valves 54a, 56c, 56d with the controller 40 is referred to as a "second control signal".
- the second control signal is generated when the speed of the control point (the tip end portion of the bucket 10 in the present embodiment) of the working device 1A generated by the first control signal violates a predetermined condition, and is generated under the predetermined condition. It is generated as a control signal that generates the speed of the control point of the working device 1A that does not violate.
- the second control signal has priority.
- the first control signal is cut off by an electromagnetic proportional valve, and the second control signal is input to the other hydraulic drive unit.
- the MC can also be said to control the flow rate control valves 15a to 15c based on the second control signal.
- the controller 40 outputs an input interface 61, a central processing unit (CPU) 62 which is a processor, a read-only memory (ROM) 63 and a random access memory (RAM) 64 which are storage devices. It has an interface 65 and.
- the input interface 61 includes signals from the angle sensors 30 to 33, which are attitude detection devices 50, signals from the target surface setting device 51, which is a device for setting the target surface St, and signals from the GNSS antenna 14. , Signals from the pressure sensors 70a, 70b, 71a, 71b, 72a, 72b, which are the operator operation detection devices 52a, are input and converted so that the CPU 62 can calculate.
- the ROM 63 is a storage medium in which a control program for executing MC and MG including a process described later and various information necessary for executing the process are stored.
- the CPU 62 performs predetermined arithmetic processing on the signals taken in from the input interface 61, the ROM 63, and the RAM 64 according to the control program stored in the ROM 63.
- the output interface 95 generates an output signal according to the calculation result of the CPU 62, and outputs the signal to the hydraulic unit 160 and the display device 53a.
- a signal (excitation current) from the controller 40 is input to the electromagnetic proportional valve of the hydraulic unit 160, the electromagnetic proportional valve operates based on the signal.
- a signal (display control signal) from the controller 40 is input to the display device 53a, the display device 53a displays a display image on the display screen based on the signal.
- the controller 40 shown in FIG. 5 includes semiconductor memories of ROM 63 and RAM 64 as storage devices, but any storage device can be substituted, and for example, a magnetic storage device such as a hard disk drive may be provided.
- the controller 40 is set. Ground leveling control (area restriction control) is executed.
- the controller 40 sets the target surface St, which is the distance from the bucket 10 to the target surface St based on the signals from the GNSS antenna 14 and the angle sensors 30-33.
- the interfacet distance H1 is calculated and the arm 9 is operated by the operating device 45 and the bucket-target surface distance H1 becomes smaller than the predetermined distance Ya, the bucket 10 excavates the ground beyond the target surface St. To prevent this, the boom 8 is controlled and the deceleration control for decelerating the arm 9 is executed.
- the deceleration control for decelerating the arm 9 is uniformly executed, when it is not necessary to decelerate the arm 9, for example, From the posture of the work device 1A and the positional relationship between the work device 1A and the target surface St, it is not assumed that the bucket 10 invades the target surface (that is, the bucket 10 excavates the ground beyond the target surface St). Even in such a case, deceleration control is executed, which may reduce work efficiency.
- the bucket 10 moves to the target surface St when the arm 9 is operated based on the set target surface St and the signals from the GNSS antenna 14 and the angle sensors 30 to 33. If it is determined whether or not there is a possibility of invading the target surface St and it is determined that the bucket 10 is unlikely to invade the target surface St, the bucket-target surface distance H1 is smaller than the predetermined distance Ya. Even in this case, the deceleration control of the arm 9 is not executed.
- the functions of the controller 40 will be described in detail.
- FIG. 7 is a functional block diagram of the controller 40.
- the controller 40 executes the operation amount calculation unit 43a, the attitude calculation unit 43b, the target surface setting unit 43c, the target speed calculation unit 43d, the target pilot pressure calculation unit 43e, and the intervention release. It functions as a calculation unit 43f, a valve command calculation unit 43g, and a display control unit 43h.
- the target pilot pressure calculation unit 43e, the intervention release calculation unit 43f, and the valve command calculation unit 43g control the hydraulic cylinders (5, 6, 7) which are actuators by controlling the electromagnetic proportional valve of the hydraulic unit 160. It functions as a unit 81.
- the operation amount calculation unit 43a is based on the signal from the operator operation detection device 52a (that is, the signal representing the detection value of the pressure sensors 70, 71, 72), and the operation devices 44, 45, 46 (operation levers 22a, 22b). Calculate the amount of operation of. From the detected value of the pressure sensor 70a, the operation amount of the boom raising operation, which is an operation for raising the boom 8, and from the detected value of the pressure sensor 70b, the operation of the boom lowering operation, which is an operation for lowering the boom 8. From the amount and the detected value of the pressure sensor 71a, it is an operation to operate the arm 9 in the cloud.
- the operation amount calculation unit 43a From the operation amount of the arm cloud (arm pull) operation, and from the detected value of the pressure sensor 71b, it is an operation to dump the arm 9. The operation amount of a certain arm dump (arm push) operation is calculated. The manipulated variable thus converted from the detected values of the pressure sensors 70, 71, 72 is output to the target speed calculation unit 43d. Further, although not shown in FIG. 7, the operation amount calculation unit 43a also calculates the operation amount of the bucket cloud / dump truck from the detected value of the pressure sensor 72, and the calculation result is sent to the target speed calculation unit 43d. It is output.
- the operation amount calculation method is not limited to the case where the operation amount is calculated based on the detection results of the pressure sensors 70, 71, 72.
- a position sensor for example, a rotary encoder
- the operation amount of the operation lever is calculated based on the detection result of the position sensor. You may.
- the target surface setting unit 43c sets the target surface St based on the information from the target surface setting device 51. That is, the target surface setting unit 43c calculates the position information of the target surface St based on the information from the target surface setting device 51, and stores this in the RAM 64.
- the cross-sectional shape obtained by cutting the three-dimensional target surface with the plane on which the work device 1A moves (the operation plane of the work device) is used as the target surface St (two-dimensional target surface). To do.
- the posture calculation unit 43b is based on the signal (information about the angle) from the posture detection device 50 and the geometric information (L1, L2, L3) of the work device 1A stored in the storage device.
- the posture of the work device 1A in the local coordinate system (excavator reference coordinates), the tip position Pb (Xbk, Zbk) of the bucket 10 and the center position Pp (Xp, Zp) of the arm pin 92 are calculated.
- the tip position Pb (Xbk, Zbk) of the bucket 10 can be calculated by the equations (1) and (2).
- the center position Pp (Xp, Zp) of the arm pin 92 can be calculated by the equations (3) and (4).
- the posture calculation unit 43b uses the signal of the GNSS antenna 14 to form the global coordinates of the upper swivel body 1B. Calculate the position and orientation in the system and convert the local coordinates to global coordinates.
- the attitude calculation unit 43b includes a target surface St set by the target surface setting unit 43c, a signal from the GNSS antenna 14 (information about the position of the vehicle body 1B), and a signal from the attitude detection device 50 (information about the angle). Based on the geometric information (L1, L2, L3) of the working device 1A stored in the storage device, and various data (H1, H2, Dpb,) representing the positional relationship between the target surface St and the working device 1A. ⁇ ) is calculated.
- FIG. 8 is a diagram showing various data (H1, H2, Dpb, ⁇ ) showing the positional relationship between the work device 1A and the target surface St.
- the attitude calculation unit 43b includes the set target surface St, the signals from the GNSS antenna 14 and the attitude detection device 50, the geometric information of the work device 1A stored in the storage device, and the geometric information. Based on the above, the shortest distance from the tip position Pb (Xbk, Zbk) of the bucket 10 to the target surface St is calculated as the bucket-target surface distance H1. In the present embodiment, a plurality of target planes St are set in succession. The attitude calculation unit 43b calculates the bucket-target surface distance H1 for all the target surfaces St, and from this calculation result, the target surface having the shortest distance from the tip of the bucket 10, that is, the tip of the bucket 10 is set. The closest target plane is set as the closest target plane.
- the posture calculation unit 43b calculates the maximum work range of the work device 1A, and among the plurality of set target surfaces St, the bucket-target surface distance is only for the target surface existing within the maximum work range. H1 may be calculated and the closest target plane may be set.
- the posture calculation unit 43b sets the length of the vertical line as the bucket-target surface distance H1.
- the posture calculation unit 43b has the shorter of the lengths of the line segments connecting the tip position Pb of the bucket 10 and both end positions of the target surface St. Is set as the bucket-target surface distance H1.
- the target surface on the back side of the closest target surface St (0) when viewed from the vehicle body 1B is also described as the back side target surface St (n), and n is from the one closest to the closest target surface St (0). It is a positive integer of 1 or more that increases by 1 in order as the distance increases. That is, the target surface on the back side closest to the closest target surface St (0) is the back side target surface St (1), and the target surface on the back side closest to the closest target surface is the back side target surface St (2).
- the target surface on the front side of the closest target surface St (0) when viewed from the vehicle body 1B is also described as the front target surface St (n), and n is from the one closest to the closest target surface St (0). It is a negative integer of -1 or less, which decreases by 1 in order as the distance increases. That is, the front target surface closest to the closest target surface St (0) is the front target surface St (-1), and the next closest target surface on the front side is the front target surface St (-2). is there.
- the shortest distance H1 (0) from the tip position Pb of the bucket 10 to the closest target surface St (0) is lowered from the tip position Pb of the bucket 10 to the closest target surface St (0).
- the shortest distance H1 (1) from the tip position Pb of the bucket 10 to the back target surface St (1) is a line segment connecting the tip position Pb of the bucket 10 and the front end point of the back target surface St (1).
- the shortest distance H1 (-1) from the tip position Pb of the bucket 10 to the front target surface St (-1) connects the tip position Pb of the bucket 10 with the back end point of the front target surface St (-1). Corresponds to the length of the line segment.
- the attitude calculation unit 43b of the arm pin 92 is based on the set target surface St, the signals from the GNSS antenna 14 and the attitude detection device 50, and the geometric information of the work device 1A stored in the storage device.
- the pin-target surface distance H2 (n) which is the shortest distance from the center position Pp (Xp, Zp) to the target surface St (n) is calculated.
- the posture calculation unit 43b calculates the length of the perpendicular line as the pin-target surface distance H2 (n).
- the posture calculation unit 43b is a line segment connecting the center position Pp of the arm pin 92 and both end positions of the target surface St (n). The shorter of the lengths is calculated as the pin-target surface distance H2 (n).
- the shortest distance H2 (0) from the center position Pp of the arm pin 92 to the closest target surface St (0) is lowered from the center position Pp of the arm pin 92 to the closest target surface St (0).
- the shortest distance H2 (1) from the center position Pp of the arm pin 92 to the back target surface St (1) is a line segment connecting the center position Pp of the arm pin 92 and the front end point of the back target surface St (1).
- the length corresponds to the length.
- the shortest distance H2 (-1) from the center position Pp of the arm pin 92 to the front target surface St (-1) is the length of the perpendicular line drawn from the center position Pb of the arm pin 92 to the front target surface St (-1). Corresponds to.
- the posture calculation unit 43b moves the bucket 10 from the center position Pp (Xp, Zp) of the arm pin 92 based on the signal from the posture detection device 50 and the geometric information of the work device 1A stored in the storage device.
- the shortest distance (straight line distance) to the tip position Pb (Xbk, Zbk) is calculated as the pin-bucket distance Dpb.
- the pin-bucket distance Dpb corresponds to the length of the line segment Lpb connecting the center position Pp and the tip position Pb.
- the attitude calculation unit 43b of the arm pin 92 is based on the set target surface St, the signals from the GNSS antenna 14 and the attitude detection device 50, and the geometric information of the work device 1A stored in the storage device.
- a line segment Lpb connecting the center position Pp (Xp, Zp) and the tip position Pb (Xbk, Zbk) of the bucket 10 and an angle ⁇ (n) formed by the line segment Lpb and the target surface St (n) are formed.
- the angle formed by the line segment Lpb and the target surface St (n) is also simply referred to as an angle ⁇ (n).
- the angle ⁇ (n) is larger than the straight line Lp and the straight line Lp when the straight line Lp parallel to the line segment Lpb is positioned on the target surface St (n) as shown in the figure. It refers to the angle formed by the target surface St (n) on the 1B side.
- the display control unit 43h is a display image (FIG. 7) showing the positional relationship between the target surface St set by the target surface setting unit 43c and the tip end portion of the bucket 10 calculated by the posture calculation unit 43b. 6) is displayed on the display device 53a.
- the target speed calculation unit 43d calculates the target speeds of the hydraulic cylinders 5, 6 and 7 based on the calculation result of the attitude calculation unit 43b and the calculation result of the operation amount calculation unit 43a.
- the target speed calculation unit 43d calculates the target speeds of the hydraulic cylinders 5, 6 and 7 in the ground leveling control (area limitation control) so that the work device 1A does not excavate the lower side of the target surface St.
- FIG. 9 is a diagram showing an example of the locus of the tip of the bucket 10 when the tip of the bucket 10 is controlled according to the corrected target velocity vector Vca.
- the Xt axis and the Yt axis are set as shown in FIG.
- the Xt axis is an axis parallel to the target surface St
- the Yt axis is an axis orthogonal to the target surface St.
- the target speed calculation unit 43d calculates the target speed (primary target speed) of each of the hydraulic cylinders 5, 6 and 7 based on the operation amount of the operation devices 44, 45, 46 calculated by the operation amount calculation unit 43a. Next, the target speed calculation unit 43d stores the target speed (primary target speed) of each of the hydraulic cylinders 5, 6 and 7, the tip position Pp of the bucket 10 calculated by the attitude calculation unit 43b, and the ROM 63.
- the target velocity vector Vc at the tip of the bucket 10 shown in FIG. 9 is calculated based on the dimensions (L1, L2, L3, etc.) of each part of the working device 1A.
- the speed vector Vc is extended by extending the arm cylinder 6 and the boom cylinder 5. Is converted to Vca.
- the target speed calculation unit 43d corrects the primary target speed calculated based on the operation amount of the operator's arm 9, and sets the secondary target speed lower than the primary target speed to the arm cylinder 6. Set as the target speed of.
- the direction change control may be executed by combining the boom raising or boom lowering with the arm cloud, or by combining the boom raising or boom lowering with the arm dump.
- the target velocity calculation unit 43d cancels the downward component, and the target of the boom cylinder 5 in the boom raising direction cancels the downward component.
- the target velocity calculation unit 43d calculates the target velocity of the boom cylinder 5 in the boom lowering direction that cancels the upward component.
- the target speed calculation unit 43d performs each hydraulic cylinder 5 according to the operation of the operation devices 44 to 46. Outputs target speeds of ⁇ 7.
- the target pilot pressure calculation unit 43e is a flow control valve for each of the hydraulic cylinders 5, 6 and 7 based on the target speeds of the cylinders 5, 6 and 7 calculated by the target speed calculation unit 43d. Calculate the target pilot pressures for 15a, 15b, and 15c.
- the target pilot pressure for the flow control valve 15b that controls the operation of the arm cylinder 6 is, for example, the pilot output from the operating device 45 when the operating lever 22b of the operating device 45 of the arm 9 is operated to the maximum. It corresponds to the target value of the pilot pressure (second control signal) generated by reducing the pressure (first control signal).
- the target speed calculation unit 43d sets a secondary target speed lower than the primary target speed calculated based on the operation amount (maximum operation amount) of the operator's arm 9
- the target pilot pressure calculation unit 43e sets a target pilot pressure lower than the pilot pressure output from the operating device 45.
- the electromagnetic proportional valve 55 operates by the control signal from the valve command calculation unit 43g, which will be described later, and the pilot pressure (first control signal) output from the operating device 45 is reduced by the electromagnetic proportional valve 55 to reduce the pilot pressure (first control signal).
- the second control signal) is generated.
- the arm 9 operates at a speed lower than the speed corresponding to the operator's operation amount (for example, the maximum operation amount) with respect to the operation device 45. That is, in the controller 40 according to the present embodiment, when a predetermined condition is satisfied, deceleration control for decelerating the arm 9 by intervening in the operation of the operator can be executed.
- the intervention release calculation unit 43f determines whether or not to execute the deceleration control of the arm 9 by intervening in the operation of the operator. In other words, the intervention release calculation unit 43f determines whether or not to release the deceleration control of the arm 9 performed by intervening in the operation of the operator with respect to the operation device 45 of the arm 9.
- the intervention release calculation unit 43f intervenes in the operation of the operator based on the calculation result of the operation amount calculation unit 43a, the calculation result of the attitude calculation unit 43b, and the target surface St set by the target surface setting unit 43c. It is determined whether or not the condition for releasing the deceleration control of the arm 9 (hereinafter referred to as the intervention release condition) is satisfied.
- the intervention release calculation unit 43f determines that the deceleration control of the arm 9 is not released. In this case, the intervention release calculation unit 43f outputs the target pilot pressure (target pilot pressure to the flow control valve 15b) calculated by the target pilot pressure calculation unit 43e to the valve command calculation unit 43g as it is. On the other hand, when the intervention release condition is satisfied, the intervention release calculation unit 43f corrects the target pilot pressure (target pilot pressure to the flow control valve 15b) calculated by the target pilot pressure calculation unit 43e to the maximum pressure Pmax. Is output to the valve command calculation unit 43g.
- the electromagnetic proportional valve 55 is fully opened by the control signal from the valve command calculation unit 43g described later. That is, when the operating lever 22b of the operating device 45 of the arm 9 is operated to the maximum, the pilot pressure (maximum pressure Pmax) output from the operating device 45 is not reduced and acts on the flow control valve 15b as it is. As a result, the arm 9 operates at a speed corresponding to the operator's operation amount (for example, the maximum operation amount) with respect to the operation device 45.
- the intervention release calculation unit 43f is the valve command calculation unit as it is for the target pilot pressure to the flow control valves 15a and 15c calculated by the target pilot pressure calculation unit 43e, regardless of whether the intervention release condition is satisfied or not. Output to 43g.
- the intervention cancellation condition is satisfied when either (Condition 1) or (Condition 2) below is satisfied, and when both (Condition 1) and (Condition 2) are not satisfied. Not satisfied.
- Condition 1 The bucket-target surface distance H1 is equal to or greater than a predetermined distance Ya.
- Condition 2 There is no possibility that the bucket 10 invades the target surface St when the arm 9 is operated.
- the deceleration control of the arm 9 is performed only when the distance between the tip of the bucket 10 and the target surface St is short, and when the distance between the tip of the bucket 10 and the target surface St is to some extent, the deceleration control is performed. , It is preferable not to perform deceleration control of the arm 9. As a result, the work efficiency of the work device 1A can be improved in the leveling control.
- the intervention release calculation unit 43f determines that the intervention release condition is not satisfied when the bucket-target surface distance H1 is less than the predetermined distance Ya, and the bucket-target surface distance H1 is set. If the distance is Ya or more, it is determined that the intervention cancellation condition is satisfied.
- the predetermined distance Ya is a threshold value for determining whether or not the tip end portion of the bucket 10 is located near the target surface St, and is stored in advance in the storage device of the controller 40.
- Ya1 is stored in the storage device as the threshold value Ya used when the arm cloud operation is performed
- the threshold value Ya2 is stored in the storage device as the threshold value Ya used when the arm dump operation is performed. There is.
- the threshold value Ya1 and the threshold value Ya2 may have the same value or different values.
- the intervention release calculation unit 43f has a posture in which the bucket 10 invades the target surface St when the arm 9 is operated (hereinafter, referred to as an invasion posture). Judge whether or not. When it is determined that the posture of the work device 1A is not the intrusion posture, the intervention release calculation unit 43f determines that the bucket 10 is unlikely to invade the target surface St when the arm 9 is operated. When it is determined that the posture of the work device 1A is the intrusion posture, the intervention release calculation unit 43f determines that the bucket 10 may invade the target surface St when the arm 9 is operated.
- the intervention release calculation unit 43f determines whether or not the posture of the work device 1A is the intrusion posture based on the pin-bucket distance Dpb and the pin-target surface distance H2 calculated by the posture calculation unit 43b.
- the process of determining whether or not is executed.
- the bucket 10 becomes the target surface St by determining whether or not the target surface St exists on the movement locus of the tip end portion of the bucket 10 when the arm 9 is operated. It corresponds to a process of determining whether or not there is a possibility of intrusion (first bucket intrusion determination process).
- the pilot pressure (second control signal) is generated in the electromagnetic proportional valve 54a, and the boom raising operation is performed.
- the boom lowering operation is not performed unless the operator performs the operation. Therefore, assuming that the boom lowering operation is not performed by the operator, if the pin-target surface distance H2 is equal to or greater than the pin-bucket distance Dpb, the bucket 10 is the target surface when the arm 9 is operated. It can be determined that there is no possibility of invading St, and it can be said that the posture of the work device 1A at that time is not the invasion posture.
- the intervention release calculation unit 43f determines that the posture of the work device 1A is not an intrusion posture, and determines that the pin-target surface distance H2 is not an intrusion posture.
- the target surface distance H2 is less than the pin-bucket distance Dpb, it is determined that the posture of the working device 1A is the intrusion posture.
- the intervention release calculation unit 43f performs a process of determining whether or not the posture of the work device 1A is an intrusion posture (second intrusion posture determination process) based on the angle ⁇ calculated by the posture calculation unit 43b. Execute. In the second intrusion posture determination process, the bucket 10 moves in the direction of approaching or moving away from the target surface St when the arm 9 is operated. This corresponds to a process of determining whether or not there is a possibility of invading the target surface St (second bucket intrusion determination process).
- the tip of the bucket 10 with respect to the target surface St existing in the traveling direction of the bucket 10 (the direction toward the front side when viewed from the vehicle body 1B). Moves away. Therefore, it can be determined that there is no possibility that the bucket 10 will invade the target surface St when the arm 9 is operated, and it can be said that the posture of the working device 1A at that time is not the invasion posture.
- the tip of the bucket 10 with respect to the target surface St existing in the traveling direction of the bucket 10 (the direction toward the front side when viewed from the vehicle body 1B). Moves in the direction of approaching. Therefore, it can be determined that the bucket 10 may invade the target surface St when the arm 9 is operated, and the posture of the working device 1A at that time can be said to be the invasion posture.
- the tip portion of the bucket 10 with respect to the target surface St existing in the traveling direction of the bucket 10 (the direction toward the back side when viewed from the vehicle body 1B). Moves in the direction of approaching. Therefore, it can be determined that the bucket 10 may invade the target surface St when the arm 9 is operated, and the posture of the working device 1A at that time can be said to be the invasion posture.
- the arm dump operation is performed when the angle ⁇ is smaller than 90 °, the tip portion of the bucket 10 with respect to the target surface St existing in the traveling direction of the bucket 10 (the direction toward the back side when viewed from the vehicle body 1B). Moves away. Therefore, it can be determined that there is no possibility that the bucket 10 will invade the target surface St when the arm 9 is operated, and it can be said that the posture of the working device 1A at that time is not the invasion posture.
- the intervention release calculation unit 43f when the angle ⁇ is 90 ° or more, the posture of the work device 1A is such that the bucket 10 invades the target surface St when the arm cloud operation is performed. Judge that it is not an intrusion posture. Further, when the angle ⁇ is less than 90 °, the intervention release calculation unit 43f determines that the posture of the work device 1A is an intrusion posture in which the bucket 10 invades the target surface St when the arm cloud operation is performed. To do. Further, when the angle ⁇ is less than 90 °, the intervention release calculation unit 43f determines that the posture of the work device 1A is not the intrusion posture in which the bucket 10 invades the target surface St when the arm dump operation is performed. To do. Further, when the angle ⁇ is 90 ° or more, the intervention release calculation unit 43f determines that the posture of the work device 1A is the intrusion posture in which the bucket 10 invades the target surface St when the arm dump operation is performed. To do.
- the second intrusion posture determination process is based on the premise that the combined operation of the boom 8 lowering operation and the arm 9 operation is not performed as in the first intrusion posture determination process. Therefore, when the intervention release calculation unit 43f performs a combined operation of lowering the boom 8 and operating the arm 9, the bucket 10 is set on the target surface St even if the posture of the work device 1A is not the intrusion posture. It is preferable to determine that there is a possibility of invading the. That is, it is preferable that the intervention release calculation unit 43f determines that (condition 2) is not satisfied.
- (Condition 2) is satisfied when the following (a1) or (b1) is satisfied, and is not satisfied when both (a1) and (b1) are not satisfied.
- (A1) It is determined that the combined operation of lowering the boom 8 and the operation of the arm 9 has not been performed, and in the first intrusion posture determination process, the posture of the working device 1A is not the intrusion posture.
- (B1) It is determined that the combined operation of lowering the boom 8 and the operation of the arm 9 has not been performed, and in the second intrusion posture determination process, the posture of the working device 1A is not the intrusion posture.
- the MG displays an image instructing the display device 53a to perform only the arm operation without performing the boom lowering operation, or invalidates the boom lowering operation. If the configuration is set to, the necessity of satisfying the condition (2) is determined depending on whether or not the working posture is the intrusion posture regardless of whether or not the boom lowering operation and the arm operation are combined. You may.
- (Condition 2) is satisfied when the following (a2) or (b2) is satisfied, and is not satisfied when both (a2) and (b2) are not satisfied.
- (A2) In the first intrusion posture determination process it is determined that the posture of the work device 1A is not the intrusion posture.
- (B2) In the second intrusion posture determination process it is determined that the posture of the work device 1A is not the intrusion posture.
- the valve command calculation unit 43g calculates an electric signal output to the electromagnetic proportional valves 54, 55, 56 in order to apply the target pilot pressure output from the intervention release calculation unit 43f to the flow control valves 15a, 15b, 15c. Then, the calculated electric signal (exciting current) is output to the electromagnetic proportional valves 54, 55, 56. The solenoids of the electromagnetic proportional valves 54, 55, 56 are excited by the electric signal (excitation current) output from the valve command calculation unit 43 g, so that the electromagnetic proportional valves 54, 55, 56 operate and the flow control valve 15a , 15b, 15c are controlled by the target pilot pressure set by the intervention release calculation unit 43f.
- the first control signal is signaled by the electromagnetic proportional valve 55.
- the pilot pressure is reduced and the pilot pressure as the second control signal is generated, that is, the deceleration control in which the arm 9 is controlled at a speed lower than the speed corresponding to the operation of the operator is executed. ..
- the operator operates the operation lever 22b to the maximum to operate the arm 9, so that the bucket-target surface distance H1 is predetermined.
- the electromagnetic proportional valve 55 is set to the open state (in the present embodiment, the fully open state), and the arm 9 is operated by the operator. It will be controlled at a speed according to. That is, the deceleration control of the arm 9 is not executed, and the deceleration control is released.
- the determination process of whether or not the intervention release condition is required is not performed only on the closest target surface St, but the target existing in the traveling direction of the bucket 10 when the arm 9 is operated. This is done for the surface St.
- the arithmetic processing performed by the controller 40 as the posture arithmetic unit 43b and the intervention release arithmetic unit 43f will be described in detail with reference to the flowcharts of FIGS. 10 and 11.
- FIG. 10 is a flowchart showing the content of the setting process of the intervention release flag Fc (n) for the arm cloud executed by the controller 40.
- FIG. 11 is a flowchart showing the contents of the setting process of the intervention release flag Fd (n) for the arm dump executed by the controller 40.
- the processing of the flowcharts shown in FIGS. 10 and 11 is started when the ground leveling control mode is set by a control mode changeover switch or the like (not shown), and is repeatedly executed in a predetermined control cycle after the initial setting (not shown) is performed. Will be done.
- the maximum working range is the maximum range that the tip of the bucket 10 can reach, and the maximum working radius R of the boom 8, arm 9, and bucket 10 extending linearly and each member constituting the working device 1A. It is calculated according to the rotation range and the like.
- the maximum working radius R and the rotation range of each member constituting the working device 1A are stored in advance in the storage device of the controller 40.
- Step S105 When the process (S105) of setting the target surface St (n) in the work range as the calculation target is completed, the controller 40 executes a loop process of repeating a series of processes from step S120 to step S170 or step S180 (). Steps S110, S190). Step S110 represents the start of the loop and step S190 represents the end of the loop.
- the process proceeds to step S195.
- step S120 the intervention release calculation unit 43f determines whether or not the arm cloud operation is performed based on the calculation result of the operation amount calculation unit 43a.
- the intervention release calculation unit 43f determines that the arm cloud operation has been performed, and proceeds to step S130.
- the intervention release calculation unit 43f determines that the arm cloud operation has not been performed, and proceeds to step S135.
- the threshold value Ac0 is a threshold value for determining whether or not the arm cloud operation is performed, and is stored in advance in the storage device of the controller 40.
- step S130 the intervention release calculation unit 43f determines whether or not the boom lowering operation is performed based on the calculation result of the operation amount calculation unit 43a.
- the intervention release calculation unit 43f determines that the boom lowering operation has been performed, and proceeds to step S155.
- the intervention release calculation unit 43f determines that the boom lowering operation has not been performed, and proceeds to step S135.
- the threshold value Bl0 is a threshold value for determining whether or not the boom lowering operation is performed, and is stored in advance in the storage device of the controller 40.
- step S135 the attitude calculation unit 43b calculates the pin-target surface distance H2 (n) and the pin-bucket distance Dpb, and proceeds to step S140.
- step S140 the intervention release calculation unit 43f determines whether or not the pin-target surface distance H2 (n) calculated by the attitude calculation unit 43b is equal to or greater than the pin-bucket distance Dpb calculated by the posture calculation unit 43b. Is determined.
- step S140 when it is determined that the pin-target surface distance H2 (n) is equal to or greater than the pin-bucket distance Dpb, that is, the posture of the work device 1A is not the intrusion posture, and the bucket 10 is operated by the arm cloud operation. If it is determined that there is no possibility of invading the target surface St (n), the process proceeds to step S180.
- step S140 when it is determined that the pin-target surface distance H2 (n) is less than the pin-bucket distance Dpb, that is, the posture of the work device 1A is the intrusion posture, and the bucket 10 is moved by the arm cloud operation. If it is determined that there is a possibility of invading the target surface St (n), the process proceeds to step S145.
- step S145 the posture calculation unit 43b calculates the angle ⁇ (n) and proceeds to step S150.
- step S150 the intervention release calculation unit 43f determines whether or not the angle ⁇ (n) calculated by the posture calculation unit 43b is 90 ° or more.
- step S150 when it is determined that the angle ⁇ (n) is 90 ° or more, that is, the posture of the work device 1A is not the intrusion posture, and the bucket 10 invades the target surface St (n) by the arm cloud operation. If it is determined that there is no possibility, the process proceeds to step S180. In step S150, when it is determined that the angle ⁇ (n) is less than 90 °, that is, the posture of the work device 1A is the intrusion posture, and the bucket 10 invades the target surface St (n) by the arm cloud operation. If it is determined that there is a possibility, the process proceeds to step S155.
- step S155 the attitude calculation unit 43b calculates the bucket-target surface distance H1 (n), and proceeds to step S160.
- the intervention release calculation unit 43f determines whether or not the bucket-target surface distance H1 (n) calculated by the attitude calculation unit 43b is less than the threshold value Ya1. In step S160, if it is determined that the distance H1 (n) is less than the threshold value Ya1, the process proceeds to step S170, and if it is determined that the distance H1 (n) is equal to or greater than the threshold value Ya1, the process proceeds to step S180.
- the intervention release calculation unit 43f uses the target pilot pressure of the flow control valve 15b calculated by the target pilot pressure calculation unit 43e as it is for the hydraulic drive unit 151a. It is output to the command calculation unit 43g. As a result, the deceleration control of the arm 9 is executed, and the arm cloud operation is performed at a speed lower than the speed according to the operator's operation.
- the intervention release calculation unit 43f sets the target pilot pressure calculation unit 43e.
- the maximum pressure Pmax is set as the target pilot pressure for the hydraulic drive unit 151a of the flow control valve 15b, and the pressure is output to the valve command calculation unit 43g.
- the electromagnetic proportional valve 55a capable of controlling the arm cloud operation is controlled to the fully open state. That is, the deceleration control of the arm 9 is not executed. As a result, the arm cloud operation is performed at a speed corresponding to the operation of the operator.
- step S205 the intervention release calculation unit 43f calculates the maximum work range of the work device 1A. Further, in step S205, the intervention release calculation unit 43f exists within the maximum working range and is the closest target surface St (0) which is a target surface existing in the traveling direction of the bucket 10 when the arm dump operation is performed. ) And the back target surfaces St (n) and (n> 0) are set as calculation targets, and the process proceeds to step S210.
- Step S210 represents the start of the loop and step S290 represents the end of the loop.
- the process proceeds to step S295.
- step S220 the intervention release calculation unit 43f determines whether or not the arm dump operation is performed based on the calculation result of the operation amount calculation unit 43a.
- the intervention release calculation unit 43f determines that the arm dump operation has been performed, and proceeds to step S230.
- the intervention release calculation unit 43f determines that the arm dump operation has not been performed, and proceeds to step S235.
- the threshold value Ad0 is a threshold value for determining whether or not an arm dump operation has been performed, and is stored in advance in the storage device of the controller 40.
- step S230 the same process as in step S130 is executed.
- step S230 if it is determined that the boom lowering operation has been performed, the process proceeds to step S255, and if it is determined that the boom lowering operation has not been performed, the process proceeds to step S235.
- step S235 the attitude calculation unit 43b calculates the pin-target surface distance H2 (n) and the pin-bucket distance Dpb, and proceeds to step S240.
- step S240 the intervention release calculation unit 43f determines whether or not the pin-target surface distance H2 (n) calculated by the attitude calculation unit 43b is equal to or greater than the pin-bucket distance Dpb calculated by the posture calculation unit 43b. Is determined.
- step S240 when it is determined that the pin-target surface distance H2 (n) is equal to or greater than the pin-bucket distance Dpb, that is, the posture of the working device 1A is not the intrusion posture, and the bucket 10 is moved by the arm dump operation. If it is determined that there is no possibility of invading the target surface St (n), the process proceeds to step S280. In step S240, when it is determined that the pin-target surface distance H2 (n) is less than the pin-bucket distance Dpb, that is, the posture of the working device 1A is the intrusion posture, and the bucket 10 is moved by the arm dump operation. If it is determined that there is a possibility of invading the target surface St (n), the process proceeds to step S245.
- step S245 the posture calculation unit 43b calculates the angle ⁇ (n) and proceeds to step S250.
- step S250 the intervention release calculation unit 43f determines whether or not the angle ⁇ (n) calculated by the posture calculation unit 43b is less than 90 °.
- step S250 when it is determined that the angle ⁇ (n) is less than 90 °, that is, the posture of the working device 1A is not the invasion posture, and the bucket 10 invades the target surface St (n) by the arm dump operation. If it is determined that there is no possibility, the process proceeds to step S280. In step S250, when it is determined that the angle ⁇ (n) is 90 ° or more, that is, the posture of the working device 1A is the intrusion posture, and the bucket 10 invades the target surface St (n) by the arm dump operation. If it is determined that there is a possibility, the process proceeds to step S255.
- step S255 the posture calculation unit 43b calculates the bucket-target surface distance H1 (n), and proceeds to step S260.
- the intervention release calculation unit 43f determines whether or not the bucket-target surface distance H1 (n) calculated by the attitude calculation unit 43b is less than the threshold value Ya2. In step S260, if it is determined that the distance H1 (n) is less than the threshold value Ya2, the process proceeds to step S270, and if it is determined that the distance H1 (n) is equal to or greater than the threshold value Ya2, the process proceeds to step S280.
- step S280 the intervention release calculation unit 43f determines that the intervention release condition is satisfied (in other words, the arm dump deceleration condition is not satisfied), and sets the intervention release flag Fd (n) to 1.
- Fd (n) 1)
- the process proceeds to step S290, and a series of processes for the target surface St (n) is completed.
- step S295 the process proceeds to step S295 to execute the target pilot pressure output processing.
- the intervention release calculation unit 43f uses the target pilot pressure of the flow control valve 15b calculated by the target pilot pressure calculation unit 43e as it is for the hydraulic drive unit 151b. It is output to the command calculation unit 43g. As a result, the deceleration control of the arm 9 is executed, and the arm dump operation is performed at a speed lower than the speed according to the operator's operation.
- the intervention release calculation unit 43f sets the target pilot pressure calculation unit 43e.
- the maximum pressure Pmax is set as the target pilot pressure for the hydraulic drive unit 151b of the flow control valve 15b, and the pressure is output to the valve command calculation unit 43g.
- the electromagnetic proportional valve 55b capable of controlling the arm dump operation is controlled to the fully open state. That is, the deceleration control of the arm 9 is not executed. As a result, the arm dump operation is performed at a speed corresponding to the operation of the operator.
- FIG. 12 is a diagram illustrating a case where it is determined that the bucket 10 may invade the target surface St (-1) set in the direction in which the bucket 10 travels by the arm cloud operation. ..
- FIG. 13A is a diagram showing a state in which the arm cloud deceleration control is released when the angle ⁇ formed by the line segment Lpb and the target surface St (0) is 90 ° or more.
- FIG. 13B is a diagram showing a state in which the arm cloud deceleration control is released when the pin-target surface distance H2 (0) is equal to or greater than the pin-bucket distance Dpb.
- the arm 9 when it is determined that the posture of the work device 1A is not the intruding posture when the combined operation of the boom 8 lowering operation and the arm 9 operation is not performed, that is, the arm 9 is operated.
- the target pilot pressure with respect to the flow control valve 15b is set to the maximum pressure, and the opening degree of the electromagnetic proportional valve 55 is fully opened.
- the attitude of the working device 1A invades in each of the first intrusion attitude determination process and the second intrusion attitude determination process. It is determined to be in the posture (that is, it is determined that the bucket 10 may invade the target surface when the arm 9 is operated), and the bucket-target surface distance H1 (n) is a predetermined distance.
- the opening degree of the electromagnetic proportional valve 55 is set to the minimum opening degree (for example, N ⁇ S140 in S120 in FIG. 10 N ⁇ N ⁇ S150 N ⁇ S160 Y ⁇ . S170). Therefore, it is possible to prevent the arm 9 from suddenly popping out and the tip end portion of the bucket 10 from invading the target surface St when the transition from the arm non-operated state to the arm operated state is made.
- the opening degree of the electromagnetic proportional valve 55 is set to the maximum opening degree (fully open) (for example, FIG. 10 S120 for N ⁇ S140 for Y ⁇ S180, or S120 for N ⁇ S140 for N ⁇ S150 for Y ⁇ S180).
- the bucket- When it is determined that the target surface distance H1 (n) is equal to or greater than the predetermined distance Ya, the opening degree of the electromagnetic proportional valve 55 is set to the maximum opening degree (fully open) (for example, S120 in FIG. 10). N ⁇ S140 and N ⁇ S150 and N ⁇ S160 and N ⁇ S180). Therefore, when the arm is not operated to the arm operated state, the arm 9 can be quickly operated according to the operator's operation. Therefore, work such as excavation and leveling can be performed efficiently.
- the target surface exists within the maximum working range of the bucket 10 and exists in the traveling direction of the bucket 10 when the arm cloud operation is performed.
- the closest target surface St (0) is the adjacent target surface St ( 1) When switching to St (-1), between the deceleration control state (state in which deceleration control is being executed) and the deceleration control release state (state when deceleration control is not being executed). Shock may occur due to state transitions.
- the controller 40 according to the present embodiment, the bucket 10 has not only the closest target surface St (0) but also the target surface St (n) set in the direction in which the bucket 10 travels. Determine if there is a possibility of intrusion.
- the controller 40 determines whether to execute the deceleration control or not (whether to cancel the deceleration control) based on the determination result.
- the bucket-target surface distance H1 (n) is less than the threshold value Ya and the arm 9 is operated among the target surfaces St (n) existing in the traveling direction of the bucket 10.
- the deceleration control of the arm 9 is executed. Therefore, when a plurality of target surfaces are set, the closest target surface St (0) is switched to the adjacent target surfaces St (1) and St (-1) by operating the arm 9.
- the arm 9 can be operated smoothly, so that the operability is good and the work efficiency can be improved.
- the distance H2 (0) is equal to or greater than the distance Dpb, and the intervention release flag Fc (0) is set to 1 (Y ⁇ S180 in S140 in FIG. 10).
- the distance H2 (-1) is less than the distance Dpb and the angle ⁇ (-1) is less than 90 °. Therefore, when the arm cloud operation is performed, the bucket 10 approaches the target surface St (-1) existing in the traveling direction (direction toward the front side when viewed from the vehicle body 1B), and the bucket 10 moves. It is determined that there is a possibility of invading the target surface St (-1).
- the distance H2 (0) is less than the distance Dpb, but the angle ⁇ (0) is 90 ° or more, so that the bucket 10 has the target surface St (0) when the arm cloud operation is performed. It is determined that there is no possibility of invading. Therefore, in the example shown in FIG. 13A, when the arm cloud operation is performed, the deceleration control of the arm 9 is not executed even if the distance H1 (0) is smaller than the distance Ya (N ⁇ in S140 of FIG. 10). Y ⁇ S180 in S150). In the example shown in FIG. 13A, since the angle ⁇ (0) is 90 ° or more, it is determined that the bucket 10 may invade the target surface St (0) when the arm dump operation is performed. To. Therefore, in the example shown in FIG. 13A, the deceleration control of the arm 9 is executed when the arm dump operation is performed (N ⁇ S250 in FIG. 11 S ⁇ N ⁇ S260 Y ⁇ S270).
- the angle ⁇ (0) is less than 90 °, but the distance H2 (0) is greater than or equal to the distance Dpb, so that the bucket 10 has the target surface St (0) when the arm cloud operation is performed. It is determined that there is no possibility of invading. Therefore, in the example shown in FIG. 13B, the deceleration control of the arm 9 is not executed even when the distance H1 (0) is smaller than the distance Ya (Y ⁇ S180 in S140 of FIG. 10). Similarly, in the example shown in FIG. 13B, since the distance H2 (0) is equal to or greater than the distance Dpb, it is determined that the bucket 10 is unlikely to invade the target surface St (0) when the arm dump operation is performed. Will be done. Therefore, in the example shown in FIG. 13B, the deceleration control of the arm 9 is not executed when the arm dump operation is performed (Y ⁇ S280 in S240 of FIG. 11).
- the arm 9 in the work in the state where the leveling control mode is set, when the bucket-target surface distance H1 (n) becomes smaller than the predetermined distance Ya, the arm 9 is uniformly used. It is possible to reduce the chance that the deceleration control of the arm 9 is executed as compared with the case of executing the deceleration control of. As a result, for example, in excavation and ground leveling work, the work of returning the bucket 10 to the work start point, the work of excavating above the target surface St, the work of shaking off the soil from the bucket 10, and the like are within the deceleration region (H1).
- the hydraulic excavator (working machine) 101 sets the target surface St, and based on the signals from the GNSS antenna (position sensor) 14 and the angle sensor (attitude sensor) 30 to 33, the bucket ( Work tool)
- the bucket-target surface distance H1 which is the distance from 10 to the target surface St is calculated, the arm 9 is operated by the operating device 45, and the bucket-target surface distance H1 is from the threshold value (predetermined distance) Ya.
- a controller (control device) 40 for controlling the boom 8 and decelerating the arm 9 is provided so that the bucket 10 does not excavate the ground beyond the target surface St when the size of the bucket 10 becomes smaller.
- the controller 40 may invade the target surface St when the arm 9 is operated based on the set target surface St and the signals from the GNSS antenna 14 and the angle sensors 30 to 33. If it is determined that there is no possibility that the bucket 10 will invade the target surface St when the arm 9 is operated, the bucket-target surface distance H1 is a predetermined distance. The deceleration control is not executed even if it is smaller than Ya.
- the deceleration control of the arm cloud (arm pull) and the deceleration control of the arm dump (arm push) are performed. Will be executed. Therefore, the machine control can surely perform the ground leveling work.
- the deceleration control of the arm cloud (arm pull) and the deceleration control of the arm dump (arm push) are not executed. That is, according to the present embodiment, since the opportunity for deceleration control of the arm 9 to be performed can be reduced, the efficiency of work such as excavation and leveling by the hydraulic excavator 101 can be improved.
- the bucket-target surface distance H1 (n) is predetermined even if the posture of the work device 1A is not the intrusion posture.
- deceleration control of the arm 9 by a normal MC is executed (for example, Y ⁇ S130 in S120 of FIG. 10 and Y ⁇ S160 in Y ⁇ S170).
- Steps S140 and S150 shown in FIG. 10 are processes for determining whether or not the bucket 10 is in an invading posture in which the bucket 10 invades the target surface St (n) assuming only the operation of the arm 9. Therefore, when the boom 8 lowering operation and the arm 9 operation are combined, the bucket 10 invades the target surface St (n) by executing the deceleration control of the arm 9 by a normal MC. It is possible to prevent it from being stored.
- FIG. 14 is a diagram showing a state in which the hydraulic excavator 201 according to the second embodiment horizontally pulls (horizontally pushes).
- FIG. 15A is a diagram showing the relationship between the target pilot pressure and the angle ⁇ when the arm cloud operation (maximum operation) is performed in the hydraulic excavator 101 according to the first embodiment.
- FIG. 15B is a diagram showing the relationship between the target pilot pressure and the angle ⁇ when the arm dump operation (maximum operation) is performed in the hydraulic excavator 101 according to the first embodiment.
- the hydraulic excavator 201 according to the second embodiment has the same configuration as that of the first embodiment.
- the line segment Lpb when the arm cloud operation is performed to move the tip of the bucket 10 along the target surface St set parallel to the horizontal plane (horizontal drawing), the line segment Lpb The angle ⁇ formed by the target surface St and the target surface St gradually increases.
- the arm dump operation is performed to move the tip of the bucket 10 along the target surface St set parallel to the horizontal plane (horizontal push)
- the angle formed by the line segment Lpb and the target surface St. ⁇ gradually decreases.
- the arm 9 when performing such work, in the configuration of the first embodiment, when the angle ⁇ exceeds 90 °, the arm 9 may suddenly move.
- the maximum pressure Pmax is set for the target pilot pressure, which is the target value of the pilot pressure generated by the electromagnetic proportional valve 55a. .. Therefore, when the angle ⁇ changes from a state smaller than 90 ° to a state larger than 90 ° due to the arm cloud operation, the target pilot pressure may suddenly increase and the arm cloud operation may accelerate rapidly. ..
- the maximum pressure Pmax is set as the target pilot pressure, which is the target value of the pilot pressure generated by the electromagnetic proportional valve 55b. Will be done. Therefore, when the angle ⁇ changes from a state larger than 90 ° to a state smaller than 90 ° due to the arm dump operation, the target pilot pressure may suddenly increase and the arm dump operation may accelerate rapidly. ..
- the transition control for changing the speed of the arm 9 according to the change in the angle ⁇ formed by the line segment Lpb and the target surface St. To execute. Whether or not the transition control can be executed is determined according to the setting state of the transition control execution flags Fct (n) and Fdt (n).
- FIG. 16 is a flowchart showing the content of the setting process of the transition control execution flag Fct (n) for the arm cloud executed by the controller 40 according to the second embodiment.
- FIG. 17 is a flowchart showing the content of the setting process of the transition control execution flag Fdt (n) for the arm dump executed by the controller 40 according to the second embodiment.
- the processing of the flowcharts shown in FIGS. 16 and 17 is started by setting the leveling control mode by a control mode changeover switch or the like (not shown), and is repeatedly executed in a predetermined control cycle after the initial setting (not shown) is performed. Will be done.
- Steps S305, S320, S330, S345, S350, S355, and S360 shown in FIG. 16 are the same processes as steps S105, S120, S130, S145, S150, S155, and S160 shown in FIG. 10, and thus description thereof will be omitted.
- step S350 If it is determined in step S350 that the angle ⁇ (n) is 90 ° or more, the process proceeds to step S380. Further, in step S360, if it is determined that the distance H1 (n) is less than the threshold value Ya1, the process proceeds to step S370, and if it is determined that the distance H1 (n) is equal to or greater than the threshold value Ya1, the process proceeds to step S380.
- Steps S405, S420, S430, S445, S450, S455, and S460 shown in FIG. 17 are the same processes as steps S205, S220, S230, S245, S250, S255, and S260 shown in FIG. 11, and thus description thereof will be omitted.
- step S450 If it is determined in step S450 that the angle ⁇ (n) is less than 90 °, the process proceeds to step S480. Further, in step S460, if it is determined that the distance H1 (n) is less than the threshold value Ya2, the process proceeds to step S470, and if it is determined that the distance H1 (n) is equal to or more than the threshold value Ya2, the process proceeds to step S480.
- FIG. 18 is a control block diagram of the intervention release calculation unit 243f, and shows the calculation of the arm cloud transition pressure.
- an angle ⁇ (n) formed by the line segment Lpb calculated by the attitude calculation unit 43b and the target surface St (n) is input to the intervention release calculation unit 243f (L101), and the arm cloud
- the maximum pressure ratio ⁇ p is output based on the angle ⁇ (L102).
- the arm cloud angle ratio table is a table in which the angle ⁇ and the maximum pressure ratio ⁇ p are associated with each other, and is stored in the storage device of the controller 40.
- FIG. 19A is a diagram showing an arm cloud angle ratio table.
- the maximum pressure ratio ⁇ p 0.0 when the angle ⁇ is less than 90 °
- the maximum pressure ratio ⁇ p 1.0 when the angle ⁇ is a predetermined angle ⁇ cx or more. Therefore, in the range where the angle ⁇ is 90 ° or more and less than ⁇ cx, the characteristic that the maximum pressure ratio ⁇ p increases as the angle ⁇ increases is stored.
- the predetermined angle ⁇ cx is set to a value larger than 90 ° and smaller than 180 °.
- the maximum pressure ratio ⁇ p is a function that monotonically increases from 0 (zero) to 1 as the angle ⁇ increases in the range where the angle ⁇ is 90 ° or more and less than ⁇ cx.
- the intervention release calculation unit 243f acquires the maximum pressure Pmax from the storage device (L103) and multiplies the maximum pressure ratio ⁇ p by the maximum pressure Pmax (L105).
- the target pilot pressure Pct calculated by the target pilot pressure calculation unit 43e is input to the intervention release calculation unit 243f (L104).
- the intervention release calculation unit 243f multiplies the arm cloud target pilot pressure Pct, which is the target value of the pilot pressure generated by the electromagnetic proportional valve 55a, by a value (1- ⁇ p) obtained by subtracting the maximum pressure ratio ⁇ p from 1. .. (1- ⁇ p) is a function that monotonically decreases from 1 to 0 (zero) as the angle ⁇ increases in the range where the angle ⁇ is 90 ° or more and less than ⁇ cx.
- the intervention release calculation unit 243f adds the multiplication value of the arm cloud target pilot pressure Pct and (1- ⁇ p) to the multiplication value of the maximum pressure Pmax and ⁇ p (L107), and targets the arm cloud transition pressure which is the calculation result. It is output as pilot pressure (L108).
- FIG. 19B is a diagram showing the arm cloud transition pressure.
- the intervention release calculation unit 243f calculates the transition pressure according to the angle ⁇ , and outputs the transition pressure as the target pilot pressure.
- the target pilot pressure transition pressure
- the target pilot pressure increases as the angle ⁇ increases.
- the target pilot pressure becomes the maximum pressure Pmax.
- FIG. 20 is a control block diagram of the intervention release calculation unit 243f, and shows the calculation of the arm dump transition pressure.
- an angle ⁇ (n) formed by the line segment Lpb calculated by the attitude calculation unit 43b and the target surface St (n) is input to the intervention release calculation unit 243f (L201), and the arm dump is performed.
- the maximum pressure ratio ⁇ p is output based on the angle ⁇ (L202).
- the arm dump angle ratio table is a table in which the angle ⁇ and the maximum pressure ratio ⁇ p are associated with each other, and is stored in the storage device of the controller 40.
- FIG. 21A is a diagram showing an arm dump angle ratio table.
- the maximum pressure ratio ⁇ p 0.0 when the angle ⁇ is 90 ° or more
- the maximum pressure ratio ⁇ p 1.0 when the angle ⁇ is less than the predetermined angle ⁇ dx. Therefore, in the range where the angle ⁇ is ⁇ dx or more and less than 90 °, the characteristic that the maximum pressure ratio ⁇ p increases as the angle ⁇ becomes smaller is stored.
- the predetermined angle ⁇ dx is set to a value larger than 0 ° and smaller than 90 °.
- the maximum pressure ratio ⁇ p is a function that monotonically decreases from 1 to 0 (zero) as the angle ⁇ increases in the range where the angle ⁇ is ⁇ dx or more and less than 90 °.
- the intervention release calculation unit 243f acquires the maximum pressure Pmax from the storage device (L203) and multiplies the maximum pressure ratio ⁇ p by the maximum pressure Pmax (L205).
- the target pilot pressure Pdt calculated by the target pilot pressure calculation unit 43e is input to the intervention release calculation unit 243f (L204).
- the intervention release calculation unit 243f multiplies the arm dump target pilot pressure Pdt, which is the target value of the pilot pressure generated by the electromagnetic proportional valve 55b, by a value (1- ⁇ p) obtained by subtracting the maximum pressure ratio ⁇ p from 1.
- (1- ⁇ p) is a function that monotonically increases from 0 (zero) to 1 as the angle ⁇ increases in the range where the angle ⁇ is ⁇ dx or more and less than 90 °.
- the intervention release calculation unit 243f adds the multiplication value of the arm dump target pilot pressure Pdt and (1- ⁇ p) to the multiplication value of the maximum pressure Pmax and ⁇ p (L207), and targets the arm dump transition pressure which is the calculation result. Output as pilot pressure (L208).
- FIG. 21B is a diagram showing the arm dump transition pressure.
- the intervention release calculation unit 243f calculates the transition pressure according to the angle ⁇ , and outputs the transition pressure as the target pilot pressure.
- the target pilot pressure transition pressure
- the target pilot pressure becomes smaller as the angle ⁇ becomes smaller.
- the target pilot pressure becomes the maximum pressure Pmax.
- the angle ⁇ exceeds 90 °, it is determined that the posture of the work device 1A is not the intrusion posture, and when the deceleration control is released, the angle ⁇
- the speed of the arm 9 can be changed by gradually increasing the target pilot pressure according to the change of. That is, it is possible to prevent the speed of the arm 9 from suddenly changing when the state in which the deceleration control is executed is changed to the state in which the deceleration control is not executed due to the change in the angle ⁇ .
- ⁇ Modification example 1> the magnitude relationship between the pin-target surface distance H2 (n) and the pin-bucket distance Dpb is compared as it is, and when the distance H2 (n) is the distance Dpb or more, the deceleration control of the arm 9 is performed.
- the present invention is not limited thereto.
- the margin amount ⁇ D may be added to the distance Dpb to correct the distance, and then the comparison may be performed.
- the controller 40 calculates the pin-bucket distance Dpb, calculates the pin-target surface distance H2, and works based on the pin-bucket distance Dpb and the pin-target surface distance H2.
- the posture of 1A is an intrusion posture and it is determined that the posture of the work device 1A is not an intrusion posture, or when the angle ⁇ is calculated and the posture of the work device 1A invades based on the angle ⁇ . If it is determined whether or not the work device is in the posture and the posture of the work device 1A is not the intruding posture, there is no possibility that the bucket 10 invades the target surface St when the arm 9 is operated. An example of determining that is described.
- the controller 40 determines whether or not the posture of the work device 1A is the intrusion posture based on the pin-bucket distance Dpb and the pin-target surface distance H2, and the posture of the work device 1A. Is determined to be an intrusion posture, and it is determined whether or not the posture of the work device 1A is an intrusion posture based on the angle ⁇ , and when it is determined that the posture of the work device 1A is an intrusion posture.
- steps S145 and S150 of FIG. 10 and steps S245 and S250 of FIG. 11 may be omitted.
- the pin-target surface distance H2 (n) is less than the pin-bucket distance Dpb, and When the bucket-target surface distance H1 (n) is less than the threshold value Ya1, deceleration control of the arm 9 is executed. However, when the pin-target surface distance H2 (n) is equal to or greater than the pin-bucket distance Dpb, deceleration control of the arm 9 is not performed, so that work efficiency can be improved.
- steps S135 and S140 in FIG. 10 and steps S235 and S240 in FIG. 11 may be omitted.
- the deceleration control of the arm 9 is not performed, so that the work efficiency is improved. Can be planned.
- ⁇ Modification example 3> when the operator is performing the combined operation of lowering the boom 8 and operating the arm 9, the posture of the work device 1A is not the intrusion posture (for example, when the distance H2 is the distance Dpb or more). Even so, an example of performing deceleration control of the arm 9 has been described, but the present invention is not limited to this.
- step S130 of FIG. 10 and step 230 of FIG. 11 it may be determined whether or not the boom lowering operation command is output from the controller 40.
- the hydraulic excavator 101 may provide an electromagnetic proportional valve 54a and a shuttle valve having the same configuration as the electromagnetic proportional valve 54a and the shuttle valve 82a provided in the boom raising side hydraulic circuit shown in FIG. 3 in the boom lowering side hydraulic circuit. ..
- the boom lowering operation can be automatically controlled by this electromagnetic proportional valve.
- the automatic control of the boom lowering operation is executed when the boom lowering pressure boosting function is enabled by the mode setting switch.
- a control pressure (second control signal) larger than the operating pressure (first control signal) for the boom lowering operation by the operator can be obtained. It can be generated and act on the hydraulic drive unit 150b of the flow control valve 15a.
- step S130 of FIG. 10 it is determined whether or not the condition that the boom lowering and increasing pressure function is effectively set and the condition that the boom lowering and increasing pressure function is exhibited is satisfied. Then, in step S130, when the boom lowering and increasing pressure function is effectively set and the condition for exerting the boom lowering and increasing pressure function is satisfied, it is determined that the boom lowering operation by the controller 40 is being performed. Then, the process proceeds to step S155, and the condition that the boom lowering and increasing pressure function is disabled or the boom lowering and increasing pressure function is enabled but the boom lowering and increasing pressure function is exhibited is satisfied. If not, it is determined that the boom lowering operation by the controller 40 has not been performed, and the process proceeds to step S135. The same process can be applied to the process of step S230 in FIG.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
-油圧ショベルの全体構成-
図1は本発明の実施形態に係る油圧ショベルの側面図であり、図2は本発明の実施形態に係る油圧ショベルのコントローラを油圧駆動装置と共に示す図であり、図3は図2に示す油圧ユニット160の詳細図である。
Xbk=L1cos(α)+L2cos(α+β)+L3cos(α+β+γ)…式(1)
Zbk=L1sin(α)+L2sin(α+β)+L3sin(α+β+γ)…式(2)
Xp=L1cos(α)…式(3)
Zp=L1sin(α)…式(4)
(条件1)バケット-目標面間距離H1が所定の距離Ya以上である。
(条件2)アーム9の操作がなされたときにバケット10が目標面Stに侵入する可能性がない。
整地制御において、アーム9の減速制御は、バケット10の先端部と目標面Stとの距離が近い場合にのみ行い、バケット10の先端部と目標面Stとの距離がある程度離れている場合には、アーム9の減速制御を行わないようにすることが好ましい。これにより、整地制御において、作業装置1Aの作業効率を向上することができる。
整地制御において、バケット-目標面間距離H1が所定の距離Yaよりも小さい場合であっても、アーム9の操作によって、バケット10が目標面Stに侵入する可能性がないと判定される場合には、アーム9の減速制御を行わないようにすることが好ましい。これにより、整地制御において、作業装置1Aの作業効率を向上することができる。そこで、本実施形態では、介入解除演算部43fは、作業装置1Aの姿勢が、アーム9の操作がなされたときにバケット10が目標面Stに侵入する姿勢(以下、侵入姿勢と記す)であるか否かを判定する。作業装置1Aの姿勢が侵入姿勢でないと判定された場合、介入解除演算部43fは、アーム9の操作がなされたときにバケット10が目標面Stに侵入する可能性がないものと判定する。作業装置1Aの姿勢が侵入姿勢であると判定された場合、介入解除演算部43fは、アーム9の操作がなされたときにバケット10が目標面Stに侵入する可能性があるものと判定する。
本実施形態では、介入解除演算部43fは、姿勢演算部43bで演算されたピン-バケット間距離Dpbおよびピン-目標面間距離H2に基づいて、作業装置1Aの姿勢が侵入姿勢であるか否かを判定する処理(第1の侵入姿勢判定処理)を実行する。第1の侵入姿勢判定処理は、アーム9の操作がなされたときにバケット10の先端部の移動軌跡上に目標面Stが存在するか否かを判別することにより、バケット10が目標面Stに侵入する可能性があるか否かを判定する処理(第1のバケット侵入判定処理)に相当する。
さらに、介入解除演算部43fは、姿勢演算部43bで演算された角度φに基づいて、作業装置1Aの姿勢が侵入姿勢であるか否かを判定する処理(第2の侵入姿勢判定処理)を実行する。第2の侵入姿勢判定処理は、アーム9の操作がなされたときにバケット10が目標面Stに対して接近する方向に移動するのか、遠ざかる方向に移動するのかを判別することにより、バケット10が目標面Stに侵入する可能性があるか否かを判定する処理(第2のバケット侵入判定処理)に相当する。
(a1)ブーム8の下げ操作とアーム9の操作の複合操作がなされていない、かつ、第1の侵入姿勢判定処理において、作業装置1Aの姿勢は侵入姿勢でないと判定される。
(b1)ブーム8の下げ操作とアーム9の操作の複合操作がなされていない、かつ、第2の侵入姿勢判定処理において、作業装置1Aの姿勢は侵入姿勢でないと判定される。
(a2)第1の侵入姿勢判定処理において、作業装置1Aの姿勢は侵入姿勢でないと判定される。
(b2)第2の侵入姿勢判定処理において、作業装置1Aの姿勢は侵入姿勢でないと判定される。
図14~図21Bを参照して、第2実施形態に係る油圧ショベル201について説明する。なお、図中、第1実施形態と同一もしくは相当部分には同一の参照番号を付し、相違点を主に説明する。図14は、第2実施形態に係る油圧ショベル201が水平引き(水平押し)を行う様子を示す図である。図15Aは、第1実施形態に係る油圧ショベル101において、アームクラウド操作(最大操作)がなされたときの目標パイロット圧と、角度φとの関係を示す図である。図15Bは、第1実施形態に係る油圧ショベル101において、アームダンプ操作(最大操作)がなされたときの目標パイロット圧と、角度φとの関係を示す図である。
上記実施形態では、ピン-目標面間距離H2(n)とピン-バケット間距離Dpbの大小関係をそのまま比較し、距離H2(n)が距離Dpb以上の場合には、アーム9の減速制御を実行しないようにする例(図10のステップS140および図11のステップS240参照)について説明したが、本発明はこれに限定されない。距離Dpbに余裕量ΔDを加算し、補正してから比較を行ってもよい。つまり、距離H2(n)が補正後の距離Dpb´(=Dpb+ΔD)以上の場合には、アーム9の減速制御を実行しないようにしてもよい。また、距離H2に余裕量ΔHを減算し、補正してから比較を行ってもよい。つまり、補正後の距離H2(n)´(=H2(n)-ΔH)が距離Dpb以上の場合には、アーム9の減速制御を実行しないようにしてもよい。余裕量ΔD,ΔHを持たせることにより、バケット10の先端が目標面Stに侵入することをより効果的に防止することができる。
上記実施形態では、コントローラ40が、ピン-バケット間距離Dpbを演算するとともに、ピン-目標面間距離H2を演算し、ピン-バケット間距離Dpbおよびピン-目標面間距離H2に基づいて作業装置1Aの姿勢が侵入姿勢であるか否かを判定し、作業装置1Aの姿勢が侵入姿勢でないと判定された場合、または、角度φを演算し、角度φに基づいて作業装置1Aの姿勢が侵入姿勢であるか否かを判定し、作業装置1Aの姿勢が侵入姿勢でないと判定された場合には、アーム9の操作がなされたときにバケット10が目標面Stに侵入する可能性がないものと判定する例について説明した。また、上記実施形態では、コントローラ40が、ピン-バケット間距離Dpbおよびピン-目標面間距離H2に基づいて作業装置1Aの姿勢が侵入姿勢であるか否かを判定し、作業装置1Aの姿勢が侵入姿勢であると判定され、かつ、角度φに基づいて作業装置1Aの姿勢が侵入姿勢であるか否かを判定し、作業装置1Aの姿勢が侵入姿勢であると判定された場合には、アーム9の操作がなされたときにバケット10が目標面Stに侵入する可能性があるものと判定する例について説明したが、本発明はこれに限定されない。例えば、図10のステップS145,S150および図11のステップS245,S250を省略してもよい。この場合、アーム操作によってバケット10の先端部が目標面Stへ接近する方向に移動するか否かによって、目標面Stにバケット10が侵入する可能性があるか否かの判定は行わない。したがって、目標面Stからバケット10の先端部が離れる方向にアーム9が動作するときであっても、ピン-目標面間距離H2(n)がピン-バケット間距離Dpb未満であって、かつ、バケット-目標面間距離H1(n)が、閾値Ya1未満の場合には、アーム9の減速制御が実行される。しかしながら、ピン-目標面間距離H2(n)がピン-バケット間距離Dpb以上である場合には、アーム9の減速制御は行われないため、作業効率の向上を図ることができる。同様に、図10のステップS135,S140および図11のステップS235,S240を省略してもよい。この場合、ステップS150およびステップS250において、アーム操作によって目標面Stにバケット10が侵入する可能性がないものと判定される場合には、アーム9の減速制御は行われないため、作業効率の向上を図ることができる。
上記実施形態では、オペレータによるブーム8の下げ操作とアーム9の操作の複合操作がなされているときには、作業装置1Aの姿勢が侵入姿勢でない場合(例えば、距離H2が距離Dpb以上の場合)であったとしても、アーム9の減速制御を行う例について説明したが、本発明はこれに限定されない。例えば、図10のステップS130および図11のステップ230において、コントローラ40からのブーム下げ操作指令が出力されているか否かを判定するようにしてもよい。
Claims (8)
- 車体と、ブーム、アームおよび作業具を有し、前記車体に取り付けられる多関節型の作業装置と、前記車体および前記作業装置を操作する操作装置と、前記車体の位置を検出する位置センサと、前記作業装置の姿勢を検出する姿勢センサと、目標面を設定し、前記位置センサおよび前記姿勢センサからの信号に基づいて、前記作業具から前記目標面までの距離である作業具-目標面間距離を演算し、前記操作装置により前記アームの操作がなされ前記作業具-目標面間距離が所定の距離よりも小さくなった場合に、前記作業具が前記目標面を越えて地面を掘削しないように、前記ブームを制御するとともに前記アームを減速させる減速制御を実行する制御装置と、を備える作業機械において、
前記制御装置は、
設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する可能性があるか否かを判定し、
前記作業具が前記目標面に侵入する可能性がないと判定された場合には、前記作業具-目標面間距離が前記所定の距離よりも小さい場合であっても前記減速制御を実行しない、
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、
設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記作業装置の姿勢が、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する侵入姿勢であるか否かを判定し、
前記作業装置の姿勢が前記侵入姿勢でないと判定された場合には、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する可能性がないものと判定する、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記姿勢センサからの信号に基づいて、前記ブームと前記アームとを連結するアームピンから前記作業具までの距離であるピン-作業具間距離を演算し、
設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記アームピンから前記目標面までの距離であるピン-目標面間距離を演算し、
前記ピン-作業具間距離および前記ピン-目標面間距離に基づいて、前記作業装置の姿勢が前記侵入姿勢であるか否かを判定する、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記ブームと前記アームとを連結するアームピンと前記作業具とを結ぶ線分と前記目標面とのなす角度を演算し、
前記線分と前記目標面とのなす角度に基づいて、前記作業装置の姿勢が前記侵入姿勢であるか否かを判定する、
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記制御装置は、
前記作業装置の姿勢が前記侵入姿勢でないと判定された場合に、前記線分と前記目標面とのなす角度の変化に応じて前記アームの速度を変化させる、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
設定されている複数の前記目標面のうち、前記作業具の作業範囲内に存在する目標面であって、前記アームの操作がなされたときの前記作業具の進行方向に存在する目標面に対して、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する可能性があるか否かを判定する、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記ブームの下げ操作と前記アームの操作の複合操作がなされているときには、前記作業装置の姿勢が前記侵入姿勢でない場合であっても、前記アームを減速させる減速制御を実行する、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記姿勢センサからの信号に基づいて、前記ブームと前記アームとを連結するアームピンから前記作業具までの距離であるピン-作業具間距離を演算するとともに、設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記アームピンから前記目標面までの距離であるピン-目標面間距離を演算し、前記ピン-作業具間距離および前記ピン-目標面間距離に基づいて前記作業装置の姿勢が前記侵入姿勢であるか否かを判定し、前記作業装置の姿勢が前記侵入姿勢でないと判定された場合、
または、設定された前記目標面と前記位置センサおよび前記姿勢センサからの信号とに基づいて、前記アームピンと前記作業具とを結ぶ線分と前記目標面とのなす角度を演算し、前記線分と前記目標面とのなす角度に基づいて前記作業装置の姿勢が前記侵入姿勢であるか否かを判定し、前記作業装置の姿勢が前記侵入姿勢でないと判定された場合には、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する可能性がないものと判定し、
前記ピン-作業具間距離および前記ピン-目標面間距離に基づいて前記作業装置の姿勢が前記侵入姿勢であるか否かを判定し、前記作業装置の姿勢が前記侵入姿勢であると判定され、かつ、前記線分と前記目標面とのなす角度に基づいて前記作業装置の姿勢が前記侵入姿勢であるか否かを判定し、前記作業装置の姿勢が前記侵入姿勢であると判定された場合には、前記アームの操作がなされたときに前記作業具が前記目標面に侵入する可能性があるものと判定する、
ことを特徴とする作業機械。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202080014705.2A CN113439141B (zh) | 2019-09-30 | 2020-09-08 | 作业机械 |
US17/437,902 US20220145580A1 (en) | 2019-09-30 | 2020-09-08 | Work machine |
EP20872650.5A EP4039886A4 (en) | 2019-09-30 | 2020-09-08 | WORKING MACHINE |
JP2021550519A JP7182726B2 (ja) | 2019-09-30 | 2020-09-08 | 作業機械 |
KR1020217025265A KR102580772B1 (ko) | 2019-09-30 | 2020-09-08 | 작업 기계 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019180334 | 2019-09-30 | ||
JP2019-180334 | 2019-09-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021065384A1 true WO2021065384A1 (ja) | 2021-04-08 |
Family
ID=75337377
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/034010 WO2021065384A1 (ja) | 2019-09-30 | 2020-09-08 | 作業機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220145580A1 (ja) |
EP (1) | EP4039886A4 (ja) |
JP (1) | JP7182726B2 (ja) |
KR (1) | KR102580772B1 (ja) |
CN (1) | CN113439141B (ja) |
WO (1) | WO2021065384A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022230368A1 (ja) * | 2021-04-26 | 2022-11-03 | コベルコ建機株式会社 | 目標軌跡生成システム |
JP7349587B1 (ja) | 2022-03-30 | 2023-09-22 | 株式会社Hemisphere Japan | 位置決定装置 |
WO2024070905A1 (ja) * | 2022-09-30 | 2024-04-04 | 日立建機株式会社 | 作業機械 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08311918A (ja) | 1995-05-22 | 1996-11-26 | Hitachi Constr Mach Co Ltd | 建設機械の領域制限掘削制御装置 |
JP2001032331A (ja) * | 1999-07-19 | 2001-02-06 | Hitachi Constr Mach Co Ltd | 建設機械の領域制限制御装置および領域制限制御方法 |
US20140343820A1 (en) * | 2011-12-13 | 2014-11-20 | Volvo Construction Equipment Ab | All-round hazard sensing device for construction apparatus |
JP2018155077A (ja) * | 2017-03-21 | 2018-10-04 | 日立建機株式会社 | 作業機械 |
JP2019151973A (ja) * | 2018-02-28 | 2019-09-12 | 株式会社小松製作所 | 施工管理装置、表示装置および施工管理方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5704141A (en) * | 1992-11-09 | 1998-01-06 | Kubota Corporation | Contact prevention system for a backhoe |
JP3501902B2 (ja) * | 1996-06-28 | 2004-03-02 | コベルコ建機株式会社 | 建設機械の制御回路 |
WO2012157510A1 (ja) * | 2011-05-18 | 2012-11-22 | 日立建機株式会社 | 作業機械 |
CN103890273B (zh) * | 2013-04-12 | 2017-01-25 | 株式会社小松制作所 | 建筑机械的控制系统及控制方法 |
JP6703942B2 (ja) * | 2016-03-17 | 2020-06-03 | 株式会社小松製作所 | 作業車両の制御システム、制御方法、及び作業車両 |
WO2018051511A1 (ja) * | 2016-09-16 | 2018-03-22 | 日立建機株式会社 | 作業機械 |
JP6889579B2 (ja) * | 2017-03-15 | 2021-06-18 | 日立建機株式会社 | 作業機械 |
-
2020
- 2020-09-08 CN CN202080014705.2A patent/CN113439141B/zh active Active
- 2020-09-08 KR KR1020217025265A patent/KR102580772B1/ko active IP Right Grant
- 2020-09-08 US US17/437,902 patent/US20220145580A1/en active Pending
- 2020-09-08 EP EP20872650.5A patent/EP4039886A4/en active Pending
- 2020-09-08 WO PCT/JP2020/034010 patent/WO2021065384A1/ja unknown
- 2020-09-08 JP JP2021550519A patent/JP7182726B2/ja active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08311918A (ja) | 1995-05-22 | 1996-11-26 | Hitachi Constr Mach Co Ltd | 建設機械の領域制限掘削制御装置 |
JP2001032331A (ja) * | 1999-07-19 | 2001-02-06 | Hitachi Constr Mach Co Ltd | 建設機械の領域制限制御装置および領域制限制御方法 |
US20140343820A1 (en) * | 2011-12-13 | 2014-11-20 | Volvo Construction Equipment Ab | All-round hazard sensing device for construction apparatus |
JP2018155077A (ja) * | 2017-03-21 | 2018-10-04 | 日立建機株式会社 | 作業機械 |
JP2019151973A (ja) * | 2018-02-28 | 2019-09-12 | 株式会社小松製作所 | 施工管理装置、表示装置および施工管理方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022230368A1 (ja) * | 2021-04-26 | 2022-11-03 | コベルコ建機株式会社 | 目標軌跡生成システム |
JP7349587B1 (ja) | 2022-03-30 | 2023-09-22 | 株式会社Hemisphere Japan | 位置決定装置 |
JP2023152805A (ja) * | 2022-03-30 | 2023-10-17 | 株式会社Hemisphere Japan | 位置決定装置 |
WO2024070905A1 (ja) * | 2022-09-30 | 2024-04-04 | 日立建機株式会社 | 作業機械 |
Also Published As
Publication number | Publication date |
---|---|
CN113439141A (zh) | 2021-09-24 |
KR20210113326A (ko) | 2021-09-15 |
US20220145580A1 (en) | 2022-05-12 |
JP7182726B2 (ja) | 2022-12-02 |
CN113439141B (zh) | 2022-11-01 |
EP4039886A4 (en) | 2023-10-25 |
JPWO2021065384A1 (ja) | 2021-12-16 |
EP4039886A1 (en) | 2022-08-10 |
KR102580772B1 (ko) | 2023-09-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2021065384A1 (ja) | 作業機械 | |
US11053661B2 (en) | Work machine | |
KR102125282B1 (ko) | 작업 기계 | |
WO2018051511A1 (ja) | 作業機械 | |
JP6957081B2 (ja) | 作業機械 | |
WO2018008188A1 (ja) | 作業機械 | |
US9834908B2 (en) | Work machine and control method for work machine | |
JP6752193B2 (ja) | 作業機械 | |
JP6889806B2 (ja) | 作業機械 | |
JP6964109B2 (ja) | 作業機械 | |
WO2022085556A1 (ja) | 作業機械 | |
KR20230132563A (ko) | 작업 기계 | |
WO2021065952A1 (ja) | 作業機械 | |
KR102580728B1 (ko) | 작업 기계 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20872650 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2021550519 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 20217025265 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2020872650 Country of ref document: EP Effective date: 20220502 |