WO2021070577A1 - 作業機械および作業機械の制御方法 - Google Patents
作業機械および作業機械の制御方法 Download PDFInfo
- Publication number
- WO2021070577A1 WO2021070577A1 PCT/JP2020/034853 JP2020034853W WO2021070577A1 WO 2021070577 A1 WO2021070577 A1 WO 2021070577A1 JP 2020034853 W JP2020034853 W JP 2020034853W WO 2021070577 A1 WO2021070577 A1 WO 2021070577A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lever
- work machine
- unit
- traveling
- working machine
- 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
-
- 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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- 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
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04714—Mounting of controlling member with orthogonal axes
- G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
- G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
Definitions
- the present invention relates to a work machine and a method for controlling the work machine.
- a hydraulic excavator which is an example of a working machine, is provided with a traveling lever for moving the traveling device forward or backward, and two working machine operating levers for turning the swivel body to operate the working machine, and a plurality of operating levers are provided. Is often provided.
- Patent Document 1 discloses a hydraulic excavator that automatically operates when a series of monotonous operations are repeated.
- An object of the present invention is to provide a work machine and a control method of the work machine so that the operator can easily confirm the operation of the operation lever. (Means to solve problems)
- the disclosed work machine includes an operation member, a drive unit, and a controller.
- the drive unit moves the operating member.
- the controller outputs a control signal for operating the traveling device of the work machine or the actuator of the work machine.
- the controller outputs a drive signal that gives a movement corresponding to the operation of the actuator to the operation member to the drive unit, and moves the operation member based on the drive signal.
- the controller outputs a control signal based on the movement of the operating member operated by the operator.
- the disclosed work machine control method includes a first output step, a second output step, a determination step, and a third output step.
- the first output step outputs a control signal for operating the actuator.
- the second output step outputs a drive signal that gives a movement corresponding to the operation of the actuator to the operation member to the drive unit that drives the operation member.
- the determination step determines whether or not the movement of the operating member operated by the operator is different from the movement corresponding to the operation of the actuator. If it is determined that the third output step is different, the control signal is output based on the movement of the operating member operated by the operator. (Effect of the invention)
- the external perspective view which shows the traveling lever unit of FIG. FIG. 3 is a cross-sectional view taken along the line between BB'in FIG.
- FIG. 3 is a perspective view showing an external configuration of the left working machine operating lever unit of FIG.
- FIG. 5 is a cross-sectional view taken along the line between AA'in FIG.
- the flow chart which shows the control method of the hydraulic excavator of FIG.
- FIG. 1 is a schematic view showing the configuration of the hydraulic excavator 1 of the present embodiment.
- the hydraulic excavator 1 includes a vehicle body 2 and a working machine 3. As shown in FIG. 1, the vehicle body 2 has a traveling body 4 and a turning body 5.
- the traveling body 4 has a pair of traveling devices 4a and 4b. Each of the traveling devices 4a and 4b has crawler belts 4c and 4d, and the traveling motors 4ae and 4be are rotated by a driving force from the engine to drive the crawler belts 4c and 4d, so that the hydraulic excavator 1 travels.
- FIG. 1 shows only the traveling motor 4be.
- the swivel body 5 is placed on the traveling body 4.
- the swivel body 5 is provided so as to be swivelable with respect to the traveling body 4 about an axis along the vertical direction by a swivel device (not shown).
- a cab 6 as a driver's cab is provided at the front left position of the swivel body 5.
- the swivel body 5 houses an engine, a hydraulic pump, and the like (not shown).
- the front, rear, left and right will be described with reference to the driver's seat in the cab 6.
- the direction in which the driver's seat faces the front is the front direction F
- the direction in which the driver's seat faces the front is the rear direction B.
- the right side and the left side in the lateral direction when the driver's seat faces the front are R in the right direction and L in the left direction, respectively.
- the cab 6 has a door 6a on the left side surface arranged on the opposite side of the work machine 3.
- the work machine 3 has a boom 7, an arm 8, and an excavation bucket 9, and is attached to the front center position of the swivel body 5. Specifically, the working machine 3 is arranged on the right side of the cab 6. The base end portion of the boom 7 is rotatably connected to the swivel body 5. Further, the tip end portion of the boom 7 is rotatably connected to the base end portion of the arm 8. The tip of the arm 8 is rotatably connected to the excavation bucket 9. The excavation bucket 9 is attached to the arm 8 so that its opening can face the direction (rear) of the vehicle body 2. A hydraulic excavator in which the excavation bucket 9 is attached in such an orientation is called a backhoe.
- hydraulic cylinders 10 to 12 (boom cylinder 10, arm cylinder 11 and bucket cylinder 12) are arranged so as to correspond to the boom 7, the arm 8 and the excavation bucket 9, respectively.
- the work machine 3 is driven by driving these hydraulic cylinders 10 to 12 (an example of an actuator of the work machine). As a result, work such as excavation is performed.
- the vehicle body 2 is provided with a control system 30 as shown in FIG. 8 to be described later.
- the control system 30 controls the work machine 3, the swivel body 5, the traveling devices 4a and 4b, and the drive units 17 and 44 described later.
- FIG. 2 is a perspective view showing the inside of the cab 6.
- a driver's seat 13 Inside the cab 6, a driver's seat 13, a traveling lever unit 14, a left working machine operating lever unit 15, and a right working machine operating lever unit 16 are provided.
- the traveling lever unit 14 is arranged on the front side of the driver's seat 13. By pushing the traveling lever 140 (an example of the operating lever) of the traveling lever unit 14 forward, the vehicle body 2 moves forward, and by pulling the traveling lever 140 toward the front, the vehicle body 2 moves backward. Depending on the direction of the swivel body, the forward movement and the reverse movement are reversed.
- the left work machine operation lever unit 15 is provided in the console box 61 arranged on the left side of the driver's seat 13.
- the left work machine operation lever 150 (an example of the operation lever) of the left work machine operation lever unit 15 can be tilted in four directions of front, back, left and right.
- the arm 8 is pushed out by tilting the left working machine operating lever 150 forward, and the arm 8 is pulled in by tilting it backward. Further, the swivel body 5 turns to the right by tilting the left working machine operating lever 150 toward the driver's seat 13, and the swivel body turns to the left by tilting to the side opposite to the driver's seat 13. In the state where the left working machine operating lever 150 is arranged at the neutral position in the front, rear, left and right, the swivel body 5 and the arm 8 are held at that position while being stopped.
- the right working machine operation lever unit 16 is provided in the console box 62 arranged on the right side of the driver's seat 13.
- the right work machine operation lever 160 (an example of the operation lever) of the right work machine operation lever unit 16 can be tilted in four directions of front, back, left and right.
- the boom 7 is lowered by tilting the right working machine operating lever 160 forward, and the boom 7 is raised by tilting it backward.
- the excavation bucket 9 is dumped by tilting the right working machine operating lever 160 to the side opposite to the driver's seat 13, and the excavation bucket 9 is operated by tilting to the driver's seat 13. In the state where the right working machine operating lever 160 is arranged at the neutral position in the front, rear, left and right, the boom 7 and the excavation bucket 9 do not move and are held at that position.
- FIG. 3 is a perspective view of the traveling lever unit 14.
- FIG. 4 is a cross-sectional view taken along the line between BB'in FIG.
- the traveling lever unit 14 includes a traveling lever 140, a connecting portion 41, a shaft portion 42, a potentiometer 43, a driving unit 44, and a traveling pedal 45.
- the traveling lever 140 extends upward from the floor 6f of the cab 6.
- a grip portion 141 that is gripped by the operator during operation is provided at the upper end of the traveling lever 140.
- the connecting portion 41 connects between the lower portion of the traveling lever 140 and the shaft portion 42.
- the connecting portion 41 is fixed to each of the traveling lever 140 and the shaft portion 42.
- the shaft portion 42 is arranged along the left-right direction.
- the potentiometer 43 is provided at one end of the shaft portion 42.
- the connecting portion 41 fixed to the traveling lever 140 also moves in the front-rear direction, and the shaft portion 42 rotates together with the connecting portion 41.
- the operating position of the traveling lever 140 can be detected.
- the drive unit 44 has an electric motor 44a connected to the other end of the shaft unit 42.
- the output shaft 44b of the electric motor 44a is connected to the shaft portion 42, and the shaft portion 42 can be rotationally driven. By rotationally driving the shaft portion 42, the traveling lever 140 can be tilted and moved in the front-rear direction.
- the traveling pedal 45 is arranged above the connecting portion 41, and as shown in FIG. 3, by depressing the front end 45a so as to move downward, the traveling lever 140 also moves forward and the hydraulic excavator 1 advances. Can be made to. Further, by stepping on the rear end 45b so as to move downward, the traveling lever 140 also moves rearward, and the hydraulic excavator 1 can be moved backward.
- FIG. 5 is a perspective view schematically showing the external configuration of the left working machine operating lever unit 15.
- FIG. 6 is a perspective view schematically showing the internal configuration of the left working machine operating lever unit 15.
- FIG. 7 is a cross-sectional view taken along the line between AA'in FIG.
- the left working machine operation lever unit 15 includes a first support frame 21, a second support frame 22, a third support frame 23, and a drive unit 17.
- the first support frame 21 is fixed to the frame of the console box 61, and supports the left working machine operating lever 150 so as to be tiltable back and forth and left and right via the second support frame 22 and the third support frame 23.
- the first support frame 21 has a box shape, and has an upper surface 21a, a pair of side surfaces 21b, a pair of side surfaces 21c, a pair of mounting surfaces 21d, and a pair of mounting surfaces. It has 21e and.
- a quadrangular through hole 21h is formed on the upper surface 21a in a plan view.
- the pair of side surfaces 21b are provided so as to face downward from each of the front end and the rear end of the upper surface 21a.
- the pair of side surfaces 21b are arranged so as to face each other in the front-rear direction.
- Through holes 21f are formed in each of the pair of side surfaces 21b. Only one through hole 21f is shown.
- the pair of side surfaces 21c are provided so as to face downward from each of the left end and the right end of the upper surface 21a.
- the pair of side surfaces 21c are arranged so as to face each other in the left-right direction.
- Through holes 21g are formed in each of the pair of side surfaces 21c. Only one through hole 21g is shown.
- a box shape is formed by the upper surface 21a, the pair of side surfaces 21b, and the pair of side surfaces 21c.
- the pair of mounting surfaces 21d are provided so as to be perpendicular to the side surfaces 21b and extend outward from the lower ends of the pair of side surfaces 21b.
- the pair of mounting surfaces 21e are provided so as to be perpendicular to the side surfaces 21c and extend outward from the lower ends of the pair of side surfaces 21c.
- the first support frame 21 is shown by a two-dot chain line, and the configuration inside the first support frame 21 is shown by a solid line.
- the second support frame 22 is tilted according to the tilt of the left working machine operating lever 150 in the front-rear direction.
- the second support frame 22 does not rotate with respect to the left-right tilt of the left work machine operating lever 150, but supports the left-right tilt of the left work machine operation lever 150 in the left-right direction.
- the second support frame 22 is rotatably arranged inside the first support frame 21 with respect to the first support frame 21. As shown in FIG. 7, the second support frame 22 is formed in an inverted U shape when viewed along the front-rear direction.
- the second support frame 22 has an upper surface 22a, a pair of side surfaces 22b, and a shaft 22c.
- the pair of side surfaces 22b are provided so as to face downward from the left and right ends of the upper surface 22a.
- the upper surface 22a is provided with a through hole 22d formed along the left-right direction. Further, the width of the through hole 22d in the front-rear direction is set to be substantially the same as the diameter of the left working machine operating lever 150.
- the left working machine operating lever 150 is tilted in the left-right direction along the through hole 22d.
- the shaft 22c is provided on each of the pair of side surfaces 22b along the left-right direction so as to project outward.
- the shaft 22c of the left side surface 22b is provided from the left side surface 22b toward the left, and the shaft 22c of the right side surface 22b is provided from the right side surface 22b toward the right.
- the pair of shafts 22c are rotatably inserted into through holes 21g (see FIG. 5) formed in each of the pair of side surfaces 21c.
- the third support frame 23 rotates in accordance with the inclination of the left working machine operating lever 150 in the left-right direction.
- the third support frame 23 does not rotate with respect to the tilt of the left work machine operating lever 150 in the front-rear direction, but supports the rotation of the left work machine operation lever 150.
- the third support frame 23 is rotatably arranged inside the first support frame 21 with respect to the first support frame 21.
- the third support frame 23 is arranged inside the second support frame 22.
- the third support frame 23 has a frame portion 23a and a shaft 23b.
- the frame portion 23a has a rectangular shape formed long in the front-rear direction in a plan view.
- the frame portion 23a surrounds the left working machine operating lever 150 in a plan view.
- the left working machine operating lever 150 is tilted along the front-rear direction of the frame portion 23a.
- the frame portion 23a has a pair of side surfaces 23c and a pair of side surfaces 23d.
- the pair of side surfaces 23c are arranged so as to face each other in the front-rear direction.
- the pair of side surfaces 23d are arranged so as to face each other in the left-right direction.
- the side surface 23d is formed longer than the side surface 23c in a plan view.
- Through holes 23e are formed in each of the pair of side surfaces 23d as shown in FIG.
- the shaft 23b is provided on each of the pair of side surfaces 23d along the front-rear direction so as to project outward.
- the shaft 23b provided on the front side surface 23c is provided from the front side surface 23c toward the front, and the shaft 23b provided on the rear side surface 23c faces the rear direction from the rear side surface 23c. Is provided.
- the pair of shafts 23b are rotatably inserted into through holes 21f (see FIG. 5) formed in each of the pair of side surfaces 21b.
- the left working machine operating lever 150 has a shaft 150a protruding in each of the left and right directions at its root portion.
- the shaft 150a is rotatably inserted into each through hole 23e of the pair of side surfaces 23d.
- the pair of shafts 22c of the shaft 150a and the second support frame 22 described above are coaxially arranged (see shaft C2).
- the pair of shafts 23b of the third support frame 23 are arranged coaxially (see shaft C1).
- the left working machine operating lever 150 when the left working machine operating lever 150 is tilted in the front-rear direction, the left working machine operating lever 150 rotates about the shaft 150a with respect to the third support frame 23. At this time, since the frame portion 23a of the third support frame 23 is formed long in the front-rear direction, the left working machine operating lever 150 can be tilted in the front-rear direction without interfering with the frame portion 23a.
- the left working machine operating lever 150 comes into contact with the edge of the through hole 22d, the left working machine operating lever 150 rotates about the shaft 22c as it rotates in the front-rear direction. Since the pair of shafts 22c of the shaft 150a and the second support frame 22 described above are arranged on the coaxial C2, the left working machine operating lever 150 is inclined in the front-rear direction with respect to the shaft C2.
- the left working machine operating lever 150 when the left working machine operating lever 150 is tilted in the left-right direction, the left working machine operating lever 150 rotates about the shaft 23b together with the third support frame 23.
- the left working machine operating lever 150 moves along the through hole 22d of the second support frame 22, so that the left working machine operating lever 150 is second-supported. It can be tilted in the left-right direction without interfering with the upper surface 22a of the frame 22. Since the pair of shafts 23b of the third support frame 23 are arranged on the coaxial C1, the left working machine operating lever 150 is inclined in the left-right direction with respect to the shaft C1.
- Drive unit 17 The drive unit 17 drives the left work machine operating lever 150 in accordance with the lever operation stored in the storage unit 32, which will be described later.
- the drive unit 17 has a first motor 24 and a second motor 25.
- the first motor 24 is an electric motor and is connected to one of the pair of shafts 23b of the third support frame 23. The first motor 24 is fixed to the mounting surface 21d.
- the first motor 24 can tilt the left working machine operating lever 150 in the left-right direction by applying a force to the shaft 23b.
- the second motor 25 is an electric motor and is connected to one of the pair of shafts 22c of the second support frame 22.
- the second motor 25 is fixed to the mounting surface 21e.
- the second motor 25 can tilt the left working machine operating lever 150 in the front-rear direction by applying a force to the shaft 22c.
- the first potentiometer 18 is connected to a pair of shafts 23b of the third support frame 23.
- the first potentiometer 18 is fixed to the mounting surface 21d of the first support frame 21.
- the first potentiometer 18 detects the tilted position of the left working machine operating lever 150 in the left-right direction by detecting the rotational position of the shaft 23b. A command signal is transmitted based on this tilted position, and the swivel body 5 turns.
- the second potentiometer 19 is connected to a pair of shafts 22c of the second support frame 22.
- the second potentiometer 19 is fixed to the mounting surface 21e of the first support frame 21.
- the second potentiometer 19 detects the tilted position of the left working machine operating lever 150 in the front-rear direction by detecting the rotational position of the shaft 22c. A command signal is transmitted based on this tilted position, and the arm 8 is pushed out or pulled in.
- FIG. 8 is a block diagram showing the configuration of the control system 30.
- the first potentiometer 18 and the second potentiometer 19 are also shown.
- the first motor 24 and the second motor 25 are also shown in the drawing.
- the control system 30 includes a control unit 31, a storage unit 32, an IMU 33, stroke sensors 34, 35, 36, a traveling speed sensor 37, and a turning angle sensor 38.
- the control unit 31 includes a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory), and a main memory including a volatile memory such as a RAM (Random Access Memory).
- the control unit 31 reads the program stored in the storage unit 32, expands it in the main memory, and executes a predetermined process according to the program.
- the program may be distributed to the control system 30 via the network.
- the storage unit 32 stores the predetermined operation of the hydraulic excavator 1 for automatic operation in chronological order.
- the predetermined operation of the hydraulic excavator 1 includes at least one of the operation of the work machine 3, the turning operation of the swivel body 5, and the traveling operation of the traveling devices 4a and 4b.
- the storage unit 32 is provided separately from the control unit 31, but may be provided in the control unit 31.
- the storage unit 32 operates the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140 so as to execute the predetermined operation of the hydraulic excavator 1 in addition to the predetermined operation of the hydraulic excavator 1. I remember it as a series.
- This lever operation can be said to be a movement corresponding to a predetermined operation of the hydraulic excavator 1.
- the predetermined operation and the lever operation stored in the storage unit 32 can be created by the operator by, for example, teaching playback.
- the teaching playback means that when the operator operates the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140, the storage unit 32 stores the operating procedure.
- the control unit 31 includes a lever drive unit 51, a vehicle body drive unit 52, and a determination unit 53.
- the lever drive unit 51 controls the left work machine operation lever unit 15, the right work machine operation lever unit 16, and the traveling lever unit 14 so as to execute the lever operation stored in the storage unit 32.
- the lever drive unit 51 sends drive signals s1 to each of the left work machine operation lever unit 15, the right work machine operation lever unit 16 and the traveling lever unit 14 so as to execute a predetermined lever operation stored in the storage unit 32. s2 and s3 are transmitted.
- the left work machine operation lever unit 15 drives the first motor 24 and the second motor 25 based on the drive signal s1 to drive the left work machine operation lever 150.
- the right working machine operating lever unit 16 drives the first motor 24 and the second motor 25 based on the drive signal s2 to drive the right working machine operating lever 160.
- the traveling lever unit 14 drives the first motor 24 and the second motor 25 based on the drive signal s3 to drive the traveling lever 140.
- the vehicle body drive unit 52 controls the work machine 3, the swivel body 5, or the traveling devices 4a and 4b so as to execute a predetermined operation stored in the storage unit 32.
- the vehicle body drive unit 52 transmits a control signal s7 to the work machine 3 so as to execute a predetermined operation stored in the storage unit 32, transmits a control signal s8 to the swivel body 5, and controls the traveling devices 4a and 4b.
- the signal s9 is transmitted.
- the EPC valve that has received the control signal s7 is driven, hydraulic oil is supplied to the hydraulic cylinders 10 to 12, and the working machine 3 operates.
- the swivel motor 5a is driven to swivel the swivel body 5.
- the traveling motors 4ae and 4be provided in each of the traveling devices 4a and 4b drive the tracks 4c and 4d, and the traveling body 4 moves forward or backward.
- the hydraulic cylinders 10 to 12 are examples of actuators of a working machine.
- the traveling motors 4ae and 4be are examples of actuators of the traveling device.
- the swivel motor 5a is an example of an actuator of the swivel body.
- the IMU (Inertial Measurement Unit) 33 has a 3-axis gyro and a 3-direction accelerometer, and can detect three-dimensional angular velocity and acceleration.
- the stroke sensor 34 detects the stroke of the boom cylinder 10.
- the stroke sensor 35 detects the stroke of the arm cylinder 11.
- the stroke sensor 36 detects the stroke of the bucket cylinder 12.
- the posture of the work machine 3 can be detected by the stroke sensors 34 to 36.
- the traveling speed sensor 37 detects the traveling speed of the traveling devices 4a and 4b.
- the swivel angle sensor 38 detects the swivel angle of the swivel body 5.
- the determination unit 53 determines the operator's operation intervention during the automatic operation of the predetermined operation. The determination unit 53 determines whether or not the operation of the left work machine operation lever 150, the right work machine operation lever 160, or the traveling lever 140 matches the lever operation stored in the storage unit 32.
- the left working machine operating lever unit 15 transmits the position signal s4 of the left working machine operating lever 150 detected by the first potentiometer 18 and the second potentiometer 19 to the control unit 31.
- the right working machine operating lever unit 16 transmits the position signal s5 of the right working machine operating lever 160 detected by the first potentiometer 18 and the second potentiometer 19 to the control unit 31.
- the traveling lever unit 14 transmits the position signal s6 of the traveling lever 140 or the traveling pedal 45 detected by the potentiometer 43 to the control unit 31.
- the determination unit 53 is stored in the storage unit 32 by the operator operating any of the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 based on the position signals s4 to s6. It is determined whether or not the lever operation of is changed to a different operation. Since the first motor 24, the second motor 25, or the electric motor 44a is driven so as to perform the lever operation stored in the storage unit 32, the operator must drive the motor in order to intervene in the operation. It is necessary to operate against.
- the vehicle body drive unit 52 receives a position signal.
- Control signals s7', s8', and s9'corresponding to different operations are generated based on s4 to s6 and transmitted to the work machine 3, the swivel body 5, or the traveling devices 4a and 4b.
- the work machine 3 operates based on the control signal s7'
- the swivel body 5 operates based on the control signal s8'
- the traveling devices 4a and 4b operate based on the control signal s9'.
- the vehicle body drive unit 52 creates control signals s7', s8', and s9'so that the lever operates at a larger or smaller difference between different operating positions with respect to the operating position of the lever when performing a predetermined operation.
- the determination unit 53 matches the operation of the left work machine operation lever 150, the right work machine operation lever 160 or the traveling lever 140 with the lever operation stored in the storage unit 32 based on the position signals s4 to s6.
- the vehicle body driving unit 52 generates and transmits control signals s7, s8, and s9 so as to execute a predetermined operation stored in the storage unit 32.
- the first motor 24, the second motor 25, or the electric motor 44a is driven so as to perform the lever operation stored in the storage unit 32, the operator who has intervened in the operation releases his / her hand from the lever.
- the left work machine operation lever 150, the right work machine operation lever 160 or the traveling lever 140 are returned to the original lever operation positions. This return is determined by the determination unit 53 based on the position signals s4 to s6.
- the automatic operation is performed when it becomes necessary to operate the operation larger (addition) or smaller (subtraction) than the automatic operation. Can intervene smoothly.
- the determination unit 53 determines that the positions of the left work machine operation lever 150, the right work machine operation lever 160, or the traveling lever 140 match the position of the lever operation for performing a predetermined operation, it is automatically performed again. You can go back to driving.
- FIG. 9 is a flow chart for explaining the operation of the hydraulic excavator 1 according to the embodiment of the present disclosure.
- step S10 the hydraulic excavator 1 is operated so that the automatic operation in which the predetermined operation stored in the storage unit 32 is performed is performed.
- the vehicle body drive unit 52 feeds back the detected values of the IMU 33 and various sensors 34 to 38 so as to execute a predetermined operation stored in the storage unit 32, and the hydraulic cylinders 10 to 12 of the work machine 3
- the control signal s7 is transmitted to, the control signal s8 is transmitted to the swivel motor 5a of the swivel body 5, and the control signal s9 is transmitted to the traveling motors 4ae and 4be of the traveling devices 4a and 4b.
- a lever operation is performed so as to perform an operation corresponding to the operation of the hydraulic excavator 1.
- the lever drive unit 51 transmits a drive signal s1 to the left work machine operation lever unit 15 so as to execute the lever operation stored in the storage unit 32, and drives the right work machine operation lever unit 16.
- the signal s2 is transmitted, and the drive signal s3 is transmitted to the traveling lever unit 14.
- the lever operation stored in the storage unit 32 is a movement that executes the operations of the working machine 3, the swivel body 5, and the traveling devices 4a and 4b stored in the storage unit 32, and is a storage unit. This is a movement corresponding to the movements of the work machine 3, the swivel body 5, and the traveling devices 4a and 4b stored in 32.
- step S12 the control unit 31 determines whether or not the time series of predetermined operations stored in the storage unit 32 has ended. If not completed, the control unit 31 acquires the position signals s4 to s6 of the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140 in step S13.
- step S14 the determination unit 53 of the control unit 31 determines that the movements of the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 are different from the predetermined operations stored in the storage unit 32. Judge whether or not it is.
- step S15 the vehicle body driving unit 52 operates the hydraulic excavator with the operation of the different lever.
- step S15 the control proceeds to step S12, and in step S12, the control unit 31 determines whether or not the time series of the predetermined operation stored in the storage unit 32 has ended, and if not, has not ended. , Steps S13 and S14 are performed.
- step S14 when it is determined that the lever operation is not different from the predetermined operation (when the lever operation returns to the original lever operation position), the control proceeds to step S11 and is stored in the storage unit 32.
- the automatic operation in which the predetermined operation is performed is performed, and the lever operation for executing the predetermined operation is performed.
- step S12 if it is determined in step S12 that the predetermined operation is completed, the control unit 31 ends the control.
- the hydraulic excavator of the second embodiment will be described below.
- the hydraulic excavator 1 of the second embodiment is not teaching, but acquires topographical information to be worked on and creates an operation by calculation.
- FIG. 10 is a block diagram showing the configuration of the control system 130 of the second embodiment.
- the control system 130 of the second embodiment includes a control unit 131, a storage unit 32, an IMU 33, stroke sensors 34, 35, 36, a traveling speed sensor 37, a turning angle sensor 38, and a three-dimensional measurement unit 39.
- the control unit 131 further has a calculation unit 54 as compared with the control unit 31 of the first embodiment.
- the three-dimensional measurement unit 39 measures the position or shape of the work target.
- the three-dimensional measuring unit 39 includes a laser radar 39a, which is a kind of laser measuring device, and a stereo camera 39b.
- the laser radar 39a irradiates the work target with a laser, receives the laser light scattered by the work target, and transmits the light reception data to the control unit 131.
- the calculation unit 54 of the control unit 131 measures the three-dimensional shape of the work target and the relative position with respect to the work target based on the received light data.
- the stereo camera 39b has two cameras.
- the image data captured by the two cameras is transmitted to the control unit 131.
- the calculation unit 54 of the control unit 131 performs stereo processing based on the image data captured by each camera, and measures the three-dimensional shape of the work target and the relative position with respect to the work symmetry.
- the laser radar 39a and the stereo camera 39b may be either one.
- the calculation unit 54 calculates the operation of the hydraulic excavator 1 from the detection values of the IMU 33 and various sensors 34 to 38, the three-dimensional shape obtained from the three-dimensional measurement unit 39, and the position relative to the work target.
- the calculated operation is stored in the storage unit 32.
- the work machine 3, the swivel body 5 and the traveling device 4a are controlled so as to execute the predetermined operation stored in the storage unit 32, and the left work machine operation lever 150 is executed so as to execute the lever operation such as performing the predetermined operation.
- the right working machine operating lever 160 and the traveling lever 140 are moved.
- the hydraulic excavator 1 (an example of a working machine) of the embodiment includes a left working machine operating lever 150 (an example of an operating member), a right working machine operating lever 160 (an example of an operating member), and a traveling lever 140 (an example of an operating member).
- Drive units 17, 44, and control units 31, 131 (an example of a controller). The drive units 17 and 44 move the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140.
- the control units 31 and 131 control the hydraulic cylinders 10 to 12 (an example of an actuator), the swivel motor 5a of the swivel body 5 (an example of an actuator), and the traveling motors 4ae and 4be (an example of an actuator) of the traveling devices 4a and 4b.
- the signals s7, s8, and s9 are output.
- the control units 31 and 131 give movements corresponding to the operations of the hydraulic cylinders 10 to 12, the swivel motors 5a, and the traveling motors 4ae and 4be to the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140.
- the drive signals s1, s2, and s3 are output to the drive units 17 and 44.
- the operator can visually recognize the movements of the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 when moving the hydraulic excavator 1, so that the left work machine operation lever 150 and the right work machine operation can be operated.
- the movements of the lever 160 and the traveling lever 140 can be easily confirmed.
- the left work machine operation lever 150 and the right work machine operation lever 160 are levers for operating the work machine 3, and the control units 31 and 131 are set to predetermined operations. Based on this, the control signal s7 is output to the hydraulic cylinders 10 to 12 (an example of the actuator) of the work machine 3.
- the traveling lever 140 is a lever for operating the traveling devices 4a and 4b of the hydraulic excavator 1.
- the control units 31 and 131 output the control signal s9 to the traveling motors 4ae and 4be (an example of the actuator) of the traveling devices 4a and 4b based on the movement of the traveling lever 140.
- the traveling devices 4a and 4b can be operated according to the predetermined operation stored in the storage unit 32.
- the left work machine operation lever 150, the right work machine operation lever 160 or the traveling lever 140 are operated by the operator to operate the left work machine operation lever. If the movement of the 150, the right working machine operating lever 160 or the traveling lever 140 is different from the movement corresponding to the operations of the hydraulic cylinders 10 to 12, the rotating motor 5a of the rotating body 5, and the traveling devices 4a and 4b, a different left operation is performed.
- the control signals s7', s8', and s9' are output based on the movements of the machine operating lever 150, the right working machine operating lever 160, or the traveling lever 140.
- the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140 are automatically driven so that the hydraulic excavator 1 performs a predetermined operation, the operator can perform the left working machine operating lever.
- the automatic operation can be easily interrupted by operating the 150, the right working machine operating lever 160 or the traveling lever 140.
- the hydraulic excavator 1 (an example of a working machine) of the embodiment includes a first potentiometer 18, a second potentiometer 19, and a potentiometer 43 (an example of a position detection unit).
- the first potentiometer 18 and the second potentiometer 19 detect the position of the left working machine operating lever 150.
- the first potentiometer 18 and the second potentiometer 19 detect the position of the right working machine operating lever 160.
- the potentiometer 43 detects the position of the traveling lever 140.
- the control units 31 and 131 have a determination unit 53.
- the determination unit 53 determines the left working machine operating lever 150 based on the positions of the left working machine operating lever 150, the right working machine operating lever 160, or the traveling lever 140 detected by the first potentiometer 18, the second potentiometer 19, and the potentiometer 43.
- the movement of the right working machine operating lever 160 or the traveling lever 140 corresponds to the operation of the hydraulic cylinders 10 to 12 of the working machine 3, the swivel motor 5a of the swivel body 5, and the traveling motors 4ae and 4be of the traveling devices 4a and 4b. Determine if it is different from the movement.
- the hydraulic excavator 1 (an example of a working machine) of the embodiment includes a storage unit 32.
- the storage unit 32 stores the operations of the hydraulic cylinders 10 to 12, the swivel motor 5a, and the traveling motors 4ae and 4be.
- the operations of the hydraulic cylinders 10 to 12, the swivel motors 5a, the traveling motors 4ae, and 4be stored in the storage unit 32 are created by teaching playback.
- the control unit 131 has a three-dimensional measurement unit 39 (an example of a terrain information acquisition unit) and a calculation unit 54.
- the three-dimensional measurement unit 39 acquires topographical information.
- the calculation unit 54 includes hydraulic cylinders 10 to 12 (an example of an actuator), a swivel motor 5a of the swivel body 5 (an example of an actuator), and traveling motors 4ae and 4be of the traveling devices 4a and 4b (an example of the actuator). Calculate the operation of (1 example).
- the disclosed method for manufacturing a hydraulic excavator 1 includes step S10 (an example of a first output step) and step S11 (an example of a second output step).
- step S10 the hydraulic cylinders 10 to 12 of the work machine 3 (an example of an actuator), the swivel motor 5a of the swivel body 5 (an example of an actuator), and the traveling motors 4ae and 4be of the traveling devices 4a and 4b (an example of an actuator) are used.
- the control signals s7, s8, and s9 to be operated are output.
- Step S11 is a drive signal s1 that gives movements corresponding to the operations of the hydraulic cylinders 10 to 12, the swivel motors 5a, and the traveling motors 4ae and 4be to the left working machine operating lever 150, the right working machine operating lever 160, and the traveling lever 140.
- s2 and s3 are output to the drive units 17 and 44 that drive the left work machine operation lever 150 (an example of an operation member), the right work machine operation lever 160 (an example of an operation member), and the traveling lever 140 (an example of an operation member). To do.
- the operator can visually recognize the movements of the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 when moving the hydraulic excavator 1, so that the left work machine operation lever 150 and the right work machine operation can be operated.
- the movements of the lever 160 and the traveling lever 140 can be easily confirmed.
- the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 are driven, but any one of them may be used, or the left work machine operation lever 150 and the right work machine operation lever 150 may be driven. Only 160 may be driven.
- the determination unit 53 detects the operation of the left work machine operation lever 150, the right work machine operation lever 160, and the traveling lever 140 by the operator only by the potentiometer, but the operation is not limited to this.
- the lever is further equipped with a pressure sensor or the like to detect the grip of the operator and the detection position by the potentiometer is different, it may be detected that different operations have been performed by the operator.
- the predetermined operation is obtained by teaching or calculation from the terrain information, but it is not limited to this, and the operation created in advance may be stored in the storage unit 32 via the Internet. ..
- the hydraulic excavator has been described as an example of the work machine, but the excavator is not limited to the hydraulic excavator, and a wheel loader or the like may be used.
- the work machine of the present invention exerts an effect of making it easy for the operator to confirm the operation of the operation lever, and is useful as a hydraulic excavator or the like.
- Hydraulic excavator 17 Drive unit 31: Control unit 32: Storage unit 140: Travel lever 150: Left work machine operation lever 160: Right work machine operation lever
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
本発明は、操作レバーの操作をオペレータに確認させ易い作業機械および作業機械の制御方法を提供することを目的とする。
(課題を解決するための手段)
(発明の効果)
<構成>
(油圧ショベル1の構成の概要)
図1は、本実施の形態の油圧ショベル1の構成を示す模式図である。
図2は、キャブ6の内部を示す斜視図である。
右作業機操作レバー160を前方に傾斜することによってブーム7が下げられ、後方に傾斜することによってブーム7が上げられる。右作業機操作レバー160を運転席13と反対側に傾斜することによって掘削バケット9がダンプ操作し、運転席13側に傾斜することによって掘削バケット9が掘削操作する。なお、右作業機操作レバー160が前後左右の中立位置に配置された状態では、ブーム7と掘削バケット9は動かず、その位置で保持される。
図3は、走行レバーユニット14の斜視図である。図4は、図3のBB´間の矢示断面図である。
左作業機操作レバーユニット15と右作業機操作レバーユニット16は、同様の構成であるため、左作業機操作レバーユニット15を例に挙げて説明する。
第1支持フレーム21は、コンソールボックス61のフレームに固定され、第2支持フレーム22および第3支持フレーム23を介して左作業機操作レバー150を前後左右に傾斜可能に支持する。
図6では、第1支持フレーム21を二点鎖線で示し、その内側の構成を実線で示す。
第3支持フレーム23は、左作業機操作レバー150の左右方向への傾斜に合わせて回動する。第3支持フレーム23は、左作業機操作レバー150の前後方向の傾斜に対しては回動せず、左作業機操作レバー150の回動を支持する。
駆動部17は、後述する記憶部32に記憶されているレバー動作に合わせて左作業機操作レバー150を駆動する。
第1モータ24は、電動モータであり、第3支持フレーム23の一対の軸23bのうち一方の軸23bに接続されている。第1モータ24は載置面21dに固定されている。
第2モータ25は、電動モータであり、第2支持フレーム22の一対の軸22cのうち一方の軸22cに接続されている。第2モータ25は載置面21eに固定されている。
第1ポテンショメータ18は、図5に示すように、第3支持フレーム23の一対の軸23bに接続されている。第1ポテンショメータ18は第1支持フレーム21の載置面21dに固定されている。
第2ポテンショメータ19は、第2支持フレーム22の一対の軸22cに接続されている。第2ポテンショメータ19は第1支持フレーム21の載置面21eに固定されている。
図8は、制御システム30の構成を示すブロック図である。図8では、第1ポテンショメータ18と第2ポテンショメータ19を兼ねて図示する。第1モータ24と第2モータ25を兼ねて図示する。
判定部53は、所定動作の自動運転の際におけるオペレータの操作介入を判定する。判定部53は、左作業機操作レバー150、右作業機操作レバー160または走行レバー140の動作が記憶部32に記憶されているレバー動作に一致しているか否かを判定する。
以下に、本開示にかかる実施の形態の油圧ショベル1の動作について説明する。
次に、ステップS11において、油圧ショベル1の動作に対応した動作を行うようにレバー動作が実施される。具体的には、レバー駆動部51が、記憶部32に記憶されているレバー動作を実行するように左作業機操作レバーユニット15に駆動信号s1を送信し、右作業機操作レバーユニット16に駆動信号s2を送信し、走行レバーユニット14に駆動信号s3を送信する。記憶部32に記憶されているレバー動作とは、記憶部32に記憶されている作業機3、旋回体5、および走行装置4a、4bの動作を実行するような動きのことであり、記憶部32に記憶されている作業機3、旋回体5、および走行装置4a、4bの動作に対応する動きである。
以下に、実施の形態2の油圧ショベルについて以下に説明する。実施の形態2の油圧ショベル1は、ティーチングではなく、作業対象となる地形情報を取得して動作を演算により作成する。
図10は、実施の形態2の制御システム130の構成を示すブロック図である。実施の形態2の制御システム130は、制御部131と、記憶部32と、IMU33と、ストロークセンサ34、35、36と、走行速度センサ37と、旋回角度センサ38と、3次元計測部39と、を有する。また、制御部131は、実施の形態1の制御部31と比較して演算部54を更に有している。
(1)
実施の形態の油圧ショベル1(作業機械の一例)は、左作業機操作レバー150(操作部材の一例)、右作業機操作レバー160(操作部材の一例)および走行レバー140(操作部材の一例)と、駆動部17、44と、制御部31、131(コントローラの一例)と、を備える。駆動部17、44は、左作業機操作レバー150、右作業機操作レバー160および走行レバー140を動かす。制御部31、131は、油圧シリンダ10~12(アクチュエータの一例)、旋回体5の旋回モータ5a(アクチュエータの一例)、および走行装置4a、4bの走行モータ4ae、4be(アクチュエータの一例)に制御信号s7、s8、s9を出力する。制御部31、131は、油圧シリンダ10~12、旋回モータ5a、および走行モータ4ae、4beの動作に対応した動きを、左作業機操作レバー150、右作業機操作レバー160および走行レバー140に与える駆動信号s1、s2、s3を駆動部17、44に出力する。
実施の形態の油圧ショベル1(作業機械の一例)では、左作業機操作レバー150および右作業機操作レバー160は、作業機3を操作するレバーであり、制御部31、131は、所定動作に基づいて作業機3の油圧シリンダ10~12(アクチュエータの一例)に制御信号s7を出力する。
実施の形態の油圧ショベル1(作業機械の一例)では、走行レバー140は、油圧ショベル1の走行装置4a、4bを操作するレバーである。制御部31、131は、走行レバー140の動きに基づいて走行装置4a、4bの走行モータ4ae、4be(アクチュエータの一例)に制御信号s9を出力する。
実施の形態の油圧ショベル1(作業機械の一例)では、制御部31、131は、オペレータによって左作業機操作レバー150、右作業機操作レバー160または走行レバー140が動作されて左作業機操作レバー150、右作業機操作レバー160または走行レバー140の動きが、油圧シリンダ10~12、旋回体5の旋回モータ5a、走行装置4a、4bの動作に対応した動きと異なった場合、異なった左作業機操作レバー150、右作業機操作レバー160または走行レバー140の動きに基づいて制御信号s7´、s8´、s9´を出力する。
実施の形態の油圧ショベル1(作業機械の一例)は、第1ポテンショメータ18、第2ポテンショメータ19およびポテンショメータ43(位置検出部の一例)を備える。第1ポテンショメータ18および第2ポテンショメータ19は左作業機操作レバー150の位置を検出する。第1ポテンショメータ18および第2ポテンショメータ19は右作業機操作レバー160の位置を検出する。ポテンショメータ43は、走行レバー140の位置を検出する。制御部31、131は、判定部53を有する。判定部53は、第1ポテンショメータ18、第2ポテンショメータ19およびポテンショメータ43で検出される左作業機操作レバー150、右作業機操作レバー160または走行レバー140の位置に基づいて、左作業機操作レバー150、右作業機操作レバー160または走行レバー140の動きが、作業機3の油圧シリンダ10~12、旋回体5の旋回モータ5a、および走行装置4a、4bの走行モータ4ae、4beの動作に対応した動きと異なっているか否かを判定する。
実施の形態の油圧ショベル1(作業機械の一例)は、記憶部32を備える。記憶部32は、油圧シリンダ10~12、旋回モータ5a、走行モータ4ae、4beの動作を記憶する。記憶部32に記憶されている油圧シリンダ10~12、旋回モータ5a、走行モータ4ae、4beの動作は、ティーチングプレイバックによって作成される。
実施の形態の油圧ショベル1(作業機械の一例)では、制御部131は、3次元計測部39(地形情報取得部の一例)と、演算部54と、を有する。3次元計測部39は、地形情報を取得する。演算部54は、地形情報に基づいて、油圧シリンダ10~12(アクチュエータの一例)、旋回体5の旋回モータ5a(アクチュエータの一例)、および走行装置4a、4bの走行モータ4ae、4be(アクチュエータの一例)の動作を演算する。
開示の油圧ショベル1(作業機械の一例)の製造方法は、ステップS10(第1出力ステップの一例)とステップS11(第2出力ステップの一例)を備える。ステップS10は、作業機3の油圧シリンダ10~12(アクチュエータの一例)、旋回体5の旋回モータ5a(アクチュエータの一例)、および走行装置4a、4bの走行モータ4ae、4be(アクチュエータの一例)を動作させる制御信号s7、s8、s9を出力する。ステップS11は、油圧シリンダ10~12、旋回モータ5a、および走行モータ4ae、4beの動作に対応した動きを左作業機操作レバー150、右作業機操作レバー160および走行レバー140に与える駆動信号s1、s2、s3を、左作業機操作レバー150(操作部材の一例)、右作業機操作レバー160(操作部材の一例)および走行レバー140(操作部材の一例)を駆動する駆動部17、44に出力する。
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。
上記実施の形態では、左作業機操作レバー150、右作業機操作レバー160および走行レバー140を駆動させているが、いずれか1つでもよいし、左作業機操作レバー150および右作業機操作レバー160のみ駆動させてもよい。
上記実施の形態では、判定部53はポテンショメータのみによってオペレータによる左作業機操作レバー150、右作業機操作レバー160および走行レバー140の操作を検出していたが、これに限らなくても良い。例えば、レバーに圧力センサなどをさらに備えオペレータの把持を検出したうえでポテンショメータによる検出位置が異なっていた場合に、オペレータによって異なる操作が行われたことを検出してもよい。
上記実施の形態では、所定動作はティーチングまたは地形情報からの演算により得られたが、これに限らなくても良く、予め作成された動作がインターネットを経由して記憶部32に記憶されてもよい。
上記実施の形態では、作業機械の一例として油圧ショベルを用いて説明したが、油圧ショベルに限らなくてもよく、ホイールローダ等であってもよい。
17 :駆動部
31 :制御部
32 :記憶部
140 :走行レバー
150 :左作業機操作レバー
160 :右作業機操作レバー
Claims (5)
- 操作部材と、
前記操作部材を動かす駆動部と、
作業機械の走行装置または作業機のアクチュエータを動作させる制御信号を出力するコントローラと、を備え、
前記コントローラは、前記アクチュエータの動作に対応した動きを前記操作部材に与える駆動信号を前記駆動部に出力し、前記駆動信号に基づいて前記操作部材を動かす作業機械であって、
前記コントローラは、オペレータによって動作される前記操作部材の動きが前記アクチュエータの動作に対応した動きと異なる場合、オペレータによって動作される前記操作部材の動きに基づいて前記制御信号を出力する、
作業機械。 - 前記操作部材の位置を検出する位置検出部を更に備え、
前記コントローラは、前記位置検出部で検出される前記操作部材の位置に基づいて、前記操作部材の動きが前記アクチュエータの動作に対応した動きと異なっているか否か判定する判定部を有する、
請求項1に記載の作業機械。 - 前記アクチュエータの動作を記憶する記憶部を更に備え、
前記記憶部に記憶されている前記アクチュエータの動作は、ティーチングプレイバックによって作成される、
請求項1または2に記載の作業機械。 - 前記コントローラは、
作業対象の地形情報を取得する地形情報取得部と、
前記地形情報に基づいて前記アクチュエータの動作を演算する演算部と、
を有する、
請求項1または2に記載の作業機械。 - アクチュエータを動作させる制御信号を出力する第1出力ステップと、
前記アクチュエータの動作に対応した動きを操作部材に与える駆動信号を、前記操作部材を駆動する駆動部に出力する第2出力ステップと、
オペレータによって動作される前記操作部材の動きが前記アクチュエータの動作に対応した動きと異なるか否かを判定する判定ステップと、
異なると判定した場合、オペレータによって動作される前記操作部材の動きに基づいて前記制御信号を出力する第3出力ステップと、
を備えた、
作業機械の制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202080057507.4A CN114222844B (zh) | 2019-10-11 | 2020-09-15 | 作业机械以及作业机械的控制方法 |
US17/639,379 US20220333342A1 (en) | 2019-10-11 | 2020-09-15 | Work machine and control method for work machine |
KR1020227003901A KR102638567B1 (ko) | 2019-10-11 | 2020-09-15 | 작업 기계 및 작업 기계의 제어 방법 |
DE112020004168.9T DE112020004168T5 (de) | 2019-10-11 | 2020-09-15 | Arbeitsmaschine und Verfahren zur Steuerung einer Arbeitsmaschine |
JP2021550568A JPWO2021070577A1 (ja) | 2019-10-11 | 2020-09-15 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019-187840 | 2019-10-11 | ||
JP2019187840 | 2019-10-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021070577A1 true WO2021070577A1 (ja) | 2021-04-15 |
Family
ID=75437880
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/034853 WO2021070577A1 (ja) | 2019-10-11 | 2020-09-15 | 作業機械および作業機械の制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220333342A1 (ja) |
JP (1) | JPWO2021070577A1 (ja) |
KR (1) | KR102638567B1 (ja) |
CN (1) | CN114222844B (ja) |
DE (1) | DE112020004168T5 (ja) |
WO (1) | WO2021070577A1 (ja) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01318621A (ja) * | 1988-06-17 | 1989-12-25 | Komatsu Ltd | 建設機械の作業自動化方法及びその装置 |
JPH02225727A (ja) * | 1989-02-28 | 1990-09-07 | Komatsu Ltd | 電子制御式油圧駆動機械 |
JPH05222745A (ja) * | 1992-02-13 | 1993-08-31 | Yutani Heavy Ind Ltd | 建設機械の自動制御装置 |
JPH06280282A (ja) * | 1993-03-30 | 1994-10-04 | Yutani Heavy Ind Ltd | 油圧ショベルの制御装置 |
JP2018021426A (ja) * | 2016-08-05 | 2018-02-08 | 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 |
WO2018131063A1 (ja) * | 2017-01-10 | 2018-07-19 | 株式会社小松製作所 | 作業車両および制御方法 |
JP2019108721A (ja) * | 2017-12-18 | 2019-07-04 | 住友重機械工業株式会社 | 建設機械 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1990010116A1 (en) * | 1989-02-28 | 1990-09-07 | Kabushiki Kaisha Komatsu Seisakusho | Electronic control type hydraulic driving machine |
JPH05306532A (ja) | 1992-04-30 | 1993-11-19 | Shin Caterpillar Mitsubishi Ltd | ティーチング手段を備えた建設機械 |
US10036141B2 (en) * | 2016-04-08 | 2018-07-31 | Komatsu Ltd. | Control system for work vehicle, control method and work vehicle |
WO2018051511A1 (ja) * | 2016-09-16 | 2018-03-22 | 日立建機株式会社 | 作業機械 |
-
2020
- 2020-09-15 CN CN202080057507.4A patent/CN114222844B/zh active Active
- 2020-09-15 JP JP2021550568A patent/JPWO2021070577A1/ja active Pending
- 2020-09-15 US US17/639,379 patent/US20220333342A1/en active Pending
- 2020-09-15 WO PCT/JP2020/034853 patent/WO2021070577A1/ja active Application Filing
- 2020-09-15 DE DE112020004168.9T patent/DE112020004168T5/de active Pending
- 2020-09-15 KR KR1020227003901A patent/KR102638567B1/ko active IP Right Grant
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01318621A (ja) * | 1988-06-17 | 1989-12-25 | Komatsu Ltd | 建設機械の作業自動化方法及びその装置 |
JPH02225727A (ja) * | 1989-02-28 | 1990-09-07 | Komatsu Ltd | 電子制御式油圧駆動機械 |
JPH05222745A (ja) * | 1992-02-13 | 1993-08-31 | Yutani Heavy Ind Ltd | 建設機械の自動制御装置 |
JPH06280282A (ja) * | 1993-03-30 | 1994-10-04 | Yutani Heavy Ind Ltd | 油圧ショベルの制御装置 |
JP2018021426A (ja) * | 2016-08-05 | 2018-02-08 | 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 |
WO2018131063A1 (ja) * | 2017-01-10 | 2018-07-19 | 株式会社小松製作所 | 作業車両および制御方法 |
JP2019108721A (ja) * | 2017-12-18 | 2019-07-04 | 住友重機械工業株式会社 | 建設機械 |
Also Published As
Publication number | Publication date |
---|---|
KR102638567B1 (ko) | 2024-02-19 |
JPWO2021070577A1 (ja) | 2021-04-15 |
CN114222844A (zh) | 2022-03-22 |
CN114222844B (zh) | 2023-07-04 |
KR20220025895A (ko) | 2022-03-03 |
US20220333342A1 (en) | 2022-10-20 |
DE112020004168T5 (de) | 2022-05-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2013047187A1 (ja) | ブレード制御システムおよび建設機械 | |
JPH09268602A (ja) | 掘削機の制御装置 | |
KR20190112057A (ko) | 건설 기계 | |
JP2023158184A (ja) | モータグレーダおよび表示制御方法 | |
JP7287829B2 (ja) | ショベル | |
WO2021070577A1 (ja) | 作業機械および作業機械の制御方法 | |
WO2021065135A1 (ja) | 制御システム、作業車両の制御方法、および、作業車両 | |
WO2023067898A1 (ja) | 作業機械、及び、作業機械を制御するための方法 | |
WO2022209176A1 (ja) | 作業機械の走行システムおよび作業機械の制御方法 | |
JP6871946B2 (ja) | 作業車両および作業車両の制御方法 | |
WO2021049535A1 (ja) | 作業車両および作業車両の制御方法 | |
US20230050500A1 (en) | Work vehicle and control method | |
JP7225935B2 (ja) | 遠隔操作システム | |
WO2020194914A1 (ja) | 作業機械 | |
WO2023100689A1 (ja) | 建設機械の駆動装置、これを備えた建設機械及び建設機械システム | |
WO2023038000A1 (ja) | 制御装置、作業機械、制御方法および制御システム | |
WO2024053259A1 (ja) | 作業機械、及び、作業機械を制御するための方法 | |
WO2023054615A1 (ja) | 作業機械を制御するためのシステム、方法およびプログラム | |
WO2024084791A1 (ja) | 作業機械、及び、作業機械を制御するための方法 | |
WO2024053443A1 (ja) | 作業機械、作業機械を含むシステム、および作業機械の制御方法 | |
CN112204198B (zh) | 作业机械的显示系统及其控制方法 | |
WO2023053700A1 (ja) | 作業機械を制御するためのシステムおよび方法 | |
WO2020044777A1 (ja) | 建設機械 | |
JP2022106036A (ja) | 建設機械 | |
JP2832386B2 (ja) | 建設機械の作業機制御装置 |
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: 20874601 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2021550568 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 20227003901 Country of ref document: KR Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20874601 Country of ref document: EP Kind code of ref document: A1 |