WO2022201855A1 - Machine de construction fonctionnant de manière autonome - Google Patents

Machine de construction fonctionnant de manière autonome Download PDF

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Publication number
WO2022201855A1
WO2022201855A1 PCT/JP2022/003383 JP2022003383W WO2022201855A1 WO 2022201855 A1 WO2022201855 A1 WO 2022201855A1 JP 2022003383 W JP2022003383 W JP 2022003383W WO 2022201855 A1 WO2022201855 A1 WO 2022201855A1
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WIPO (PCT)
Prior art keywords
automatic operation
state
automatic
flag
signal
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PCT/JP2022/003383
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English (en)
Japanese (ja)
Inventor
雄一 小川
晃司 塩飽
勝道 伊東
慎二郎 山本
進也 井村
Original Assignee
日立建機株式会社
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Publication of WO2022201855A1 publication Critical patent/WO2022201855A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • 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
    • 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

Definitions

  • This disclosure relates to self-driving construction machinery.
  • Construction machinery is used not only for civil engineering work, but also for various other tasks.
  • self-driving construction machines that perform work semi-automatically or automatically has progressed.
  • Such self-driving construction machines can reduce the amount of operations that operators have to perform, which is expected to reduce the burden on operators and improve the working environment.
  • Patent Literature 1 discloses a technique for starting (starting) automatic operation of a construction machine when an operator is on board and inputs the start of automatic operation to an interface such as a switch. ing.
  • the present disclosure provides an autonomous driving construction machine that reduces the probability that automatic operation will start at a timing unexpected by surrounding workers when in an autonomous driving state.
  • An autonomous driving construction machine of the present disclosure includes a work device, a vehicle body having a plurality of actuators that drive the work device, and a controller that controls operations of the plurality of actuators.
  • a signal to transition to an automatic operation state in which the actuator is automatically operated is input, and a signal to start automatic operation of the plurality of actuators is input within a predetermined time
  • the operation of the plurality of actuators is controlled to perform the automatic operation is executed, and the automatic operation is not executed when the signal for starting the automatic operation is not input within the predetermined time after the signal to transition to the automatic operation state is input.
  • FIG. 1 is a perspective view showing the configuration of a hydraulic excavator according to a first embodiment
  • FIG. 1A and 1B are a side view (a) and a top view (b) of a hydraulic excavator according to a first embodiment
  • FIG. 1 is a configuration diagram of a control system for a hydraulic excavator according to a first embodiment
  • FIG. FIG. 3 is a diagram showing the detailed configuration of the solenoid valve unit according to the first embodiment
  • FIG. FIG. 3 is a diagram showing the detailed configuration of the solenoid valve unit according to the first embodiment
  • FIG. 3 is a hardware configuration diagram of a controller of the hydraulic excavator according to the first embodiment
  • FIG. 3 is a functional block diagram of a controller according to the first embodiment
  • FIG. 4 is a functional block diagram of a state transition determination unit according to the first embodiment;
  • FIG. 4 is a flowchart of calculations in the state transition unit according to the first embodiment;
  • 4 is a flowchart of calculation in an automatic driving start determination unit according to the first embodiment; It is a flowchart of the calculation in the automatic driving
  • 4 is a flow chart of calculation in a target motion calculation unit according to the first embodiment;
  • FIG. 4 is a diagram showing a normal transition example of the operating state of the hydraulic excavator according to the first embodiment;
  • FIG. 5 is a diagram showing an example of transition of the operating state when the hydraulic excavator according to the first embodiment is switched to an automatic operating state and left unattended.
  • FIG. 5 is a diagram showing an example of transition of the operating state when the hydraulic excavator according to the first embodiment is switched to an automatic operating state and left unattended.
  • FIG. 4 is a diagram showing an example of a transition of an operating state when the hydraulic excavator according to the first embodiment is locked from start-up;
  • FIG. 4 is a functional block diagram of a controller according to a modification of the first embodiment;
  • FIG. 9 is a flowchart of calculations in the state transition unit according to the modified example of the first embodiment; 9 is a flowchart of calculation in a desired motion calculation unit according to a modification of the first embodiment;
  • FIG. 9 is a diagram showing an example of transition of the operating state when the hydraulic excavator according to the first embodiment is switched to an automatic operating state and left unattended.
  • FIG. 4 is a diagram showing an example of a transition of an operating state when the hydraulic excavator according to the first embodiment is locked from start-up;
  • FIG. 4 is a functional block diagram of
  • FIG. 10 is a diagram showing an example of transition of an operating state when the hydraulic excavator is left in an automatic operating state in a modified example of the first embodiment
  • FIG. 7 is a configuration diagram of a control system for a hydraulic excavator according to a second embodiment
  • FIG. 7 is a hardware configuration diagram of a controller of a hydraulic excavator according to a second embodiment
  • FIG. 5 is a functional block diagram of a controller according to a second embodiment
  • FIG. 1 is a perspective view showing the configuration of a hydraulic excavator 1 according to the first embodiment.
  • the hydraulic excavator 1 includes an articulated front working device 1A, a vehicle body 1B, a controller (not shown in FIG. 1), and a communication device 650.
  • the front working device 1A has a boom cylinder 5, an arm cylinder 6, a bucket cylinder 7, a boom 8, an arm 9, a bucket 10, a bucket link 13, a boom angle sensor 30, an arm angle sensor 31 and a bucket angle sensor 32.
  • the boom 8, the arm 9, and the bucket 10 are a plurality of driven members that rotate, respectively, and the front working device 1A is configured by connecting them.
  • the vehicle body 1B has a lower running body 11 and an upper revolving body 12.
  • the lower traveling body 11 travels by being driven by a pair of left and right travel hydraulic motors 3a and 3b.
  • the upper rotating body 12 is mounted on the lower running body 11 and is configured to be able to rotate.
  • the base end of the boom 8 is rotatably supported at the front part of the upper swing body 12 via a boom pin.
  • An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin.
  • a bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin.
  • Boom 8 is driven by boom cylinder 5
  • arm 9 is driven by arm cylinder 6
  • bucket 10 is driven by bucket cylinder 7 .
  • FIG. 2(a) is a side view of the hydraulic excavator 1.
  • FIG. 2(a) when the X-axis is defined parallel to the longitudinal direction of the undercarriage 11 and the Z-axis is defined perpendicular to the X-axis, the rotation angle of the boom 8 is ⁇ .
  • ⁇ be the rotation angle
  • ⁇ be the rotation angle of the bucket 10 .
  • ⁇ be the inclination angle of the upper revolving structure 12 (the vehicle body 1B) with respect to a reference plane (for example, a horizontal plane).
  • P be the tip of the bucket 10 .
  • FIG. 2(b) is a top view of the hydraulic excavator 1.
  • FIG. 2(b) the relative angle between the upper rotating body 12 and the lower traveling body 11 is ⁇ .
  • the boom angle sensor 30 is attached to the boom pin so that the rotation angle ⁇ of the boom 8 can be measured.
  • the arm angle sensor 31 is attached to the arm pin so that the rotation angle ⁇ of the arm 9 can be measured.
  • the bucket angle sensor 32 is attached to the bucket link 13 so as to measure the rotation angle ⁇ of the bucket 10 .
  • the angle sensors 30, 31 and 32 can be replaced with angle sensors for a reference plane (for example, a horizontal plane).
  • the upper swing body 12 has an operator's cab 120 , a hydraulic pump 2 , a swing hydraulic motor 4 , an engine 18 , a vehicle body tilt angle sensor 33 , a swing angle sensor 34 and a tank 200 .
  • the operator's cab 120 is provided with a right operating lever 22 a , a left operating lever 22 b , a right running lever 23 a , a left running lever 23 b , an engine speed setting device 480 , and an operating state changeover switch 670 .
  • the operation right lever 22a and the operation left lever 22b may be referred to as the operation device 22
  • the travel right lever 23a and the travel left lever 23b may be referred to as the operation device 23.
  • the swing hydraulic motor 4 swings the upper swing body 12 .
  • the traveling hydraulic motors 3a and 3b, the turning hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be collectively referred to as "actuators".
  • the vehicle body tilt angle sensor 33 is attached to an arbitrary position of the upper revolving body 12, and detects the tilt angle ⁇ of the upper revolving body 12 (body 1B) with respect to a reference plane (for example, a horizontal plane).
  • the turning angle sensor 34 is provided on the turning center axis of the upper turning body 12 and measures the relative angle ⁇ between the upper turning body 12 and the lower traveling body 11 .
  • the driving state changeover switch 670 is a switch for selecting whether to operate the vehicle body based on instructions from the operating devices 22 and 23 or to operate the vehicle body based on the results of automatic operation calculations by the controller. That is, the operating state changeover switch 670 is a switch for switching between an automatic operating state (automatic operating mode) and a manual operating state (manual operating mode). Since the automatic operation state is a state in which the operation devices 22 and 23 are not operated, even if the operation amount input to the operation devices 22 and 23 is 0, the actual operation amount of the actuator is not always 0. state.
  • the engine 18 is a prime mover and drives the hydraulic pump 2 and a pilot pump to be described later.
  • Engine speed setting device 480 is a device for setting the speed of engine 18 .
  • the engine speed setting device 480 is a dial type variable resistor, and the voltage output from the engine speed setting device 480 varies according to the dial operation.
  • the communication device 650 transmits and receives signals to and from the remote control device 800.
  • the remote control device 800 is a device for remotely starting or stopping automatic operation of the hydraulic excavator 1 and includes a remote start switch 880 .
  • a switch state signal of the remote start switch 880 is transmitted to the controller of the hydraulic excavator 1 via the communication device 850 and the communication device 650 .
  • automated operation means that the actuator automatically operates according to instructions from the controller even if the operating devices 22 and 23 of the hydraulic excavator 1 are not operated.
  • FIG. 3 is a configuration diagram showing the configuration of the control system of the hydraulic excavator 1.
  • the control system of the hydraulic excavator 1 includes hydraulic pumps 2a and 2b, flow control valves 15a to 15f, load detection devices 16a to 16f, an engine 18, regulators 21a and 21b, a right operation lever 22a and a left operation lever.
  • Lever 22b (operating device 22), right travel lever 23a and left travel lever 23b (operating device 23), gate lock lever 37, lock valve 39, controller 40, operating devices 45a and 45b, operating devices 46a and 46b, operating device 47a , 47b, a pilot pump 48, a pump line 143, pilot lines 144a-149b, hydraulic drive units 150a-155b, an electromagnetic valve unit 160, a tank 200, an engine controller 470, and an engine speed detector 490.
  • the operation devices 22 and 23 and the gate lock lever 37 are provided in the driver's cab 120 and operated by the operator.
  • the operating devices 22 and 23 are of the electric lever type, and generate electric signals according to the amount and direction of operation by the operator.
  • the electric signals generated in this manner are input to the controller 40 via the operating devices 45a to 47b.
  • the controller 40 outputs an electric signal to the solenoid valve unit 160 to drive the proportional solenoid valve according to the operation input to the operating devices 22 and 23 .
  • the operation devices 45a to 47b are provided inside the operator's cab 120.
  • the operation device 47a is connected to the right travel lever 23a and outputs a signal to the controller 40 for operating the right travel hydraulic motor 3a.
  • the operation device 47b is connected to the left travel lever 23b and outputs to the controller 40 a signal for operating the left travel hydraulic motor 3b.
  • the operation devices 45 a and 46 a are connected to a common right operation lever 22 a and output signals for operating the boom cylinder 5 and bucket cylinder 7 to the controller 40 .
  • the operating devices 45b and 46b are connected to a common left operating lever 22b and output signals for operating the arm cylinder 6 and the swing hydraulic motor 4 to the controller 40.
  • the engine 18 drives the hydraulic pumps 2a and 2b and the pilot pump 48.
  • the hydraulic pumps 2a and 2b are variable displacement pumps whose displacements are controlled by regulators 21a and 21b, respectively.
  • Pilot pump 48 is a fixed displacement pump.
  • the engine controller 470 controls the engine speed and the like according to the control signal from the controller 40 .
  • Engine speed detection device 490 is a rotation sensor for detecting the speed of engine 18 .
  • the hydraulic pump 2 and the pilot pump 48 suck hydraulic oil from the tank 200.
  • a control signal output from the controller 40 is input to the regulators 21a and 21b.
  • the discharge flow rates of the hydraulic pumps 2a and 2b are controlled according to the control signal.
  • Pressure oil discharged from the hydraulic pump 2 is supplied to the boom cylinder 5 through the flow control valve 15a, supplied to the arm cylinder 6 through the flow control valve 15b, and supplied to the bucket cylinder 7 through the flow control valve 15c. supplied to the swing hydraulic motor 4 through the flow control valve 15d, supplied to the right traveling hydraulic motor 3a through the flow control valve 15e, and supplied to the left traveling hydraulic motor 3b through the flow control valve 15f. .
  • the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 are extended and contracted by the supplied pressure oil, so that the boom 8, the arm 9, and the bucket 10 are rotated, and the position and posture of the bucket 10 are changed.
  • the hydraulic hydraulic motor 4 is rotated by the supplied pressure oil, so that the upper swing body 12 swings with respect to the lower traveling body 11 . Then, the right traveling hydraulic motor 3a and the left traveling hydraulic motor 3b are rotated by the supplied pressure oil, so that the lower traveling body 11 travels.
  • the boom cylinder 5 is provided with load detection devices 16a and 16b
  • the arm cylinder 6 is provided with load detection devices 16c and 16d
  • the bucket cylinder 7 is provided with load detection devices 16e and 16f. be provided.
  • the load detection devices 16a to 16f are pressure sensors that detect the bottom side pressure and the rod side pressure of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7, respectively, and send them to the controller 40 as electrical signals. Output. Note that FIG. 3 does not show connection lines from the load detectors 16a to 16f to the controller 40 due to space limitations.
  • the pump line 143 is a discharge pipe for the pilot pump 48 , passes through the lock valve 39 , and is connected to each electromagnetic proportional valve in the electromagnetic valve unit 160 .
  • the lock valve 39 is an electromagnetic switching valve in this embodiment, and its electromagnetic driving portion is electrically connected to the position detector 38 of the gate lock lever 37 .
  • the gate lock lever 37 has a rotation center, and the operator can manually rotate the gate lock lever 37 .
  • the gate lock lever 37 can be configured to be rotatable from the angle at which it contacts the upper limit stopper to the angle at which it contacts the lower limit stopper.
  • the position detector 38 is a switch sensor, and can have a structure in which the gate lock lever presses the switch at the same time when the gate lock lever hits the lower limit stopper.
  • the position detector 38 outputs a signal corresponding to the position of the gate lock lever to the lock valve 39 .
  • the lock valve 39 is closed to block the pump line 143, and when it is at the unlocked position, the lock valve 39 is opened to open the pump line 143.
  • the operation by the operation devices 22 and 23 is disabled, and operations such as traveling, turning, excavation, etc. are prohibited.
  • FIG. 4 and 5 are diagrams showing the detailed configuration of the solenoid valve unit 160.
  • the solenoid valve unit 160 is connected to the pilot pump 48 via the pump line 143 on the primary port side.
  • the electromagnetic valve unit 160 has electromagnetic proportional valves 54a-59b that reduce the pilot pressure from the pilot pump 48 and output it to the pilot lines 144a-149b.
  • the electromagnetic proportional valves 54a-59b are used as control signals for driving the flow control valves 15a-15f according to the input electrical signals.
  • the electromagnetic proportional valves 54a and 54b are connected to hydraulic drive units 150a and 150b of the flow control valve 15a via pilot lines 144a and 144b.
  • the proportional solenoid valves 55a and 55b are connected via pilot lines 145a and 145b to hydraulic drives 151a and 151b of the flow control valve 15b.
  • the proportional solenoid valves 56a and 56b are connected via pilot lines 146a and 146b to hydraulic drives 152a and 152b of the flow control valve 15c.
  • the electromagnetic proportional valves 57a and 57b are connected to hydraulic drive units 153a and 153b of the flow control valve 15d via pilot lines 147a and 147b.
  • the proportional solenoid valves 58a and 58b are connected via pilot lines 148a and 148b to hydraulic drives 154a and 154b of the flow control valve 15e.
  • the proportional solenoid valves 59a and 59b are connected via pilot lines 149a and 149b to hydraulic drives 155a and 155b of the flow control valve 15f.
  • the proportional solenoid valves 54a to 59b have the minimum opening when not energized, and the opening increases as the current, which is the control signal from the controller 40, increases. In this manner, the opening degrees of the proportional electromagnetic valves 54a to 59b correspond to the control signals from the controller 40.
  • FIG. 1 The proportional solenoid valves 54a to 59b have the minimum opening when not energized, and the opening increases as the current, which is the control signal from the controller 40, increases. In this manner, the opening degrees of the proportional electromagnetic valves 54a to 59b correspond to the control signals from the controller 40.
  • pilot pressure can be generated even when the corresponding operating devices 22 and 23 are not operated by the operator.
  • the actuator can be forced to operate.
  • FIG. 6 is a hardware configuration diagram of the controller 40.
  • the controller 40 is a computer device, and includes an input section 91, a central processing unit (CPU) 92 which is a processor, a read only memory (ROM) 93, a random access memory (RAM) 94 and an output section 95.
  • CPU central processing unit
  • ROM read only memory
  • RAM random access memory
  • the posture detection device 50 is composed of the boom angle sensor 30, the arm angle sensor 31, the bucket angle sensor 32, the vehicle body tilt angle sensor 33, and the turning angle sensor 34 described above. These angle sensors 30, 31, 32 and 33 function as attitude sensors for the front working device 1A.
  • the input unit 91 receives a signal from the posture detection device 50, a signal indicating the amount of operation from the operation devices 22 and 23, a signal from the engine speed setting device 480, a signal from the communication device 650, and a signal from the communication device 650.
  • a signal from the switch 670 is input and converted so that the CPU 92 can perform calculations.
  • the ROM 93 is a recording medium that stores a control program for executing control contents including processing related to flowcharts to be described later, various information necessary for executing the flowcharts, and the like.
  • the CPU 92 performs predetermined arithmetic processing on signals received from the input section 91 , the ROM 93 and the RAM 94 according to the control program stored in the ROM 93 .
  • the output unit 95 creates an output signal according to the calculation result of the CPU 92, and outputs the signal to the engine controller 470 and the electromagnetic proportional valves 54a to 59b, thereby controlling the driving of the engine 18 and each actuator. .
  • controller 40 of FIG. 6 has semiconductor memories such as ROM 93 and RAM 94 as storage devices, other types of storage devices can be substituted for the storage devices.
  • semiconductor memories such as ROM 93 and RAM 94
  • other types of storage devices can be substituted for the storage devices.
  • a magnetic storage device such as a hard disk drive can be used. It's okay to be prepared.
  • FIG. 7 is a functional block diagram of the controller 40.
  • the controller 40 includes, as functional modules realized by the CPU 92 executing a control program, a state transition determination section 40a, a target operation calculation section 40b-1 for manual operation, and a target operation calculation section 40b-2 for automatic operation. , a target operation calculation unit 40b-3, a target engine speed calculation unit 40c, and an electromagnetic proportional valve control unit 40d.
  • the state transition determination unit 40a receives an automatic operation start command Rs(t), which is a signal transmitted from the communication device 650 and converted by the input unit 91, and It receives the state switching flag Fm(t), which is a signal, and calculates the automatic driving start flag Fs(t) and the driving state information M(t) based on the information. Then, the state transition determination unit 40a transmits the automatic driving start flag Fs(t) and the driving state information M(t) to the target operation calculation unit 40b-3.
  • the automatic operation start command Rs(t) is a signal represented by 0 or 1. When the signal is 1, it commands the start of the automatic operation, and when it is 0, it commands the stop of the automatic operation.
  • the automatic operation start flag Fs(t) when the automatic operation start flag Fs(t) is 1, it indicates the start of the automatic operation, and when it is 0, it indicates the stop of the automatic operation.
  • the state switching flag Fm(t) is a signal represented by 0 or 1. When it is 1, it commands a transition to the automatic operation state, and when it is 0, it commands a transition to the manual operation state. command.
  • the driving state information M(t) is a signal represented by 0 or 1. When the signal is 1, it indicates the automatic driving state, and when it is 0, it indicates the manual driving state.
  • the manual operation target operation calculation unit 40b-1 receives operation amount information, which is a signal obtained by converting an electric signal corresponding to the operator's operation amount and operation direction transmitted from the operation devices 22 and 23 by the input unit 91. , to calculate the target actuator speed Vmt(t). Then, the manual operation target motion calculation unit 40b-1 transmits information on the target actuator speed Vmt(t) to the target motion calculation unit 40b-3.
  • the operation amount information is angle information of each lever.
  • the manual operation target motion calculation unit 40b-1 inputs the angle information of each lever to an angle-target actuator speed table (not shown), and outputs the table as a target actuator speed Vmt(t), which is the target speed of each actuator. do.
  • the automatic driving target motion calculation unit 40b-2 receives posture information, which is a signal transmitted from the posture detection device 50 and converted by the input unit 91, and computes the target actuator velocity Vat(t). Then, the automatic operation target motion calculation unit 40b-2 transmits information on the target actuator speed Vat(t) to the target motion calculation unit 40b-3.
  • the ROM 93 stores the target motion of the hydraulic excavator 1, such as the target trajectory of the tip P of the bucket 10 and the travel route of travel.
  • the controller 40 performs feedback control with posture information as input so that the actual motion matches the target motion.
  • the target motion calculation unit 40b-3 calculates the target actuator speed Vmt(t) sent from the manual operation target motion calculation unit 40b-1 and the target actuator speed Vat sent from the automatic operation target motion calculation unit 40b-2. (t), the automatic operation start flag Fs(t) and the operating state information M(t) transmitted from the state transition determination unit 40a, and calculates the final target actuator speed. Then, the target motion calculation section 40b-3 outputs the final target actuator speed to the proportional solenoid valve control section 40d.
  • the electromagnetic proportional valve control section 40d outputs control command values for the corresponding electromagnetic proportional valves 54 to 59 in accordance with the target actuator speed output from the target motion calculation section 40b-3.
  • the target engine speed calculation unit 40c receives an engine speed setting signal, which is a signal obtained by converting the voltage value output from the engine speed setting device 480 and read by the controller 40 by the input unit 91, and calculates the target engine speed. to calculate Then, the target engine speed calculation unit 40 c transmits the target engine speed to the engine controller 470 .
  • the engine speed setting signal is a voltage value.
  • the target engine speed calculator 40c inputs the voltage value information to a voltage-target engine speed table (not shown), and uses the output as the target engine speed.
  • FIG. 8 is a functional block diagram of the state transition determination section 40a.
  • the state transition determination unit 40a includes a state transition unit 40a-1, an automatic operation start determination unit 40a-2, an automatic operation operation stop time measurement unit 40a-3, a numerical value storage unit 40a-11, 40a- 21, 40a-31 and 40a-41.
  • the automatic driving state cancellation flag Fu(t) is 0, it commands not to cancel the automatic driving state, and when it is 1, it commands to cancel the automatic driving state.
  • the automatic driving state cancellation flag Fu(t) is output to the numerical value holding unit 40a-11 and input to the state transition unit 40a-1 in the next control cycle.
  • the start lock flag Fl(t) becomes 0 when the operation is performed according to the correct procedure of "sending a signal to start automatic operation after switching from the manual operation state to the automatic operation state". can be started. On the other hand, if the above correct procedure is not followed, it is set to 1 and the start of automatic operation is locked.
  • the start lock flag Fl(t) is output to the numerical value holding unit 40a-21 and input to the automatic operation start determination unit 40a-2 in the next control cycle.
  • the automatic operation start flag Fs(t), the operation state information M(t), and the automatic operation stop one control period before stored in the numerical value holding unit 40a-31 Automatic operation stop time Ts(t) is measured based on time Ts(t ⁇ t).
  • the automatic operation stop time Ts(t) is output to the numerical holding unit 40a-31, and is input to the state transition unit 40a-1 and the automatic operation stop time measurement unit 40a-3 in the next control cycle.
  • FIG. 9 is a flow chart of operations in the state transition section 40a-1. It is assumed that the sampling time of the controller 40 is .DELTA.t, and the calculation is performed every control cycle. This operation flow is repeatedly processed while the controller 40 is operating, for example. Steps S101 to S107 shown in FIG. 9 are set as one control cycle.
  • Step S101 The state transition unit 40a-1 starts computation.
  • Step S102 The state transition unit 40a-1 determines whether the state change flag Fm(t) is 1 or not. When the state switching flag Fm(t) is 1, it is determined as Yes in step S102, and the process proceeds to step S103. When the state switching flag Fm(t) is 0, it is determined as No in step S102, and the process proceeds to S107.
  • Step S103 The state transition unit 40a-1 determines whether or not the automatic operation state cancellation flag Fu(t ⁇ t) one control period before is zero. If the automatic driving state release flag Fu(t ⁇ t) one control period before is 0, the determination in step S103 is YES, and the process proceeds to step S104. If the automatic driving state cancellation flag Fu(t ⁇ t) one control period before is 1, the determination in step S103 is No, and the process proceeds to step S106.
  • Step S104 The state transition unit 40a-1 determines whether or not the automatic operation stop time Ts (t ⁇ t) one control cycle before is smaller than the threshold Tth (predetermined time). If the automatic operation stop time Ts (t ⁇ t) one control cycle before is smaller than the threshold value Tth seconds, the determination in step S104 is Yes, and the process proceeds to step S105. If the automatic operation stop time Ts (t ⁇ t) one control period before is equal to or longer than the threshold value Tth seconds, the determination in step S104 is No, and the process proceeds to step S106.
  • Step S105 The state transition unit 40a-1 determines to transition to the automatic driving state, sets the driving state information M(t) to 1, and sets the automatic driving state cancellation flag Fu(t) to 0. Then, the information is output from the state transition section 40a-1.
  • Step S106 The state transition unit 40a-1 determines that the automatic operation state has been left unattended for a predetermined time or more, so that the state transitions to the manual operation state, sets the operation state information M(t) to 0, and sets the automatic operation state cancellation flag Fu(t). is set to 1. Then, the information is output from the state transition section 40a-1.
  • Step S107 The state transition unit 40a-1 determines to transition to the manual operation state, sets the operation state information M(t) to 0, and sets the automatic operation state cancellation flag Fu(t) to 0. Then, the information is output from the state transition section 40a-1.
  • FIG. 10 is a flowchart of calculations in the automatic driving start determination unit 40a-2. This operation flow is repeatedly processed while the controller 40 is operating, for example. Steps S201 to S208 shown in FIG. 10 are set as one control cycle.
  • Step S201 The automatic driving start determination unit 40a-2 starts calculation.
  • Step S202 The automatic operation start determination unit 40a-2 determines whether the automatic operation start command Rs(t) is 1 or not. When the automatic operation start command Rs(t) is 1, it is determined as Yes in step S202, and the process proceeds to step S203. When the automatic operation start command Rs(t) is 0, it is determined as No in step S202, and the process proceeds to step S208.
  • Step S203 The automatic driving start determination unit 40a-2 determines whether the driving state information M(t) is 1 or not. When the driving state information M(t) is 1, it is determined as Yes in step S203, and the process proceeds to step S204. If the operating state information M(t) is 0, the determination in step S203 is No, and the process proceeds to step S208.
  • Step S204 The automatic driving start determination unit 40a-2 determines whether or not the driving state information M(t ⁇ t) one control cycle before is 1. If the operating state information M(t ⁇ t) one control period before is 1, the determination in step S204 is YES, and the process proceeds to step S205. If the operating state information M(t ⁇ t) one control period before is 0, the determination in step S204 is No, and the process proceeds to step S207.
  • Step S205 The automatic driving start determination unit 40a-2 determines whether or not the start lock flag Fl(t ⁇ t) one control cycle before is 0. If the starting lock flag Fl(t- ⁇ t) one control period before is 0, the determination in step S205 is YES, and the process proceeds to step S206. If the starting lock flag Fl(t- ⁇ t) one control period before is 1, the determination in step S205 is No, and the process proceeds to step S207.
  • Step S206 The automatic driving start determination unit 40a-2 determines that the automatic driving start command Rs(t) becomes 1 after entering the automatic driving state, and the automatic driving start flag Fs(t) is set to 1. , and the start lock flag Fl(t) is set to 0. Then, the automatic driving start determination unit 40a-2 outputs these values.
  • Step S207 The automatic operation start determination unit 40a-2 determines that the automatic operation start command Rs(t) is 1 and the automatic operation start command has been issued, and the automatic operation start flag Fs is determined. (t) is set to 0, and the start lock flag Fl(t) is set to 1. Then, the automatic driving start determination unit 40a-2 outputs these values.
  • Step S208 The automatic driving start determination unit 40a-2 determines that the automatic driving state is not set or that the automatic driving start command Rs(t) does not command the start of automatic driving, and sets the automatic driving start flag Fs(t). 0, and the start lock flag Fl(t) is set to 0. Then, the automatic driving start determination unit 40a-2 outputs these values.
  • FIG. 11 is a flow chart of calculations in the automatic operation stop time measuring section 40a-3. This operation flow is repeatedly processed while the controller 40 is operating, for example. Steps S301 to S305 shown in FIG. 11 are set as one control cycle.
  • Step S301 The automatic operation stop time measurement unit 40a-3 starts calculation.
  • Step S302 The automatic driving operation stop time measurement unit 40a-3 determines whether the driving state information M(t) is 1 or not. When the driving state information M(t) is 1, it is determined as Yes in step S302, and the process proceeds to step S303. If the operating state information M(t) is 0, the determination in step S302 is No, and the process proceeds to step S305.
  • Step S303 The automatic driving operation stop time measurement unit 40a-3 determines whether the automatic driving start flag Fs(t) is zero. When the automatic driving start flag Fs(t) is 0, it is determined as Yes in step S303, and the process proceeds to step S304. When the automatic operation start flag Fs(t) is 1, it is determined as No in step S303, and the process proceeds to step S305.
  • Step S304 The automatic operation operation stop time measurement unit 40a-3 determines that the automatic operation start command is not issued even though the automatic operation state is set, and the automatic operation operation stop time Ts (t ⁇ t) one control cycle before The value obtained by adding the sampling time ⁇ t to the automatic operation stop time Ts(t). Then, the automatic operation stop time measuring section 40a-3 outputs this value.
  • Step S305 The automatic operation stop time measurement unit 40a-3 determines that the automatic operation state is not the state or the automatic operation state and the operating state, and sets the automatic operation stop time Ts(t) to 0. Then, the automatic operation stop time measuring section 40a-3 outputs this value.
  • FIG. 12 is a flow chart of calculations in the target motion calculator 40b-3. It is assumed that the sampling time of the controller 40 is .DELTA.t, and the calculation is performed every control cycle.
  • Step S401 The target motion calculation unit 40b-3 starts calculation.
  • Step S402 The target motion calculation unit 40b-3 determines whether the driving state information M(t) is 1 or not. If the operating state information M(t) is 1, the determination in step S402 is Yes, and the process proceeds to step S403. If the operating state information M(t) is 0, the determination in step S402 is No, and the process proceeds to step S406.
  • Step S403 The target operation calculation unit 40b-3 determines whether or not the automatic operation start flag Fs(t) is zero. When the automatic driving start flag Fs(t) is 0, it is determined as Yes in step S403, and the process proceeds to step S404. When the automatic operation start flag Fs(t) is 1, it is determined as No in step S403, and the process proceeds to step S405.
  • Step S404 The target motion calculation unit 40b-3 determines that the automatic operation start command is not issued even though the automatic operation state is set, and sets the final target actuator speed to zero. Then, the target operation calculation section 40b-3 outputs this value to the electromagnetic proportional valve control section 40d.
  • Step S405 The target motion calculation unit 40b-3 determines that the automatic operation state is in effect and that the automatic operation start command has been issued, and sets the final target actuator speed to Vat(t). Then, the target operation calculation section 40b-3 outputs this value to the electromagnetic proportional valve control section 40d.
  • Step S406 The target motion calculation unit 40b-3 determines that the manual operation state is set, and sets the final target actuator speed to Vmt(t). Then, the target operation calculation section 40b-3 outputs this value to the electromagnetic proportional valve control section 40d.
  • FIG. 13 is a diagram showing a normal transition example of the operating state of the hydraulic excavator 1.
  • the normal transition of the operation state of the hydraulic excavator 1 means that the automatic operation start command is issued within a predetermined time (threshold value Tth seconds) after the manual operation state is switched to the automatic operation state by operating the operation state changeover switch 670 .
  • Tth seconds a predetermined time
  • the horizontal axis indicates the passage of time.
  • the vertical axis represents the state of the state switching flag Fm(t) transmitted from the operating state switching switch 670, the state of the automatic operation start command Rs(t) transmitted from the communication device 650, and the operating state information M ( t) and the operating state of the hydraulic excavator, respectively.
  • step S107 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S107 in FIG. 9 (S102 ⁇ S107). That is, the driving state information M(t) is set to 0, and the automatic driving state release flag Fu(t) is set to 0.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) remains zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to the value of Vmt(t).
  • the operating state of the hydraulic excavator is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • step S105 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S105 in FIG. 9 (S102 ⁇ S103 ⁇ S104 ⁇ S105). That is, the driving state information M(t) is set to 1. Further, the automatic driving state cancellation flag Fu(t) is set to zero.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S304 in FIG. 11 ( S302 ⁇ S303 ⁇ S304). That is, the automatic operation stop time Ts(t) is added.
  • the output of the target motion calculation unit 40b-3 is as shown in step S404 of FIG. 12 (S402 ⁇ S403 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the operating state of the hydraulic excavator is the automatic operating state, and the hydraulic excavator 1 does not operate.
  • step S105 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S105 in FIG. 9 (S102 ⁇ S103 ⁇ S104 ⁇ S105). That is, the driving state information M(t) is set to 1. Further, the automatic driving state cancellation flag Fu(t) is set to zero.
  • the output of the automatic driving start determination unit 40a-2 becomes as shown in step S206 in FIG. 10 (S202 ⁇ S203 ⁇ S204 ⁇ S205 ⁇ S206). That is, the automatic operation start flag Fs(t) is set to 1, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 ( S302 ⁇ S303 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S405 of FIG. 12 (S402 ⁇ S403 ⁇ S405). That is, the final target actuator velocity is set to Vat(t).
  • the operating state of the hydraulic excavator is the automatic operating state, and the hydraulic excavator 1 operates automatically.
  • FIG. 14 is a diagram showing a transition example of the operating state when the hydraulic excavator 1 is left after being switched to the automatic operating state.
  • FIG. 14 shows up to time t5.
  • step S107 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S107 in FIG. 9 (S102 ⁇ S107). That is, the driving state information M(t) is set to 0, and the automatic driving state release flag Fu(t) is set to 0.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) remains zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to the value of Vmt(t).
  • the operating state of the hydraulic excavator is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • step S105 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S105 in FIG. 9 (S102 ⁇ S103 ⁇ S104 ⁇ S105). That is, the driving state information M(t) is set to 1. Further, the automatic driving state cancellation flag Fu(t) is set to zero.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S304 in FIG. 11 ( S302 ⁇ S303 ⁇ S304). That is, the automatic operation stop time Ts(t) is added.
  • the output of the target motion calculation unit 40b-3 is as shown in step S404 of FIG. 12 (S402 ⁇ S403 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the operating state of the hydraulic excavator 1 is the automatic operating state, and the hydraulic excavator 1 does not operate.
  • the output of the state transition unit 40a-1 becomes as shown in step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S104 ⁇ S106). That is, the operating state information M(t) is set to zero. Further, the automatic driving state release flag Fu(t) is set to one. Thereafter, until the state switching flag Fm(t) is switched to 0, the output of the state transition section 40a-1 is as shown in step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S106). That is, the state in which the operating state information M(t) is set to 0 continues. Further, the state in which the automatic driving state cancellation flag Fu(t) is set to 1 is continued.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to Vmt(t).
  • the operating state of the hydraulic excavator is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • step S106 the output of the state transition section 40a-1 is as shown in step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S106). That is, the state in which the operating state information M(t) is set to 0 continues. Further, the state in which the automatic driving state cancellation flag Fu(t) is set to 1 is continued.
  • the automatic driving start command Rs(t) is switched to 1
  • the driving state information M(t) is 0, so the output of the automatic driving start determination unit 40a-2 becomes as shown in step S208 in FIG. S202 ⁇ S203 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to Vmt(t).
  • the operating state of the hydraulic excavator 1 is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • FIG. 15 is a diagram showing a transition example of the operating state when the hydraulic excavator 1 is left in the automatic operating state.
  • FIG. 15 shows the time after time t4.
  • the automatic operation start command Rs(t) is switched to 0 at time t5.
  • step S106 the output of the state transition section 40a-1 is as shown in step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S106). That is, the state in which the operating state information M(t) is set to 0 continues. Further, the state in which the automatic driving state cancellation flag Fu(t) is set to 1 is continued.
  • step S208 in FIG. 10 S202 ⁇ S208. That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to Vmt(t).
  • the operating state of the hydraulic excavator 1 is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • step S107 in FIG. 9 S102 ⁇ S107
  • the operating state information M(t) is set to zero.
  • the automatic driving state cancellation flag Fu(t) is set to zero.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to Vmt(t).
  • the operating state of the hydraulic excavator 1 is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • the automatic operation state cancellation flag Fu(t) is reset to 0, it is possible to switch to automatic operation by performing an appropriate operation again within an appropriate time. In other words, the transition to the automatic operation state does not occur until the state switching flag Fm(t), which is the operating state switching signal, is changed at least once.
  • the automatic driving start determination unit 40a-2 determines whether or not to lock the start of automatic driving (moving to step S207 and setting the start lock flag Fl(t) to 1). No) is determined. The effect of performing such processing will be described below.
  • FIG. 16 is a diagram showing a transition example of the operating state when the hydraulic excavator 1 is locked from starting.
  • FIG. 16 shows the time after time t7.
  • step S107 in FIG. 9 the output of the state transition unit 40a-1 becomes as shown in step S107 in FIG. 9 (S102 ⁇ S107). That is, the driving state information M(t) is set to 0, and the automatic driving state release flag Fu(t) is set to 0.
  • the output of the automatic driving start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S203 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) remains zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to the value of Vmt(t).
  • the operating state of the hydraulic excavator 1 is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • step S105 the driving state information M(t) is set to 1, and the automatic driving state release flag Fu(t) is set to 0.
  • the automatic operation start command Rs(t) is 1, the operating state information M(t) is 1, and the operating state one control cycle before. Since the information M(t ⁇ t) is 0, the output of the automatic driving start determination unit 40a-2 is as shown in step S207 in FIG. 10 (S202 ⁇ S203 ⁇ S204 ⁇ S207). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 1.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S304 in FIG. 11 ( S302 ⁇ S304). That is, the automatic operation stop time Ts(t) is added.
  • the output of the target motion calculation unit 40b-3 is as shown in step S404 of FIG. 12 (S402 ⁇ S403 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the output of the state transition unit 40a-1 continues to select step S105 in FIG. 9 until the threshold Tth seconds have elapsed from time t8 (S102 ⁇ S103 ⁇ S104 ⁇ S105). That is, the driving state information M(t) is set to 1, and the automatic driving state release flag Fu(t) is set to 0.
  • the automatic operation start command Rs(t) is 1, the operating state information M(t) is 1, the operating state information M(t ⁇ t) one control period before is 1, and one control is performed. Since the start lock flag Fl (t ⁇ t) before the cycle is 1, the output of the automatic operation start determination unit 40a-2 is as shown in step S207 in FIG. 10 (S202 ⁇ S203 ⁇ S204 ⁇ S205 ⁇ S207). . That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) continues to be set to 1.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S304 in FIG. 11 ( S302 ⁇ S304). That is, the automatic operation stop time Ts(t) is added.
  • the output of the target motion calculation unit 40b-3 is as shown in step S404 of FIG. 12 (S402 ⁇ S403 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the operating state of the hydraulic excavator 1 is the automatic operating state, and the hydraulic excavator 1 does not operate.
  • the output of the state transition unit 40a-1 becomes like step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S104 ⁇ S106). That is, the operating state information M(t) is set to zero. Further, the automatic driving state release flag Fu(t) is set to one. After that, the output of the state transition unit 40a-1 continues to select step S106 in FIG. 9 (S102 ⁇ S103 ⁇ S106). That is, the state in which the operating state information M(t) is set to 0 continues. Further, the state in which the automatic driving state cancellation flag Fu(t) is set to 1 is continued.
  • step S208 the output of the automatic driving start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S203 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0.
  • the output of the automatic operation stop time measurement unit 40a-3 is as shown in step S305 of FIG. 11 (S302 ⁇ S305). That is, the automatic operation stop time Ts(t) is set to zero.
  • the output of the target motion calculation unit 40b-3 is as shown in step S406 in FIG. 12 (S402 ⁇ S406). That is, the final target actuator velocity is set to Vmt(t).
  • the operating state of the hydraulic excavator 1 is the manual operating state, and the hydraulic excavator 1 operates according to the lever inputs of the operating devices 22 and 23.
  • the start lock flag Fl(t) is set to 1 when the correct procedure of "transmitting a signal to start automatic operation after switching from the manual operation state to the automatic operation state" is not followed. Driving start is locked. Therefore, the operation is not automatically started at the instant when the state switching flag Fm(t) becomes 1 while the automatic operation start command Rs(t) remains 1. As a result, it is possible to prevent the automatic operation from being started at a timing unexpected by surrounding workers.
  • the controller 40 of the hydraulic excavator 1 determines whether or not to transition to the automatic operation state by the state switching flag Fm(t), and after transitioning to the automatic operation state, the threshold value
  • the automatic operation start command Rs(t) becomes 1 within Tth seconds (predetermined time)
  • automatic operation of the actuator is executed, and automatic operation is performed within threshold Tth seconds (predetermined time) after transition to the automatic operation state. If the operation start command Rs(t) does not become 1, automatic operation is not executed. More specifically, when the hydraulic excavator 1 is left for threshold Tth seconds without issuing a command to start automatic operation in the automatic operation state, the automatic operation state is canceled. As a result, when the automatic operation state is left as it is, the probability that the automatic operation is started at a timing unexpected by the operator or surrounding workers can be reduced.
  • FIG. 17 is a functional block diagram of the controller 40 according to the first modified example. As shown in FIG. 17, in this modification, the automatic driving state cancellation flag Fu(t) is output from the state transition determination unit 40a and input to the target operation calculation unit 40b-3. embodiment (FIG. 7).
  • FIG. 18 is a flowchart of calculations in the state transition section 40a-1 according to the first modification.
  • the processing of step S106 by the state transition section 40a-1 is different from that of the first embodiment. That is, the state transition unit 40a-1 determines that the vehicle has been left in the automatic operation state for a certain period of time or more, sets the operation state information M(t) to 1, and sets the automatic operation state release flag Fu(t) to 1. . Then, the information is output from the state transition section 40a-1.
  • FIG. 19 is a flow chart of computation in the desired motion computation unit 40b-3 according to the first modification.
  • the process of the desired motion calculation unit 40b-3 is different from the first embodiment in that the process proceeds to step S407 when it is determined as No in step S403.
  • the target motion calculation unit 40b-3 determines whether or not the automatic driving state cancellation flag Fu(t) is 1.
  • the automatic driving state cancellation flag Fu(t) is 1, it is determined as Yes in step S407, and the process proceeds to step S404.
  • the automatic driving state cancellation flag Fu(t) is 0, it is determined as No in step S403, and the process proceeds to step S405.
  • FIG. 20 is a diagram showing a transition example of the operating state when the hydraulic excavator 1 is left in the automatic operating state in the first modified example.
  • time t1 to time t3 The process up to time t3 is the same as in the first embodiment.
  • the output of the state transition unit 40a-1 becomes as shown in step S106 in FIG. 18 (S102 ⁇ S103 ⁇ S104 ⁇ S106). That is, the driving state information M(t) is set to 1, and the automatic driving state release flag Fu(t) is set to 1.
  • step S208 the output of the automatic operation start determination unit 40a-2 is as shown in step S208 in FIG. 10 (S202 ⁇ S203 ⁇ S208). That is, the automatic operation start flag Fs(t) is set to 0, and the start lock flag Fl(t) is set to 0. Also, the output of the target motion calculation unit 40b-3 is as shown in step S404 of FIG. 19 (S402 ⁇ S403 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the automatic operation start command Rs(t) becomes 1, and the output of the automatic operation start determination unit 40a-2 becomes like step S206 in FIG. 10 (S202 ⁇ S203 ⁇ S204 ⁇ S205 ⁇ S206).
  • the automatic driving start flag Fs(t) is 0, the driving state information M(t) is 1, and the automatic driving state release flag Fu(t) is 1, the target operation calculation unit 40b-3
  • the output is as shown in step S404 in FIG. 19 (S402 ⁇ S403 ⁇ S407 ⁇ S404). That is, the final target actuator velocity is set to zero.
  • the target speed of the actuator is set to 0 if the automatic operation state is left without a command to start automatic operation. Therefore, it is possible to reduce the probability that the automatic operation is started at a timing unexpected by the surrounding workers when the automatic operation state is left as it is.
  • the lock valve 39 is controlled by the operation of the gate lock lever 37 by the operator.
  • the controller 40 may be configured to control the lock valve 39 .
  • the lock valve 39 is closed to stop the supply of pressure oil to the electromagnetic valve unit 160, and the hydraulic drive units 150a to 155b of the flow control valves 15a to 15f can be set to 0 to stop the supply of pressure oil to the actuator. Even with such an operation, the same effect as in the first embodiment can be obtained.
  • the automatic operation state cancellation flag Fu(t) is input to the target engine speed calculation unit 40c, and when the automatic operation state cancellation flag Fu(t) is 1, the target engine speed is controlled to be 0. You may make it
  • the remote control device 800 may be provided with a lever (manipulation amount input device) for operating the actuator, and the actuator may operate according to the input of the lever.
  • the actuator in the automatic operation state, even if the amount of movement input to the operation devices 22 and 23 is 0, the actuator operates according to the operation of the lever provided on the remote control device 800, so the actual amount of movement of the actuator is not 0.
  • the target motion calculation unit 40b-2 for automatic driving to a target motion calculation unit for remote control. That is, the remote control target motion calculation unit executes the processing of the automatic driving target motion calculation unit 40b-2.
  • the controller 40 may include both the automatic driving target motion calculation section 40b-2 and the remote control target motion calculation section.
  • FIG. 21 is a configuration diagram of a hydraulic excavator control system according to the second embodiment.
  • the control system according to the second embodiment differs from the first embodiment in that an LED 300 (informing device) is electrically connected to the controller 40 .
  • the controller 40 controls lighting and extinguishing of the LED 300 by changing the current supplied to the LED 300 .
  • the LED 300 is mounted, for example, above the driver's cab 120 to notify the outside of the vehicle of the driving state.
  • FIG. 22 is a hardware configuration diagram of a hydraulic excavator controller according to the second embodiment.
  • an LED 300 is added to the control system, the output unit 95 generates an output signal according to the calculation result of the CPU 92, and the signal is sent to the LED 300. It differs from the first embodiment in that it outputs to control the LED 300 .
  • FIG. 23 is a functional block diagram of the controller 40 according to the second embodiment. As shown in FIG. 23, in the second embodiment, a notification device control unit 40e is added, and the operating state information M(t) is input to the notification device control unit 40e. 1 embodiment.
  • the notification device control unit 40e determines to turn off the LED 300 when the operating state information M(t) is 0, that is, in the manual operating state, and determines that the LED 300 is turned off when the operating state information M(t) is 1, that is, in the automatic operating state. It is determined to light the LED 300 . Then, a corresponding control command value is output so that the LED 300 is lit or extinguished according to the determination.
  • the LED 300 has been described as being mounted above the operator's cab 120 , it may be provided within the operator's cab 120 . In another form, the LED 300 may be controlled to light up (notify) when the controller cancels the automatic driving state. Alternatively, LED 300 may be attached to remote control 800 . In this case, the lighting command is transmitted via the communication device 850 and the communication device 650 . Alternatively, a combination of these may be installed.
  • the notification device may be, for example, an audio output device such as a buzzer, or an image output device such as a monitor, in addition to the LED.
  • the present disclosure is not limited to the embodiments described above, and includes various modifications.
  • the above-described embodiments have been described in detail in order to explain the present disclosure in an easy-to-understand manner, and do not necessarily include all the configurations described.
  • part of an embodiment can be replaced with the configuration of another embodiment.
  • the configuration of another embodiment can be added to the configuration of one embodiment.
  • a part of the configuration of each embodiment can be added, deleted or replaced with a part of the configuration of another embodiment.

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

Abstract

L'invention concerne une machine de construction fonctionnant de manière autonome dans laquelle la probabilité de démarrage de fonctionnement autonome à un moment inattendu par un opérateur ou des travailleurs dans une zone environnante est réduite. Une machine de construction fonctionnant de manière autonome selon la présente divulgation comprend un dispositif de travail, une carrosserie de véhicule comprenant une pluralité d'actionneurs qui entraînent le dispositif de travail et un dispositif de commande qui commande les opérations de la pluralité d'actionneurs. Le dispositif de commande : reçoit une entrée d'un signal pour passer dans un état de fonctionnement de manière autonome dans lequel la pluralité d'actionneurs fonctionnent de manière autonome ; exécute, dans le cas où une entrée d'un signal pour démarrer des opérations autonomes de la pluralité d'actionneurs est reçue au cours d'une période de temps prédéfinie, les opérations autonomes en commandant les opérations de la pluralité d'actionneurs ; et n'exécute pas les opérations autonomes dans le cas où le signal pour démarrer les opérations autonomes n'est pas reçu au cours de la période de temps prédéfinie après la réception du signal pour passer dans l'état de fonctionnement de manière autonome.
PCT/JP2022/003383 2021-03-22 2022-01-28 Machine de construction fonctionnant de manière autonome WO2022201855A1 (fr)

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JP2021-047937 2021-03-22

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024075672A1 (fr) * 2022-10-05 2024-04-11 日立建機株式会社 Machine de construction à fonctionnement automatique

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014182453A (ja) * 2013-03-18 2014-09-29 Yanmar Co Ltd 走行車両
WO2016143174A1 (fr) * 2015-03-11 2016-09-15 株式会社クボタ Véhicule de travail et dispositif de commande de déplacement pour le déplacement automatique du véhicule de travail
JP2020143481A (ja) * 2019-03-05 2020-09-10 日立建機株式会社 自動運転作業機械

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014182453A (ja) * 2013-03-18 2014-09-29 Yanmar Co Ltd 走行車両
WO2016143174A1 (fr) * 2015-03-11 2016-09-15 株式会社クボタ Véhicule de travail et dispositif de commande de déplacement pour le déplacement automatique du véhicule de travail
JP2020143481A (ja) * 2019-03-05 2020-09-10 日立建機株式会社 自動運転作業機械

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024075672A1 (fr) * 2022-10-05 2024-04-11 日立建機株式会社 Machine de construction à fonctionnement automatique

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