WO2022230417A1 - Machine de travail - Google Patents

Machine de travail Download PDF

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Publication number
WO2022230417A1
WO2022230417A1 PCT/JP2022/011879 JP2022011879W WO2022230417A1 WO 2022230417 A1 WO2022230417 A1 WO 2022230417A1 JP 2022011879 W JP2022011879 W JP 2022011879W WO 2022230417 A1 WO2022230417 A1 WO 2022230417A1
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WIPO (PCT)
Prior art keywords
work
change
speed
angle
target
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PCT/JP2022/011879
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English (en)
Japanese (ja)
Inventor
宏明 田中
悠介 鈴木
寿身 中野
靖彦 金成
昭広 楢▲崎▼
修一 廻谷
Original Assignee
日立建機株式会社
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Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to JP2023517138A priority Critical patent/JP7488962B2/ja
Publication of WO2022230417A1 publication Critical patent/WO2022230417A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives

Definitions

  • the present invention relates to the control of working machines represented by hydraulic excavators.
  • a pump driven by a prime mover represented by an engine and a direction of pump flow rate (oil discharged from the pump) connected to the pump.
  • an actuator that is connected to the directional control valve and operates by taking in and out the oil discharged from the pump.
  • An operator determines the operating direction and operating speed of an actuator by operating an operating device typified by an operating lever provided on the working machine.
  • Patent Document 1 is a prior art document for semi-automatic control excavators. According to the semi-automatic excavator disclosed in Patent Literature 1, the work efficiency of the operator can be improved by periodically updating the target design surface according to the position of the work tool.
  • the following problems occur when the target design plane changes against the operator's intention due to vibration.
  • the operator corrects the bucket position according to the target design plane displayed on the monitor in order to carry out construction according to the target design plane. Therefore, even if the target design plane changes unintentionally due to vibration, the operator tries to correct the bucket position according to the changed target design plane.
  • the change in the target design surface due to vibration is temporary, and soon thereafter the target design surface changes to its original state. Then, the operator again attempts to correct the bucket position according to the original target design plane. Repetition of such operations causes the bucket position to vibrate with respect to the target design surface, impairing the smoothness of the excavated surface. In addition, it becomes necessary to redo the excavation in order to ensure the smoothness of the excavated surface, and work efficiency is also reduced.
  • the following problems occur when the target design surface changes against the operator's intention due to vibration.
  • the semi-automatic excavator controls the actuator according to the target design plane so as not to excavate the target design plane too much.
  • the actuator is controlled according to the target design surface in a situation where the target design surface changes unintentionally due to vibration, the bucket position with respect to the target design surface will vibrate and the smoothness of the excavation surface will be reduced, as in the case of the guidance excavator. undermined.
  • the present invention has been made in view of the above problems, and its object is to provide a guidance excavator or semi-automatic excavator that can suppress the deterioration of excavation accuracy due to vehicle body vibration.
  • the present invention provides a multi-joint type machine including a lower traveling body, an upper revolving body rotatably attached to the lower traveling body, and a working tool attached to the upper revolving body.
  • a work device ; and a control device that stores a construction drawing including information on a plurality of design planes representing a target shape of an object to be worked, wherein the control device selects a construction target for the work implement from among the plurality of design planes.
  • a work machine for selecting a target design plane comprising a vibration detection device for detecting vibration of the upper revolving structure, wherein the control device responds to the position of the work tool and the magnitude of the detection value of the vibration detection device
  • the target design surface shall be updated.
  • the target design surface is changed due to the vibration of the vehicle body. It is possible to prevent intentional updating. This makes it possible to suppress deterioration in excavation accuracy due to vibration in the guidance shovel or semi-automatic shovel.
  • FIG. 1 is a side view of a hydraulic excavator according to a first embodiment of the present invention
  • FIG. 1 is a schematic configuration diagram of a hydraulic control system in a first embodiment of the invention
  • FIG. It is a processing block diagram of a controller in the first embodiment of the present invention.
  • FIG. 4 is a calculation block diagram of a target design surface output processing unit in the first embodiment of the present invention; It is a processing block diagram of a controller in the second embodiment of the present invention.
  • FIG. 7 is a calculation block diagram of a vehicle body vibration judgment processing section in the second embodiment of the present invention;
  • FIG. 11 is a calculation block diagram of a vehicle body vibration judgment processing section in the third embodiment of the present invention;
  • FIG. 10 is a diagram showing, in chronological order, the relationship between the engine speed change rate, the vehicle body angle change rate, and the vehicle body vibration in the second embodiment of the present invention. It is a processing block diagram of a controller in the fourth embodiment of the present invention.
  • FIG. 11 is a computation block diagram of a target design surface output processing unit in the fourth embodiment of the present invention;
  • FIG. 11 is a computation block diagram of a work determination processing unit in the fifth embodiment of the present invention;
  • FIG. 11 is a calculation block diagram of a turning speed calculation unit in the fifth embodiment of the present invention;
  • FIG. 11 is a computation block diagram of a bucket toe position prediction computation unit in the fifth embodiment of the present invention;
  • FIG. 10 is a diagram showing information related to the coordinate system and geometrical calculation of the hydraulic excavator in the fifth embodiment of the present invention. It is a calculation block diagram of the height change prediction calculation part in the 5th Example of this invention.
  • FIG. 11 is a computation block diagram of a work content estimation computation unit in the fifth embodiment of the present invention.
  • FIG. 1 is a side view of a hydraulic excavator according to the first embodiment of the present invention.
  • a hydraulic excavator 200 includes a lower traveling body 1, an upper revolving body 2 mounted on the lower traveling body 1 so as to be able to turn via a revolving device 8, and an upper and lower revolving body 2 on the front side of the upper revolving body 2. and a working device 210 connected so as to be rotatable in the direction.
  • the upper revolving body 2 constitutes the vehicle body of the hydraulic excavator 200 .
  • the upper revolving body 2 has a revolving frame 2a that forms a base lower structure.
  • a working device 210 is connected to the front side of the revolving frame 2a so as to be vertically rotatable.
  • a counterweight 3 is attached to the rear side of the revolving frame 2a to balance the weight with the working device 210.
  • a driver's cab 4 is provided in the front left portion of the revolving frame 2a.
  • Left and right operating levers 15L and 15R (shown in FIG. 2), etc., which are operating devices for operating the upper revolving body 2 and the working device 210, are arranged in the operator's cab 4. As shown in FIG.
  • an engine 16 as a prime mover, a pump device 9 comprising one or more hydraulic pumps driven by the engine 16, a swing motor 8a for driving the swing device 8, a swing motor 8a from the pump device 9, and a swing motor 8a.
  • a control valve unit 10 including a plurality of directional control valves for controlling the flow of pressure oil supplied to a plurality of actuators including a boom cylinder 5a, an arm cylinder 6a, and a bucket cylinder 7a, which will be described later, is mounted.
  • An antenna 17 for measuring the position of the vehicle body is attached to the upper swing body 2 .
  • the working device 210 includes a boom 5 whose base end is connected to the right front part of the revolving frame 2a so as to be vertically rotatable; An arm 6 lifted and lowered by a boom 5, a bucket 7 as a working tool connected to the tip of the arm 6 so as to be rotatable in vertical and longitudinal directions and lifted and lowered by the boom 5 or the arm 6, and the boom 5 are driven. , an arm cylinder 6a for driving the arm 6, and a bucket cylinder 7a for driving the bucket 7.
  • a bucket position measurement system 11 is attached to the bucket 7 .
  • the bucket position measuring system 11 is illustrated as a system that directly measures the bucket toe position, but the bucket toe position is calculated from the positional relationships among the upper swing structure 2, boom 5, arm 6 and bucket 7. It can be something like
  • the bucket position measurement system 11 can also measure the angles of the upper rotating body 2 , boom 5 , arm 6 and bucket 7 . That is, the bucket position measurement system 11 constitutes an angle sensor that detects the angles of the upper swing body 2 and the working device 210 .
  • FIG. 2 is a schematic configuration diagram of a hydraulic control system mounted on the hydraulic excavator 200.
  • the hydraulic control system 300 includes a controller 20 as a control device, a hydraulic device 23, a monitor 22 as a display device, operating levers 15L and 15R, and a bucket position measuring system 11. there is
  • the operation levers 15L and 15R are devices for the operator to instruct the operation of the excavator 200 to the controller 20, and output operation signals to the controller 20 according to the operator's lever operation.
  • Controller 20 outputs an operation command to hydraulic device 23 based on construction drawing information, engine speed, operation signals from operation levers 15L and 15R, and attitude information from bucket position measurement system 11 .
  • Construction drawings are stored in the controller 20 as 3D-CAD data, for example.
  • a shop drawing defines a plurality of design planes representing a target shape to be built.
  • one of the plurality of design planes defined in the construction drawing, which is the construction target of the bucket 7, will be referred to as a target design plane.
  • the hydraulic device 23 supplies pressure oil to the boom cylinder 5a, the arm cylinder 6a, the bucket cylinder 7a, and the swing motor 8a based on an operation command from the controller 20, and drives the boom 5, the arm 6, the bucket 7, and the swing device 8. .
  • the monitor 22 displays information output from the controller 20, such as the position of the work tool, the target design surface, and the construction drawing.
  • FIG. 3 is a processing block diagram of the controller 20.
  • the controller 20 has an operator command processing section 30 , a target design surface output processing section 31 and a semi-automatic control processing section 32 .
  • the operator's command processing unit 30 determines the operator's required speed, which is the required speed for the actuator, from the amount of operation of the control levers 15L and 15R.
  • the target design surface output processing unit 31 determines a target design surface based on the vehicle body vibration information, the work tool position information, and the construction drawing information, and outputs the target design surface to the semi-automatic control processing unit 32 and the monitor 22 .
  • the semi-automatic control processing unit 32 prevents over-digging of the work object based on the operator requested speed from the operator command processing unit 30, the target design surface from the target design surface output processing unit 31, and the work tool position information. to the hydraulic device 23 to move the bucket 7 along the target design surface.
  • the hydraulic excavator 200 has both a function of notifying the operator of the relationship between the target design surface and the bucket position, and a semi-automatic control function of moving the bucket 7 along the target design surface. , may be provided with only one of the functions. Specifically, in FIG. A configuration may be adopted in which the operator requested speed is directly output to the hydraulic device 23 .
  • FIG. 4 is a computation block diagram of the target design surface output processing unit 31.
  • the target design surface output processing unit 31 has a design surface extraction calculation unit 40 and a target design surface update calculation unit 41 .
  • the design surface extraction calculation unit 40 extracts the design surface with the smallest distance from the work implement position from among the plurality of design surfaces defined in the construction drawing, and outputs it to the target design surface update calculation unit 41 .
  • the target design surface update calculation unit 41 updates the target design surface held by itself with the design surface output from the design surface extraction calculation unit 40, and updates the updated target design surface. Output.
  • the target design surface held by itself is not updated with the design surface output from the design surface extraction calculation unit 40, and the target design surface held by itself is output.
  • a lower traveling body 1, an upper revolving body 2 rotatably attached to the lower traveling body 1, and an articulated working device 210 including a working tool 7 attached to the upper revolving body 2 are provided. and a controller 20 (control device) that stores a construction drawing including information on a plurality of design planes representing a target shape of a construction object, and the controller 20 selects a construction target of the work implement 7 from among the plurality of design planes.
  • a hydraulic excavator 200 that selects a target design plane is provided with a bucket position measurement system 11 (vibration detection device) that detects vibration of the upper revolving structure 2, and a controller 20 detects the position of the work implement 7 and vibration detection.
  • the target design surface is updated according to the magnitude of the detection value of the device 11 and the magnitude of the detected value.
  • the controller 20 in this embodiment selects one design surface from among the plurality of design surfaces according to the position of the work implement 7, and then selects the target value according to the detection value of the bucket position measurement system 11. Although it is configured to update the design plane to the one design plane, after determining to update the target design plane according to the detection value of the bucket position measurement system 11, according to the position of the work implement 7 The one design surface may be selected.
  • the target design plane is not affected by vehicle body vibration. can be prevented from being unintentionally updated. This makes it possible to suppress deterioration in excavation accuracy due to vibration in the guidance shovel or semi-automatic shovel.
  • FIG. 5 is a processing block diagram of the controller 20 in the second embodiment of the invention. Differences from the first embodiment (shown in FIG. 3) will be described below.
  • the controller 20 further has a vehicle body vibration determination processing section 33 .
  • the vehicle body vibration determination processing unit 33 determines the magnitude of the vehicle body vibration based on the angle of the upper rotating body 2 or the number of rotations of the engine 16, and outputs the determination result to the target design surface output processing unit 31 as vehicle body vibration information.
  • FIG. 6 is a calculation block diagram of the vehicle body vibration judgment processing section 33.
  • the vehicle body vibration determination processing section 33 has a differentiation calculation section 50 and a vibration determination calculation section 51 .
  • the differentiation calculation unit 50 differentiates the upper rotating body angle (or the engine speed) with respect to time to calculate the rate of change, and outputs the rate of change to the vibration determination calculation unit 51 .
  • a vibration determination calculation unit 51 determines that the vehicle body vibration is large when the change rate output from the differentiation calculation unit 50 is greater than a predetermined threshold, and determines that the vehicle body vibration is small when the change rate is equal to or less than the threshold. do.
  • the vibration judgment calculation unit 51 outputs the judgment result of the vehicle vibration as vehicle vibration information.
  • the vibration detection device for detecting the vibration of the upper rotating body 2 in this embodiment has a bucket position measuring system 11 (angle sensor) for detecting the angle of the upper rotating body 2, and the controller 20 (control device) controls the bucket
  • the controller 20 controls the bucket
  • the rate of change in the angle of the upper slewing structure 2 detected by the position measurement system 11 (angle sensor) exceeds a predetermined angle change rate threshold
  • updating of the target design surface is stopped, and the bucket position measurement system 11 detects the change. If the change rate of the angle of the upper swing body 2 is equal to or less than the angle change rate threshold value, the target design surface is updated.
  • the hydraulic excavator 200 (work machine) according to the present embodiment includes the engine 16 (prime mover) serving as a power source, and the vibration detection device for detecting vibration of the upper revolving body 2 detects the rotation speed of the engine 16 (prime mover).
  • the controller 20 detects when the rate of change in the engine speed of the engine 16 detected by the speed sensor 18 exceeds a predetermined speed change rate threshold. If so, updating of the target design plane is stopped, and if the change rate of the engine speed detected by the revolution sensor 18 is equal to or less than the revolution speed change rate threshold value, the target design plane is updated.
  • the magnitude of vehicle body vibration is determined based on the rate of change of the upper revolving body angle (or engine speed).
  • FIG. 7 is a calculation block diagram of the vehicle body vibration judgment processing section 33 in the third embodiment of the present invention. Differences from the second embodiment will be described below. As shown in FIG. 7 , the vehicle body vibration determination processing section 33 has a differentiation calculation section 52 , a vibration determination calculation section 53 , a differentiation calculation section 54 , and a rotational speed change determination calculation section 55 .
  • the differentiation calculation unit 52 time-differentiates the angle of the upper revolving body to calculate the angle change rate, and outputs it to the vibration judgment calculation unit 53 .
  • Differential calculation unit 54 differentiates the engine speed with respect to time to calculate a speed change rate, and outputs it to speed change determination calculation unit 55 . If the rotation speed change rate is greater than a predetermined threshold value (rotational speed change rate threshold value), the rotation speed change determination calculation unit 55 determines that the rotation speed change is large, and otherwise determines that the rotation speed change is small, and vibrates the determination result. It is output to judgment calculation section 53 .
  • the vibration determination calculation unit 53 determines whether the angle change rate is larger than a predetermined threshold (first angle change rate threshold), or when the angle change rate is set to be smaller than the first angle change rate threshold. If it is larger than the threshold and the rotation speed change is large, it is determined that the vehicle body vibration is large. , the vehicle body vibration is judged to be small. The vibration determination calculation unit 53 outputs the determination result of the vehicle body vibration as vehicle body vibration information.
  • first angle change rate threshold a predetermined threshold
  • FIG. 8 is a diagram showing the relationship between the engine speed change rate, the vehicle body angle change rate, and the magnitude of vehicle body vibration in chronological order. Since the vehicle body angle change rate exceeds the first angle change rate threshold from time t1 to time t2, it is determined that the vehicle body vibration is large. Immediately after time t3, the vehicle body angle change rate exceeds the second angle change rate threshold and the engine rotation speed change rate exceeds the rotation speed change rate threshold, so it is determined that the vehicle body vibration is large. After that, since the vehicle body angle change rate exceeds the first angle change rate threshold, it is determined that the vehicle body vibration is large.
  • the reason why it is determined that the vehicle body vibration is large if the engine speed change rate is large is that the engine speed changes over time. This is because it may be transmitted to the upper revolving body 2 and the change in the vehicle body angle may become large.
  • the threshold for the rate of change of the vehicle body angle there is a method of geometrically obtaining and determining the allowable value of the angle change rate from the allowable value of the bucket position change.
  • the permissible value of the bucket position change can be defined as "a change per second is the length of the bucket width" in consideration of the position change per unit time that affects the excavation accuracy.
  • the first angle change rate threshold may be calculated by the method of determining the allowable value described above, and the second angle change rate threshold may be set by multiplying the first angle change rate threshold by a ratio.
  • the rotational speed change rate threshold can be defined as "the rotational speed change rate at which the change in the engine rotational speed per second reaches a certain width".
  • a hydraulic excavator 200 (work machine) according to the present embodiment includes an engine 16 (prime mover) serving as a power source, and a vibration detection device for detecting vibration of the upper revolving body 2 is a bucket for detecting the angle of the upper revolving body 2. It has a position measurement system 11 (angle sensor) and a rotation speed sensor 18 that detects the rotation speed of an engine 16 (prime mover).
  • the magnitude of vehicle body vibration is determined based on the change rate of the upper revolving body angle and the engine speed.
  • FIG. 9 is a processing block diagram of the controller 20 in the fourth embodiment of the invention. Differences from the second embodiment (shown in FIG. 5) will be described below. As shown in FIG. 9, the controller 20 further has a work content determination processor 34 .
  • the work content determination processing unit 34 determines the work content based on signals from the operation levers 15L and 15R (lever L operation amount and lever R operation amount) and work tool position information, and uses the determination results as work content information as a target. Output to the design surface output processing unit 31 .
  • the target design surface output processing unit 31 designs based on the construction drawing information, the work tool position information, the vehicle vibration information output from the vehicle vibration determination processing unit 33, and the work content information output from the work content determination processing unit 34.
  • a plane is determined and output to the semi-automatic control processing section 32 and the monitor 22 .
  • FIG. 10 is a computation block diagram of the target design surface output processing section 31 in this embodiment. Differences from the first embodiment (shown in FIG. 4) will be described below.
  • the target design surface output processing unit 31 in this embodiment differs from the first embodiment in the calculation processing of the target design surface update calculation unit 41 .
  • the target design surface update calculation unit 41 updates the target design surface held by itself based on the vehicle body vibration information output from the vehicle body vibration determination processing unit 33 and the work content output from the work content determination processing unit 34. It decides whether or not to update with the design plane output from the design plane extraction calculation section 40, and outputs the target design plane it holds. Specifically, when the vehicle body vibration is small, the target design surface held by itself is updated with the design surface output from the design surface extraction calculation unit 40, and the updated target design surface is output. Similarly, when the vehicle body vibration is large and the work is alignment, the target design surface held by itself is updated with the design surface output from the design surface extraction calculation unit 40, and the updated target design surface is obtained. Output. When the vehicle body vibration is small and the work is excavation, the target design surface held by itself is not updated with the design surface output from the design surface extraction calculation unit 40, and the target design surface held by itself is not updated. to output
  • the reason why the target design surface held by the target design surface update calculation unit 41 is updated regardless of the magnitude of the vehicle body vibration when the work content is alignment will be described. If the work is alignment, it is convenient for the operator to constantly change the target design plane according to the bucket position in order to decide where to dig. This is because it is more convenient for the operator if there is no unintended change in the target design surface in order to finish it accurately.
  • the work machine 200 in this embodiment includes operation levers 15L and 15R (operation devices) for operating the upper revolving body 2 and the work device 210, and the controller 20 (control device) controls the operation levers 15L and 15R (operation devices). ), it is determined whether the content of the work using the bucket 7 (work tool) is excavation or positioning to move the bucket 7 to the excavation start position, and the content of the work is positioning. If so, the target design surface is updated regardless of the detection values of the bucket position measurement system 11 and the rotation speed sensor 18 (vibration detection device).
  • the same effect as in the first to third embodiments can be achieved. Further, when the content of the work is determined to be alignment, the target design surface is updated according to the position of the bucket 7 regardless of the magnitude of vehicle vibration. This makes it possible to smoothly align the bucket 7 while suppressing deterioration in excavation accuracy.
  • FIG. 11 is a computation block diagram of the work content judgment processing unit 34 in the fifth embodiment of the present invention.
  • the work content determination processing unit 34 includes a turning speed prediction calculation unit 60, a bucket toe position prediction calculation unit 61, a height change prediction calculation unit 62, and a work content estimation calculation unit 63. .
  • a swing speed prediction calculation unit 60 calculates a swing speed prediction value during a swing complex motion based on the lever operation amount from the operation levers 15L and 15R and the attitude information from the bucket position measurement system 11, and calculates bucket toe position prediction. It is output to the unit 61 and the work content estimation calculation unit 63 .
  • a bucket toe position prediction calculation unit 61 calculates a predicted bucket toe position based on lever operation amounts from the operation levers 15L and 15R, attitude information from the bucket position measurement system 11, and a swing speed prediction value from the swing speed prediction calculation unit 60. is calculated and output to the height change prediction calculation unit 62 .
  • the height change prediction calculation unit 62 determines whether or not there is a change in the height of the construction target based on the construction drawing information and the predicted bucket toe position from the bucket toe position prediction calculation unit 61, and outputs the determination result as height change determination information. to the work content estimation calculation unit 63.
  • the work content estimation calculation unit 63 estimates the work content based on the swing speed prediction value from the swing speed prediction calculation unit 60 and the height change determination information from the height change prediction calculation unit 62, and uses the estimation result as the work content. It is output to the target design surface output processing unit 31 as information.
  • FIG. 12 is a calculation block diagram of the turning speed prediction calculation unit 60.
  • the turning speed prediction calculation unit 60 has a turning angular speed prediction calculation unit 70 and a multiplication unit 71 .
  • the turning angular velocity prediction calculation unit 70 refers to a conversion table that associates turning operation amounts with turning angular velocities, and converts turning angular velocities corresponding to turning operation amounts included in the lever operation amounts of the operating levers 15L and 15R into turning angular velocity prediction values. (AngSpdSw) to the multiplier 71 .
  • the turning angular velocity prediction calculation unit 70 increases the rate of change of the turning angular velocity with respect to the turning operation amount as the turning radius (the distance from the turning center to the toe position of the bucket) included in the posture information from the bucket position measuring system 11 becomes smaller. Correct the conversion table as follows.
  • the multiplier 71 multiplies the turning angular velocity predicted value (AngSpdSw) and the turning radius, and outputs the multiplication result as the turning speed predicted value (SpdSw).
  • FIG. 13 is a computation block diagram of the bucket toe position prediction computation section 61.
  • the bucket toe position prediction calculation unit 61 includes an arm speed prediction calculation unit 80 , a vehicle longitudinal direction toe speed calculation unit 81 , a bucket toe speed vector calculation unit 82 , and a bucket toe position prediction calculation unit 83 . and
  • the arm speed prediction calculation unit 80 refers to a conversion table that associates the arm operation amount and the arm speed, and converts the arm speed corresponding to the arm operation amount included in the lever operation amounts of the operation levers 15L and 15R into an arm speed prediction value. (AngSpdAm) to the vehicle longitudinal direction toe speed calculator 81 .
  • the vehicle body longitudinal direction toe speed calculation unit 81 uses the arm angle (AngAm) included in the posture information from the bucket position measurement system 11, the length from the rotation fulcrum of the arm 6 to the bucket toe (LAm+LBk), and the arm speed prediction calculation unit. Based on the arm speed prediction value (ApgSpdAm) from 80 , the bucket toe speed (XSpdAm) in the longitudinal direction of the vehicle body associated with the arm motion is calculated and output to the bucket toe speed vector calculation unit 82 .
  • FIG. 14 shows the coordinate system of the hydraulic excavator 200 and information related to geometrical calculations.
  • the bucket toe speed vector calculation unit 82 sets the vehicle body longitudinal direction bucket toe speed (XSpdAm) output from the vehicle body longitudinal direction toe speed calculation unit 81 as the X direction component (XSpd) of the bucket toe speed vector.
  • the swing speed prediction value (SpdSw) output from the swing speed prediction calculation unit 60 is set as the Y-direction component (YSpd) of the bucket toe speed vector, and the bucket toe speed vector (XSpd, YSpd) is set to the bucket toe position prediction calculation unit 83.
  • Bucket toe position prediction calculation unit 83 calculates the bucket toe position (X1, Y1) included in the attitude information from bucket position measurement system 11 and the bucket toe speed vector (XSpd, YSpd) from bucket toe speed vector calculation unit 82. Based on this, the bucket toe position (X2, Y2) after a predetermined time dT is calculated and output as the predicted bucket toe position (X2, Y2).
  • an example of the predetermined time dT is the calculation period of the controller 20 .
  • the arm operation amount is considered when calculating the toe speed in the longitudinal direction of the vehicle body (XSpd), but the bucket operation amount and the boom operation amount may also be taken into account in the calculation.
  • FIG. 15 is a computation block diagram of the height change prediction computation section 62.
  • the height change prediction calculation unit 62 compares the bucket toe position (X1, Y1) from the bucket position measuring system 11 with the construction drawing, and determines the current bucket toe position (X1, Y1).
  • the construction target height Z1 is calculated, and the bucket toe predicted position (X2, Y2) from the bucket toe position prediction calculation unit 61 is compared with the construction drawing to determine the construction target at the bucket toe predicted position (X2, Y2). Calculate the height Z2.
  • the height change prediction calculation unit 62 determines that "there is no change in height", and if the deviation dZ is not 0, it determines that "there is a change in height”. and outputs the determination result as height change determination information.
  • the method of determining the height change is not limited to this, and in order to eliminate the influence of noise etc., when the deviation dZ exceeds the upper limit threshold set slightly larger than 0, or when the deviation dZ is slightly greater than 0 It is also possible to output "height change" when the height is less than the lower limit threshold set to a small value, and output "no height change" when the height is equal to or less than the upper limit threshold and equal to or more than the lower limit threshold.
  • FIG. 16 is a computation block diagram of the work content estimation computation unit 63. As shown in FIG. As shown in FIG. 16, the work content estimation calculation unit 63 estimates the work content based on the turning speed prediction value from the turning speed prediction calculation unit 60 and the height change determination information from the height change prediction calculation unit 62. and outputs the estimation results as work content information. A method of estimating the work content will be specifically described below.
  • the turning speed predicted value (SpdSw) exceeds a predetermined first turning speed threshold
  • the work content is estimated to be alignment regardless of whether there is a change in height.
  • the turning speed is moderate (when the turning speed prediction value (SpdSw) is equal to or less than the first turning speed threshold and exceeds a predetermined second turning speed threshold smaller than the first turning speed threshold)
  • the work content is presumed to be alignment, and the work content is presumed to be excavation when there is no height change.
  • the turning speed is small (when the turning speed predicted value (SpdSw) is equal to or less than the second turning speed threshold value)
  • the work content is estimated to be excavation regardless of whether there is a change in height.
  • the reason for estimating whether to excavate or align according to the height change when the turning speed is small will be described.
  • the bucket When the operator uses a shovel to excavate, the bucket should be kept within a certain distance from the design surface (range considering excavation accuracy). Move away from or closer to. Therefore, when the turning speed is low, it is in accordance with the operator's intention to estimate that the work is excavation if there is no change in height, and that the work is alignment if there is a change in height.
  • the distance between the bucket and the design surface may vary greatly depending on the shape of the design surface.
  • the shape of the design surface here, as shown in the lower diagram of FIG.
  • An example of a case where the distance of changes greatly is when the design surface on which the bucket is located suddenly shifts from a horizontal surface (no height change) to a slope surface (with height change) due to the excavator turning. Therefore, when excavating, the operator tends to operate the shovel so as to reduce the turning speed and reduce the height change.
  • the turning speed threshold (first turning speed threshold) that divides the work into excavation and alignment when there is no height change is the turning speed threshold that divides the work into excavation and alignment when there is a height change. Setting higher than the speed threshold (second turning speed threshold) is in line with the operator's intention.
  • the controller 20 calculates the operating speed of the bucket 7 (work tool) based on the amount of operation of the operating levers 15L and 15R (operating device), and determines the position of the bucket 7 and the operating speed. Based on this, the predicted position of the bucket 7 after a predetermined time is calculated, and the change in the target height of construction, which is the difference between the target height of construction corresponding to the position of the bucket 7 and the target height of construction corresponding to the predicted position of the bucket 7, is calculated.
  • the change in target height for construction is equal to or less than a predetermined height change threshold, and if the speed in the turning direction of the bucket 7 is equal to or less than a predetermined first turning speed threshold, the work content is determined to be excavation, and the bucket
  • the turning direction speed of the bucket 7 exceeds the first turning speed threshold, it is determined that the work content is alignment, and when the construction target height change exceeds the height change threshold, the bucket 7 turns.
  • the speed in the direction is equal to or less than a predetermined second swing speed threshold that is smaller than the first swing speed threshold, it is determined that the work is excavation, and the speed in the swing direction of the bucket 7 exceeds the second swing speed threshold.
  • the work content is judged to be alignment.
  • the present invention is not limited to the above-described embodiments, and includes various modifications.
  • the above embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. It is also possible to add part of the configuration of another embodiment to the configuration of one embodiment, or to delete part of the configuration of one embodiment or replace it with part of another embodiment. It is possible.
  • Monitor (display Device) 23 Hydraulic device 30 Operator command processing unit 31 Target design surface output processing unit 32 Semi-automatic control processing unit 33 Body vibration determination processing unit 34 Work content determination processing unit 40 Design surface extraction calculation unit 41 Target design surface update calculation unit 50 Differential calculation unit 51 Vibration determination calculation unit 52 Differential calculation unit 53 Vibration determination calculation unit 54 Differential calculation unit 55 Rotation Number change determination calculation unit 60 Turning speed prediction calculation unit 61 Bucket toe position prediction calculation unit 62 Height change prediction calculation unit 63 Work content estimation calculation unit 70 Turning angular speed prediction calculation unit 71 Multiplication unit 80 Arm speed prediction calculation unit 81 Vehicle longitudinal direction toe speed calculation unit 82 Bucket toe speed vector calculation unit 83 Bucket toe position prediction calculation unit 200 Hydraulic excavator (working machine) 210 Working equipment, 300... Hydraulic control system.

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

Abstract

La présente invention concerne une excavatrice à guidage ou une excavatrice semi-automatique qui peut supprimer la réduction de la précision d'excavation provoquée par les vibrations. La présente invention comprend : un corps mobile inférieur ; un corps rotatif supérieur fixé de manière rotative au corps mobile inférieur ; un dispositif de travail à plusieurs articulations fixé au corps rotatif supérieur et comprenant un outil de travail ; et un dispositif de commande qui stocke des plans de construction contenant des informations concernant une pluralité de plans de conception qui indiquent la forme cible à construire. Le dispositif de commande comprend un dispositif de détection de vibrations qui détecte la vibration du corps rotatif supérieur dans la machine de travail qui sélectionne le plan de conception cible pour la construction par l'outil de travail parmi une pluralité de plans de conception. Le dispositif de commande met à jour le plan de conception cible selon la position de l'outil de travail et la taille de la valeur détectée à partir du dispositif de détection de vibrations.
PCT/JP2022/011879 2021-04-28 2022-03-16 Machine de travail WO2022230417A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014054194A1 (fr) * 2012-10-05 2014-04-10 株式会社小松製作所 Système d'affichage pour machine d'excavation, et machine d'excavation
WO2016111148A1 (fr) * 2015-12-18 2016-07-14 株式会社小松製作所 Dispositif d'affichage d'informations de construction et procédé d'affichage d'informations de construction

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5054832B2 (ja) 2011-02-22 2012-10-24 株式会社小松製作所 油圧ショベルの表示システム及びその制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014054194A1 (fr) * 2012-10-05 2014-04-10 株式会社小松製作所 Système d'affichage pour machine d'excavation, et machine d'excavation
JP2014074315A (ja) * 2012-10-05 2014-04-24 Komatsu Ltd 掘削機械の表示システム及び掘削機械
WO2016111148A1 (fr) * 2015-12-18 2016-07-14 株式会社小松製作所 Dispositif d'affichage d'informations de construction et procédé d'affichage d'informations de construction

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