JP6721291B2 - Excavator - Google Patents

Description

The present invention relates to a shovel having a machine guidance function.

The operator of a shovel as a construction machine is required to have a skillful control technique in order to efficiently and accurately perform work such as excavation using an attachment. Therefore, there is a shovel provided with a function (referred to as machine guidance) for guiding the shovel operation so that an operator who has little experience in operating the shovel can perform the work efficiently and accurately (for example, Patent Document 1). 1).

JP2012-172425A

In order to achieve the machine guidance function, it is necessary to accurately detect the posture of the shovel and the position of the attachment while detecting the difference between the movement of the shovel and the target movement by the pilot.

In a shovel having a machine guide function, the attachment is often operated while the revolving structure equipped with the attachment is stopped. However, for example, the attachment may be operated even while the revolving structure is revolving, and in such a case, it is preferable that the machine guidance is performed.

As described above, in order to achieve the machine guidance function, it is necessary to detect the tilt of the shovel as the current posture of the current shovel. The tilt of the shovel is generally detected by a tilt sensor provided on the revolving structure. As such a tilt sensor, a biaxial or triaxial acceleration sensor is often used.

However, when an acceleration sensor is used as the tilt sensor, there is a possibility that the centrifugal force caused by the turning motion of the turning body may be erroneously detected as the shovel tilt. However, the machine guidance function described in Patent Document 1 does not consider the influence of the turning motion of the turning body of the shovel on the tilt sensor.

The present invention, rotating body and to provide a shovel that can by divided the effect of turning even during turning.

To achieve the above object, according to an embodiment of the present invention, a revolving structure, an attachment attached to the revolving structure, a posture sensor for detecting a posture of the attachment, and a revolving structure attached to the revolving structure. A tilt sensor, a turning speed sensor attached to the turning body, and a guidance device that calculates the height of the attachment based on a detection value of the attitude sensor, and the guidance device is a turning speed sensor of the turning speed sensor. A tilt angle of the revolving structure that does not include an error due to a centrifugal force is calculated from the detection value of the tilt sensor based on the detection value, and the height of the attachment is calculated based on the calculated tilt angle and the detection value of the attitude sensor. A shovel is provided to calculate.
Similarly, to achieve the above object, according to one embodiment of the present invention, a revolving structure, an attachment attached to the revolving structure, a posture sensor for detecting a posture of the attachment, and the revolving structure. An inclination sensor attached to the revolving structure, a revolving speed sensor attached to the revolving structure, and a guidance device, and the guidance device calculates the height of the attachment based on the detection value of the posture sensor. The target height set in advance is corrected based on the turning speed of the turning speed sensor so that the height does not include an error due to the centrifugal force of the detected value of the tilt sensor, and the output is calculated. There is provided a shovel that compares the height with the corrected target height and provides guidance based on the comparison result.

Further, it has a revolving structure, an attachment attached to the revolving structure, a posture sensor for detecting the posture of the attachment, an inclination sensor mounted on the revolving structure, and a guidance device for guiding the operation of the attachment. However, the guidance device corrects the tilt angle of the revolving structure based on the revolving speed of the revolving structure, calculates the height of the attachment based on the detection value of the posture sensor, and sets a preset target. A shovel is provided which corrects the height based on the turning speed of the revolving structure, outputs the corrected height, compares the calculated height with the corrected target height, and provides guidance based on the comparison result. It

According to the disclosed embodiment, by correcting the detection value of the tilt sensor while the revolving structure of the shovel is turning, it is possible to provide accurate machine guidance while considering the tilt of the shovel.

1 is a side view of a shovel according to an embodiment of the present invention. It is a block diagram which shows the structure of the drive system of the shovel shown in FIG. It is a block diagram showing functional composition of a controller and a machine guidance device. It is a figure for demonstrating the inclination detection method of a machine body inclination sensor. It is a flow chart of an example of guidance processing. It is a figure for demonstrating the influence which a turning speed has on the inclination angle of a shovel. It is a flow chart of another example of guidance processing.

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of a shovel according to an embodiment. An upper revolving structure 3 is mounted on a lower traveling structure 1 of the shovel through a revolving mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. As the end attachment, a slope bucket, a dredging bucket, or the like may be used.

The boom 4, the arm 5, and the bucket 6 form an excavation attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as “attitude sensor”.

The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor that detects an inclination with respect to the horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3. The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor that detects the tilt angle with respect to the horizontal plane to detect the rotation angle of the arm 5 with respect to the boom 4. The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the bucket 6 with respect to the arm 5. When the excavation attachment includes the bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are potentiometers that use variable resistors, stroke sensors that detect the stroke amount of the corresponding hydraulic cylinders, and rotary encoders that detect the rotation angle around the connecting pin. And so on.

The upper swing body 3 is provided with a cabin 10 and a power source such as an engine 11 is mounted. A body tilt sensor S4 is attached to the upper swing body 3. The machine body inclination sensor S4 is a sensor that detects the inclination of the upper swing body 3 with respect to the horizontal plane. In the present embodiment, the machine body tilt sensor S4 is a biaxial acceleration sensor that detects a tilt angle (also referred to as a tilt angle) about the front-rear axis and the left-right axis of the upper swing body 3. Further, a swing speed sensor S5 is attached to the upper swing body 3. The swing speed sensor S5 is, for example, a gyro sensor, and detects the swing angular velocity of the upper swing body 3. The machine body tilt sensor S4 and the swing speed sensor S5 may be separately mounted on the upper swing body 3, or may be mounted on one board and integrally mounted on the upper swing body 3. The body tilt sensor S4 may also be referred to as an "attitude sensor".

An input device D1, a voice output device D2, a display device D3, a storage device D4, a gate lock lever D5, a controller 30, and a machine guidance device 50 are installed in the cabin 10.

The controller 30 functions as a main control unit that controls the drive of the shovel. In the present embodiment, the controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing the programs stored in the internal memory.

The machine guidance device 50 guides the operation of the shovel. In the present embodiment, for example, the machine guidance device 50 visually and audibly informs the operator of the vertical distance between the surface of the target terrain set by the operator and the tip (toe) position of the bucket 6. .. As a result, the machine guidance device 50 guides the operator to operate the shovel. The machine guidance device 50 may only visually notify the operator of the distance, or may only audibly notify the operator. Specifically, the machine guidance device 50, like the controller 30, is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing the programs stored in the internal memory. The machine guidance device 50 may be provided separately from the controller 30 or may be incorporated in the controller 30.

The input device D1 is a device for the shovel operator to input various information to the machine guidance device 50. In the present embodiment, the input device D1 is a membrane switch attached to the surface of the display device D3. A touch panel or the like may be used as the input device D1.

The voice output device D2 outputs various voice information in response to a voice output command from the machine guidance device 50. In the present embodiment, an in-vehicle speaker directly connected to the machine guidance device 50 is used as the voice output device D2. An alarm device such as a buzzer may be used as the audio output device D2.

The display device D3 outputs various image information in response to a command from the machine guidance device 50. In this embodiment, an in-vehicle liquid crystal display directly connected to the machine guidance device 50 is used as the display device D3.

The storage device D4 is a device for storing various information. In this embodiment, a non-volatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores various information output by the machine guidance device 50 and the like.

The gate lock lever D5 is a mechanism that prevents the shovel from being operated by mistake. In the present embodiment, the gate lock lever D5 is arranged between the door of the cabin 10 and the driver's seat. When the gate lock lever D5 is pulled up so that the operator cannot leave the cabin 10, various operating devices can be operated. On the other hand, when the gate lock lever D5 is pushed down so that the operator can exit the cabin 10, various operating devices cannot be operated.

FIG. 2 is a block diagram showing a configuration of a drive system of the shovel shown in FIG. In FIG. 2, the mechanical power system is shown by a double line, the high-pressure hydraulic line is shown by a thick solid line, the pilot line is shown by a broken line, and the electric drive/control system is shown by a thin solid line.

The engine 11 is the power source of the shovel. In the present embodiment, the engine 11 is a diesel engine that employs isochronous control that maintains the engine speed constant regardless of the increase or decrease of the engine load. The fuel injection amount, fuel injection timing, boost pressure, etc. in the engine 11 are controlled by the engine controller D7.

The engine controller D7 is a device that controls the engine 11. In this embodiment, the engine controller D7 executes various functions such as an auto idle function and an auto idle stop function.

The auto idle function is a function to reduce the engine speed from the normal speed (for example, 2000 rpm) to the idle speed (for example, 800 rpm) when a predetermined condition is satisfied. In the present embodiment, the engine controller D7 operates the auto idle function in response to the auto idle command from the controller 30 to reduce the engine speed to the idle speed.

The auto idle stop function is a function to stop the engine 11 when a predetermined condition is satisfied. In the present embodiment, the engine controller D7 operates the auto idle stop function to stop the engine 11 in response to the auto idle stop command from the controller 30.

A main pump 14 and a pilot pump 15 as hydraulic pumps are connected to the engine 11. A control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the shovel. Hydraulic actuators such as the right-side traveling hydraulic motor 1A, the left-side traveling hydraulic motor 1B, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the turning hydraulic motor 21 are connected to the control valve 17 via a high-pressure hydraulic line. ..

An operating device 26 is connected to the pilot pump 15 via a pilot line 25.

The operating device 26 includes a lever 26A, a lever 26B, and a pedal 26C. In the present embodiment, the operating device 26 is connected to the control valve 17 via the hydraulic line 27 and the gate lock valve D6. Further, the operating device 26 is connected to a pressure sensor 29 via a hydraulic line 28.

The gate lock valve D6 switches connection/disconnection of the hydraulic line 27 connecting the control valve 17 and the operating device 26. In the present embodiment, the gate lock valve D6 is a solenoid valve that switches between communication and cutoff of the hydraulic line 27 according to a command from the controller 30. The controller 30 determines the state of the gate lock lever D5 based on the state signal output by the gate lock lever D5. When the controller 30 determines that the gate lock lever D5 is in the raised state, the controller 30 outputs a communication command to the gate lock valve D6. When the communication command is received, the gate lock valve D6 opens to connect the hydraulic line 27. As a result, the operator's operation on the operation device 26 becomes effective. On the other hand, when the controller 30 determines that the gate lock lever D5 is in the pulled-down state, it outputs a shutoff command to the gate lock valve D6. Upon receiving the shutoff command, the gate lock valve D6 is closed to shut off the hydraulic line 27. As a result, the operation of the operator on the operation device 26 becomes invalid.

The pressure sensor 29 detects the operation content of the operating device 26 in the form of pressure. The pressure sensor 29 outputs the detected value to the controller 30.

Next, various functional elements provided in the controller 30 and the machine guidance device 50 will be described with reference to FIG. FIG. 3 is a functional block diagram showing the configurations of the controller 30 and the machine guidance device 50.

In the present embodiment, the controller 30 controls whether or not guidance is given by the machine guidance device 50, in addition to controlling the operation of the entire shovel. Specifically, the controller 30 determines whether or not the shovel is at rest based on the state of the gate lock lever D5, the detection signal from the pressure sensor 29, and the like. Then, when the controller 30 determines that the shovel is at rest, it sends a guidance stop command to the machine guidance device 50 so as to stop the guidance by the machine guidance device 50.

Further, the controller 30 may output a guidance stop command to the machine guidance device 50 when outputting the auto idle stop command to the engine controller D7.

Next, the machine guidance device 50 will be described. In the present embodiment, the machine guidance device 50 includes various signals output from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the turning speed sensor S5, the input device D1, and the controller 30. And receive data. The machine guidance device 50 calculates the actual operating position of the attachment (for example, the bucket 6) based on the received signal and data. Then, when the actual operation position of the attachment is different from the target operation position, the machine guidance device 50 sends an alarm command to the voice output device D2 and the display device D3 to issue an alarm. The machine guidance device 50 and the controller 30 are communicably connected to each other through a CAN (Controller Area Network).

Machine guidance device 50 includes a functional unit that performs various functions. In the present embodiment, the machine guidance device 50 serves as a functional unit for guiding the operation of the attachment, the inclination angle calculation unit 501, the inclination angle correction unit 502, the height calculation unit 503, the comparison unit 504, and the alarm control unit 505. And a guidance data output unit 506.

The tilt angle calculation unit 501 calculates the tilt angle of the upper swing body 3 (the shovel tilt angle) with respect to the horizontal plane based on the detection signal from the machine body tilt sensor S4. That is, the tilt angle calculation unit 501 calculates the tilt angle of the shovel using the detection signal from the body tilt sensor S4.

The tilt angle correction unit 502 corrects the tilt angle calculated by the tilt angle calculation unit 501 using the detection signal of the turning speed sensor S5. The tilt angle calculated by the tilt angle calculation unit 501 may deviate from the actual tilt angle under the influence of the centrifugal force due to the turning motion when the upper swing body 3 is performing the turning motion. The inclination angle correction unit 502 corrects the deviation of the inclination angle due to the centrifugal force using the detection signal (turning speed signal) of the turning speed sensor S5.

The height calculation unit 503 determines the tip of the bucket 6 (toe of the toe) from the tilt angle corrected by the tilt angle correction unit 502 and the angles of the boom 4, the arm 5, and the bucket 6 calculated from the detection signals of the sensors S1 to S3. ) Height is calculated. Here, since the excavation is performed at the tip of the bucket 6, the tip (toe) of the bucket 6 corresponds to the work site of the end attachment. For example, when performing work such as smoothing the soil on the back surface of the bucket 6, the back surface of the bucket 6 corresponds to the work site of the end attachment. Further, when a breaker is used as the end attachment other than the bucket 6, the tip of the breaker corresponds to the work site of the end attachment.

The comparison unit 504 compares the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 and the target height of the tip (toe) of the bucket 6 indicated by the guidance data output from the guidance data output unit 506. Compare.

The alarm control unit 505 sends an alarm command to both or one of the voice output device D2 and the display device D3 when it is determined that an alarm is necessary based on the comparison result of the comparison unit 504. Upon receiving the alarm command, the voice output device D2 and the display device D3 issue a predetermined alarm to notify the operator of the shovel.

As described above, the guidance data output unit 506 extracts the data of the target height of the bucket 6 from the guidance data stored in advance in the storage device of the machine guidance device 50 and outputs it to the comparison unit 504. .. At this time, the guidance data output unit 506 outputs the data of the target height of the bucket corresponding to the inclination angle of the shovel. As the tilt angle used at this time, the tilt angle corrected by the tilt angle correction unit 502 based on the detection signal of the turning speed sensor S5 is used. Therefore, the target height output from the guidance data output unit 506 is the target height corrected by removing the influence of the turning speed on the body inclination sensor S4.

Further, the guidance data output unit 506 has a function of reading the target height using the tilt angle calculated by the tilt angle calculation unit 501 as it is and correcting the read target height based on the detection signal of the turning speed sensor S5. May have. Also in this case, the target height corrected by removing the influence of the turning speed on the body inclination sensor S4 is output to the comparison unit 504.

In the guidance data, data regarding the height of the bucket 6 in a reference operation when performing a predetermined work with the bucket 6 is defined in correspondence with the inclination angle of the shovel. Therefore, by designating a certain inclination angle, the preset target height of the bucket 6 corresponding to the inclination angle can be extracted.

Here, a tilt detection method of the body tilt sensor S4 will be briefly described with reference to FIG. In the present embodiment, an acceleration sensor is used as the machine body tilt sensor S4. FIG. 4A is a view of the shovel installed on the inclined surface as viewed from the front of the upper revolving structure 3, and FIG. 4B is a view of the shovel installed on a horizontal plane as viewed from the front of the upper revolving structure 3. Is. As shown in FIG. 4A, the acceleration sensor detects the inclination of the shovel body by detecting the component Fs of the gravity in the inclination direction. The inclination detected by the acceleration sensor is reflected in the calculation of the height of the bucket 6. When such an acceleration sensor is installed on the upper swing body 3, when the upper swing body 3 is swinging, the acceleration sensor detects the centrifugal force Fc due to the swing, as shown in FIG. 4B. Therefore, the centrifugal force Fc is added to the detection signal of the body tilt sensor S4 as noise. Therefore, if the detection signal of the machine body tilt sensor S4 is used as it is for calculating the tilt angle, the tilt angle affected by noise is calculated, and the tilt angle is not accurate.

More specifically, for example, when the upper swing body 3 of the shovel installed in a horizontal place is swinging as shown in FIG. 4B, the machine body tilt sensor S4 detects the centrifugal force Fc due to the swing. The detection signal of the centrifugal force Fc is output to the controller 30. Since the controller 30 calculates the tilt angle of the machine body from the detection signal of the machine body tilt sensor S4, the tilt angle corresponding to the centrifugal force Fc is calculated. That is, the error due to the turning operation is included in the calculation of the bucket height. That is, the shovel is installed in a horizontal place and the inclination angle is actually zero degrees, but the inclination angle corresponding to the centrifugal force Fc is calculated. Therefore, in the present embodiment, the tilt angle correction unit 502 corrects the tilt angle using the turning speed detected by the turning speed sensor S5 so that the influence of the turning speed is removed.

The turning speed used for correction by the inclination angle correcting unit 502 is not limited to the turning speed detected by the turning speed sensor S5. For example, the turning speed may be calculated from the rotation speed of the turning motor. When the swing motor is a hydraulic motor, the swing speed may be estimated from the discharge flow rate of the main pump that supplies hydraulic oil for driving the hydraulic motor.

Next, an example of guidance processing by the machine guidance device 50 will be described with reference to FIG. FIG. 5 is a flowchart of the guidance process when guiding the work by the bucket 6. The guidance process shown in FIG. 5 is a process of notifying the operator of the fact that the bucket 6 has deviated from the target operation position (target height) during work with the bucket 6 by an alarm.

When the guidance process is started during the work on the bucket 6, the tilt angle calculation unit 501 first calculates the current tilt angle of the shovel (step ST101). The shovel tilt angle is calculated using the detection signal from the machine body tilt sensor S4.

Subsequently, the tilt angle correction unit 502 corrects the tilt angle calculated by the tilt angle calculation unit 501 based on the detection signal from the turning speed sensor S5 (step ST102). This corrected tilt angle becomes an actual tilt angle in which the influence of the turning speed on the turning speed sensor S5 is eliminated even when the upper-part turning body 3 is performing a turning motion.

Here, the above-described inclination angle correction will be described with reference to FIG. FIG. 6A is a graph showing the change over time of the swing angular velocity ω of the upper swing body 3 by the swing speed sensor S5. FIG. 6B is a graph showing changes in the detection value of the machine body tilt sensor S4 when the turning angular velocity ω representing the turning speed changes as shown in FIG. 6A.

In FIG. 6A, the upper swing body 3 starts to swing at time t1. The upper revolving superstructure 3 continues to accelerate after the time t1, and the acceleration is stopped at the time t2 to rotate at a constant speed. Therefore, the turning angular velocity ω of the upper-part turning body 3 increases after the time t1 and becomes constant at the time t2.

When the upper swing body 3 makes a swing motion as shown in FIG. 6A, a centrifugal force acts on the machine body tilt sensor S4 during the swing. Since the machine body tilt sensor S4 attached to the upper swing body 3 is an acceleration sensor, the machine body tilt sensor S4 detects this centrifugal force Fc as acceleration. Therefore, as shown in FIG. 6B, the detection value of the machine body tilt sensor S4 starts rising at time t1 at which the vehicle starts turning, continues to rise until time t2, and becomes constant at time t2.

On the other hand, since the actual tilt angle of the shovel does not change even when the upper-part turning body 3 turns, the detection value of the body tilt sensor S4 should be constant as shown by the chain double-dashed line in FIG. 6B. .. Therefore, in FIG. 6B, a deviation S occurs between the detection value of the machine body inclination sensor S4 shown by the solid line and the detection value corresponding to the actual inclination shown by the chain double-dashed line. The magnitude of the deviation S is proportional to the square of the turning angular velocity ω. When the tilt angle of the shovel is calculated using the detection value including the deviation S, the calculated tilt angle does not become the actual tilt angle, but the tilt angle includes an error corresponding to the deviation S.

Therefore, in the present embodiment, the tilt angle of the shovel calculated from the detection signal (detection value) of the machine body tilt sensor S4 is corrected to be equal to the actual tilt angle by using the detection value of the turning angular velocity ω. This correction is correction by the tilt angle correction unit 502.

In step ST102, when the tilt angle calculated by the tilt angle calculation unit 501 is corrected based on the detection signal from the turning speed sensor S5, the height calculation unit 503 calculates the current height of the bucket 6. (Step ST103). The height of the bucket 6 is calculated using the tilt angle of the shovel corrected by the tilt angle correction unit 502 and the detection signals from the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.

In parallel with the processing of steps ST101 to ST103 described above, the guidance data output unit 506 extracts the data of the target height of the bucket 6 from the guidance data and outputs it to the comparison unit 504 (step ST104).

Next, the comparison unit 504 compares the bucket height obtained in step ST103 with the target bucket height output from the guidance data output unit 506 in step ST105 (step ST105). Then, the comparison unit 504 calculates the difference between the bucket height calculated in step ST103 and the target bucket height output in step ST105. The comparing unit 504 determines whether or not the difference between the bucket height obtained in step ST103 and the target bucket height output in step ST105 is equal to or greater than a predetermined value (step ST106).

If it is determined in step ST106 that the difference is not greater than or equal to the predetermined value, the alarm control unit 505 determines that the operation of the bucket 6 is in line with the target operation, does not output an alarm command, and the guidance process this time finish.

On the other hand, when it is determined in step ST106 that the difference is equal to or larger than the predetermined value, the alarm control unit 505 determines that the operation of the bucket 6 is out of the target operation, and outputs a predetermined alarm command.

As described above, the machine guidance device 50 includes the inclination angle correction unit 502 that corrects the inclination angle of the upper swing body 3 based on the swing speed of the upper swing body 3, and the detected values of the sensors S1 to S3 and the corrected tilt. A height calculation unit 503 that calculates the height of the bucket 6 based on the angle, a guidance data output unit 506 that extracts and outputs a preset target height, and a calculated height and an output target height. And a comparison unit 504 for comparing the above and the above, and provides guidance such as issuing an alarm based on the comparison result.

Next, another example of the guidance process will be described with reference to FIG. FIG. 7 is a flowchart of another example of the guidance process. 7, steps that are the same as the steps shown in FIG. 5 are given the same step numbers.

When the guidance process is started during the work on the bucket 6, the tilt angle calculation unit 501 first calculates the current tilt angle of the shovel (step ST101). The shovel tilt angle is calculated using the detection signal from the machine body tilt sensor S4.

Subsequently, the height calculation unit 503 calculates the current height of the bucket 6 (step ST103). The height of the bucket 6 is calculated using the tilt angle of the shovel calculated by the tilt angle calculation unit 501 and the detection signals from the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. However, the calculated height of the bucket 6 includes an error due to the turning operation.

On the other hand, the guidance data output unit 506 extracts the data of the target height of the bucket 6 from the guidance data (step ST201). Then, the guidance data output unit 506 corrects the extracted target height based on the detection signal (detection value) of the turning speed sensor S5, and outputs the corrected target height (step ST202). In this correction, since the height calculated by the height calculation unit 503 is the height based on the tilt angle including the error due to the influence of the turning motion, the target height is corrected by the amount corresponding to the error. It is a correction. It is possible to calculate the tilt angle corresponding to the error based on the turning speed and correct the target height corresponding to the position of the bucket 6 to obtain the target height.

When the processes of step ST103 and step ST202 are completed, the comparison unit 504 compares the bucket height obtained in step ST103 with the target bucket height output from the guidance data output unit 506 in step ST202 (step ST105). Then, the comparing unit 504 calculates the difference between the bucket height calculated in step ST103 and the target bucket height output in step ST202. The comparison unit 504 determines whether or not the difference between the bucket height obtained in step ST103 and the target bucket height output in step ST202 is equal to or greater than a predetermined value (step ST106).

If it is determined in step ST106 that the difference is not greater than or equal to the predetermined value, the alarm control unit 505 determines that the operation of the bucket 6 is in line with the target operation, does not output an alarm command, and the guidance process this time is not performed. finish.

On the other hand, when it is determined in step ST106 that the difference is equal to or larger than the predetermined value, the alarm control unit 505 determines that the operation of the bucket 6 is out of the target operation, and outputs a predetermined alarm command.

As described above, the machine guidance device 50 calculates the height of the bucket 6 based on the tilt angle calculation unit 501 that calculates the tilt angle of the upper swing body 3 and the detection values of the attitude sensors S1 to S3. A portion 503, a guidance data output portion 506 that extracts a preset target height, corrects the extracted target height based on the swing speed of the upper swing body 3, and outputs the corrected target height, and a calculated height. , And a comparison unit 504 that compares the corrected target height with each other, and provides guidance based on the comparison result.

1 Lower Traveling Body 2 Revolving Mechanism 3 Upper Revolving Body 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cabin 11 Engine 14 Main Pump 15 Pilot Pump 16 High Pressure Hydraulic Line 17 Control Valve 26 Operating Device 29 Pressure Sensor 30 Controller 50 Machine guidance device 501 Tilt angle calculation unit 502 Tilt angle correction unit 503 Height calculation unit 504 Comparison unit 505 Alarm control unit 506 Guidance data output unit S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Aircraft tilt sensor S5 Turning Speed sensor D1 Input device D2 Audio output device D3 Display device D4 Storage device D5 Gate lock lever D6 Gate lock valve D7 Engine controller

Claims (2)

Revolving structure,
An attachment attached to the revolving structure,
A posture sensor for detecting the posture of the attachment,
An inclination sensor attached to the revolving structure,
A turning speed sensor attached to the turning body,
A guidance device that calculates the height of the attachment based on the detection value of the posture sensor,
The guidance device is
Calculating the tilt angle of the revolving structure that does not include an error due to centrifugal force from the detection value of the tilt sensor based on the detection value of the turning speed sensor,
A shovel that calculates a height of the attachment based on the calculated inclination angle and a detection value of the attitude sensor. Revolving structure,
An attachment attached to the revolving structure,
A posture sensor for detecting the posture of the attachment,
An inclination sensor attached to the revolving structure,
A turning speed sensor attached to the turning body,
With a guidance device,
The guidance device is
Based on the detection value of the attitude sensor, calculate the height of the attachment,
In order not to include an error due to the centrifugal force of the detection value of the tilt sensor in the height, a preset target height is corrected based on the turning speed of the turning speed sensor and then output.
Comparing the calculated height with the corrected target height,
A shovel that gives guidance based on the comparison result.

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