JP7042780B2 - Work machine - Google Patents

Description

The present invention relates to a work machine including a swivel body that can be swiveled.

Work machines such as hydraulic excavators are equipped with a swivel body that is rotatably attached to the upper part of the traveling body. It is assumed that such a work machine performs a predetermined work while repeating a turning motion, but in an actual work site, there is a possibility that other work machines or obstacles such as an outer wall exist within the movable range of the turning body. ..

There is a swivel control device described in Patent Document 1 as a technique for preventing contact with these obstacles. In the work machine of Patent Document 1, the controller (turning control device) automatically turns the upper turning body so that the turning angle of the turning body (front working device) does not deviate from the turning range set in advance to an arbitrary size. Control the operation (in this paper, this control may be referred to as "deviation prevention control"). Therefore, for example, if the swivel range is matched with the work range, the work can be performed without deviating from the upper swivel body (front work device) from the work range.

Japanese Unexamined Patent Publication No. 2011-52383

In hydraulic excavators, a swivel control device as in Patent Document 1 may be used in excavation and excavation work in which swivel operation is frequently performed. In that case, the hydraulic excavator first repeats the excavation operation and the earth discharge operation within the turning range (work range) predetermined in the excavation and excavation work, and after a certain amount of soil is accumulated in the excavation site, it goes to the dump truck. It is assumed that the loading work for loading the soil will be started. During excavation and excavation work, obstacles such as other work machines and equipment may exist outside the turning range. Therefore, in order to prevent unintentional deviation from the turning range due to erroneous operation during excavation and excavation work, for example, it is possible to select whether to enable or disable deviation prevention control by a controller (turning control device). Work is performed in a state where the deviation prevention control is enabled by operating the switch (for example, the state where the switch is switched to the ON position). Next, when a certain amount of soil is accumulated by the excavation operation and the excavation operation (that is, when the excavation and excavation work is completed), the switch is operated to invalidate the deviation prevention control (for example). With the switch switched to the OFF position), loading work is performed on the dump truck existing outside the turning range. Then, after the loading work is completed, the deviation prevention control is enabled (that is, the switch is switched from the OFF position to the ON position) after returning to the turning range.

Since the activation and temporary release operations of the deviation prevention control are frequently repeated until the desired work is achieved, the operator makes a mistake in the timing to operate, and after the loading on the dump truck is completed, the switch is turned on outside the turning range. It is conceivable to switch to and try to enable the deviation prevention control. When the controller (turning control device) has specifications that prevent deviation prevention control from being enabled outside the turning range (for example, the switch cannot be switched to the ON position outside the turning range) when such an erroneous operation is performed. Since it is necessary to perform the switch operation again after the turning angle returns to the turning range, it is troublesome twice. Alternatively, in order to mitigate such a decrease in work efficiency, even if the operator switches the switch to the ON position outside the turning range and presents the controller with an intention to enable the deviation prevention control, the deviation prevention control is effective outside the turning range. It is conceivable that the controller will automatically enable the deviation prevention control when the turning angle of the upper turning body (front work device) returns to the turning range. However, when this measure is adopted, unless the operator is surely aware that the deviation prevention control is automatically enabled when returning to the turning range, the unexpected after returning to the turning range is unexpected. Deviation prevention control may be executed at the timing to give the operator a sense of discomfort.

The present invention has been made in view of the above circumstances, and an object thereof is to accept an operation for enabling deviation prevention control by an operator outside the turning range, and the turning angle of the upper swivel body is swiveled after the activation operation. It is an object of the present invention to provide a work machine capable of effectively informing an operator that deviation prevention control is activated when it is re-increased in the range.

The present application includes a plurality of means for solving the above problems, for example, in order to operate the traveling body, the rotating body attached to the traveling body so as to be able to turn in the left-right direction, and the turning body. An operating device operated by an operator, a swivel drive device that swivels and drives the swivel body based on an operation input to the operating device, an angle sensor that detects the swivel angle of the swivel body with respect to the traveling body, and the above. The turning drive device is controlled based on the turning angle detected by the angle sensor and the operation input to the operating device so that the turning angle of the turning body with respect to the traveling body does not deviate from a predetermined turning range. In a work machine equipped with a controller capable of performing deviation prevention control, the work machine includes a switch that can be switched to either a first position or a second position, and the controller has a turning angle of the turning body. When the switch is switched to the first position while being included in the turning range, the switch shifts to the first state in which the deviation prevention control can be executed, and the switch is switched to the second position. In that case, the deviation prevention control is shifted to the unexecutable second state, and the switch is switched to the first position (ON) in a state where the turning angle of the turning body is out of the turning range. If so, the controller shifts to the third state, and when the turning angle of the turning body is out of the turning range when the controller is in the third state, the controller performs the deviation prevention control. It is infeasible and limits the operation of the swivel body by the operating device, and when the controller is in the third state, the swivel angle of the swivel body is included in the swivel range from the state out of the swivel range. The controller is characterized in that it shifts to the first state in which the deviation prevention control can be executed.

According to the present invention, even when the turning angle of the upper turning body (front working device) is out of the turning range, the operator accepts the operation to enable the deviation prevention control, so that the decrease in work efficiency can be suppressed. Further, after the activation operation is accepted, it is possible to effectively inform the operator that the deviation prevention control is enabled (standby state) when the turning angle of the upper turning body is included in the turning range again. Therefore, even if the deviation prevention control is activated within the turning range, the degree of discomfort that the operator receives can be suppressed.

It is a figure which shows the appearance of the hydraulic excavator which is an example of a work machine. It is a figure which shows the structure of the controller which concerns on 1st Embodiment. It is a figure which showed the definition method of a turning angle and a turning range. It is a figure which showed the processing by the state switching part in a controller. It is a figure which showed the processing by the turning amount calculation part in a controller. It is a figure which showed the turning amount from the turning angle (current position) outside the turning range to the end of the turning range. It is a figure which showed the processing by the control command value calculation part in a controller. It is a figure which showed the turning amount from the turning angle (current position) in a turning range to the end of a turning range. It is a figure which showed an example of a construction site. It is a figure which showed the transition to the standby state (third state), and the operation in the standby state. It is a figure which showed the operation in the effective state (the first state). It is a figure which shows the structure of the controller which concerns on 2nd Embodiment. It is a figure which showed the processing by the escape direction storage part in a controller. It is a figure which showed an example of a construction site. It is a figure which showed the transition to the standby state (third state), and the operation in the standby state.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, a hydraulic excavator equipped with a bucket as a work tool (attachment) at the tip of a front work device (work device) will be illustrated as a work machine, but the present invention is applied to a work machine having an attachment other than the bucket. May be good. Further, if the structure has an articulated work device configured by connecting a plurality of front members (work tools, booms, arms, etc.) on a structure that can be swiveled, a work machine other than a hydraulic excavator. It can also be applied to.

An overview of a hydraulic excavator, which is an example of a work machine, is shown in FIG. The hydraulic excavator 1 is a vehicle body including an articulated front working device 1A including a boom 1a, an arm 1b, and a bucket 1c, which are a plurality of front members that rotate in the vertical direction, and an upper swing body 1d and a lower traveling body 1e. It is composed of 1B. The upper swivel body 1d is attached to the upper part of the lower traveling body 1e so as to be able to swivel in the left-right direction.

The base end of the boom 1a of the front working apparatus 1A is supported by the front portion of the upper swing body 1d. The boom 1a, arm 1b, bucket 1c, upper swivel body 1d and lower traveling body 1e are boom cylinder 2a, arm cylinder 2b, bucket cylinder 2c, swivel motor (swivel drive device) 3d and left and right traveling motors 3e and 3f, respectively. Each is driven by an actuator.

The upper swivel body 1d is provided with a driver's cab 1f, and four operation levers are installed in the driver's cab 1f as an operation device operated by an operator. Further, the upper swing body 1d is provided with an engine 4, a hydraulic pump (for example, a main pump and a pilot pump) 5, and a control valve 6 for operating the hydraulic excavator 1, and the hydraulic pump 5 is provided by rotation of the engine 4. It is driven to discharge hydraulic oil (hydraulic oil).

The control valve 6 is a device including a plurality of directional control valves (not shown), and the swivel motor 3d, the boom cylinder 2a, the arm cylinder 2b, the bucket cylinder 2c, and the above-mentioned swivel motor 3d, the boom cylinder 2a, and the bucket cylinder 2c, which are described above, are used by using the plurality of directional control valves. The flow (flow rate and direction) of the pressure oil supplied from the hydraulic pump 5 is controlled for each of the hydraulic actuators such as the left and right traveling hydraulic motors 3e and 3f. Each direction control valve in the control valve 6 is driven by an operation pressure (control signal) that is appropriately output by four operation levers (operation devices) according to the operation amount and the operation direction, and the corresponding hydraulic actuators 2a, 2b, It controls the flow (flow rate and direction) of the hydraulic oil supplied to 2c, 3d, 3e, and 3f. That is, when the operator appropriately operates the four operation levers, the hydraulic actuator corresponding to the operation operates, and the members to be driven by the hydraulic actuators (specifically, the front members 1a, 1b, 1c, and the upper swing body). 1d and the lower traveling body 1e) operate appropriately.

Of the four operating levers, two are traveling operating levers (not shown) that operate the left and right traveling hydraulic motors 3e and 3f (that is, the lower traveling body 1e), and the remaining two are swivel motors 3d. , Boom cylinder 2a, arm cylinder 2b and bucket cylinder 2c (that is, upper swivel body 1d and front working device 1A) are swivel and front operating levers. Of the latter two operating levers for turning and front, one operating lever 7a (see FIG. 2) operates the turning motor 3d and the arm cylinder 2b, and the other operating lever (not shown). Operates the boom cylinder 2a and the bucket cylinder 2c. That is, the swivel motor (swivel drive device) 3d swivels and drives the upper swivel body 1d in the left-right direction based on the operator's operation input to one of the operating levers 7a (see FIG. 2). The hydraulic pilot circuit that outputs the operating pressure for turning according to the operation of the operating lever 7a is equipped with operating pressure sensors 8a and 8b (see FIG. 2) for detecting the operating pressure corresponding to the left and right turning directions. ing.

Hydraulic pressure as a component for performing deviation prevention control that automatically controls the turning operation of the upper turning body 1d so that the turning angle of the upper turning body 1d (front work device 1A) does not deviate from the preset turning range. The excavator 1 includes a swivel angle sensor 9, a controller 10, and electromagnetic proportional valves 11a and 11b in addition to the components described above.

The turning angle sensor 9 is provided at the joint portion between the upper turning body 1d and the lower traveling body 1e, and detects the relative turning angle of the upper turning body 1d with respect to the lower running body 1e.

The controller 10 is defined and preset in a range of the operator's turning operation input to the operating lever 7a detected by the operating pressure sensors 8a and 8b, the turning angle detected by the turning angle sensor 9, and the turning angle, for example. It has a function to control the deviation prevention control so that the turning angle of the upper turning body 1d with respect to the lower traveling body 1e does not deviate from the turning range based on the turning range, and executes the deviation prevention control. The command value (current) for the electromagnetic proportional valves 11a and 11b is calculated, and the command value is output to the electromagnetic proportional valves 11a and 11b.

The electromagnetic proportional valves 11a and 11b are installed in a hydraulic pilot circuit in which hydraulic oil having an operating pressure (pilot pressure) for turning generated based on an operation input to the operating lever 7a is circulated, and the controller 10 It is a mechanism that can reduce the operating pressure for turning according to the command value (current) input from. When the operating pressure for turning is reduced by the electromagnetic proportional valves 11a and 11b, the flow rate of the hydraulic oil flowing through the turning motor 3d is limited, and the turning motor 3d can be decelerated or stopped against the operator's operation on the operating lever 7a.

Further, in the driver's cab 1f, a touch panel monitor (display device) 12 and a buzzer (alarm device) 13 are installed as devices for presenting information to the operator. The touch panel monitor 12 is also used as an input device capable of setting the turning range and switching between enabling and disabling the deviation prevention control by the operation of the operator, and the information input to the touch panel monitor 12 by the operator is transferred to the controller 10. It is output. The deviation prevention control is switched between valid and invalid by changing the switching position of the selection switch (software switch) displayed on the touch panel monitor 12. The switching positions of the selection switch are the ON position (first position) instructing the controller 10 to enable the deviation prevention control and the OFF position (second position) instructing the controller 10 to disable the deviation prevention control (temporary suspension). The switch image on the touch panel monitor 12 is switched to either position according to the operator operation. Instead of the touch panel monitor 12, a selection switch (hardware switch) having the same function may be mounted on the hydraulic excavator 1. Similarly, a dedicated input device (turning range setting device) may be used for setting the turning range.

<First Embodiment>
First, an example of the first embodiment will be described. FIG. 2 shows a functional block diagram of the controller 10 of the first embodiment. The controller 10 in the present embodiment is a computer having an arithmetic processing unit (for example, a CPU (not shown)) and a storage device (for example, a semiconductor memory, a hard disk drive, or the like (not shown)), and is stored in the storage device. By executing the program on the arithmetic processing unit, the internal / external determination unit 201, the state switching unit 202, the turning amount calculation unit 203, the turning permission direction determination unit 204, the previous state storage unit 205, the non-operation determination unit 206, and the control command value. It functions as a calculation unit 207, an electromagnetic proportional valve control unit 208, and a notification control unit 209. The processing of each part will be described below. It is assumed that the flow of each process is repeatedly executed according to the operation cycle of the controller 10.

[Inside / outside determination unit 201]
The inside / outside determination unit 201 compares the turning range preset by the operator via the touch panel monitor 12 with the turning angle of the upper turning body 1d with respect to the lower traveling body 1e calculated from the detection value of the turning angle sensor 9. , It is determined whether the turning angle of the current upper turning body 1d (front working device 1A) is located inside or outside the turning range, and the result is output to the state switching unit 202.

FIG. 3 shows a method of defining the turning angle 301 and the turning range 304. The turning range 304 in the present embodiment is defined by the range of the turning angle 301 calculated from the detection value of the turning angle sensor 9. The turning angle by the turning angle sensor 9 is output in the range of −180 to 180 °, with the front direction of the lower traveling body 1d as a reference (zero degree), the left turning direction as positive, and the right turning direction as negative. To. Further, the turning range 304 is defined by setting the maximum angle 302 with respect to the left turning direction and the maximum angle 303 with respect to the right turning direction in the range of −180 to 180 °, respectively.

[Status switching unit 202]
FIG. 4 shows the flow of processing in the state switching unit 202. In the state switching unit 202, the setting data of the turning range 304 (maximum angle 302 with respect to the left turning direction and the maximum angle 303 with respect to the right turning direction) and the switching position data of the selection switch on the touch panel monitor 12 (effectiveness of deviation prevention control). The state of the controller 10 regarding the deviation prevention control (deviation prevention control state) based on the determination result of the inside / outside determination unit 201 (the turning angle of the upper turning body 1d is either inside or outside of the turning range). ) Is switched.

The deviation prevention control states include (1) an "valid state (first state)" in which deviation prevention control can be executed, and (2) an "invalid state (second state)" in which deviation prevention control cannot be executed. , (3) When the turning angle of the upper turning body 1d is out of the turning range 304, the operation of the upper turning body 1d by the operation lever 7a is restricted while the deviation prevention control cannot be executed, and the turning angle of the upper turning body 1d is changed. The "standby state (third state)" that shifts to the effective state (first state) in which deviation prevention control can be executed when the state deviates from the turning range 304 changes to the state included in the turning range 304. be.

First, in step 401 of FIG. 4, the state switching unit 202 determines whether or not the selection switch on the touch panel monitor 12 is switched to the ON position (first position). If it is determined in the determination that the selection switch has not been switched to the ON position (that is, if the selection switch has been switched to the OFF position (second position)), the state switching unit 202 is performed in step 404. Moves the controller 10 to an "invalid state (second state)" in which deviation prevention control cannot be executed. On the other hand, if it is determined that the selection switch has been switched to the ON position (first position), the process proceeds to step 402, and the state switching unit 202 determines whether or not the turning range is set.

If it is determined in step 402 that the turning range 304 is not set, the state switching unit 202 similarly shifts the deviation prevention control to the invalid state (second state) in step 404. On the other hand, if it is determined that the turning range 304 is set, the process proceeds to step 403, and the output result of the inside / outside determination unit 201 (that is, whether or not the turning angle of the upper turning body 1d deviates from the turning range 304). Judgment is made according to. If it is determined in the determination that the current turning angle of the upper turning body 1d is out of the set turning range 304, the state switching unit 202 is set to the "standby state (third state)" in step 405. The controller 10 is transferred to. On the other hand, if it is determined that the turning angle of the upper turning body 1d is included in the turning range 304, the controller is set to the "effective state (first state)" in which the deviation prevention control can be executed in step 406. 10 is transferred.

In this embodiment, it is determined in step 402 whether or not the turning range is set, but this process may be omitted (the same applies to the subsequent embodiments).

[Turning amount calculation unit 203]
When the deviation prevention control state is in the standby state (third state) (that is, when the turning angle of the upper turning body 1d is out of the turning range), the turning amount calculation unit 203 calculates (currently). This is a part for calculating the turning angle (turning amount) required from the turning angle of the upper turning body 1d to reach the left end and the right end of the turning range 304.

FIG. 5 shows the flow of processing in the turning amount calculation unit 203. First, the turning amount calculation unit 203 determines in step 501 whether or not the deviation prevention control is in the standby state (third state). If it is determined in the determination that the deviation prevention control is in the standby state, the process proceeds to step 502, and if it is determined in the determination that the deviation prevention control is not in the standby state, the process is terminated as it is.

FIG. 6 shows the turning amount of the target calculated by the turning amount calculation unit 203. In step 502, the turning amount calculation unit 203 takes a difference from the current position (turning angle) of the upper turning body 1d to the end of the turning range 304 (the right end of the turning range 304) with respect to the left turning direction. The left turn amount 601 shown in is calculated. Similarly, in step 503, the turning amount calculation unit 203 turns right by taking a difference from the current position of the upper turning body 1d to the end of the turning range 304 (the left end of the turning range 304) with respect to the right turning direction. The calculation of the quantity 602 is performed, and the process proceeds to step 504. In step 504, the turning amount calculation unit 203 outputs the turning amounts 601 and 602 for both directions calculated in steps 502 and 503 to the turning permission direction determination unit 204, respectively, and ends the process.

[Turning permission direction determination unit 204]
The turning permission direction determination unit 204 is required until the turning angle of the upper turning body 1d in the left-right direction reaches the state included in the turning range 304 when the deviation prevention control state is in the standby state (third state). The direction in which the turning angle (turning amount) is small is determined as the turning permission direction (the direction in which the upper turning body 1d is allowed to turn when the deviation prevention control state is in the standby state (third state)). .. In the turning permission direction determination unit 204 of the present embodiment, the turning amounts 601 and 602 are compared with respect to the left and right turning directions calculated by the turning amount calculation unit 203, and the turning direction in which the turning amount is smaller is determined as the turning permission direction. do. For example, in the case of FIG. 6, since the turning amount 601 is smaller, the left turning is the turning permission direction. Further, the turning permission direction determination unit 204 outputs the turning permission direction determined here to the control command value calculation unit 207. Note that the turning permission direction determination unit 204 only outputs the turning amount 601 and 602 in each turning direction from the turning amount calculation unit 203, that is, only when the deviation prevention control is in the standby state (third state). Perform the above processing.

[Previous state storage unit 205]
When the deviation prevention control state (valid state, invalid state, standby state) transitions, the previous state storage unit 205 stores the state set immediately before that in the storage device in the controller 10, and the stored state. Is a part for executing a process of outputting to the control command value calculation unit 207 with the previous state. The previous state storage unit 205 shall automatically update the previous state when the state of the deviation prevention control changes. For example, by referring to the current deviation prevention control state (current state) switched by the state switching unit 202 and the previous state stored by the previous state storage unit 205, the device is in the standby state (third state). In this case, it is possible to determine the timing at which the turning angle of the upper turning body 1d changes from the state outside the turning range 304 to the state included in the turning range 304 (the timing of transition to the effective state (first state)).

[No operation determination unit 206]
The non-operation determination unit 206 is a part that performs a process of determining that the operation lever 7a is in the non-operation state based on the detected values of the operation pressure sensors 8a and 8b. When the operating pressure in each turning direction obtained from the operating pressure sensors 8a and 8b is such that the turning operation does not occur, the non-operation determination unit 206 determines that the operation in the direction is not performed. However, since it is assumed that the operating pressure temporarily drops, such as when switching the turning operation direction, the non-operation determination unit 206 is in a state where there is no turning operation in any direction for a predetermined time (for example,). , 1000 [ms]) On condition that it continues, it is determined that there is no operation, and the result is output to the control command value calculation unit 207.

[Control command value calculation unit 207]
When the deviation prevention control state is the effective state (first state), the control command value calculation unit 207 calculates the control command value to be output to the electromagnetic proportional valves 11a and 11b in order to perform the deviation prevention control. Is the part that executes.

FIG. 7 shows the flow of processing in the control command value calculation unit 207. In step 701, the control command value calculation unit 207 determines whether or not the current deviation prevention control state is the standby state (third state). If it is determined in the determination that it is in the standby state, the control command value calculation unit 207 proceeds to step 702.

In step 702, the control command value calculation unit 207 determines whether the turning permission direction determined by the turning permission direction determination unit 204 is the left direction (left turn) or the right direction (right turn). If it is determined to be in the left direction in the determination, the process proceeds to step 708, and if it is determined to be in the right direction in the determination, the process proceeds to step 709.

In step 708 and step 709, the control command value (50 in this embodiment) that limits the speed for turning in the turning permission direction among the left and right directions but permits the turning operation is set to the other direction (turning permission direction). For turning in the opposite direction), a control command value (100 in this embodiment) that prohibits the turning operation itself is calculated. In the present embodiment, if the control command value calculated by the control command value calculation unit 207 is 0, the electromagnetic proportional valves 11a and 11b do not operate, and intervention control for the turning operation by the operator is not performed. Therefore, the upper swing body 1d (swing motor 3d) operates with the input to the operation lever 7a by the operator. When the calculated control command value is 100, the electromagnetic proportional valves 11a and 11b completely shut off the operating pressure output in response to the operation of the operating lever 7a. Therefore, even if the turning operation is input via the operation lever 7a, the turning operation of the upper turning body 1d becomes impossible. The control command value is determined in the range of 0 to 100, and the upper limit of the turning operation speed linearly decreases according to the value. In the present embodiment, as shown in steps 708 and 709 of FIG. 7, the control command values of the electromagnetic proportional valves 11a and 11b corresponding to the turning permission direction are set to 50, and the deviation prevention control state of the controller 10 is the standby state (third). The speed limit is set for the turning speed when turning the upper turning body 1d in the turning permission direction. Specifically, even when the operation amount of the operation lever 7a is maximized, 50% of the maximum operating speed is the upper limit of the turning speed with respect to the turning permission direction.

If it is determined in step 701 that the current deviation prevention control state is not the standby state (third state), the control command value calculation unit 207 determines that the current deviation prevention control state is in the valid state (third state) in step 703. It is determined whether or not the condition is 1). If it is determined in the determination that it is not in the valid state (first state) (that is, if it is determined that it is in the invalid state (second state)), the deviation prevention control cannot be performed. Therefore, in step 710, the control command value calculation unit 207 calculates and outputs 0 as the control command value for the two electromagnetic proportional valves 11a and 11b.

On the other hand, when it is determined in the determination of step 703 that the current state is in the valid state (first state), the control command value calculation unit 207 stops the turning angle of the upper turning body 1d within the turning range 304. Therefore, deviation prevention control is performed. Specifically, the control command value calculation unit 207 proceeds to step 704 and calculates the turning amount from the current turning angle to the end of the left and right turning ranges 304. FIG. 8 shows the turning amount 801 to the left and the turning amount 802 to the right calculated at this time. In step 705, the control command values for the electromagnetic proportional valves 11a and 11b are calculated according to the turning amounts 801, 802 calculated in step 704. At this time, since it is necessary to determine the control command value so that the turning angle of the upper turning body does not deviate from the turning range 304, the smaller the turning amount 801,802 from the current turning angle to both ends of the turning range 304, the smaller the turning amount. Proportional control is performed so that the control command value becomes large, and the control command value is determined so as to stop the turning operation of the upper turning body 1d within the turning range 304.

Next, in step 706, the control command value calculation unit 207 determines whether or not the previous state of the deviation prevention control was the standby state (third state) based on the output from the previous state storage unit 205. .. If the previous state was not the standby state (third state) in the determination, the control command value calculation unit 207 outputs the control command value for each direction calculated in step 705 as it is in step 711. do. On the other hand, when it is determined in step 706 that the previous state of the deviation prevention control was the standby state (third state), the turning angle of the upper turning body 1d is changed from the state where the turning angle is out of the turning range 304 to the turning range 304. It is determined that the state has changed from the standby state (third state) to the current valid state (first state) due to the change to the included state, and in step 707, the current valid state (first state) has been changed. It is determined whether or not the non-operation state of the operation lever 7a has continued for a predetermined time. Here, if it is determined that the non-operation state has continued for a predetermined time, the process proceeds to step 711, and if it is determined that the non-operation state has not continued for a predetermined time, the process proceeds to step 712.

In step 712, the electromagnetic proportional valves 11a and 11b corresponding to the turning permission direction in the standby state (third state) which is the previous state (that is, the electromagnetic proportional valves 11a or 11b whose control command value was 50 in step 708 or 709). The control command value of 11b) is calculated as 50, and the control command value is output to the corresponding electromagnetic proportional valve. By the way, for example, when the speed limit is released at the timing when the turning angle of the upper turning body 1d changes from the state where the turning angle is out of the turning range 304 to the state included in the turning range 304 and the standby state is switched to the effective state, the upper turning body 1d When the turning angle is included in the turning range, the turning speed may increase sharply, giving the operator a sense of discomfort. However, by executing the series of processes of steps 706, 707, and 712 as described above, even if the speed limit applied in the turning permission direction in the standby state (previous state) shifts to the valid state (current state). Since it is held, the turning speed does not increase rapidly even if it is included in the turning range, and it is possible to prevent the operator from feeling uncomfortable. In this embodiment, the control command value is calculated and output as 50 in step 712, but if it is equal to or less than the control command value (50) calculated in step 708 or step 709, other values are calculated and output as control command values. You may output it. In other words, the speed limit (second speed limit) equal to or less than the speed limit (first speed limit) set for the turning speed in the turning permission direction in step 708 or step 709 may be applied in step 712. If so, any control command value can be calculated and output.

It should be noted that the series of processes of steps 706, 707, and 712 can achieve the subject of the present invention even when the process is not performed, and can be omitted. Further, in step 712, the control command value may be calculated and output as 0 (that is, no limit) in the direction opposite to the turning permission direction in the standby state.

[Electromagnetic proportional valve control unit 208]
The electromagnetic proportional valve control unit 208 converts the command value of the deviation prevention control for each turning direction calculated by the control command value calculation unit 207 into a current value, and outputs the command value to the electromagnetic proportional valve 11a and 11b, respectively.

[Notification control unit 209]
The notification control unit 209 generates a monitor image or a buzzer signal for notifying the operator of the current deviation prevention control status and control command value information, and outputs the monitor image or buzzer signal to each output device (touch panel monitor 12 and buzzer 13), respectively. .. Examples of the information displayed on the monitor 12 include the current deviation prevention control state (enabled state, disabled state, standby state), speed limit state (turning speed limited, unrestricted), turning permission direction, and the like. Be done. Further, in the notification by the buzzer 13, it is assumed that a buzzer is output to inform the operator that the timing at which the deviation prevention control state is switched and the turning speed is being limited.

[motion]
An example of the operation of the hydraulic excavator 1 according to the present embodiment configured as described above will be described. FIG. 9 is an example showing the state of the construction site. In this site environment, the hydraulic excavator 1 excavates the ground at the excavation position 901 and discharges the excavated soil at the excavation position 902. These excavation and soil discharge operations are repeatedly carried out multiple times, and soil gradually accumulates at the soil discharge position 902. When more than a certain amount of soil is deposited at the discharge position 902, the work is carried out by a series of flows such as loading the accumulated soil on the dump truck 903 and returning to the excavation / discharge work again. At this time, the operator switches the setting switch on the touch panel monitor 12 to the ON position (first position) during the excavation / excavation work to set the deviation prevention control to the effective state (first state), and the turning range set in advance. Work is performed so that the upper swivel body 1d does not escape from 304. However, when loading, the setting switch is switched to the OFF position (second position) to temporarily disable the deviation prevention control (second state), and after the loading is completed, the rotation range is 304. And the upper swivel body 1d position is returned, and the setting switch is switched to the ON position again to switch the deviation prevention control to the effective state (first state). In this site environment, a work boundary 904 is set to separate the operating range of each work machine, and each work machine works only within the respective operating range except for temporary loading work. conduct.

In the original work, after the loading on the dump truck 903 is completed as described above, the turning angle of the upper turning body 1d is returned so as to be included in the turning range 304, and then the deviation prevention control is switched to the effective state ( That is, it is assumed that the operation of switching the setting switch to the ON position) is performed. However, since such work is repeated many times over a long period of time, there are many cases where the operator switches the setting switch to the ON position at the wrong timing, that is, when the turning angle deviates from the turning range 304. It is expected to occur.

FIG. 10 is a diagram showing a state when the hydraulic excavator 1 transitions to the standby state due to such an erroneous operation. When an erroneous operation (switching the setting switch to ON) is performed while the turning angle of the upper turning body 1d is out of the turning range 304 as shown in (A) of FIG. 10, the "touch panel monitor 12" is displayed in the state switching unit 202. Since the condition that "the setting switch of is switched to the ON position" and "the turning angle of the upper turning body 1d is out of the turning range 304" is satisfied, the standby state (third) according to the process shown in FIG. (See (B) in FIG. 10). Next, the turning amount calculation unit 203 calculates the turning amount 601 and 602 to the end of the turning range 304 corresponding to the left and right turning directions in steps 503 and 503, and the turning permission direction determining unit 204 calculates two. The direction related to the smaller of the turning amounts 601, 602 is determined as the turning permission direction. In the example shown in FIG. 10, the turning amount from the current position (turning angle) to the end of the turning range 304 with respect to the left turning direction 1001 is smaller than the turning amount to the end of the turning range 304 with respect to the right turning direction 1002. Therefore, the left turn direction 1001 is determined as the turn permission direction.

In the control command value calculation unit 207, processing is performed in the order of step 701, step 702, and step 708 shown in FIG. 7, and the control command value to the electromagnetic proportional valve 11a with respect to the left turning direction (turning permission direction) 1001 is set to "50". , The control command value to the electromagnetic proportional valve 11b with respect to the right turning direction (turning prohibition direction) 1002 is output as "100". Therefore, the upper limit of the operating pressure in the left turning direction (turning permission direction) 1001 generated by the operation of the operating lever 7a is half of the operating pressure when the operating amount of the operating lever 7a is maximized. Further, since the operating pressure in the right turning direction (turning prohibition direction) 1002 is completely cut off, the operating pressure does not occur regardless of the operating amount of the operating lever 7a. As a result, as shown in FIG. 10B, the upper turning body 1d can turn at a speed limit in the left turning direction 1001 (turning permission direction), and the right turning direction 1002 (turning prohibition direction). As for, the turning operation itself becomes impossible. In this way, only the turning operation in one of the left and right directions (turning permission direction) is possible, and the speed limit is set for the turning operation (speed limit is applied), and the operator's operation lever 7a By limiting the operation of the upper swivel body 1d and inducing a sense of discomfort to the operator, it is currently in the standby state (third state) and automatically enabled when the swivel angle returns to within the swivel range (first state). It becomes easy for the operator to intuitively understand the transition to the state). Therefore, even if the setting switch is erroneously operated, it is possible to prevent the deviation prevention control from being executed against the intention of the operator after the automatic return to the valid state.

That is, according to this implementation, even when the turning angle of the upper turning body 1d is outside the turning range 304, the operator accepts the operation to enable the deviation prevention control (ON operation of the setting switch), so that the decrease in work efficiency is suppressed. can. Further, after the activation operation is accepted, the deviation prevention control is enabled when the turning angle of the upper turning body 1d returns to the turning range 304 (that is, it is currently in the standby state). Since it can be effectively transmitted to the operator, it is possible to suppress the degree of discomfort that the operator receives even if the deviation prevention control is activated within the turning range 304.

Further, in the present embodiment, the direction in which the turning amount becomes smaller when returning to the turning range 304 is set as the turning permission direction, and the returning to the turning range 304 can be performed in a short time, so that the work efficiency can be expected to be improved. The point is also an advantage.

FIG. 11 shows a state in which the deviation prevention control is enabled by returning to the turning range 304 after the state of FIG. 10. In the hydraulic excavator 1 of the present embodiment, after returning to the turning range 304, the deviation prevention control state automatically shifts to the effective state (first state) by the state switching unit 202. At this time, since the previous state storage unit 205 stores that the previous state is the standby state (third state), the control command value calculation unit 207 proceeds from step 706 to step 707 in FIG. 7. Further, in step 707, until it is determined by the non-operation determination unit 206 that the operation lever 7a has not been operated, the process of step 712 limits the speed equal to or higher than the speed limit for the turning permission direction, thereby deviating. It is possible to suppress a sudden start of movement when the prevention control is automatically enabled, and reduce the discomfort given to the operator. If it is determined that there is no operation state, the process proceeds to step 711, and as shown in FIG. 11B, the turning operation can be performed in both the left and right directions according to the operation amount of the operation lever 7a. (However, this does not apply when the control command value> 0 in step 705).

<Second embodiment>
Next, an example of the second embodiment will be described. FIG. 12 shows a functional block diagram of the controller 10 of the second embodiment. The controller of this embodiment corresponds to a controller in which the swivel amount calculation unit 203 in the first embodiment of FIG. 2 described above is changed to the escape direction storage unit 210. In the escape direction storage unit 210, when the controller 10 is in the invalid state (second state), the turning direction (escape direction) when the turning angle of the upper turning body 1d deviates from the turning range 304 is right or left. Remember. The turn permission direction determination unit 204 determines the direction opposite to the escape direction stored by the escape direction storage unit 210 as the turn permission direction. Since the functions of the other parts are the same as those of the first embodiment, only the operations of the turning permission direction determining unit 204 and the escape direction storage unit 210 in the second embodiment will be described here.

[Escape direction storage unit 210]
FIG. 13 shows the flow of processing in the escape direction storage unit 210. When the escape direction storage unit 210 has a predetermined turning range 304 set by the touch panel monitor 12 and the current deviation prevention control state determined by the state switching unit 202 is an invalid state (second state). The turning direction (escape direction) when the upper turning body 1d escapes from the turning range 304 is stored, and the stored escape direction is output to the turning permission direction determining unit 204.

First, in step 1301, the escape direction storage unit 210 determines whether or not the current deviation prevention control state is an invalid state (second state). If it is determined in the determination that the deviation prevention control state is an invalid state (second state), the process proceeds to step 1302. On the other hand, if it is determined that the state is not invalid (second state), the storage process in the escape direction becomes unnecessary, so the process is terminated as it is. For example, in the valid state (first state), the deviation prevention control functions to automatically control the turning operation so as to prevent the deviation from the turning range 304, so that the memory of the escape direction is unnecessary. It becomes.

Next, in step 1302, the escape direction storage unit 210 determines whether or not the turning range 304 is set, and if it is determined by the determination that the turning range 304 is set, the process proceeds to step 1303. .. On the other hand, if it is determined that the turning range 304 has not been set, it is not possible to determine the escape from the turning range 304, so the subsequent process is omitted and the process ends.

In step 1303, the escape direction storage unit 210 determines whether or not the current turning angle is included in the turning range 304. If the current turning angle is already out of the turning range 304 (outside the turning range 304) in the determination, the turning direction at the time of escape cannot be determined. Therefore, as in steps 1301 and 1302, Subsequent processing is omitted and the process ends. On the other hand, if the current turning angle is included in the turning range 304, the process proceeds to step 1304.

In step 1304, the escape direction storage unit 210 determines the current turning direction by taking the time change of the output from the turning angle sensor 9. Further, in step 1305, the determined turning direction is stored. In the following step 1306, the escape direction storage unit 210 determines whether or not the current turning angle deviates from the turning range 304, and if so, proceeds to step 1307. The processing of these steps 1304, 1305, 1306 is repeated until the current turning angle of the upper turning body 1d moves from the inside of the turning range 304 to the outside of the turning range 304, that is, until the escape from the turning range 304 occurs. I do.

In step 1307, the escape direction storage unit 210 outputs the turning direction at the time of escape determined and stored in steps 1304 and 1305 to the turning permission direction determining unit 1304. In step 1308, the escape direction storage unit 210 determines whether or not the current turning angle of the upper turning body 1d is included in the turning range 304, until the escape direction storage unit 210 returns to the turning range 304, in step 1307. Repeat the process of. When it returns to the turning range 304, the process ends.

[Turning permission direction determination unit 204]
When the deviation prevention control state is in the standby state (third state), the turning permission direction determining unit 204 escapes from either the left or right turning direction output from the escape direction storage unit 210, that is, the turning range 304. A direction different from the turning direction at the time of turning is determined as the turning permission direction, and output to the control command value calculation unit 207. It is considered that the operator determines the turning direction when escaping from the turning range 304 in consideration of not only the turning amount to the target point but also the presence or absence of obstacles and the rules at the work site. Therefore, under certain circumstances, it is possible to improve work efficiency by determining the turning permission direction so as to pass through the path passed at the time of escape again.

[motion]
The operation of the hydraulic excavator 1 according to the present embodiment will be described. FIG. 14 is an example showing the state of the construction site. Unlike the example shown in the first embodiment (see FIG. 9), the obstacle 1401 exists in the right turning direction with respect to the turning range 304. Examples of obstacles 1401 include fences and trees installed in the construction site.

Further, FIG. 15 shows a state in which the deviation prevention control has shifted from the invalid state (second state) to the standby state (third state) in the field environment. In this site environment, when the dump truck 903 for loading the accumulated soil at the discharge position 902 is located at the position shown in FIG. 15 (A), the operator avoids contact with the obstacle 1401, so that the turning amount is larger. It is necessary to load the dump truck 903 via the large turning path 1501.

In the case of (A) of FIG. 15, the escape direction storage unit 210 satisfies the conditions that "the deviation prevention control state is an invalid state (second state)" and "the turning range 304 is set". Therefore, in step 1303 and subsequent steps, a process (steps 1304 to 1308) for storing and outputting the turning direction (escape direction) when the turning angle of the upper turning body 1d escapes from the turning range 304 is performed.

In the present embodiment, in order to avoid the obstacle 1401, the hydraulic excavator 1 escapes from the turning range 304 by turning left when loading the dump truck 903 (see (A) in FIG. 15). Therefore, the “left turn direction” is output from the escape direction storage unit 210 as the escape direction. After that, when the operator switches the setting switch on the touch panel monitor 12 to ON in the state of FIG. 15A, the deviation prevention control state shifts to the standby state (third state). In this case, as shown in FIG. 15B, the turning permission direction determination unit 204 has a “right turning direction” which is the direction opposite to the turning direction at the time of escape (that is, the “left turning direction” in the example of FIG. 15). Is determined as the turning permission direction.

As described above, it is assumed that the operator intentionally turns in the direction of a large turning amount and deviates from the turning range 304 due to some factor (existence of the obstacle 1401 in the example of FIG. 15). In such a case, it is possible to improve the work efficiency by determining the turning permission direction so as to follow the turning path of the deviation and return to the turning range as in the present embodiment.

It should be noted that the present invention is not limited to each of the above embodiments, and includes various modifications within a range not deviating from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.

In each of the above embodiments, when the deviation prevention control state is in the standby state (third state), "turning in one of the left-right directions (turning permission direction) is permitted while turning in the other direction (turning prohibition direction). ), In addition to prohibiting turning, a speed limit is set for the turning in one direction. ”, The turning operation by the operator's operation lever 7a is restricted. That is, with this configuration, in the standby state, the turning operation of the operator and the behavior of the upper turning body 1d deviate from each other, giving the operator a sense of discomfort, so that the operator can recognize that the current state is the standby state. The configuration that achieves the same effect is not limited to the above, and any configuration may be used as long as the operator can recognize that the standby state is in effect by causing a discrepancy between the turning operation and the behavior of the upper turning body 1d. For example, it is possible to allow turning in one direction and prohibit turning in the other direction (in this case, no speed limit is set for the turning speed in one direction), or only a speed limit may be set for the turning speed. (In this case, both left and right turns are allowed).

Further, each configuration related to the controller 10 and the functions and execution processing of each configuration are realized by hardware (for example, designing the logic for executing each function by an integrated circuit) in part or all of them. May be. Further, the configuration related to the controller 10 may be a program (software) in which each function related to the configuration of the controller is realized by being read and executed by an arithmetic processing unit (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

Further, in the above description of each embodiment, the control lines and information lines are understood to be necessary for the description of the embodiment, but not all control lines and information lines related to the product are necessarily used. Does not always indicate. In practice, it can be considered that almost all configurations are interconnected.

1 ... work machine, 1A ... front work device, 1B ... vehicle body, 1d ... upper swivel body (swivel body), 1e ... lower traveling body (running body), 3d ... swivel motor (swivel drive device), 7a ... operation lever ( Operating device), 8a, 8b ... Operating pressure sensor, 9 ... Swing angle sensor (angle sensor), 10 ... Controller, 11a, 11b ... Electromagnetic proportional valve, 201 ... Internal / external determination unit, 202 ... State switching unit, 203 ... Swing amount Calculation unit, 204 ... Turn permission direction determination unit, 205 ... Previous state storage unit, 206 ... No operation determination unit, 207 ... Control command value calculation unit, 210 ... Escape direction storage unit, 301 ... Turn angle, 304 ... Turn range , 1001,1503 ... Turning permission direction

Claims (6)

The traveling body and the rotating body attached to the traveling body so as to be able to turn in the left-right direction,
An operating device operated by an operator to operate the swivel body, and
A swivel drive device that swivels and drives the swivel body based on an operation input to the operating device, and a swivel drive device.
An angle sensor that detects the turning angle of the turning body with respect to the traveling body, and
The turning drive device is controlled based on the turning angle detected by the angle sensor and the operation input to the operating device so that the turning angle of the turning body with respect to the traveling body does not deviate from a predetermined turning range. In a work machine equipped with a controller capable of performing deviation prevention control
Equipped with a switch that can be switched to either the first position or the second position.
The controller is
When the switch is switched to the first position while the turning angle of the turning body is included in the turning range, the switch shifts to the first state in which the deviation prevention control can be executed.
When the switch is switched to the second position, the deviation prevention control shifts to an unexecutable second state.
When the switch is switched to the first position while the turning angle of the turning body is out of the turning range, the switch shifts to the third state.
When the swivel angle of the swivel body is out of the swivel range when the controller is in the third state, the controller cannot execute the deviation prevention control, and the swivel body by the operating device has the swivel body. Limit the operation,
When the turning angle of the turning body changes from a state outside the turning range to a state included in the turning range when the controller is in the third state, the controller can execute the deviation prevention control. A work machine characterized by shifting to the first state. In the work machine of claim 1,
When the turning angle of the turning body is out of the turning range when the controller is in the third state, the controller cannot execute the deviation prevention control, and the turning body is in the left-right direction. Allows turning in one direction, but prohibits turning in the other direction.
When the turning angle of the turning body changes from a state outside the turning range to a state included in the turning range when the controller is in the third state, the controller can execute the deviation prevention control. A work machine characterized by shifting to the first state. In the work machine of claim 2,
When the controller is in the third state, the controller sets a first speed limit with respect to the turning speed when the turning body turns in one direction. In the work machine of claim 3,
The controller is
When the turning angle of the turning body changes from a state outside the turning range to a state included in the turning range when the controller is in the third state, the deviation prevention control can be executed. In the state of, the second speed limit equal to or lower than the first speed limit is set for the turning speed when the turning body turns in the one direction.
A work machine characterized in that the setting of the second speed limit is canceled when the non-operation state of the operating device continues for a predetermined time after the setting of the second speed limit. In the work machine of claim 2,
When the controller is in the third state, the turning of the turning body is permitted in the one direction until the turning angle of the turning body is included in the turning range in the left-right direction. A work machine characterized by a small turning angle requirement. In the work machine of claim 2,
The controller stores the turning direction when the turning angle of the turning body deviates from the turning range when the controller is in the second state, and the controller is said when the controller is in the third state. A work machine characterized in that the one direction in which turning of a turning body is permitted is set in a direction opposite to the turning direction when the turning angle of the turning body deviates from the turning range.

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