KR102088784B1 - Working machine and control method of working machine - Google Patents

Abstract

A working machine according to an aspect of the present invention includes a working machine, an operating device for operating the working machine, and a controller for controlling the working machine. The controller executes intervention control to raise the work machine based on the operation command from the operation device, determines the switch from the intervention control to the control of the work machine according to the operation command of the operation device, and operates in the change based on the determination result It is determined whether the operation command of the device is a lift command of the work machine or a neutral command, and based on the determination result, when the operation command of the operation device is a lift command of the work machine or a neutral command, the work machine is raised by intervention control The speed difference between the target speed and the target speed according to the operating command of the operating device is judged, and when the speed difference is greater than or equal to a predetermined value, the rising target speed of the work machine is adjusted to gradually change to the target speed according to the operating command of the operating device. .

Description

Working machine and control method of working machine

The present invention relates to a work machine equipped with a work machine and a control method for the work machine.

In a working machine equipped with a front device including a bucket, control for moving the bucket along a boundary surface indicating a target shape of a construction target has been proposed (for example, see Patent Document 1). Such control is called intervention control.

In the intervention control, it is necessary to execute the intervention control, for example, when there is no target shape to be constructed, or when the working unit does not invade the target shape due to operator operation. Disappears. There is no need to execute control to raise the work machine so that the work machine does not erode the target shape.

International Publication No. 2 016/111384

When the execution of the intervention control is lost, the control is switched to the control of the work machine according to the operation instruction of the operation device.

Depending on the difference between the speed at which the work machine is raised by the intervention control and the speed at which the work machine is raised according to the operation command of the operating device, there is a possibility that a rapid speed change may occur at the time of switching of control, which may cause an operator discomfort. There is a possibility.

The present disclosure has been made to solve the above-described problems, and an object thereof is to provide a working machine and a control method for a working machine capable of suppressing the feeling of discomfort in the operation of the operator's operating device.

A work machine according to one aspect includes a work machine, an operation device for operating the work machine, and a controller for controlling the work machine. The controller is from the operating device

Intervention control for raising the work machine is executed based on the operation instruction, and the switching from the intervention control to the control of the work machine according to the operation instruction of the operation apparatus is determined, and in the switching based on the determination result, the operation instruction of the operation apparatus is set to It is judged whether it is the rising command or the neutral command, and based on the determination result, when the operating command of the operating device is the rising command of the working machine or the neutral command, the rising target speed of the working machine by the intervention control and The speed difference from the target speed according to the operation command is judged, and when the speed difference is greater than or equal to a predetermined value, the rising target speed of the work machine is adjusted to gradually change to the target speed according to the operation command of the operation device.

Preferably, the controller includes an intervention control unit that performs intervention control for raising the work machine based on an operation command from the operation device, and a switching plate that determines the switch from the intervention control to control of the work machine according to the operation command of the operation device. Operation based on the judgment result of the operation command judging unit and the operation command judging unit for judging whether or not the operation command of the operation device is an ascending command or a neutral command for switching based on the determination result of the government and the switchover determination unit When the operation command of the device is a lift command of the work machine, or a neutral command, a speed difference determination unit for determining a speed difference between the rising target speed of the work machine by intervention control and a target speed according to the operation command of the operation device, When the speed difference is greater than or equal to a predetermined value based on the determination result of the speed difference determination unit, the rising target speed of the work machine is operated. And a speed adjusting section that adjusts to gradually change to a target speed according to the operation instruction of the teeth.

Preferably, when the speed difference is less than a predetermined value, the controller switches the rising target speed of the work machine to the target speed according to the operating instruction of the operating device.

A control method of a work machine according to one aspect is a control method of a work machine comprising a work machine and an operation device for operating the work machine, comprising: performing intervention control to raise the work machine based on an operation command from the operation device. And determining a switch from intervention control to control of the work machine in accordance with the operation instruction of the operation apparatus, and determining whether the operation instruction of the operation apparatus is a rising instruction or a neutral instruction of the operation machine in the switching based on the determination result. When the operation command of the operating device is the rising command of the work machine or the neutral command based on the determination result and the determination result, the speed between the rising target speed of the working machine by intervention control and the target speed according to the operating command of the operating device The step of judging the difference, and when the speed difference is greater than or equal to a predetermined value, the target speed of rising of the work machine is operated by the operation device A target speed according to the command comprises the step of adjusting to changes gradually.

The work machine and the control method of the work machine can suppress a feeling of incongruity in the operation of the operator's operating device.

1 is a perspective view of a working machine based on an embodiment.
2 is a block diagram showing the configuration of the control system 200 and the hydraulic system 300 of the hydraulic excavator 100 based on the embodiment.
3 is a diagram showing an example of the hydraulic circuit 301 of the boom cylinder 10 based on the embodiment.
4 is a block diagram of a work machine controller 26 based on an embodiment.
5 is a diagram showing target excavation terrain data U and bucket 8 based on the embodiment.
6 is a view for explaining the boom speed limit Vcy_bm based on the embodiment.
It is a figure for demonstrating the speed limit Vc_lmt based on embodiment.
8 is a view showing the relationship between the bucket 8 and the target excavation terrain 43I based on the embodiment.
9 is a view showing a relationship between a boom target speed Vbm, which is a speed at which the boom 6 operates based on the embodiment, and a time t.
It is a figure explaining the flow which showed the control method of the working machine based on embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in the following description, the same code | symbol is attached | subjected to the same component. Since their names and functions are the same, detailed descriptions of them are not repeated. In addition, in the following description, "top", "bottom", "before", "after", "left" and "right" are terms based on the operator seated in the driver's seat.

<Overall configuration of working machine>

1 is a perspective view of a working machine based on the embodiment.

2 is a block diagram showing the configuration of the control system 200 and the hydraulic system 300 of the hydraulic excavator 100 based on the embodiment.

As shown in FIG. 1, the hydraulic excavator 100 which is a working machine has a vehicle body 1 and a working machine 2.

The vehicle body 1 has an upper swinging body 3 which is a swinging body and a traveling device 5 as a traveling body. The upper swing body 3 accommodates devices such as an internal combustion engine and a hydraulic pump as power generators inside the engine room 3EG. The engine room 3EG is disposed on one end side of the upper swing body 3.

For the hydraulic excavator 100, for example, a diesel engine or the like is used for an internal combustion engine as a power generating device, but the power generating device is not limited to this.

The power generating device of the hydraulic excavator 100 may be, for example, a hybrid type device in which an internal combustion engine, a power generation motor, and a power storage device are combined.

The power generation device of the hydraulic excavator 100 may not have an internal combustion engine, but may also combine a power storage device and a power generation motor.

The upper swing body 3 has a cab 4. The cab 4 is provided on the other end side of the upper swing body 3. The cab 4 is provided on the opposite side to the side on which the engine room 3EG is disposed. In the cab 4, the display portion 29 and the operating device 25 shown in Fig. 2 are arranged.

The traveling device 5 supports the upper swing body 3. The traveling device 5 has crawler belts 5a and 5b. The traveling device 5 drives the hydraulic excavator 100 by rotating one or both of the traveling motors 5c provided on the left and right sides to drive and rotate the crawler belts 5a and 5b. The work machine 2 is mounted on the side of the cab 4 of the upper swing body 3.

The hydraulic excavator 100 may include a tire instead of the crawler belts 5a and 5b, and may have a traveling device capable of traveling by transmitting the driving force of the engine to the tire through a transmission. As the hydraulic excavator 100 of this type, for example, there is a wheel type hydraulic excavator.

The hydraulic excavator 100 may be, for example, a backhoe loader.

In the upper swing body 3, the side on which the work machine 2 and the cab 4 are arranged is front, and the side on which the engine room 3EG is arranged is rear. The left side toward the front is the left side of the upper swing body 3, and the right side toward the front side is the right side of the upper swing body 3. The left-right direction of the upper swing body 3 is also called a width direction. The hydraulic excavator 100 or the vehicle body 1 has the traveling device 5 side downward with respect to the upper swing body 3, and the upper swing body 3 side with respect to the traveling apparatus 5. It is upward. The front and rear directions of the hydraulic excavator 100 are the x direction, the width direction is the y direction, and the up and down direction is the z direction. When the hydraulic excavator 100 is installed on a horizontal surface, the lower side is the side in the direction of action of gravity, which is the vertical direction, and the upper side is the opposite side to the vertical direction.

The work machine 2 has a boom 6, an arm 7, a bucket 8 which is a working implement, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12 . The base end of the boom 6 is attached to the entire body 1 of the vehicle body through a boom pin 13. The proximal end of the arm 7 is attached to the distal end of the boom 6 via an arm pin 14. The bucket 8 is attached to the front end of the arm 7 through a bucket pin 15. The bucket 8 moves around the bucket pin 15. The bucket 8 is equipped with a plurality of blades 8B on the opposite side to the bucket pin 15.

The cutting edge 8T is the tip of the blade 8B.

In the embodiment, that the work machine 2 is raised refers to an operation in which the work machine 2 moves in a direction from the ground surface of the hydraulic excavator 100 toward the upper swing body 3. When the work machine 2 descends, it refers to an operation in which the work machine 2 moves in a direction from the upper swing body 3 of the hydraulic excavator 100 toward the ground surface. The ground surface of the hydraulic excavator 100 is a plane defined by at least three points in the grounding portion of the crawler belts 5a and 5b.

In the case of a working machine having no upper swing body 3, that the working machine 2 rises refers to an operation in which the working machine 2 moves in a direction away from the ground plane of the working machine. When the work machine 2 descends, it means an operation in which the work machine 2 moves in a direction approaching the ground plane of the work machine. If the working machine is not a crawler belt and has wheels, the ground plane is a plane defined by the portion to which at least three wheels are grounded.

The bucket 8 does not need to have a plurality of blades 8B. It does not have the blade 8B as shown in FIG. 1, but may be a bucket such that the blade tip is formed in a straight shape by a steel plate. The work machine 2 may be provided with, for example, a tilt bucket having a singular blade. The tilt bucket is provided with a bucket tilt cylinder, and even if the hydraulic shovel is on a slope by tilting the bucket from side to side, it is possible to form, stop and level the slopes and flats freely. It is a bucket that can also perform voltage compaction (surface compaction). In addition, instead of the bucket 8, the working machine 2 is equipped with an attachment for a rock or a rock having a chip for a rock or a rock for cutting. It may be provided as.

The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders driven by the pressure of hydraulic oil (hereinafter, referred to as hydraulic pressure, respectively). The boom cylinder 10 drives the boom 6, and raises and lowers it. The arm cylinder 11 drives the arm 7 to operate around the arm pin 14. The bucket cylinder 12 drives the bucket 8 to operate around the bucket pin 15.

The directional control valve 64 shown in FIG. 2 is provided between the hydraulic cylinders, such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12, and the hydraulic pumps 36 and 37 shown in FIG. . The directional control valve 64 controls the flow rate of hydraulic oil supplied from the hydraulic pumps 36 and 37 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the like, and the hydraulic oil flows. Change direction. The directional control valve 64 pivots the directional control valve for traveling for driving the traveling motor 5c, the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the upper swing body 3 And a directional control valve for a work machine for controlling the turning motor to be rotated.

The work machine controller 26 shown in FIG. 2 controls the control valve 27 shown in FIG. 2 to control the pilot pressure of the hydraulic oil supplied from the operating device 25 to the direction control valve 64. The control valve 27 is installed in the hydraulic system of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The work machine controller 26 can control the operation of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 by controlling the control valve 27 provided in the pilot oil passage 450. In the embodiment, the work machine controller 26 can control the deceleration of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 by control to close the control valve 27.

Antennas 21 and 22 are mounted on the upper portion of the upper swing body 3. The antennas 21 and 22 are used to detect the current position of the hydraulic excavator 100. The antennas 21 and 22 are electrically connected to the position detecting device 19, which is a position detecting unit for detecting the current position of the hydraulic excavator 100 shown in FIG.

The position detecting device 19 detects the current position of the hydraulic excavator 100 using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS refers to a global navigation satellite system). In the following description, the antennas 21 and 22 are referred to as GNSS antennas 21 and 22 as appropriate.

The signals according to the GNSS radio waves received by the GNSS antennas 21 and 22 are input to the position detection device 19. The position detection device 19 detects the installation position of the GNSS antennas 21 and 22. The position detection device 19 includes, for example, a three-dimensional position sensor.

<Hydraulic system 300>

As shown in Fig. 2, the hydraulic system 300 of the hydraulic excavator 100 includes an internal combustion engine 35 and hydraulic pumps 36, 37 as a power generating source. The hydraulic pumps 36 and 37 are driven by an internal combustion engine 35 to discharge hydraulic oil. The hydraulic oil discharged from the hydraulic pumps 36 and 37 is supplied to the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12.

The hydraulic excavator 100 includes a turning motor 38. The turning motor 38 is a hydraulic motor, and is driven by hydraulic oil discharged from the hydraulic pumps 36 and 37. The swinging motor 38 swings the upper swinging body 3. In addition, although the two hydraulic pumps 36 and 37 are shown in FIG. 2, only one hydraulic pump may be provided. The turning motor 38 is not limited to a hydraulic motor, and may be an electric motor.

<Control system 200>

As shown in Fig. 2, the control system 200, which is a control system of the work machine, includes a position detection device 19, a global coordinate calculation unit 23, an operation device 25, and a work machine according to the embodiment. It includes a work machine controller 26 which is a control device, a sensor controller 39, a display controller 28, and a display portion 29.

The operating device 25 is a device for operating the work machine 2 and the upper swing body 3 shown in FIG. 1. The operating device 25 is a device for operating the work machine 2. The operation device 25 receives an operation by an operator for driving the work machine 2, and outputs a pilot hydraulic pressure according to the operation amount.

The pilot hydraulic pressure according to the operation amount is an operation command. The operation command is a command for operating the work machine 2.

The operation command is generated by the operation device 25. Since the operation device 25 is operated by an operator, the operation command is a command for operating the work machine 2 by the operation of the operator, which is a manual operation.

The control of the work machine 2 by manual operation is the control of the work machine 2 according to the operation instruction from the operation device 25. It is control of the work machine 2 by operating the operation device 25 of the work machine 2.

In the embodiment, the operation device 25 has a left operation lever 25L provided on the left side of the operator, and a right operation lever 25R arranged on the right side of the operator. In the left operation lever 25L and the right operation lever 25R, the motions of the front and rear, left and right correspond to the motions of the arm 7 and the two axes of turning.

For example, the operation in the front-rear direction of the right operation lever 25R corresponds to the operation of the boom 6. When the right operation lever 25R is operated forward, the boom 6 is lowered, and when it is operated rearward, the boom 6 is raised. The operation of lowering or raising the boom 6 is performed in accordance with the operation in the front-rear direction of the right operation lever 25R.

The operation in the left and right directions of the right operation lever 25R corresponds to the operation of the bucket 8. When the right operation lever 25R is operated to the left, the bucket 8 is excavated, and when operated to the right, the bucket 8 is dumped. Excavation or dumping operation of the bucket 8 is performed according to the operation in the left and right directions of the right operation lever 25R.

The operation in the front-rear direction of the left operation lever 25L corresponds to the operation of the arm 7. When the left operation lever 25L is operated forward, the arm 7 dumps, and when operated backward, the arm 7 excavates.

The operation of the left operation lever 25L in the left-right direction corresponds to the operation of the upper swing body 3 turning. When the left operation lever 25L is operated to the left, it turns left, and when it is operated to the right, it turns right.

In the embodiment, the pilot hydraulic system is used for the operating device 25. The operating device 25 is supplied with hydraulic oil depressurized to a predetermined pilot pressure by the pressure reducing valve 25V from the hydraulic pump 36 based on boom operation, bucket operation, arm operation, and turning operation.

Pilot hydraulic pressure can be supplied to the pilot oil passage 450 according to the operation in the front-rear direction of the right operation lever 25R, and the operation of the boom 6 by the operator is accepted. A valve device provided by the right operation lever 25R is opened according to the operation amount of the right operation lever 25R, and hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 detects the pressure of the hydraulic oil in the pilot oil passage 450 as a pilot pressure.

The pressure sensor 66 transmits the detected pilot pressure as the boom operation amount MB to the work machine controller 26. The operation amount in the front-rear direction of the right operation lever 25R is hereinafter referred to as the boom operation amount MB as appropriate. A control valve (hereinafter, appropriately referred to as an intervention valve) 27C and a shuttle valve 51 are provided in the pilot oil passage 50. The intervention valve 27C and the shuttle valve 51 will be described later.

Pilot oil pressure can be supplied to the pilot oil passage 450 according to the operation of the right operation lever 25R in the left and right directions, and the operation of the bucket 8 by the operator is accepted. A valve device provided by the right operation lever 25R is opened according to the operation amount of the right operation lever 25R, and hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 detects the pressure of the hydraulic oil in the pilot oil passage 450 as a pilot pressure.

The pressure sensor 66 transmits the detected pilot pressure to the work machine controller 26 as the bucket operation amount MT. The operation amount in the left-right direction of the right operation lever 25R is hereinafter referred to as a bucket operation amount MT as appropriate.

The pilot hydraulic pressure can be supplied to the pilot oil passage 450 in accordance with the operation in the front-rear direction of the left operation lever 25L, and the operation of the arm 7 by the operator is accepted. A valve device provided by the left operation lever 25L is opened according to the operation amount of the left operation lever 25L, and hydraulic oil is supplied to the pilot oil passage 450.

The pressure sensor 66 detects the pressure of the hydraulic oil in the pilot oil passage 450 as a pilot pressure.

The pressure sensor 66 transmits the detected pilot pressure to the work machine controller 26 as the arm operation amount MA. The operation amount in the front-rear direction of the left operation lever 25L is hereinafter appropriately referred to as the arm operation amount MA.

The operating device 25 supplies the pilot hydraulic pressure of a size corresponding to the operation amount of the right operating lever 25R to the direction control valve 64 by operating the right operating lever 25R.

The operating device 25 supplies the pilot hydraulic pressure of a size corresponding to the operation amount of the left operating lever 25L to the direction control valve 64 by operating the left operating lever 25L. The directional control valve 64 operates by pilot hydraulic pressure supplied from the operating device 25 to the directional control valve 64.

The control system 200 has a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18. For example, the first stroke sensor 16 is the boom cylinder 10, the second stroke sensor 17 is the arm cylinder 11, and the third stroke sensor 18 is the bucket cylinder 12. Respectively.

The sensor controller 39 has a storage unit such as random access memory (RAM) and read only memory (ROM), and a processing unit such as a central processing unit (CPU).

The sensor controller 39 is a horizontal plane (xy plane) in the local coordinate system of the hydraulic excavator 100, specifically, in the local coordinate system of the vehicle body 1, from the boom cylinder length LS1 detected by the first stroke sensor 16. The inclination angle θ1 of the boom 6 with respect to the direction orthogonal to (z-axis direction) is calculated and output to the work machine controller 26 and the display controller 28.

The sensor controller 39 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length LS2 detected by the second stroke sensor 17, and thus the work machine controller 26 and the display controller ( 28).

The sensor controller 39 calculates the inclination angle θ3 of the blade tip 8T of the bucket 8 of the bucket 8 with respect to the arm 7 from the bucket cylinder length LS3 detected by the third stroke sensor 18. Thus, it is output to the work machine controller 26 and the display controller 28.

Detection of the inclination angles θ1, θ2, and θ3 may be other than the first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18.

For example, angle sensors such as potentiometers can also detect inclination angles θ1, θ2, and θ3.

An IMU (Inertial Measurement Unit) 24 is connected to the sensor controller 39. The IMU 24 acquires inclination information of a vehicle body such as a pitch around the y-axis and a roll around the x-axis of the hydraulic excavator 100 shown in FIG. 1 and outputs it to the sensor controller 39.

The work machine controller 26 has a storage unit 26Q such as RAM and ROM (Read Only Memory), and a processing unit 26P such as a CPU.

The work machine controller 26 controls the intervention valve 27C and the control valve 27 based on the boom operation amount MB, the bucket operation amount MT, and the arm operation amount MA shown in FIG. 2.

The direction control valve 64 shown in FIG. 2 is, for example, a proportional control valve, and is controlled by hydraulic oil supplied from the operating device 25.

The direction control valve 64 is disposed between the hydraulic actuators, such as the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 38, and the hydraulic pumps 36 and 37.

The direction control valve 64 controls the flow rate and direction of hydraulic oil supplied to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 38 from the hydraulic pumps 36 and 37. .

The position detection device 19 included in the control system 200 includes the aforementioned GNSS antennas 21 and 22. The signal according to the GNSS radio waves received by the GNSS antennas 21 and 22 is input to the global coordinate calculator 23.

The GNSS antenna 21 receives reference position data P1 indicating its position from the positioning satellite. The GNSS antenna 22 receives reference position data P2 indicating its position from the positioning satellite.

The GNSS antennas 21 and 22 receive the reference position data P1 and P2 at predetermined cycles. The reference position data P1 and P2 are position information provided with a GNSS antenna. Each time the GNSS antennas 21 and 22 receive the reference position data P1 and P2, they output them to the global coordinate calculating section 23.

The global coordinate calculating section 23 has a storage section such as RAM and ROM, and a processing section such as a CPU. The global coordinate arithmetic unit 23 generates swivel arrangement data indicating the arrangement of the upper swing body 3 based on the two reference position data P1 and P2.

In the embodiment, the swivel arrangement data includes one reference position data P of two reference position data P1 and P2, and a swivel bearing data Q generated based on the two reference position data P1 and P2. The turning body orientation data Q shows the direction which the working machine 2 which is the upper turning body 3 is facing.

The global coordinate calculating unit 23 updates the reference position data P, which is the rotational arrangement data, and the rotational bearing data Q, whenever the two reference position data P1, P2 are obtained from the GNSS antennas 21, 22 at a predetermined cycle. Then, it outputs to the display controller 28.

The display controller 28 has a storage unit such as RAM and ROM, and a processing unit such as a CPU. The display controller 28 acquires the reference position data P which is rotation object arrangement data and the rotation object orientation data Q from the global coordinate calculating part 23.

In the embodiment, the display controller 28 generates bucket edge position data S indicating the three-dimensional position of the edge 8T of the bucket 8 as work machine position data. The display controller 28 generates target excavation terrain data U using the bucket edge position data S and target construction information T.

The target construction information T is information that is a target of finishing the excavation object in the work object and the embodiment of the work machine 2 provided in the hydraulic excavator 100. The target construction information T includes, for example, design information of a construction target of the hydraulic excavator 100. The work object of the work machine 2 is, for example, a ground. Examples of the work of the work machine 2 include excavation work and ground leveling work, but are not limited to these.

The display controller 28 derives target excavation terrain data Ua for display based on the target excavation terrain data U, and based on the target excavation terrain data Ua for display, the display unit 29 is subject to work of the work machine 2 The target shape of, for example, terrain is displayed.

The display portion 29 is, for example, a liquid crystal display device that accepts input by a touch panel, but is not limited thereto. In the embodiment, a switch 29S is provided adjacent to the display portion 29. The switch 29S is an input device for executing the intervention control described later or stopping the executing intervention control.

The work machine controller 26 acquires the boom operation amount MB, the bucket operation amount MT, and the arm operation amount MA from the pressure sensor 66. The work machine controller 26 acquires the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 8 from the sensor controller 39.

The work machine controller 26 acquires the target excavation terrain data U from the display controller 28. The target excavation terrain data U is the information of the range in which the hydraulic excavator 100 works from now on among the target construction information T.

The target excavation terrain data U is a part of the target construction information T. The target excavation terrain data U shows a shape that is a target for finishing the work object of the work machine 2, similarly to the target construction information T. The target shape of this finish is referred to as a target excavation terrain as appropriate below.

The work machine controller 26 calculates the position of the blade end 8T of the bucket 8 (hereinafter, appropriately referred to as a blade end position) from the angle of the work machine 2 obtained from the sensor controller 39.

The work machine controller 26 moves the distance between the target excavation terrain data U and the end 8T of the bucket 8 so that the blade end 8T of the bucket 8 moves along the target excavation terrain data U and the work machine 2 It controls the operation of the work machine 2 based on the speed of.

The work machine controller 26 is in the direction in which the work machine 2 approaches the construction object in order to suppress the bucket 8 from eroding the target shape of the work object of the work machine 2, which is the target excavation terrain data U. The speed is controlled to be below the speed limit. This control is appropriately referred to as intervention control.

The intervention control is executed, for example, when the operator of the hydraulic excavator 100 selects to perform the intervention control using the switch 29S shown in FIG. 2. When calculating the distance between the target excavation terrain and the bucket 8, which will be described later, the position used as a reference for the bucket 8 is not limited to the blade end 8T, and may be any place.

In the intervention control, the work machine controller 26 generates a boom command signal CBI to control the work machine 2 such that the edge 8T of the bucket 8 moves along the target excavation terrain data U, and is shown in FIG. 2. It outputs to the intervention valve 27C shown.

The boom 6 operates according to the boom command signal CBI. By the operation of the boom 6 according to the boom command signal CBI, the speed of the work machine 2 and more specifically the bucket 8 is controlled. The speed at which the bucket 8 approaches the target excavation terrain data U is limited according to the distance between the bucket 8 and the target excavation terrain data U.

<Configuration of the hydraulic circuit 301>

3 is a diagram showing an example of the hydraulic circuit 301 of the boom cylinder 10 based on the embodiment.

As shown in FIG. 3, the hydraulic circuit 301 is provided with a pilot oil passage 450 between the operation device 25 and the direction control valve 64. The direction control valve 64 is a valve that controls the direction in which the hydraulic oil supplied to the boom cylinder 10 flows.

In the embodiment, the direction control valve 64 is a spool type valve that switches a direction in which hydraulic oil flows by moving a rod-shaped spool 64S.

The spool 64S moves with hydraulic oil (hereinafter, appropriately referred to as pilot oil) supplied from the operating device 25 shown in FIG. 2. The direction control valve 64 supplies hydraulic oil to the boom cylinder 10 by the movement of the spool 64S, and operates the boom cylinder 10.

The pilot oil passage 50 and the pilot oil passage 450B are connected to the shuttle valve 51.

One of the shuttle valve 51 and the direction control valve 64 is connected by an oil passage 452B. The other side of the direction control valve 64 and the operating device 25 are connected by a pilot oil passage 450A and a pilot oil passage 452a. An intervention valve 27C is provided in the pilot oil passage 50. The intervention valve 27C adjusts the pilot pressure of the pilot oil passage 50.

The pressure sensor 66B and the control valve 27B are provided in the pilot oil passage 450B. In the pilot oil passage 450A, a pressure sensor 66A is provided between the control valve 27A and the operating device 25. The detection value of the pressure sensor 66 is acquired by the work machine controller 26 shown in FIG. 2 and used for control of the boom cylinder 10.

The pressure sensor 66A and the pressure sensor 66B correspond to the pressure sensor 66 shown in FIG. 2. The control valve 27A and the control valve 27B correspond to the control valve 27 shown in FIG. 2.

The hydraulic oil supplied from the hydraulic pumps 36 and 37 is supplied to the boom cylinder 10 through the direction control valve 64. As the spool 64S moves in the axial direction, supply of hydraulic oil to the cap-side oil chamber 48R of the boom cylinder 10 and supply of hydraulic oil to the rod-side oil chamber 47R are switched.

As the spool 64S moves in the axial direction, the flow rate that is the supply amount of the hydraulic oil to the boom cylinder 10 per unit time is adjusted. By adjusting the flow rate of the hydraulic oil to the boom cylinder 10, the operating speed of the boom cylinder 10 is adjusted.

When the spool 64S of the direction control valve 64 moves in the first direction, hydraulic oil is supplied from the direction control valve 64 to the cap side oil chamber 48R, and the direction control valve (from the rod side oil chamber 47R) When the hydraulic oil returns to 64), the piston 10P of the boom cylinder 10 moves from the cap-side oil chamber 48R toward the rod-side oil chamber 47R.

As a result, the rod 10L connected to the piston 10P is extended from the boom cylinder 10.

When the spool 64S of the direction control valve 64 moves in the second direction opposite to the first direction based on the command from the operating device 25, the direction control valve (from the cap side oil chamber 48R) 64), the hydraulic oil is returned. When working oil is supplied from the direction control valve 64 to the rod-side oil chamber 47R, the piston 10P of the boom cylinder 10 moves from the rod-side oil chamber 47R toward the cap-side oil chamber 48R. . As a result, the rod 10L connected to the piston 10P degenerates to the boom cylinder 10. In this way, the operating direction of the boom cylinder 10 is changed by adjusting the movement direction of the spool 64S of the direction control valve 64.

As the movement amount of the spool 64S of the direction control valve 64 is adjusted, the flow rate of the hydraulic oil supplied to the boom cylinder 10 and returned from the boom cylinder 10 to the direction control valve 64 fluctuates. The moving speed of the piston 10P and the rod 10L, which are the operating speeds of the boom cylinder 10, is changed.

As described above, the operation of the direction control valve 64 is controlled by the operation device 25. The hydraulic oil discharged from the hydraulic pump 36 shown in Fig. 2 and depressurized by the pressure reducing valve 25V is supplied to the operating device 25 as pilot oil.

The operating device 25 adjusts the pilot hydraulic pressure based on the operation of each operating lever. The directional control valve 64 is driven by the adjusted pilot hydraulic pressure.

The size of the pilot hydraulic pressure and the direction of the pilot hydraulic pressure are adjusted by the operation device 25, so that the movement amount and the movement direction of the spool 64S with respect to the axial direction are adjusted. As a result, the operating speed and operating direction of the boom cylinder 10 are changed.

The work machine controller 26 obtains the target excavation terrain (target excavation terrain data U) and the position of the bucket 8 in the intervention control, as described above, indicating the design terrain that is the target shape of the excavation target. Based on the inclination angles θ1, θ2, and θ3 for the boom 6, the speed at which the bucket 8 approaches the target excavation terrain 43I decreases according to the distance between the target excavation terrain 43I and the bucket 8 ) To limit the speed.

In the embodiment, when the work machine 2 is operated based on the operation of the operation device 25, the work machine controller 26 prevents the blade tip 8T of the bucket 8 from invading the target excavation terrain 43I. Generates a boom command signal CBI, and uses this to control the operation of the boom 6.

Specifically, the work machine controller 26 raises the boom 6 so that the blade tip 8T does not invade the target excavation terrain 43I in the intervention control. Control that raises the boom 6 executed in the intervention control is appropriately referred to as boom intervention control.

In the embodiment, in order for the work machine controller 26 to realize boom intervention control, the work machine controller 26 generates a boom command signal CBI for boom intervention control and outputs it to the intervention valve 27C.

The intervention valve 27C can adjust the pilot oil pressure of the pilot oil passage 50. The shuttle valve 51 has two inlets 51Ia, 51Ib and one outlet 51E. One inlet 51Ia is connected to the intervention valve 27C. The other inlet 51Ib is connected to the control valve 27B. The outlet 51E is connected to an oil passage 452B connected to the direction control valve 64.

The shuttle valve 51 connects one of the two inlets 51Ia, 51Ib with a high pilot hydraulic pressure and an oil passage 452B.

For example, when the pilot hydraulic pressure of the inlet 51Ia is higher than the pilot hydraulic pressure of the inlet 51Ib, the shuttle valve 51 connects the intervention valve 27C and the oil passage 452B. As a result, pilot oil that has passed through the intervention valve 27C is supplied to the oil passage 452B through the shuttle valve 51. When the pilot hydraulic pressure of the inlet 51Ib is higher than the pilot hydraulic pressure of the inlet 51Ia, the shuttle valve 51 connects the control valve 27B and the oil passage 452B. As a result, the pilot oil that has passed through the control valve 27B is supplied to the oil passage 452B through the shuttle valve 51.

When the boom intervention control is not executed, the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operating device 25. For example, the work machine controller 26 controls the pilot oil passage 450B by the control valve 27B so that the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the operation of the operation device 25. Is opened (to be fully deployed), and at the same time, the intervention valve 27C is controlled to close the pilot oil passage 50.

When boom intervention control is executed, the work machine controller 26 controls the control valve 27 so that the directional control valve 64 is driven based on the pilot hydraulic pressure adjusted by the intervention valve 27C. For example, when executing control to limit movement of the bucket 8, which is the boom intervention control, to the target excavation terrain 43I, the work machine controller 26 controls the pilot oil passage adjusted by the intervention valve 27C. The intervention valve 27C is controlled so that the pilot hydraulic pressure at 50 is higher than the pilot hydraulic pressure at the pilot oil passage 450B adjusted by the operating device 25. By doing in this way, the pilot oil from the intervention valve 27C is supplied to the direction control valve 64 via the shuttle valve 51.

When executing the boom intervention control, the work machine controller 26 generates a boom command signal CBI, which is a speed command for raising the boom 6, for example, and controls the intervention valve 27C. By doing in this way, the directional control valve 64 of the boom cylinder 10 supplies hydraulic oil to the boom cylinder 10 so that the boom 6 rises at a speed corresponding to the boom command signal CBI, so that the boom cylinder 10 Raises the boom 6.

Although the hydraulic circuit 301 of the boom cylinder 10 has been described, the hydraulic circuit of the arm cylinder 11 and the hydraulic circuit of the bucket cylinder 12 are intervening valves 27C from the hydraulic circuit 301 of the boom cylinder 10. ), Except for the shuttle valve 51 and the pilot oil passage 50.

The boom intervention control is a control that raises the boom 6 executed in the intervention control, but in the intervention control, the work machine controller 26 is in addition to the elevation of the boom 6 or instead of the elevation of the boom 6. , At least one of the arm 7 and the bucket 8 may be raised.

In the intervention control, the work machine controller 26 raises one or more of the boom 6, the arm 7, and the bucket 8 constituting the work machine 2, thereby raising the target shape of the work object of the work machine 2 , In the embodiment, the work machine 2 is moved in a direction away from the target excavation terrain 43I.

In the embodiment, when the work machine 2 is operated based on the operation of the operation device 25, the boom controller 6, the arm 7 and the bucket 8 that the work machine controller 26 constitutes the work machine 2 ) Control that operates one or more of them is called intervention control.

The intervention control is a control in which the work machine controller 26 operates the work machine when the work machine 2 operates based on a manual operation that is an operation of the operation device 25. The aforementioned boom intervention control is one aspect of the intervention control.

4 is a block diagram of the work machine controller 26 based on the embodiment.

5 is a diagram showing target excavation terrain data U and bucket 8 based on the embodiment.

6 is a diagram for explaining the boom speed limit Vcy_bm based on the embodiment.

7 is a diagram for explaining the speed limit Vc_lmt based on the embodiment.

The work machine controller 26 includes a determination unit 26J and a control unit 26CNT.

The control unit 26CNT includes a relative position calculating unit 26A, a distance calculating unit 26B, a target speed calculating unit 26C, an intervention speed calculating unit 26D, an intervention command calculating unit 26E, and an intervention speed Includes the amendment 26F.

Judgment section 26J, relative position calculation section 26A, distance calculation section 26B, target speed calculation section 26C, intervention speed calculation section 26D, intervention command calculation section 26E, intervention speed correction section ( The function of 26F) is realized by the processing unit 26P of the work machine controller 26 shown in FIG. 2.

When the intervention control is executed, the work machine controller 26 includes the boom MV MB, the arm MV MA, the bucket MV MT, the target excavation terrain data U obtained from the display controller 28, the bucket edge position data S and the sensor controller 39 Using the inclination angles θ1, θ2, and θ3 obtained from, a boom command signal CBI required for intervention control is generated, and an arm command signal and a bucket command signal are generated as necessary, the control valve 27 and the intervention valve 27C Drive to control the work machine (2).

The relative position calculator 26A acquires the bucket edge position data S from the display controller 28, and acquires the inclination angles θ1, θ2, and θ3 from the sensor controller 39. The relative position calculating unit 26A obtains the blade end position Pb which is the position of the blade end 8T of the bucket 8 from the obtained inclination angles θ1, θ2, and θ3.

The distance calculating unit 26B includes the cutting edge position Pb obtained by the relative position calculating unit 26A and the target cutting terrain data U obtained from the display controller 28, and the cutting edge 8T of the bucket 8 and the target construction. The shortest distance d between the target excavation terrain 43I represented by the target excavation terrain data U which is part of the information T is calculated. The distance d is the distance between the blade end position Pb and the target excavation topography 43I, and the straight line passing through the blade end position Pb and the position Pu where the target excavation topography data U intersect.

The target excavation topography 43I is defined in the front-rear direction of the upper slewing body 3, and the plane represented by the plane of the work machine 2 passing through the excavation target position Pdg and a plurality of target construction surfaces It is obtained from the intersection with the construction information T.

More specifically, the target excavation topography 43I is a singular or plural inflection points before and after the excavation target position Pdg of the target construction information T among the above-mentioned intersections and the line before and after it.

In the example shown in Fig. 5, the two inflection points Pv1, Pv2 and the lines before and after them are the target excavation topography 43I. The excavation target position Pdg is a point just below the blade end position Pb, which is the position of the blade end 8T of the bucket 8. As described above, the target excavation terrain 43I is a part of the target construction information T. The target excavation terrain 43I is generated by the display controller 28 shown in FIG. 2.

The target speed calculating unit 26C determines the boom target speed Vc_bm, the arm target speed Vc_am, and the bucket target speed Vc_bkt. The boom target speed Vc_bm is the speed of the blade end 8T when the boom cylinder 10 is driven. The arm target speed Vc_am is the speed of the blade tip 8T when the arm cylinder 11 is driven. The bucket target speed Vc_bkt is the speed of the blade tip 8T when the bucket cylinder 12 is driven. The boom target speed Vc_bm is calculated according to the boom operation amount MB. The cancer target speed Vc_am is calculated according to the cancer manipulation amount MA. The bucket target speed Vc_bkt is calculated according to the bucket operation amount MT.

The intervention speed calculating unit 26D calculates the speed limit (boom speed limit) Vcy_bm of the boom 6 based on the distance d between the edge 8T of the bucket 8 and the target excavation terrain 43I. .

As shown in Fig. 6, the intervention speed calculating unit 26D obtains the boom limit speed Vcy_bm by subtracting the arm target speed Vc_am and the bucket target speed Vc_bkt from the limit speed Vc_lmt of the entire work machine 2 shown in Fig. 1. .

The speed limit Vc_lmt is the movement speed of the blade tip 8T that can be tolerated in the direction in which the blade tip 8T of the bucket 8 approaches the target excavation terrain 43I.

As shown in Fig. 7, the speed limit Vc_lmt is the descent speed when the work machine 2, which is a negative value when the distance d is positive, and the work machine 2, which is a positive value when the distance d is negative, is This is the rate of ascent when ascending.

When the distance d is a negative value, the bucket 8 has eroded the target excavation terrain 43I. In the speed limit Vc_lmt, as the distance d decreases, the absolute value of the speed decreases, and when the distance d becomes a negative value, the absolute value of the speed increases as the absolute value of the distance d increases.

The determination unit 26J determines whether or not to correct the boom speed limit Vcy_bm.

When the determination unit 26J determines that the boom speed limit Vcy_bm is corrected, the intervention speed correcting section 26F corrects and outputs the boom speed limit Vcy_bm.

The boom speed limit after correction is expressed by Vcy_bm '.

When the judging section 26J determines that the boom speed limit Vcy_bm is not corrected, the intervention speed correcting section 26F outputs the boom speed limit Vcy_bm without correction. The intervention command calculation unit 26E generates a boom command signal CBI from the boom limiting speed Vcy_bm obtained by the intervention speed correcting section 26F.

The boom command signal CBI is used to cause the shuttle valve 51 to actuate the degree of opening of the intervention valve 27C and the pilot pressure required for the boom 6 to rise to the boom limit speed Vcy_bm. This is a command to make the required size. The boom command signal CBI is, in the embodiment, a current value corresponding to the boom command speed.

The judging section 26J includes a switching judging section 26K, an operation command judging section 26L, and a speed difference judging section 26M.

The switching determination unit 26K determines whether intervention control is unnecessary.

The operation command determination unit 26L determines whether the operator is performing an operation for raising the boom 6 or a neutral operation with respect to the right operation lever 25R. The neutral operation is a state in which the operation of raising or lowering is not performed. The right operation lever 25R is in the middle position.

The speed difference determination unit 26M determines the speed difference between the boom limit speed Vcy_bm and the boom target speed Vc_bm following the operation of raising the boom 6 with respect to the right operation lever 25R by the operator. Alternatively, the speed difference determination unit 26M determines the speed difference between the boom limit speed Vcy_bm and the boom target speed 0 according to the neutral operation of the right operation lever 25R by the operator. Specifically, it is determined whether the speed difference is greater than or equal to the threshold Dr.

In the embodiment, the judging section 26J, when the intervention control becomes unnecessary, when the operator is performing the operation of raising the boom 6 with respect to the right operation lever 25R, the boom speed limit Vcy_bm When the speed difference from the boom target speed Vc_bm according to the operation of raising the boom 6 to the right operation lever 25R by the operator is greater than or equal to the threshold Dr, the boom limit speed Vcy_bm is corrected. In addition, in the case where intervention control is not required, the determination unit 26J, when the operator performs a neutral operation to the right operation lever 25R, the boom speed limit Vcy_bm and the right operation lever 25R by the operator When the speed difference from the boom target speed 0 following the neutral operation for) is greater than or equal to the threshold Dr, the boom speed limit Vcy_bm is corrected.

<Sun of boom intervention control>

8 is a diagram showing the relationship between the bucket 8 and the target excavation topography 43I based on the embodiment.

As shown in Fig. 8, the intervention control is a control that moves the bucket 8 so that the bucket 8 does not erode the target excavation terrain 43I. When the work machine controller 26 is performing intervention control, when the bucket 8 tries to erode the target excavation terrain 43I, the work machine controller 26 executes boom intervention control.

As shown in Fig. 8, the intervention control is executed when the operator attempts to erode the target excavation terrain 43I by operator operation.

The intervention control is not executed when the bucket 8 moves in the direction of the arrow Y shown in Fig. 8 and the operator does not erode the target excavation terrain 43I by operator operation.

If the operator does not erode the target excavation terrain 43I by operator operation, intervention control is unnecessary.

When the work machine controller 26 is performing intervention control, the operator of the hydraulic excavator 100 may be performing an operation of moving the work machine 2 and the bucket 8 upward.

As shown in Fig. 8, when the intervention control is canceled when the bucket 8 deviates from the area where the target excavation terrain 43I exists, the intervention control is switched to the control of the work machine 2 by manual operation.

When switching from the intervention control to the control of the work machine 2 by manual operation, the rapid speed change results in a feeling of discomfort for the operator.

Fig. 9 is a diagram showing the relationship between the boom target speed Vbm, which is the speed at which the boom 6 operates based on the embodiment, and the time t.

9, the vertical axis is the boom target speed Vbm, and the horizontal axis is time t. The boom target speed Vbm represents the rising speed, which is the speed at which the boom 6 rises when taking a positive value, and represents the falling speed, which is the speed at which the boom 6 descends when taking a negative value.

Since the boom 6 is a part of the work machine 2, the boom target speed Vbm is the speed of the work machine 2. The rising speed of the boom 6 corresponds to the rising speed of the work machine 2, and the falling speed of the boom 6 corresponds to the falling speed of the work machine 2.

In the embodiment, the rising speed and the falling speed of the work machine 2 are referred to as the movement speed of the work machine 2. The moving speed of the work machine 2 takes a positive value when the work machine 2 rises, and a negative value when it descends.

The work machine controller 26 operates the operator of the hydraulic excavator 100 for the boom target speed Vbm when the boom intervention control becomes unnecessary when the bucket 8 deviates from the area where the target excavation terrain 43I exists. The boom target speed determined by is set to Vbop.

The work machine controller 26 reduces the boom target speed Vbm to a constant rate of change VRC from the boom limit speed Vcy_bm1 before the boom intervention control becomes unnecessary in the case of a predetermined condition, and sets the boom target speed Vbop.

When the boom intervention control becomes unnecessary, the control switch from the intervention control to the work machine 2 to the control of the work machine 2 based on the operation command from the operation device 25.

In the embodiment, when the boom intervention control becomes unnecessary, the work machine controller 26 is configured to control the boom intervention when the operation command from the operation device 25 is the rising command or the neutral command of the boom 6. The following boom limit speed Vcy_bm1 is compared with the boom target speed Vbop or 0 determined by the operator's operation. Then, the difference D between the boom limit speed Vcy_bm1 and the boom target speed Vbop or 0 is calculated. The larger the difference D between the boom limit speed Vcy_bm1 and the boom target speed Vbop or 0, the greater the speed change.

In the embodiment, it is determined whether or not the difference D between the boom limit speed Vcy_bm1 and the boom target speed Vbop or 0 is greater than or equal to the threshold Dr.

The work machine controller 26, when the boom intervention control becomes unnecessary, when the operation command from the operation device 25 is the rising command or the neutral command of the boom 6, the boom limit speed Vcy_bm1 and the boom target speed Vbop Alternatively, when the difference D from 0 is greater than or equal to the threshold Dr, the boom target speed Vbm before boom intervention control becomes unnecessary is reduced to a constant rate of change VRC to change to the boom target speed Vbop indicated by the operator.

When the boom target speed Vbm, which is the case where the boom 6 rises, is positive, when the boom target speed Vbm is changed to the change rate VRC, the rising speed decreases, so the rate of change VRC represents the decrease rate of the rising speed.

As a result of switching to the control of the work machine 2 based on the operation command from the operation device 25, when the speed change is large, the boom 6 rapidly decelerates the speed, so the operator feels discomfort.

During the execution of the boom intervention control, and also when the operator is performing an operation to raise the boom 6 or a neutral operation, the bucket 8 moves out of the area where the target excavation terrain 43I is present and the boom intervention control is unnecessary. When released, the boom target speed Vbm gradually changes from the boom limit speed Vcy_bm1 to the boom target speed Vbop or 0 indicated by the operator. As a result, the rapid deceleration of the boom 6 is alleviated, so that the operator's sense of discomfort is reduced.

In addition, it is possible to reduce the impact due to the rapid deceleration of the boom 6, so that the influence on the soil that is loaded in the bucket 8 can also be mitigated.

Specifically, the intervention speed calculating unit 26D of the work machine controller shown in FIG. 4 obtains the boom speed limit Vcy_bm.

Next, in the determination unit 26J of the work machine controller 26 shown in Fig. 4, the switching determination unit 26K determines whether or not boom intervention control is unnecessary. The operation command determination unit 26L determines whether the operator is performing the operation of raising the boom 6 or the neutral operation with respect to the right operation lever 25R when the boom intervention control becomes unnecessary. The speed difference judging section 26M and the boom limiting speed Vcy_bm when the operator performs an operation for raising the boom 6 or a neutral operation with respect to the right operation lever 25R when the boom intervention control becomes unnecessary. , The speed difference between the boom target speed Vc_bm according to the operation of raising the boom 6 by the operator or the boom target speed 0 according to the neutral operation is determined.

When the speed difference determination unit 26M determines that the speed difference is greater than or equal to the threshold Dr, the determination unit 26J determines that the boom speed limit Vcy_bm is corrected, and the boom speed limit Vcy_bm is determined by the intervention speed corrector 26F. Instruct them to calibrate.

The intervention speed corrector 26F of the control unit 26CNT obtains the boom limiting speed Vcy_bm 'after correction, and outputs it to the intervention command calculation unit 26E of the control unit 26CNT.

The intervention command calculation unit 26E of the control unit 26CNT generates a boom command signal CBI using the corrected boom limit speed Vcy_bm ', and controls the intervention valve 27C. By such processing, the work machine controller 26 changes the raising speed of the boom 6.

Specifically, the intervention speed corrector 26F controls to change from the boom limit speed Vcy_bm to the boom target speed Vbop according to the change rate VRC.

When the rate of change VRC is large, when the boom intervention control becomes unnecessary, the rise of the boom 6 stops quickly, but because the change in the boom target speed Vbop suddenly occurs, an impact occurs or the operator remembers a feeling of discomfort.

Therefore, the rate of change VRC is set in a range in which the change to the boom target speed Vbop does not become too rapid. In the embodiment, the rate of change VRC is determined by, for example, sensory evaluation of the operator, but the method for determining the rate of change VRC is not limited to such a method.

<Control method of working machine based on embodiment>

It is a figure explaining the flow which showed the control method of the work machine based on embodiment.

10, the control method of the work machine which concerns on embodiment is implemented by the work machine controller 26. As shown in FIG.

In step S2, the switching determination unit 26K of the work machine controller 26 shown in Fig. 4 determines whether boom intervention control is unnecessary. When the switching determination unit 26K determines that boom intervention control is unnecessary (YES in step S2), in step S4, the operation command determining unit 26L operates or neutralizes the operator to raise the boom 6 or neutral. It is determined whether or not an operation is being performed (step S4).

In step S4, when the operation command determination unit 26L determines that the operator is performing an operation for raising the boom 6 or a neutral operation (YES in step S4), the speed difference determination unit 26M booms The speed difference between the speed limit Vcy_bm and the boom target speed Vc_bm or the boom target speed 0 according to the operation of raising the boom 6 by the operator is determined (step S5).

The speed difference determination unit 26M determines whether or not the speed difference is a threshold Dr phase (step S6).

In step S6, when the speed difference determination unit 26M determines that the speed difference is equal to or greater than the threshold Dr (YES in step S6), in step S8, the intervention command calculation unit 26E of the work machine controller 26 intervenes The boom command signal CBI is generated from the corrected boom limiting speed Vcy_bm 'determined by the speed correcting section 26F, and the intervention valve 27C is controlled based on the boom command signal.

Then, the processing ends (end). On the other hand, in step S2, when the switching determination unit 26K determines that boom intervention control is not necessary (NO in step S2), in step S16, the intervention command calculation unit 26E of the work machine controller 26 Controls the intervention valve 27C based on the boom command signal CBI using the boom speed limit Vcy_bm, which is not corrected.

On the other hand, when it is determined in step S4 that the operator does not perform the operation of raising the boom 6 or the neutral operation (NO in step S4), or, in step S6, when the speed difference is determined to be less than the threshold Dr (step) In NO in S6, the work machine controller 26 generates a boom command signal CBI using a target speed according to the command of the operation lever, and controls the intervention valve 27C based on the boom command signal (step S12) ).

Then, the processing ends (end).

<Electric operation lever>

In the embodiment, the operation device 25 has a pilot hydraulic system operation lever, but may have an electric system left operation lever 25La and a right operation lever 25Ra.

When the left operation lever 25La and the right operation lever 25Ra are electric systems, each operation amount is detected by a potentiometer, respectively. The operation amounts of the left operation lever 25La and the right operation lever 25Ra detected by the potentiometer are acquired by the work machine controller 26.

The work machine controller 26 which detects the operation signal of the electric-type operation lever performs control similar to the pilot hydraulic method.

As described above, in the case where the intervention control is not required, the boom limiting speed Vcy_bm and the boom (if the operator performs an operation to raise the boom 6 or a neutral operation to the right operation lever 25R) 6) When the speed difference between the boom target speed Vc_bm according to the operation of raising or the boom target speed 0 according to the neutral operation is greater than or equal to the threshold Dr, the boom limit speed Vcy_bm is corrected. The boom limit speed Vcy_bm is reduced to a constant rate of change VRC to change the boom target speed Vbop or 0 indicated by the operator.

The work machine 2 has a boom 6, an arm 7, and a bucket 8, but the accessories attached to the work machine 2 are not limited to this, and are not limited to the bucket 8. The working machine only needs to have a working machine, and is not limited to the hydraulic excavator 100.

The disclosed embodiment is an example and is not limited to the above. The scope of the present invention is indicated by the claims, and is intended to include all changes within the meaning and range equivalent to the scope of the claims.

1: Vehicle body, 2: Working machine, 3: Upper swivel body, 4: Cab, 5: Traveling device, 6: Boom, 7: Arm, 8: Bucket, 10: Boom cylinder, 11: Arm cylinder, 12: Bucket cylinder , 13: boom pin, 14: female pin, 15: bucket pin, 16: first stroke sensor, 17: second stroke sensor, 18: third stroke sensor, 19: position detecting device, 26: work machine controller, 26A: Relative position calculation unit, 26B: distance calculation unit, 26C: target speed calculation unit, 26CNT: control unit, 26D: intervention speed calculation unit, 26E: intervention command calculation unit, 26F: intervention speed correction unit, 26J: determination unit, 26K: Switching judgment section, 26L: operation command judgment section, 26M: speed difference judgment section, 26P: processing section, 26Q: storage section

Claims (4)

Working machine;
An operation device for operating the work machine; And
A controller that controls the work machine;
Including,
The controller,
An intervention control for raising the work machine based on an operation command from the operating device,
A switch from the intervention control to the control of the work machine according to the operation instruction of the operation device is determined,
In the switching based on the determination result, it is determined whether or not the operation command of the operation device is an increase command of the work machine or a neutral command,
On the basis of the judgment result, when the operation command of the operation device is the rising command of the work machine or the neutral command, the rising target speed of the work machine by the intervention control and the target speed according to the operation command of the operation device Judge the speed difference,
When the speed difference is greater than or equal to a predetermined value, adjusting so that the rising target speed of the work machine gradually changes to a target speed according to an operation command of the operating device,
Work machine. According to claim 1,
The controller,
An intervention control unit that performs intervention control to raise the work machine based on an operation command from the operating device;
A switching determining unit that determines the switching from the intervention control to the control of the work machine in accordance with the operating instruction of the operating device;
An operation command determination unit for determining whether the operation command of the operation device is an increase command of the work machine or a neutral command in the change based on the determination result of the change determination unit;
Based on the determination result of the operation command determination unit, when the operation command of the operation device is the rising command of the work machine or the neutral command, the rising target speed of the work machine by the intervention control and the operation command of the operation device A speed difference determination unit for determining a speed difference from a target speed that follows; And
When the speed difference is greater than or equal to a predetermined value based on the determination result of the speed difference determination unit, a speed adjustment unit that adjusts the rising target speed of the work machine to gradually change to a target speed according to an operation command of the operating device; machine. According to claim 1,
The controller,
When the speed difference is less than the predetermined value, the working machine converts the rising target speed of the working machine into a target speed according to an operation instruction of the operating device. A control method of a work machine, comprising a work machine and an operation device for operating the work machine,
Executing intervention control to raise the work machine based on an operation instruction from the operation device;
Determining a switch from the intervention control to control of the work machine in accordance with an operation instruction of the operating device;
Determining whether an operation command of the operation device is an increase command of the work machine or a neutral command in the switching based on the determination result;
On the basis of the judgment result, when the operation command of the operation device is the rising command of the work machine or the neutral command, the rising target speed of the work machine by the intervention control and the target speed according to the operation command of the operation device Determining a speed difference; And
If the speed difference is greater than or equal to a predetermined value, adjusting so that the rising target speed of the work machine gradually changes to a target speed according to an operation command of the operating device;
Control method of a working machine comprising a.

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