Patent Application
20190078289
The present invention relates to a work machine including a work implement, and a control method for a work machine.
For a work machine that includes a front device provided with a bucket, there has been proposed such control that shifts the bucket along a boundary surface defining a target shape of an object of execution (for example, see PTD 1). This control is referred to as intervention control.
When the target shape of the object of execution disappears, or when invasion of the target shape by a work implement is stopped by an operation of an operator during the intervention control, for example, the intervention control need not be performed any more. Control that raises the work implement to stop invasion of the target shape by the work implement need not be performed any more.
When performance of the intervention control stops, current control switches to control of the work implement in accordance with an operation command issued from an operation apparatus.
At the time of switching of control, a rapid speed change may be produced depending on the level of the difference between a rising speed of the work implement during the intervention control and a rising speed of the work implement in accordance with an operation command from the operation apparatus. When such a rapid speed change is produced, the operator may have a sense of discomfort.
The present disclosure has been developed to solve the aforementioned problems. An object of the present disclosure is to provide a work machine and a control method for a work machine capable of reducing discomfort caused during an operation of an operation apparatus by an operator.
A work machine according an aspect includes a work implement, an operation apparatus for operating the work implement, and a controller for controlling the work implement. The controller performs intervention control for raising the work implement based on an operation command from the operation apparatus, decides switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus, determines whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision is an operation command for raising the work implement, or a neutral command, determines a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination, and makes an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value.
The controller preferably includes an intervention control unit for performing intervention control for raising the work implement based on an operation command from the operation apparatus, a switching decision unit for deciding switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus, an operation command determination unit for determining whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision of the switching decision unit is an operation command for raising the work implement, or a neutral command, a speed difference determination unit for determining a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination of the operation command determination unit, and a speed adjustment unit for making an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value based on a result of the determination of the speed difference determination unit.
The controller preferably switches the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is less than the predetermined value.
A control method for a work machine according to an aspect is a method for a work machine including a work implement and an operation apparatus for operating the work implement. The method includes the steps of:
performing intervention control for raising the work implement based on an operation command from the operation apparatus; deciding switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus; determining whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision is an operation command for raising the work implement, or a neutral command; determining a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination; and
making an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value.
A work machine and a control method for a work machine are capable of reducing discomfort caused during an operation of an operation apparatus by an operator.
An embodiment of the present invention is hereinafter described with reference to the drawings. In the following description, identical parts are given identical reference numbers. These identical parts have identical names and functions, wherefore details of these parts are not repeatedly described herein. Note that “upper”, “lower”, “fore”, “after”, “left”, and “right” in the following description are terms defined as viewed from a reference corresponding to an operator sitting on an operator's seat.
Referring to
Vehicular body 1 includes an upper revolving unit 3 provided as a revolving unit, and a traveling apparatus 5 provided as a traveling unit. Upper revolving unit 3 accommodates an internal combustion engine provided as a power generator, hydraulic pumps, and other devices within an engine room 3EG. Engine room 3EG is disposed at an end of upper revolving unit 3.
The internal combustion engine provided as a power generator of hydraulic excavator 100 is constituted by a diesel engine, for example. However, the power generator may be constituted by other types of power generator.
For example, the power generator of hydraulic excavator 100 may be a hybrid type device constituted by a combination of an internal combustion engine, a generator motor, and an electrical storage device.
The power generator of hydraulic excavator 100 may be constituted by a combination of an electrical storage device and a generator motor, excluding an internal combustion engine.
Upper revolving unit 3 includes an operator's cab 4. Operator's cab 4 is disposed at the other end of upper revolving unit 3. Operator's cab 4 is positioned on the side opposite to the side of engine room 3EG. A display unit 29 and an operation apparatus 25 illustrated in
Traveling apparatus 5 supports upper revolving unit 3. Traveling apparatus 5 includes crawler belts 5a and 5b One or both of travel motors 5c provided on the left and right of traveling apparatus 5 drive and rotate crawler belts 5a and 5b to allow traveling of hydraulic excavator 100. Work implement 2 is attached to a side of operator's cab 4 of upper revolving unit 3.
Hydraulic excavator 100 may include a traveling apparatus provided with tires instead of crawler belts 5a and 5b, and transmit driving force of an engine to the tires via a transmission to allow traveling. Examples of hydraulic excavator 100 of this type include a wheel hydraulic excavator.
Hydraulic excavator 100 may be a backhoe loader, for example.
The front of upper revolving unit 3 corresponds to the side where work implement 2 and operator's cab 4 are disposed, while the rear of upper revolving unit 3 corresponds to the side where engine room 3EG is disposed. The left side in the forward direction corresponds to the left of upper revolving unit 3, while the right side in the forward direction corresponds to the right of upper revolving unit 3. The left/right direction of upper revolving unit 3 is also referred to as a width direction. Traveling apparatus 5 side of hydraulic excavator 100 or vehicular body 1 with respect to upper revolving body 3 corresponds to the lower side, while upper revolving unit 3 side with respect to traveling apparatus 5 corresponds to the upper side. The fore/aft direction, the width direction, and the up/down direction of hydraulic excavator 100 correspond to an x direction, a y direction, and a z direction, respectively. When hydraulic excavator 100 is disposed on a horizontal plane, the lower side corresponds to the gravitating side in the direction of gravity identical to the perpendicular direction, while the upper side corresponds to the side opposite to the gravitating side in the perpendicular direction.
Work implement 2 includes a boom 6, a dipper stick 7, a bucket 8 provided as a work tool, a boom cylinder 10, a dipper stick cylinder 11, and a bucket cylinder 12. A proximal end of boom 6 is attached to a front portion of vehicular body 1 via a boom pin 13. A proximal end of dipper stick 7 is attached to a distal end of boom 6 via a dipper stick pin 14. Bucket 8 is attached to a distal end of dipper stick 7 via a bucket pin 15. Bucket 8 is movable around bucket pin 15. A plurality of cutters 8B are attached to bucket 8 on the side opposite to bucket pin 15. Cutting edges 8T correspond to distal ends of cutters 8B.
According to the embodiment, rising of work implement 2 refers to a movement of work implement 2 in the direction from a ground engaging surface of hydraulic excavator 100 toward upper revolving unit 3. Lowering of work implement 2 refers to a movement of work implement 2 in the direction from upper revolving unit 3 of hydraulic excavator 100 toward the ground engaging surface. The ground engaging surface of hydraulic excavator 100 is a flat surface defined by at least three points of engaging portions between crawler belts 5a and 5b and the ground.
In case of a work machine not provided with upper revolving unit 3, rising of implement 2 refers to a movement of work implement 2 in the direction away from a ground engaging surface of the work machine. Lowering of work implement 2 refers to a movement of work implement 2 in the direction of approach toward the ground engaging surface of the work machine. When the work machine has wheels instead of crawler belts, the ground engaging surface is a flat surface defined by ground engaging portions of at least three wheels.
Bucket 8 is not required to have the plurality of cutters 8B. Such a bucket is adoptable which does not have cutters 8B illustrated in
Each of boom cylinder 10, dipper stick cylinder 11, and bucket cylinder 12 illustrated in
A direction control valve 64 illustrated in
Work implement controller 26 illustrated in
Antennas 21 and 22 are attached to an upper part of upper revolving unit 3. Antennas 21 and 22 are used to detect a current position of hydraulic excavator 100. Antennas 21 and 22 are electrically connected with a position detection device 19 illustrated in
Position detection device 19 detects a current position of hydraulic excavator 100 by utilizing real time kinematic-global navigation satellite systems (Real Time Kinematic-Global Navigation Satellite Systems). In the following description, antennas 21 and 22 are referred to as GNSS antennas 21 and 22 where appropriate. When GNSS antennas 21 and 22 receive a GNSS radio wave, a signal in the GNSS radio wave is input to position detection device 19. Position detection device 19 detects installation positions of GNSS antennas 21 and 22. Position detection device 19 includes a three-dimensional position sensor, for example.
Referring to
Hydraulic excavator 100 includes a revolving motor 38. Revolving motor 38 is a hydraulic motor driven by hydraulic oil discharged from hydraulic pumps 36 and 37. Revolving motor 38 revolves upper revolving unit 3. Note that only a single hydraulic pump may be provided instead of two hydraulic pumps 36 and 37 illustrated in
Referring to
Operation apparatus 25 is a device for operating work implement 2 and upper revolving unit 3 illustrated in
The pilot oil pressure corresponding to a manipulated variable is equivalent to an operation command. This operation command is a command for moving work implement 2.
The operation command is generated by operation apparatus 25. Operation apparatus 25 is operated by the operator, wherefore the operation command is a command for moving work implement 2 based on an operation input by the operator as a manual operation.
Control of work implement 2 based on a manual operation is equivalent to control of work implement 2 in accordance with an operation command issued from operation apparatus 25. This control is therefore control of work implement 2 achieved by operating operation apparatus 25 included in work implement 2.
According to the embodiment, operation apparatus 25 includes a left control lever 25L provided on the left side of the operator, and a right control lever 25R provided on the right side of the operator. Movements of left control lever 25L and right control lever 25R in the fore/aft and left/right directions are associated with movements of dipper stick 7 and the two axes of revolution.
For example, an operation of right control lever 25R in the fore/aft direction is associated with an operation of boom 6. When right control lever 25R is operated forward, boom 6 lowers. When right control lever 25R is operated rearward, boom 6 rises. The lowering and rising movements of boom 6 are performed in accordance with operations of right control lever 25R in the fore/aft direction.
An operation of right control lever 25R in the left/right direction is associated with an operation of bucket 8. When right control lever 25R is operated leftward, bucket 8 performs excavation. When right control lever 25R is operated rightward, bucket 8 performs dumping. The excavation and dumping movements of bucket 8 are performed in accordance with operations of right control lever 25R in the left/right direction.
An operation of left control lever 25L in the fore/aft direction is associated with an operation of dipper stick 7. When left control lever 25L is operated forward, dipper stick 7 performs dumping. When left control lever 25L is operated rearward, dipper stick 7 performs excavation.
An operation of left control lever 25L in the left/right direction is associated with a revolving operation of upper revolving unit 3. When left control lever 25L is operated leftward, upper revolving unit 3 revolves leftward. When left control lever 25L is operated rightward, upper revolving unit 3 revolves rightward.
According to the embodiment, operation apparatus 25 is a device of pilot hydraulic type. Hydraulic oil having a pressure reduced to a predetermined pilot pressure by pressure reducing valve 25V is supplied from hydraulic pump 36 to operation apparatus 25 in accordance with a boom operation, a bucket operation, a dipper stick operation, and a revolving operation.
An operation of right control lever 25R in the fore/aft direction allows supply of a pilot oil pressure to pilot oil path 450. In this state, the operation of boom 6 is received from the operator. Hydraulic oil is supplied to pilot oil path 450 by opening of a valve device of right control lever 25R in accordance with a manipulated variable of right control lever 25R.
Pressure sensor 66 detects a pressure of hydraulic oil within pilot oil path 450 as a pilot pressure.
Pressure sensor 66 designates the detected pilot pressure as a boom manipulated variable MB, and transmits boom manipulated variable MB to work implement controller 26. A manipulated variable of right control lever 25R in the fore/aft direction is hereinafter referred to as boom manipulated variable MB where appropriate. A control valve (hereinafter referred to as intervention valve where appropriate) 27C, and a shuttle valve 51 are included in pilot oil path 50. Intervention valve 27C and shuttle valve 51 will be detailed below.
An operation of right control lever 25R in the left/right direction allows supply of a pilot oil pressure to pilot oil path 450. In this state, the operation of bucket 8 is received from the operator. Hydraulic oil is supplied to pilot oil path 450 by opening of the valve device of right control lever 25R in accordance with a manipulated variable of right control lever 25R.
Pressure sensor 66 detects a pressure of hydraulic oil within pilot oil path 450 as a pilot pressure.
Pressure sensor 66 designates the detected pilot pressure as a bucket manipulated variable MT, and transmits bucket manipulated variable MT to work implement controller 26. A manipulated variable of right control lever 25R in the left/right direction is hereinafter referred to as bucket manipulated variable MT where appropriate.
An operation of left control lever 25L in the fore/aft direction allows supply of a pilot oil pressure to pilot oil path 450. In this state, the operation of dipper stick 7 is received from the operator. Hydraulic oil is supplied to pilot oil path 450 by opening of a valve device of left control lever 25L in accordance with a manipulated variable of left control lever 25L.
Pressure sensor 66 detects a pressure of hydraulic oil within pilot oil path 450 as a pilot pressure.
Pressure sensor 66 designates the detected pilot pressure as an dipper stick manipulated variable MA, and transmits dipper stick manipulated variable MA to work implement controller 26. A manipulated variable of left control lever 25L in the fore/aft direction is hereinafter referred to as dipper stick manipulated variable MA where appropriate.
When right control lever 25R is operated, operation apparatus 25 supplies to direction control valve 64 a pilot oil pressure at a level corresponding to a manipulated variable of right control lever 25R.
When left control lever 25L is operated, operation apparatus 25 supplies to direction control valve 64 a pilot oil pressure at a level corresponding to a manipulated variable of left control lever 25L. Direction control valve 64 moves in accordance with a pilot oil pressure supplied from operation apparatus 25 to direction control valve 64.
Control system 200 includes a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18. For example, first stroke sensor 16 is included in boom cylinder 10, second stroke sensor 17 is included in dipper stick cylinder 11, and third stroke sensor 18 is included in bucket cylinder 12.
Sensor controller 39 includes a storage unit such as a random access memory (RAM) and a read only memory (ROM), and a processing unit such as a central processing unit (CPU).
Sensor controller 39 calculates an inclination angle θ1 of boom 6 with respect to a direction (z-axis direction) perpendicular to a horizontal plane (x-y plane) in a local coordinate system of hydraulic excavator 100, more specifically, a local coordinate system of vehicular body 1, based on a boom cylinder length LS1 detected by first stroke sensor 16, and outputs calculated inclination angle θ1 to work implement controller 26 and display controller 28.
Sensor controller 39 calculates an inclination angle θ2 of dipper stick 7 with respect to boom 6 based on an dipper stick cylinder length LS2 detected by second stroke sensor 17, and outputs calculated inclination angle θ2 to work implement controller 26 and display controller 28.
Sensor controller 39 calculates an inclination angle θ3 of cutting edges 8T of bucket 8 with respect to dipper stick 7 based on a bucket cylinder length LS3 detected by third stroke sensor 18, and outputs calculated inclination angle θ3 to work implement controller 26 and display controller 28.
Inclination angles θ1, 02, and 03 may be detected by methods other than the use of first stroke sensor 16, second stroke sensor 17, and third stroke sensor 18. For example, an angle sensor such as a potentiometer may be used to detect inclination angles θ1, θ2, and θ3.
An inertial measurement unit (IMU) 24 is connected to sensor controller 39. IMU 24 acquires information about inclination of the vehicular body such as a pitch around the y axis and a roll around the x axis of hydraulic excavator 100 illustrated in
Work implement controller 26 includes a storage unit 26Q such as a RAM and a read only memory (ROM), and a processing unit 26P such as a CPU.
Work implement controller 26 controls intervention valve 27C and control valve 27 based on boom manipulated variable MB, bucket manipulated variable MT, and dipper stick manipulated variable MA illustrated in
Direction control valve 64 illustrated in
Direction control valve 64 controls flow rates and directions of hydraulic oil supplied from hydraulic pumps 36 and 37 to boom cylinder 10, dipper stick cylinder 11, bucket cylinder 12, and revolving motor 38.
Position detection device 19 contained in control system 200 includes GNSS antennas 21 and 22 described above. When GNSS antennas 21 and 22 receive a GNSS radio wave, a signal in the GNSS radio wave is input to global coordinate calculating unit 23.
GNSS antenna 21 receives reference position data P1 indicating a self-position from a positioning satellite. GNSS antenna 22 receives reference position data P2 indicating a self-position from the positioning satellite.
GNSS antennas 21 and 22 receive reference position data P1 and P2 in a predetermined cycle. Each of reference position data P1 and P2 is information indicating the installation position of the corresponding GNSS antenna. GNSS antennas 21 and 22 output reference position data P1 and P2 to global coordinate calculating unit 23 every time GNSS antennas 21 and 22 receive these data P1 and P2.
Global coordinate calculating unit 23 includes a storage unit such as a RAM and a ROM, and a processing unit such as a CPU. Global coordinate calculating unit 23 generates revolving unit position data indicating a position of upper revolving unit 3 based on two reference position data P1 and P2.
According to the embodiment, the revolving unit position data includes reference position data P corresponding to one of two reference position data P1 and P2, and revolving unit direction data Q generated based on two reference position data P1 and P2. Revolving unit direction data Q indicates a direction in which work implement 2, i.e., upper revolving unit 3, faces.
Global coordinate calculating unit 23 updates reference position data P and revolving unit direction data Q each indicating revolving unit position data, and outputs the updated data to display controller 28 every time two reference position data P1 and P2 are acquired from GNSS antennas 21 and 22 in a predetermined cycle.
Display controller 28 includes a storage unit such as a RAM and a ROM, and a processing unit such as a CPU. Display controller 28 acquires reference position data P and revolving unit direction data Q each indicating revolving unit position data from global coordinate calculating unit 23.
According to the embodiment, display controller 28 generates, as work implement position data, bucket cutting edge position data S indicating a three-dimensional position of cutting edges 8T of bucket 8. Display controller 28 generates target excavation topography data U based on bucket cutting edge position data S and target execution information T.
Target execution information T is information indicating a service object by work implement 2 included in hydraulic excavator 100, or a finishing target of an excavation object according to the embodiment. Examples of target execution information T include design information about an execution object by hydraulic excavator 100. Examples of a service object by work implement 2 include land. Examples of a service performed by work implement 2 include an excavation service and a land leveling service. However, the service by work implement 2 is not limited to these examples.
Display controller 28 derives target excavation landform data Ua for display based on target excavation landform data U, and displays a target shape of a service object by work implement 2, such as a landform, on display unit 29 based on target excavation landform data Ua for display.
Display unit 29 is a liquid crystal display apparatus that receives input via a touch panel, for example. However, display unit 29 is not limited to this type. According to the embodiment, a switch 29S is provided adjacent to display unit 29. Switch 29S is an input device that executes intervention control described below, or stops the intervention control being performed.
Work implement controller 26 acquires boom manipulated variable MB, bucket manipulated variable MT, and arm manipulated variable MA from pressure sensor 66. Work implement controller 26 acquires inclination angle θ1 of boom 6, inclination angle θ2 of arm 7, and inclination angle θ3 of bucket 8 from sensor controller 39.
Work implement controller 26 acquires target excavation topography data U from display controller 28. Target excavation topography data U is information included in target execution information T and indicating a range of a service that will be performed by hydraulic excavator 100.
Target excavation topography data U is a part of target execution information T. Target excavation topography data U indicates a shape of a finishing target of a service object of work implement 2 similarly to target execution information T. The shape of the finishing target is hereinafter referred to as target excavation topography where appropriate.
Work implement controller 26 calculates a position of cutting edges 8T of bucket 8 (hereinafter referred to as cutting edge position where appropriate) based on an angle of work implement 2 acquired from sensor controller 39.
Work implement controller 26 controls a movement of work implement 2 based on a distance between target excavation topography data U and cutting edges 8T of bucket 8, and on a speed of work implement 2 such that cutting edges 8T of bucket 8 can shift in accordance with target excavation topography data U.
Work implement controller 26 performs such control as to maintain a speed of work implement 2 in a direction of approach toward an execution object at a speed less than or equal to a speed limit to prevent bucket 8 from invading a target shape of a service object of work implement 2 indicated by target excavation topography data U. This control is referred to as intervention control where appropriate.
For example, the intervention control is performed when the operator of hydraulic excavator 100 selects performance of the intervention control by using switch 29S illustrated in
During the intervention control, work implement controller 26 generates a boom command signal CBI, and outputs generated boom command signal CBI to intervention valve 27C illustrated in
Boom 6 moves based on boom command signal CBI. A speed of work implement 2, more specifically a speed of bucket 8, is controlled by a movement of boom 6 based on boom command signal CBI. An approaching speed of bucket 8 toward target excavation topography data U is regulated in accordance with a distance between bucket 8 and target excavation topography data U.
Referring to
According to the embodiment, direction control valve 64 is a spool valve that shifts a rod-shaped spool 64S to switch a flow direction of hydraulic oil.
Spool 64S is shifted by hydraulic oil supplied from operation apparatus 25 illustrated in
Pilot oil path 50 and pilot oil path 450B are connected to shuttle valve 51.
Shuttle valve 51 and one end of direction control valve 64 are connected with each other via an oil path 452B. The other end of direction control valve 64 and operation apparatus 25 are connected with each other via a pilot oil path 450A and a pilot oil path 452A. Pilot oil path 50 includes intervention valve 27C. Intervention valve 27C adjusts a pilot pressure of pilot oil path 50.
Pilot oil path 450B includes a pressure sensor 66B and a control valve 27B. Pilot oil path 450A includes a pressure sensor 66A provided between a control valve 27A and operation apparatus 25. A detection value obtained by pressure sensor 66 is acquired by work implement controller 26 illustrated in
Each of pressure sensor 66A and pressure sensor 66B corresponds to pressure sensor 66 illustrated in
Hydraulic oil supplied from hydraulic pumps 36 and 37 is further supplied to boom cylinder 10 via direction control valve 64. Supply of hydraulic oil is switched between supply to a cap side oil chamber 48R of boom cylinder 10 and supply to a rod side oil chamber 47R of boom cylinder 10 by a shift of spool 64S in the axial direction.
A flow rate of hydraulic oil, i.e., a supply rate of hydraulic oil to boom cylinder 10 per unit time is adjusted by a shift of spool 64S in the axial direction. A moving speed of boom cylinder 10 is adjusted by adjustment of the flow rate of hydraulic oil to boom cylinder 10.
When spool 64S of direction control valve 64 shifts in a first direction, hydraulic oil is supplied from direction control valve 64 to cap side oil chamber 48R. When hydraulic oil is returned from rod side oil chamber 47R to direction control valve 64, a piston 10P of boom cylinder 10 shifts from cap side oil chamber 48R toward rod side oil chamber 47R. As a result, a rod 10L connected to piston 10P extends from boom cylinder 10.
When spool 64S of direction control valve 64 shifts in a second direction corresponding to a direction opposite to the first direction based on a command from operation apparatus 25, hydraulic oil is returned from cap side oil chamber 48R to direction control valve 64. When hydraulic oil is supplied from direction control valve 64 to rod side oil chamber 47R, piston 10P of boom cylinder 10 shifts from rod side oil chamber 47R toward cap side oil chamber 48R. As a result, rod 10L connected to piston 10P contracts into boom cylinder 10. In this manner, a moving direction of boom cylinder 10 changes in accordance with adjustment of the shift direction of spool 64S of direction control valve 64.
The flow rate of hydraulic oil supplied to boom cylinder 10 and returned from boom cylinder 10 to direction control valve 64 changes in accordance with the adjustment of the shift amount of spool 64S of direction control valve 64. In this case, each shift speed of piston 10P and rod 10L corresponding to a moving speed of boom cylinder 10 changes accordingly.
As described above, a movement of direction control valve 64 is controlled by operation apparatus 25. Hydraulic oil discharged from hydraulic pump 36 illustrated in
Operation apparatus 25 adjusts the pilot oil pressure based on operations of the respective control levers. Direction control valve 64 is driven by the adjusted pilot oil pressure. The shift amount and shift direction of spool 64S in the axial direction are adjusted by adjustment of the level and direction of the pilot oil pressure by operation apparatus 25. Accordingly, the moving speed and moving direction of boom cylinder 10 are allowed to change.
As described above, work implement controller 26 during the intervention control regulates a speed of boom 6 based on target excavation topography (target excavation topography data U) that indicates design topography corresponding to a target shape of an excavation object, and on inclination angles θ1, θ2, and θ3 used for obtaining a position of bucket 8, such that an approaching speed of bucket 8 toward target excavation topography 43I decreases in accordance with a distance between target excavation topography 43I and bucket 8.
According to the embodiment, work implement controller 26 generates boom command signal CBI and controls a movement of boom 6 based on generated boom command signal CBI to prevent invasion of target excavation topography 43I by cutting edges 8T of bucket 8 when work implement 2 moves based on an operation from operation apparatus 25.
More specifically, work implement controller 26 raises boom 6 to prevent invasion of target excavation topography 43I by cutting edges 8T during the intervention control. The control for raising boom 6 performed during the intervention control is referred to as boom intervention control where appropriate.
According to the embodiment, work implement controller 26 generates boom command signal CBI about the boom intervention control, and outputs generated boom command signal CBI to intervention valve 27C to achieve the boom intervention control.
Intervention valve 27C is capable of adjusting a pilot oil pressure of pilot oil path 50. Shuttle valve 51 includes two inlet ports 511a and 511b, and one outlet port 51E. Inlet port 511a provided as one of the inlet ports is connected to intervention valve 27C. Inlet port 511b provided as the other inlet port is connected to control valve 27B. Outlet port 51E is connected to oil path 452B connected to direction control valve 64.
Shuttle valve 51 connects oil path 452B and the inlet port having a higher pilot oil pressure in two inlet ports 511a and 511b.
When the pilot oil pressure of inlet port 511a is higher than the pilot oil pressure of inlet port 511b, for example, shuttle valve 51 connects intervention valve 27C and oil path 452B. As a result, the pilot oil having passed through intervention valve 27C is supplied to oil path 452B via shuttle valve 51. When the pilot oil pressure of inlet port 511b is higher than the pilot oil pressure of inlet port 511a, shuttle valve 51 connects control valve 27B with oil path 452B. As a result, the pilot oil having passed through control valve 27B is supplied to oil path 452B via shuttle valve 51.
During a stop of the boom intervention control, direction control valve 64 is driven based on a pilot oil pressure adjusted by an operation from operation apparatus 25. For example, work implement controller 26 opens (full-opens) pilot oil path 450B by controlling control valve 27B, and closes pilot oil path 50 by controlling intervention valve 27C to drive direction control valve 64 based on a pilot oil pressure adjusted by an operation from operation apparatus 25.
When performing the boom intervention control, work implement controller 26 controls control valve 27 to drive direction control valve 64 based on a pilot oil pressure adjusted by intervention valve 27C. For example, when performing control for regulating a shift of bucket 8 toward target excavation topography 43I as the boom intervention control, work implement controller 26 controls intervention valve 27C to raise a pilot oil pressure of pilot oil path 50 adjusted by intervention valve 27C to a pressure higher than a pilot oil pressure of pilot oil path 450B adjusted by operation apparatus 25. In this manner, pilot oil from intervention valve 27C is supplied to direction control valve 64 via shuttle valve 51.
When performing the boom intervention control, work implement controller 26 generates boom command signal CBI as a speed command for raising boom 6 to control intervention valve 27C, for example. In this manner, direction control valve 64 of boom cylinder 10 supplies sufficient hydraulic oil to boom cylinder 10 to raise boom 6 at a speed corresponding to boom command signal CBI. Accordingly, boom cylinder 10 is allowed to raise boom 6.
Each of the hydraulic circuit of arm cylinder 11 and the hydraulic circuit of bucket cylinder 12 has a configuration similar to the configuration of hydraulic circuit 301 of boom cylinder 10 described above, except that intervention valve 27C, shuttle valve 51, and pilot oil path 50 are eliminated.
The boom intervention control included in the intervention control is control for raising boom 6. However, work implement controller 26 may raise at least either arm 7 or bucket 8 in addition to or in place of raising boom 6 in the intervention control.
During the intervention control, work implement controller 26 raises at least one of boom 6, arm 7, and bucket 8 constituting work implement 2 to shift work implement 2 in the direction away from the target shape of the service object of work implement 2, or target excavation topography 43I according to the embodiment.
According to the embodiment, the intervention control is defined as control performed by work implement controller 26 to move at least one of boom 6, arm 7, and bucket 8 constituting work implement 2 when work implement 2 moves based on an operation from operation apparatus 25.
The intervention control is control performed by work implement controller 26 to achieve movement of the work implement when work implement 2 moves based on a manual operation corresponding to an operation from operation apparatus 25. The boom intervention control described above is a mode of the intervention control.
Functions of decision unit 26J, relative position calculation unit 26A, distance calculation unit 26B, target speed calculation unit 26C, intervention speed calculation unit 26D, intervention command calculation unit 26E, and intervention speed correction unit 26F are performed by processing unit 26P of work implement controller 26 illustrated in
For performing the intervention control, work implement controller 26 generates boom command signal CBI necessary for the intervention control based on boom manipulated variable MB, arm manipulated variable MA, bucket manipulated variable MT, target excavation topography data U and bucket cutting edge position data S acquired from display controller 28, and inclination angles θ1, θ2, and θ3 acquired from sensor controller 39, and generates an arm command signal and a bucket command signal as necessary to control work implement 2 by driving control valve 27 and intervention valve 27C based on the generated command signal.
Relative position calculation unit 26A acquires bucket cutting edge position data S from display controller 28, and acquires inclination angles θ1, θ2, and θ3 from sensor controller 39. Relative position calculation unit 26A obtains a cutting edge position Pb indicating a position of cutting edges 8T of bucket 8 based on acquired inclination angles θ1, θ2, and θ3.
Distance calculation unit 26B calculates a distance d indicating a minimum distance between cutting edges 8T of bucket 8 and target excavation topography 43I expressed by target excavation topography data U as a part of target execution information T based on cutting edge position Pb obtained by relative position calculation unit 26A and target excavation topography data U acquired from display controller 28. Distance d is a distance between cutting edge position Pb, and a position Pu corresponding to an intersection of target excavation topography data U and a line crossing target excavation topography 43I at right angles and passing through cutting edge position Pb.
Target excavation topography 43I is obtained as a line of intersection formed by a plane of work implement 2 defined in the fore/aft direction of upper revolving unit 3 and passing through an excavation target position Pdg, and target execution information T expressed by a plurality of target execution surfaces.
More specifically, target excavation topography 43I is the line of intersection described above, and formed by a single or a plurality of inflection points fore and after excavation target position Pdg of target execution information T, and lines fore and after the inflection points.
According to an example illustrated in
Target speed calculation unit 26C determines a boom target speed Vc_bm, a arm target speed Vc_am, and a bucket target speed Vc_bkt. Boom target speed Vc_bm is a speed of cutting edges 8T during driving of boom cylinder 10. Dipper stick target speed Vc_am is a speed of cutting edges 8T during driving of arm cylinder 11. Bucket target speed Vc_bkt is a speed of cutting edges 8T during driving of bucket cylinder 12. Boom target speed Vc_bm is calculated based on boom manipulated variable MB. Dipper stick target speed Vc_am is calculated based on arm manipulated variable MA. Bucket target speed Vc_bkt is calculated based on bucket manipulated variable MT.
Intervention speed calculation unit 26D obtains speed limit (boom speed limit) Vcy_bm of boom 6 based on distance d between cutting edges 8T of bucket 8 and target excavation topography 43I.
Referring to
Speed limit Vc_lmt is an allowable shift speed of cutting edges 8T in the direction of approach of cutting edges 8T of bucket 8 toward target excavation topography 43I.
Referring to
A negative value of distance d indicates an invaded state of target excavation topography 43I by bucket 8. The absolute value of speed limit Vc_lmt decreases as distance d decreases. After a change of distance d to a negative value, the absolute value of the speed increases as the absolute value of distance d increases.
Decision unit 26J decides whether to correct boom speed limit Vcy_bm.
When decision unit 26J decides to correct boom speed limit Vcy_bm, intervention speed correction unit 26F corrects boom speed limit Vcy_bm, and outputs corrected boom speed limit Vcy_bm. The corrected boom speed limit is expressed as Vcy_bm′.
When decision unit 26J decides not to correct boom speed limit Vcy_bm, intervention speed correction unit 26F outputs boom speed limit Vcy_bm without correction. Intervention command calculation unit 26E generates boom command signal CBI based on boom speed limit Vcy_bm obtained by intervention speed correction unit 26F.
Boom command signal CBI is a command for setting an opening of intervention valve 27C to a degree sufficient for providing a pilot pressure for shuttle valve 51 to raise boom 6 at boom speed limit Vcy_bm. According to the embodiment, boom command signal CBI is a current value corresponding to the boom command speed.
Decision unit 26J includes a switching decision unit 26K, an operation command determination unit 26L, and a speed difference determination unit 26M.
Switching decision unit 26K decides whether or not the intervention control is unnecessary.
Operation command determination unit 26L determines whether or not the operator is operating right control lever 25R to perform an operation for raising boom 6 or a neutral operation. The neutral operation is an operation for producing such a state where neither a raising operation nor a lowering operation is being performed. In this state, right control lever 25R is located at an intermediate position.
Speed difference determination unit 26M determines a speed difference between boom speed limit Vcy_bm, and boom target speed Vc_bm in accordance with an operation input to right control lever 25R from the operator to raise boom 6. Alternatively, speed difference determination unit 26M determines a speed difference between boom speed limit Vcy_bm, and a boom target speed of zero in accordance with the neutral operation input to right control lever 25R from the operator. More specifically, speed difference determination unit 26M determines whether or not the speed difference is greater than or equal to a threshold Dr.
According to the embodiment, on the assumption that the operator is operating right control lever 25R to raise boom 6 in the state that the intervention control is unnecessary, decision unit 26J corrects boom speed limit Vcy_bm when the speed difference between boom speed limit Vcy_bm and boom target speed Vc_bm in accordance with the operation input to right control lever 25R from the operator to raise boom 6 is greater than or equal to threshold Dr. On the other hand, on the assumption that the operator is performing the neutral operation of right control lever 25R in the state that the intervention control is unnecessary, decision unit 26J corrects boom speed limit Vcy_bm when the speed difference between boom speed limit Vcy_bm and boom target speed of zero in accordance with the neutral operation input to right control lever 25R from the operator is greater than or equal to threshold Dr.
Referring to
Referring to
The intervention control stops when invasion of target excavation topography 43I by the work implement stops based on an operation by the operator for shifting bucket 8 in a direction indicated by an arrow Y in
The necessity of the intervention control is eliminated when invasion of target excavation topography 43I by the work implement stops based on the operation by the operator.
During the intervention control by work implement controller 26, the operator of hydraulic excavator 100 performs an operation for shifting work implement 2 and bucket 8 upward in some cases.
When the intervention control is canceled by a shift of bucket 8 out of an area containing target excavation topography 43I as illustrated in
At the time of switching from the intervention control to the control of work implement 2 by manual operation, a rapid speed change is produced and may give a sense of discomfort to the operator.
Referring to
Boom 6 is provided as a part of work implement 2, wherefore boom target speed Vbm is equivalent to a speed of work implement 2. The rising speed of boom 6 corresponds to a rising speed of work implement 2, while the lowering speed of boom 6 corresponds to a lowering speed of work implement 2.
According to the embodiment, each of the rising speed and the lowering speed of work implement 2 is referred to as a shift speed of work implement 2. The shift speed of work implement 2 during rising has a positive value, while the shift speed of work implement 2 during lowering has a negative value.
When the necessity of the boom intervention control is eliminated by a shift of bucket 8 out of the area containing target excavation topography 43I, work implement controller 26 sets boom target speed Vbm to a boom target speed Vbop determined based on an operation by the operator of hydraulic excavator 100.
Under predetermined conditions, work implement controller 26 decreases boom target speed Vbm at a fixed change rate VRC to change a boom speed limit Vcy_bm1 indicated before elimination of the necessity of the boom intervention control to boom target speed Vbop.
When the necessity of the boom intervention control is eliminated, the intervention control of work implement 2 is switched to control of work implement 2 based on an operation command issued from operation apparatus 25.
According to the embodiment, work implement controller 26 compares boom speed limit Vcy_bm1 in accordance with the boom intervention control with boom target speed Vbop or zero determined based on the operation by the operator when the operation command from operation apparatus 25 is the command for raising boom 6 or the neutral command in the state that the necessity of the boom intervention control is eliminated. Subsequently, a difference D between boom speed limit Vcy_bm1 and boom target speed Vbop or zero is calculated. Note that a speed change increases as difference D between boom speed limit Vcy_bm1 and boom target speed Vbop or zero increases.
According to the embodiment, it is determined whether or not difference D between boom speed limit Vcy_bm1 and boom target speed Vbop or zero is greater than or equal to threshold Dr.
Work implement controller 26 decreases boom target speed Vbm at fixed change rate VRC to change boom target speed Vbm indicated before elimination of the necessity of the boom intervention control to boom target speed Vbop when difference D between boom speed limit Vcy_bm1 and boom target speed Vbop or zero is greater than or equal to threshold Dr in the state that the command for raising boom 6 or the neutral command has been issued as an operation command from operation apparatus 25 and in the state that the necessity of the boom intervention control has been eliminated.
When boom target speed Vbm during rising of boom 6 has a positive value, the rising speed decreases with a change of boom target speed Vbm at change rate VRC. Accordingly, change rate VRC represents a deceleration of the rising speed.
When a large speed change is produced after switching to the control of work implement 2 based on the operation command from operation apparatus 25, the speed of boom 6 rapidly decreases. In this case, the operator has a sense of discomfort.
When the necessity of the boom intervention control is eliminated as a result of a shift of bucket 8 out of the area containing target excavation topography 43I in the state that the operator is performing the operation for raising boom 6 or the neutral operation during the boom intervention control, boom target speed Vbm gradually changes from boom speed limit Vcy_bm1 to boom target speed Vbop or zero instructed by the operator. This change reduces a rapid speed decrease of boom 6, wherefore discomfort given to the operator decreases.
Moreover, shock caused by a rapid speed decrease of boom 6 decreases, wherefore effects on soil loaded on bucket 8 also decrease.
More specifically, intervention speed calculation unit 26D of the work implement controller illustrated in
Subsequently, switching decision unit 26K of decision unit 26J included in work implement controller 26 illustrated in
When speed difference determination unit 26M determines that the speed difference is greater than or equal to threshold Dr, decision unit 26J decides to correct boom speed limit Vcy_bm, and instructs intervention speed correction unit 26F to correct boom speed limit Vcy_bm.
Intervention speed correction unit 26F of control unit 26CNT obtains corrected boom speed limit Vcy_bm′, and outputs boom speed limit Vcy_bm′ to intervention command calculation unit 26E of control unit 26CNT.
Intervention command calculation unit 26E of control unit 26CNT generates boom command signal CBI based on corrected boom speed limit Vcy_bm′ to control intervention valve 27C. Work implement controller 26 changes a rising speed of boom 6 by this process.
More specifically, intervention speed correction unit 26F performs control to change boom speed limit Vcy_bm to boom target speed Vbop at change rate VRC.
When change rate VRC is large, rising of boom 6 immediately stops in response to elimination of the boom intervention control. However, a rapid change of boom target speed Vbop thus produced causes shock, or gives discomfort to the operator. Accordingly, change rate VRC is limited to such a range as not to produce an excessively rapid change to boom target speed Vbop. According to the embodiment, change rate VRC is determined based on sensory evaluation of the operator, for example. However, other methods may be employed to determine change rate VRC.
Referring to
In step S2, switching decision unit 26K of work implement controller 26 illustrated in
When operation command determination unit 26L in step S4 determines that the operator is performing the operation for raising boom 6 or the neutral operation (YES in step S4), speed difference determination unit 26M determines a difference between boom speed limit Vcy_bm, and boom target speed Vc_bm in accordance with the operation for raising boom 6 by the operator or the boom target speed of zero (step S5).
Speed difference determination unit 26M determines whether or not the speed difference is greater than or equal to threshold Dr (step S6).
When speed difference determination unit 26M in step S6 determines that the speed difference is greater than or equal to threshold Dr (YES in step S6), intervention command calculation unit 26E of work implement controller 26 in step S8 generates boom command signal CBI based on corrected boom speed limit Vcy_bm′ obtained by intervention speed correction unit 26F, and controls intervention valve 27C based on the generated boom command signal.
Thereafter, the process ends (END).
When switching decision unit 26K in step S2 decides that the boom intervention control is not unnecessary (YNO in step S2), intervention command calculation unit 26E of work implement controller 26 in step S16 controls intervention valve 27C based on boom command signal CBI generated from boom speed limit Vcy_bm that has not been corrected.
On the other hand, when determining in step S4 that the operator is not performing the operation for raising boom 6 or the neutral operation (NO in step S4), or when determining in step S6 that the speed difference is less than threshold Dr (NO in step S6), work implement controller 26 generates boom command signal CBI from a target speed in accordance with a command input by the control lever, and controls intervention valve 27C based on the boom command signal (step S12).
Thereafter, the process ends (END).
According to the embodiment, operation apparatus 25 includes pilot hydraulic control levers. However, operation apparatus 25 may include an electric left control lever 25La and an electric right control lever 25Ra.
When each of left control lever 25La and right control lever 25Ra is constituted by an electric lever, a manipulated variable input by each control lever is detected by a potentiometer. The manipulated variable input by each of left control lever 25La and right control lever 25Ra and detected by the potentiometer is acquired by work implement controller 26.
Work implement controller 26 having detected an operation signal of the electric control lever performs control similar to the corresponding control performed by using the pilot hydraulic control lever.
According to the embodiment described above, the boom speed limit Vcy_bm is corrected when a speed difference between boom speed limit Vcy_bm, and boom target speed Vc_bm in accordance with the operation for raising boom 6 or the boom target speed of zero in accordance with the neutral operation is greater than or equal to threshold Dr in the state that the operator is inputting the operation for raising boom 6 or the neutral operation to right control lever 25R and in the state that the intervention control is unnecessary. Boom speed limit Vcy_bm is reduced at fixed change rate VRC to change boom speed limit Vcy_bm to boom target speed Vbop instructed by the operator or zero.
Work implement 2 includes boom 6, dipper stick 7, and bucket 8. However, the attachment of work implement 2 is not limited to them, and other types of attachment than bucket 8 may be employed. The work machine is only required to include a certain work implement. The work implement included in the work machine is not limited to hydraulic excavator 100.
The embodiment disclosed herein is presented by way of example, and therefore is not limited to the specific details described herein. It is intended that the scope of the present invention is defined only by the appended claims, and therefore includes all changes made within meanings and ranges equivalent to the scope of the appended claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2017/025778 | 7/14/2017 | WO | 00 |
