Patent Grant
11377813
The present invention relates to a work machine such as a hydraulic excavator or the like.
In a field of work machines including hydraulic excavators, a control system is known which, when construction is performed by using a work machine, corrects operation by an operator on a work device (front work device) attached to a work machine on the basis of a distance between the work device and a target surface generated from three-dimensional design data of a construction target, and thereby semiautomatically performs excavation and shaping work appropriate for the target surface by the work device.
In addition, in the excavation and shaping work, it is necessary to prevent not only a tip end of a bucket located at a tip end portion of the work device but also another part of the work device (for example, a bulging part of the back surface of the bucket) from entering the target surface. There is Patent Document 1 in relation to this kind of technology.
In Patent Document 1, first, a bucket tip end is set as a first monitoring point, and a point at an outermost end of a bucket back surface is set as a second monitoring point, a boom cylinder velocity (first adjustment velocity) when the work device (work implement) is controlled such that the first monitoring point does not enter the target surface is set as S1, and a boom cylinder velocity (second adjustment velocity) when the work device is controlled such that the second monitoring point does not enter the target surface is set as S2. Then, the work device is controlled according to the larger of S1 and S2. That is, when S1>S2, the work device is controlled such that the first monitoring point is set as a target and is prevented from entering the target surface. When S2>S1, on the other hand, the work device is controlled such that the second monitoring point is set as a target and is prevented from entering the target surface. When the work device is thus controlled, the bucket tip end and the bucket back surface can be prevented from entering the target surface in leveling work that forms, for example, a substantially horizontal target surface by moving the bucket in a front-rear direction.
However, although the work machine using a control system described in Patent Document 1 can prevent the bucket from entering the target surface in work in which boom raising operation always separates the bucket from the target surface (for example, leveling work depicted in
In relation to this, leveling work will be considered again with reference to
In
First, description will be made of an operation in a case where the work device is controlled so as to prevent the bucket tip end 8a from entering the target surface 60 by bringing an operation target velocity Vtgt of a component of the bucket tip end 8a which component is perpendicular to the target surface 60 close to zero as a distance between the bucket tip end 8a and the target surface 60 is decreased in (a) depicted on the upper side of
Next, description will be made of an operation in a case where the work device is controlled so as to prevent the bucket back surface end 8b from entering the target surface 60 in (b) depicted on the lower side of
The extending direction of the cylinder velocity is defined as positive, and the contracting direction of the cylinder velocity is defined as negative. Thus, Cbm2>Cbm1. In this case, according to the control system described in Patent Document 1 which control system compares the two cylinder velocities with each other, and performs control on the basis of the larger of the two cylinder velocities, the work device is controlled for the case of Cbm2, that is, such that the bucket back surface end 8b of (b) is set as a target and is prevented from entering the target surface 60. Because Va1 is positive, and Vb1 is negative, the bucket back surface end 8b has a possibility of entering the target surface 60. That is, the control system described in Patent Document 1 can perform semiautomatic excavation and shaping while preventing the bucket tip end and the bucket back surface end from entering the target surface.
Incidentally, at this time, when the contracting direction of the boom cylinder is set as the positive direction, and the extending direction of the boom cylinder is set as the negative direction (that is, when the positive and negative signs of the cylinder velocity are reversed), a part that compares the magnitudes of the above-described cylinder velocities with each other selects the bucket tip end 8a as a control target, so that semiautomatic excavation and shaping cannot be performed appropriately (that is, the bucket back surface end 8b enters the target surface 60). When the positive and negative signs are not defined, the positive and negative signs of Cbm1 and Cbm2 mutually differ, and the determination is not possible when Cbm1 and Cbm2 have a same magnitude.
Next, using (a) depicted on the upper side of
Next, using (b) depicted on the lower side of
When the magnitudes of the velocities Va1 and Vb1 of the bucket tip end 8a and the bucket back surface end 8b which velocities result from the arm operations are compared with each other with attention given to the signs, Va1<Vb1. Hence, Vmoda>Vmodb as magnitude relation between the correction velocities Vmoda and Vmodb. In the case of the target surface 60 as depicted in
In this case, because Va1<Vb1, the bucket tip end 8a is more likely to enter the target surface 60 than the bucket back surface end 8b, and it is thus preferable to control the work device with the bucket tip end 8a set as a target in performing semiautomatic excavation and shaping. However, the control system described in Patent Document 1 controls the work device so as to set the bucket back surface end 8b as a target and prevent the bucket back surface end 8b from entering the target surface 60 in the situation in which Cbm1<Cbm2 as in
The present invention has been made in view of the above-described problems. It is an object of the present invention to provide a work machine capable of performing semiautomatic excavation and shaping and capable of preventing a plurality of points on a work device from entering a target surface, the target surface being not only a target surface located at a position from which a work point is separated by boom raising (for example, a horizontal plane) but also a target surface located at a position from which the work point is separated by boom lowering.
According to the present invention, in order to achieve the above object, there is provided a work device; a hydraulic cylinder driven by a hydraulic operating oil delivered from a hydraulic pump thereby driving the work device; an operation device that gives instructions on operations of the hydraulic cylinder according to operation by an operator; and a controller configured to calculate respective target velocities of the hydraulic cylinder for moving a plurality of work point candidates along an optionally set target surface, the work point candidates being set to the work device, on a basis of positional data of the target surface, posture data of the work device, and operation data of the operation device, and control a velocity of the hydraulic cylinder according to one of a plurality of the calculated target velocities; wherein the controller: calculates at least one candidate point velocity that occurs at at least one remaining work point candidate among the plurality of work point candidates in a case where each of the plurality of work point candidates is moved at a corresponding target velocity among the plurality of target velocities, creates a plurality of velocity groups by grouping the at least one candidate point velocity for each of the plurality of work point candidates, selects one velocity group from among the plurality of work point candidates, the one velocity group in which all of the plurality of work point candidates are least likely to perform an operation of entering the target surface, and controls the hydraulic cylinder according to a target velocity, among the plurality of target velocities, of a work point candidate associated with the selected one velocity group.
According to the present invention, also for a target surface located at a position from which the work point is separated by boom lowering, a plurality of points on the work device can be prevented from entering the target surface.
Embodiments of the present invention will hereinafter be described with reference to the drawings.
The lower travel structure 9 has crawler travel devices on a left and a right of the lower travel structure 9, which devices are driven by a left and a right travelling hydraulic motor 3b and 3a (only 3b on the left side is depicted).
The upper swing structure 10 is mounted on the lower travel structure 9 so as to be able to turn left or right. The upper swing structure 10 is turn-driven by a swing hydraulic motor 4. The upper swing structure 10 includes an engine 14 as a prime mover, a hydraulic pump 2 driven by the engine 14, a control valve 20, and a controller 500 (see
The work device 15 is swingably attached to a front portion of the upper swing structure 10. The work device 15 has an articulated structure having a boom 11, an arm 12, and a bucket 8 as a plurality of swingable front implement members. The boom 11 is swung with respect to the upper swing structure 10 by expansion and contraction of a boom cylinder 5. The arm 12 is swung with respect to the boom 11 by expansion and contraction of an arm cylinder 6. The bucket 8 is swung with respect to the arm 12 by expansion and contraction of a bucket cylinder 7.
In order to calculate the positions of any points of the work device 15 including the above-described work point candidates (work points) 8a and 8b, the hydraulic excavator includes: a first posture sensor 13a that is disposed in the vicinity of a coupling portion coupling the upper swing structure 10 and the boom 11 to each other, and senses the angle (boom angle) of the boom 11 with respect to a horizontal plane; a second posture sensor 13b that is disposed in the vicinity of a coupling portion coupling the boom 11 and the arm 12 to each other, and senses the angle (arm angle) of the arm 12 with respect to the horizontal plane; a third posture sensor 13c that is provided to a bucket link 8a coupling the arm 12 and the bucket 8 to each other, and senses the angle (bucket angle) of the bucket link 8a with respect to the horizontal plane; and a machine body posture sensor 13d that senses the angle of inclination (roll angle and pitch angle) of the upper swing structure 10 with respect to the horizontal plane. Incidentally, an IMU (Inertial Measurement Unit: inertia measuring device), for example, can be used as the posture sensors 13a to 13d. In addition, the first to third posture sensors 13a to 13c may be sensors sensing a relative angle.
The angles sensed by these posture sensors 13a to 13d are input as posture signals to an information processing section 100 of the controller 500.
In addition, an operation room is provided to the upper swing structure 10. Arranged within the operation room are operation devices such as a travelling right operation lever device 1a, a travelling left operation lever device 1b, a right operation lever device 1c, and a left operation lever device 1d, which are operated by an operator and output an operation signal (electric signal) to the controller 500. The travelling right operation lever device 1a is to give an operation instruction to a right travelling hydraulic motor 3a. The travelling left operation lever device 1b is to give an operation instruction to a left travelling hydraulic motor 3b. The right operation lever device 1c is to give an operation instruction to the boom cylinder 5 (boom 11) and the bucket cylinder 7 (bucket 8). The left operation lever device 1d is to give an operation instruction to the arm cylinder 6 (arm 12) and the swing hydraulic motor 4 (upper swing structure 10). The operation devices 1a to 1d according to the present embodiment are electric levers. The operation devices 1a to 1d generate electric signals (operation signals) corresponding to operation amounts, and output the electric signals (operation signals) to the controller 500. Incidentally, the operation devices 1a to 1d may be of a hydraulic pilot type, and the operation amounts may be sensed by pressure sensors, and input to the controller 500.
The control valve 20 is a valve device including a plurality of spools that control the flow (flow rate and direction) of a hydraulic fluid supplied from the hydraulic pump 2 to each of hydraulic actuators such as the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, the bucket cylinder 7, and the left and right travelling hydraulic motors 3b and 3a described above. The control valve 20 is driven by driving signals (control valve driving signals) output from the controller 500, and controls the flow (flow rate and direction) of the hydraulic fluid supplied to each of the hydraulic actuators 3 to 7. The driving signals output from the controller 500 are generated on the basis of operation signals (operation data) output from the operation lever devices 1a to 1d.
—Controller 500—
The controller 500 performs processing of calculating each of target velocities of the hydraulic cylinder (boom cylinder) 5 that moves the plurality of work point candidates 8a and 8b set to the work device 15 along a target surface 60 on the basis of positional data of the target surface 60 set on a machine body coordinate system by receiving target surface data from a target surface setting device 18, posture data of the work device 15 in the machine body coordinate system, and operation data of an operation lever device 1, and controlling the velocity of the hydraulic cylinder (boom cylinder) 5 according to one of a plurality of the calculated target velocities. Incidentally, in the present embodiment, the velocities of the arm cylinder 6 and the bucket cylinder 7 are controlled on the basis of driving signals output from the operation lever device 1 to the control valve 20.
—Information Processing Section 100—
The information processing section 100 receives operation signals from the right operation lever 1c and the left operation lever 1d, receives posture data (first posture data) of the boom 11, posture data (second posture data) of the arm 12, posture data (third posture data) of the bucket 8, and machine body posture data from the first posture sensor 13a, the second posture sensor 13b, the third posture sensor 13c, and the machine body posture sensor 13d, respectively, receives positional data of on the target surface 60 in the machine body coordinate system from the target surface setting device 18, calculates actuator velocity signals, and transmits the actuator velocity signals to the control valve driving section 200. The control valve driving section 200 drives the control valve 20 by generating and outputting control valve driving signals according to the actuator velocity signals calculated by the information processing section 100.
Details of the information processing section 100 will be described with reference to
The deviation calculating section 110 is a part that calculates a distance deviation between each of the two work point candidates 8a and 8b and the target surface 60 (that is, shortest distances from the work point candidates 8a and 8b to the target surface 60 (which distances will be referred to also as target surface distances)) on the basis of the posture data of the work device 15 and the positional data of the target surface 60. First, the deviation calculating section 110 calculates the position of the bucket tip end 8a and the position of the bucket back surface end 8b from the posture data from the posture sensors 13a to 13d (including dimension information of each of the front implement members 11, 12, and 8). Next, the deviation calculating section 110 calculates a distance Da between the bucket tip end 8a and the target surface and a distance Db between the bucket back surface end 8b and the target surface from the calculated positional data of the bucket tip end 8a and the bucket back surface end 8b and the positional data of the target surface (target surface data), the positional data of the target surface being input from the target surface setting device 18, and outputs the distance Da and the distance Db as distance deviation data (distance deviations Da and Db) of the bucket tip end 8a and the back surface end 8b to the target velocity calculating section 120. Incidentally, with regard to the processing of extracting the target surface 60, a line of intersection of a plane passing through the bucket tip end 8a (bucket back surface end 8b) and parallel with an operation plane of the work device 15 (for example, a plane orthogonal to the rotational axis of the boom 11) and three-dimensional design data can be set as the target surface 60 (the same is true for a second embodiment).
The target velocity calculating section 120 calculates each of the velocities of the bucket tip end 8a and the back surface end 8b which velocities are necessary to move the bucket tip end 8a and the back surface end 8b along the target surface 60 according to the distance deviation data of the bucket tip end 8a and the back surface end 8b which distance deviation data is input from the deviation calculating section 110, and outputs the velocities as target velocities VTa and VTb of the bucket tip end 8a and the back surface end 8b.
An example of the calculation of the target velocities in the target velocity calculating section 120 will be described in the following with reference to
First, the target velocity calculating section 120 calculates a target value (target velocity perpendicular component) Vtgt of a component of the velocity vector of the bucket tip end 8a or the back surface end 8b which component is perpendicular to the target surface 60 (which component will hereinafter be abbreviated to a “perpendicular component”) on the basis of the distance deviation D calculated by the deviation calculating section 110 and a table of
—Candidate Point Velocity Calculating Section 140—
The candidate point velocity calculating section 140 is a part that calculates a velocity occurring at a remaining work point candidate (which may hereinafter be referred to as a “candidate point velocity”) when each of the plurality of work point candidates 8a and 8b is moved at the corresponding target velocity among the plurality of target velocities calculated by the target velocity calculating section 120. For example, the candidate point velocity calculating section 140 calculates, as the candidate point velocity, a velocity occurring at the remaining work point candidate 8b when the work point candidate 8a is moved at the target velocity VTa of the work point candidate 8a. In the following, the velocity occurring at the work point candidate 8b when the work point candidate 8a is moved at the target velocity VTa will be referred to as a candidate point velocity VTab, and a velocity occurring at the work point candidate 8a when the work point candidate 8b is moved at the target velocity VTb will be referred to as a candidate point velocity VTba.
The candidate point velocity calculating section 140 will be described in detail with reference to
The geometric inverse transformation section 141a calculates a combination Ωa of the rotational velocities (angular velocities) of the boom 11 and the arm 12 when the bucket tip end 8a operates at the target velocity VTa from posture data PIa of the bucket tip end 8a and the target velocity VTa of the bucket tip end 8a. The geometric inverse transformation section 141a then outputs the combination Ωa to the geometric transformation section 142a. With regard to the calculation of the combination Ωa of the rotational velocities, a velocity vector generated at the bucket tip end 8a by the boom operation when the bucket tip end 8a operates at the target velocity VTa is Vmoda (see
The geometric inverse transformation section 141b calculates a combination Ωb of the rotational velocities of the boom 11 and the arm 12 when the bucket back surface end 8b operates at the target velocity VTb from posture data PIb of the bucket back surface end 8b and the target velocity VTb of the bucket back surface end 8b. The geometric inverse transformation section 141b then outputs the combination Ωb to the geometric transformation section 142b. The calculation of the combination Ωb of the rotational velocities can be performed similarly to the contents performed by the geometric inverse transformation section 141a.
The geometric transformation section 142a calculates the candidate point velocity VTab (second candidate point velocity) as a velocity occurring at the bucket back surface end 8b (second work point candidate) when the bucket tip end 8a (first work point candidate) operates at the target velocity VTa (that is, when the boom 11 is operated at the rotational velocity ωmod1 and the arm 12 is operated at the rotational velocity ωa1) from the combination Ωa of the rotational velocities and the posture data PIb of the bucket back surface end 8b.
The geometric transformation section 142b calculates the candidate point velocity VTba (first candidate point velocity) as a velocity of the bucket tip end 8a (first work point candidate) when the bucket back surface end 8b (second work point candidate) operates at the target velocity VTb from the combination Ωb of the rotational velocities and the posture data PIa of the bucket tip end 8a.
Incidentally, instead of calculating the combinations Ωa and Ωb of the rotational velocities of the boom 11 and the arm 12 in the geometric inverse transformation sections 141a and 141b, the geometric inverse transformation sections 141a and 141b may be configured to calculate combinations of operation velocities of the boom cylinder 5 and the arm cylinder 6, and use the combinations as output to the geometric transformation sections 142a and 142b.
—Work Point Selecting Section 150—
The work point selecting section 150 is a part that performs processing of selecting a candidate point velocity that makes all of the two work point candidates 8a and 8b least likely to perform an operation of entering the target surface 60 from the two candidate point velocities VTab and VTba, and selecting the work point candidate associated with the selected candidate point velocity as a work point (control point) of semiautomatic excavation and shaping control. The work point selecting section 150 in the present embodiment selects the larger of the two candidate point velocities VTab and VTba, and sets the work point candidate associated with the selected candidate point velocity as the work point.
The work point selecting section 150 will be described with reference to
The posture data switching section 152 outputs the posture data PIa associated with the bucket tip end 8a as posture data when the work point indicated by the point selection data is the bucket tip end 8a. The posture data switching section 152 outputs the posture data PIb associated with the bucket back surface end 8b as posture data when the work point is the bucket back surface end 8b.
The target velocity switching section 153 outputs the target velocity VTa associated with the bucket tip end 8a as target velocity when the work point indicated by the point selection data is the bucket tip end 8a. The target velocity switching section 153 outputs the target velocity VTb associated with the bucket back surface end 8b as target velocity when the work point is the bucket back surface end 8b.
The actuator velocity calculating section 130 geometrically calculates the target velocities of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 which target velocities are necessary to operate the work point at the target velocity using the posture data and the target velocity output from the work point selecting section 150. The actuator velocity calculating section 130 then outputs the target velocities to the control valve driving section 200.
The control valve driving section 200 generates driving signals (control valve driving signals) to the control valve 20 which driving signals correspond to the respective hydraulic cylinders 5, 6, and 7, in order to achieve the target velocities of the hydraulic cylinders 5, 6, and 7 which target velocities are input from the information processing section 100. The control valve driving section 200 then outputs the driving signals to the control valve 20. By controlling the hydraulic cylinders 5, 6, and 7 according to the driving signals, it is possible to operate the work point (one of the bucket tip end 8a and the bucket back surface end 8b) selected by the work point selecting section 150 at the target velocity (VTa or VTb), and prevent an entry of both of the two work point candidates 8a and 8b into the target surface 60.
—Processing Flow of Controller 500—
In step S3, the deviation calculating section 110 calculates deviation data Da and Db between the bucket tip end 8a and the bucket back surface end 8b and the target surface 60 from the posture data PIa and PIb obtained from the posture sensors 13a, 13b, 13c, and 13d and the target surface data obtained from the target surface setting device 18.
In step S4, the target velocity calculating section 120 calculates the target velocities VTa and VTb from the deviation data Da and Db, the posture data PIa and PIb, and operation amount data obtained from the operation levers 1c and 1d.
In step S5, the candidate point velocity calculating section 140 calculates the candidate point velocities VTba and VTab, which are each the velocity of another work point candidate when one work point candidate 8a or 8b is operated at the target velocity VTa or VTb, from the target velocities VTa and VTb and the posture data PIa and PIb.
In step S6, the work point selecting section 150 compares the magnitudes of the two candidate point velocities VTab and VTba calculated in step S5 with each other, and selects, as the work point, the work point candidate corresponding to the candidate point velocity having a larger value. The processing proceeds to step S7a when the bucket tip end 8a is selected as the work point. The processing proceeds to step S7b when the bucket back surface end 8b is selected as the work point.
In step S7a, the work point selecting section 150 outputs the posture data PIa related to the work point 8a to the actuator velocity calculating section 130. In the following step S8a, the work point selecting section 150 outputs the target velocity VTa related to the work point 8a to the actuator velocity calculating section 130. The processing then proceeds to step S9.
In step S7b, the work point selecting section 150 outputs the posture data PIb related to the work point 8b to the actuator velocity calculating section 130. In the following step S8b, the work point selecting section 150 outputs the target velocity VTb related to the work point 8b to the actuator velocity calculating section 130. The processing then proceeds to step S9.
In step S9, the actuator velocity calculating section 130 receives, as input thereto, the posture data PIa or PIb and the target velocity VTa or VTb output by the work point selecting section 150, and calculates command values of a boom cylinder velocity, an arm cylinder velocity, and a bucket cylinder velocity. The actuator velocity calculating section 130 outputs the command values to the control valve driving section 200. The processing then proceeds to step S10.
In step S10, the control valve driving section 200 generates the control valve driving signals corresponding to the boom cylinder velocity, the arm cylinder velocity, and the bucket cylinder velocity calculated in step S9, and outputs the control valve driving signals to the control valve 20 that controls the hydraulic cylinders 5, 6, and 7. The driving signals drive the control valve 20 to operate the respective hydraulic cylinders 5, 6, and 7. The work device 15 operates on the basis of the operation of the hydraulic cylinders 5, 6, and 7. It is thereby possible to prevent both of the two work point candidates 8a and 8b from entering the target surface 60.
—Action and Effect—
In the hydraulic excavator according to the present embodiment configured as described above, the target velocities VTa and VTb are respectively calculated for the two work point candidates 8a and 8b set to the work device 15 on the basis of the deviation data Da and Db with respect to the target surface 60, and also calculates the velocities (candidate point velocities) VTab and VTba occurring at the other work point candidates when each of the work point candidates 8a and 8b is moved at the target velocity VTa or VTb. The entry of the work point candidate not selected as the work point among the two work point candidates 8a and 8b into the target surface 60 becomes a problem in cases where there is a difference between distances of the two work point candidates 8a and 8b from the center of rotation of the arm 12 (rotation radii of the respective work point candidates 8a and 8b). When one work point candidate is operated at the target velocity, and the velocity (candidate point velocity) of the other work point candidate is larger than the target velocity, the velocity (candidate point velocity) of the one work point candidate when the other work point candidate is operated at the target velocity is smaller than the target velocity. Accordingly, the work point candidate associated with the candidate point velocity at which an entry into the target surface 60 is possibly made later among the two candidate point velocities VTab and VTba (that is, the candidate point velocity of the larger magnitude of the two candidate point velocities) is selected as the work point. When the work point is thus selected, the remaining work point candidate not selected as the work point among the two work point candidates 8a and 8b can also be prevented from entering the target surface 60. Thus, also for a target surface located at a position from which the work point candidates 8a and 8b are separated by boom lowering, the plurality of work point candidates 8a and 8b on the work device 15 can be prevented from entering the target surface 60. It is thereby possible to improve accuracy and efficiency of work by the hydraulic excavator.
It is to be noted that the work point selecting process described above is an example, and that another method may be used, which, for example, compares the perpendicular components of the target velocities VTa and VTb of the two work point candidates 8a and 8b with each other and selects a relatively smaller target velocity, and when there is a smaller candidate point velocity than the selected target velocity, selects the work point candidate different from the work point candidate associated with the smaller candidate point velocity as the work point.
A second embodiment of the present invention will be described in the following. The present embodiment sets work point candidates of the bucket 8 at four points of a bucket left tip end 8c, a bucket right tip end 8d, a bucket left back surface end 8e, and a bucket right back surface end 8f as depicted in
The controller 500 according to the present embodiment includes an information processing section 100 and a control valve driving section 200 as in the first embodiment. The information processing section 100 includes a deviation calculating section 110, a target velocity calculating section 120, a candidate point velocity calculating section 140, a work point selecting section 150, and an actuator velocity calculating section 130.
The deviation calculating section 110 calculates a distance Dc between the bucket left tip end 8c and the target surface 60, a distance Dd between the bucket right tip end 8d and the target surface 60, a distance De between the bucket left back surface end 8e and the target surface 60, and a distance Df between the bucket right back surface end 8f and the target surface 60 from the positions of the bucket left tip end 8c position, the bucket right tip end 8d, the bucket left back surface end 8e, and the bucket right back surface end 8f, the positions being calculated from the posture data from the posture sensors 13a to 13d, and the target surface data input from the target surface setting device 18. The deviation calculating section 110 outputs these distances as distance deviation data of the left and right tip ends and the left and right back surface ends of the bucket.
The target velocity calculating section 120 calculates the velocities of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket which velocities are necessary to move the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket along the target surface 60 on the basis of the distance deviation data of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket. The target velocity calculating section 120 outputs the velocities as target velocities (VTc, VTd, VTe, and VTf) of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket.
—Candidate Point Velocity Calculating Section 140—
The geometric inverse transformation sections 141c, 141d, 141e, and 141f calculate combinations Ωc, Ωd, Ωe, and Ωf of the rotational velocities (angular velocities) of the boom 11 and the arm 12 when the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket operate at the respective target velocities (VTc, VTd, VTe, and VTf) of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d from the posture data of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket and the target velocities (VTc, VTd, VTe, and VTf) of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket. The geometric transformation sections 142c, 142d, 142e, and 142f calculate candidate point velocities VTcd, VTce, VTcf, VTdc, VTde, VTdf, VTec, VTed, VTef, VTfc, VTfd, and VTfe as the velocities of remaining work point candidates from the combinations Ωc, Ωd, Ωe, and Ωf of the rotational velocities and the posture data of the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket.
The candidate point velocities VTcd, VTce, and VTcf are velocities occurring at three remaining work point candidates (the bucket right tip end 8d, the bucket left back surface end 8e, and the bucket right back surface end 8f) when the bucket left tip end 8c is operated at the target velocity VTc. In the following, the velocities occurring at the three work point candidates will be set as one group (velocity group), and will be referred to as a candidate point velocity c-group as a set of the candidate point velocities related to the work point candidate 8c operated at the target velocity VTc. In addition, the candidate point velocities VTdc, VTde, and VTdf are the velocities of three remaining work point candidates when the bucket right tip end 8d is operated at the target velocity VTd, and will hereinafter be referred to as a candidate point velocity d-group. Similarly, the candidate point velocities VTec, VTed, and VTef will be referred to as a candidate point velocity e-group, and the candidate point velocities VTfc, VTfd, and VTfe will be referred to as a candidate point velocity f-group. That is, the candidate point velocity calculating section 140 calculates the velocities occurring at the three remaining work point candidates when each of the four work point candidates 8c, 8d, 8e, and 8f is moved at the corresponding target velocity among the four target velocities VTc, VTd, VTe, and VTf calculated by the target velocity calculating section 120, and creates the four velocity groups (candidate point velocity c-group to f-group) by grouping the velocities occurring at the three remaining work point candidates for each work point candidate.
Incidentally, the output of the geometric inverse transformation sections 141c, 141d, 141e, and 141f may be the operation velocities of the boom cylinder 6 and the arm cylinder 7 rather than the rotational velocities of the boom 11 and the arm 12, and used as input to the geometric transformation sections 142c, 142d, 142e, and 142f.
—Work Point Selecting Section 150—
The work point selecting section 150 is a part that performs processing of selecting one velocity group in which all of the work point candidates 8c to 8f are least likely to perform an operation of entering the target surface 60 from among the plurality of velocity groups c to f formed by the candidate point velocity calculating section 140, and selecting the work point candidate associated with the selected velocity group as the work point (control point) of semiautomatic excavation and shaping control. Specifically, the work point selecting section 150 selects the velocity group in which all of the work point candidates 8c to 8f are least likely to perform an operation of entering the target surface 60 by selecting a velocity at which an entry into the target surface 60 is possibly made earliest (that is, a smallest velocity) in each of the plurality of velocity groups c to f, selecting a velocity at which an entry into the target surface 60 is possibly made latest (that is, a largest velocity) among the velocities at which an entry into the target surface 60 is possibly made earliest which velocities are selected from the plurality of velocity groups c to f, and selecting a velocity group to which the velocity at which an entry into the target surface 60 is possibly made latest belongs from among the plurality of velocity groups c to f. More detailed processing contents of the work point selecting section 150 will be described in the following.
First, the candidate point velocity comparing section 151 selects a minimum value (that is, a candidate point velocity at which an entry into the target surface 60 is possibly made earliest) in each of the candidate point velocities c to f. Thereby selected are a minimum value in the candidate point velocity c-group, a minimum value in the candidate point velocity d-group, a minimum value in the candidate point velocity e-group, and a minimum value in the candidate point velocity f-group. Next, the candidate point velocity comparing section 151 compares the minimum value in the candidate point velocity c-group, the minimum value in the candidate point velocity d-group, the minimum value in the candidate point velocity e-group, and the minimum value in the candidate point velocity f-group with each other, and selects a velocity group to which a maximum candidate point velocity belongs from among the four minimum values. Then, the candidate point velocity comparing section 151 sets the work point candidate associated with the selected velocity group as the work point. That is, the candidate point velocity comparing section 151 sets the bucket left tip end 8c as the work point when the maximum candidate point velocity is the minimum value in the candidate point velocity c-group, sets the bucket right tip end 8d as the work point when the maximum candidate point velocity is the minimum value in the candidate point velocity d-group, sets the bucket left back surface end 8e as the work point when the maximum candidate point velocity is the minimum value in the candidate point velocity e-group, and sets the bucket right back surface end 8f as the work point when the maximum candidate point velocity is the minimum value in the candidate point velocity f-group. The work point selecting section 150 then outputs point selection data indicating which of the four work point candidates 8c to 8f is selected. The candidate point velocity comparing section 151 outputs point selection data c for switching two 4-position switches (the posture data switching section 152 and the target velocity switching section 153) depicted in
The posture data switching section 152 outputs posture data PIc associated with the bucket left tip end 8c as posture data when the work point indicated by the point selection data is the bucket left tip end 8c, outputs posture data PId associated with the bucket right tip end 8d as posture data when the work point is the bucket back surface end 8d, outputs posture data PIe associated with the bucket left back surface end 8e as posture data when the work point is the bucket left back surface end 8e, and outputs posture data PIf associated with the bucket right back surface end 8f as posture data when the work point is the bucket right back surface end 8f.
The target velocity switching section 153 outputs the target velocity VTc associated with the bucket left tip end 8c as target velocity when the work point indicated by the point selection data is the bucket left tip end 8c, outputs the target velocity VTd associated with the bucket right tip end 8d as target velocity when the work point is the bucket back surface end 8d, outputs the target velocity VTe associated with the bucket left back surface end 8e as target velocity when the work point is the bucket left back surface end 8e, and outputs the target velocity VTf associated with the bucket right back surface end 8f as target velocity when the work point is the bucket right back surface end 8f.
The actuator velocity calculating section 130 geometrically calculates the target velocities of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 which target velocities are necessary to operate the work point at the target velocity, using the posture data and the target velocity output from the work point selecting section 150. The actuator velocity calculating section 130 then outputs the target velocities to the control valve driving section 200.
—Processing Flow of Controller 500—
In step S3, the deviation calculating section 110 calculates deviation data Dc, Dd, De, and Df between the left and right tip ends 8c and 8d and the left and right back surface ends 8e and 8d of the bucket and the target surface 60 from the posture data PIc, PId, PIe, and PIf obtained from the posture sensors 13a, 13b, 13c, and 13d and the target surface data obtained from the target surface setting device 18.
In step S4, the target velocity calculating section 120 calculates the target velocities VTc, VTd, VTe, and VTf from the deviation data Dc, Dd, De, and Df, the posture data PIc, PId, PIe, and PIf, and the operation amount data obtained from the operation levers 1c and 1d.
In step S5, the candidate point velocity calculating section 140 calculates the candidate point velocities VTcd, VTce, VTcf, VTdc, VTde, VTdf, VTec, VTed, VTef, VTfc, VTfd, and VTfe, which are each the velocity of another work point candidate when one work point candidate 8c, 8d, 8e, or 8f is operated at the target velocity, from the target velocities VTc, VTd, VTe, and VTf and the posture data PIc, PId, PIe, and PIf. Here, the other three candidate point velocities VTcd, VTce, and VTcf when the work point candidate c is operated at the target velocity VTc are set as the candidate point velocity c-group, the other three candidate point velocities VTdc, VTde, and VTdf when the work point candidate d is operated at the target velocity VTd are set as the candidate point velocity d-group, the other three candidate point velocities VTec, VTed, and VTef when the work point candidate e is operated at the target velocity VTe are set as the candidate point velocity e-group, and the other three candidate point velocities VTfc, VTfd, and VTfe when the work point candidate f is operated at the target velocity VTf are set as the candidate point velocity f-group.
In step S6, the work point selecting section 150 compares minimum values in the respective groups of the candidate point velocities calculated in step S5 with each other, and selects, as the work point, the work point candidate corresponding to a candidate point velocity having a largest value among the minimum values. When the maximum value belongs to the c-group, the work point selecting section 150 selects the bucket left tip end 8c as the work point. The processing then proceeds to step S7c. When the maximum value belongs to the d-group, the work point selecting section 150 selects the bucket right tip end 8d as the work point. The processing then proceeds to step S7d. When the maximum value belongs to the e-group, the work point selecting section 150 selects the bucket left back surface end 8e as the work point. The processing then proceeds to step S7e. When the maximum value belongs to the f-group, the work point selecting section 150 selects the bucket right back surface end 8f as the work point. The processing then proceeds to step S7f.
In step S7c, the work point selecting section 150 outputs the posture data PIc related to the bucket left tip end 8c to the actuator velocity calculating section 130. In the following step S8c, the work point selecting section 150 outputs the target velocity VTc related to the bucket left tip end 8c to the actuator velocity calculating section 130. The processing then proceeds to step S9. Also in steps S7d to S7f and S8d to S8f, the posture data and the target velocities associated with the corresponding work points are similarly selected and output.
In step S9, the actuator velocity calculating section 130 receives, as input thereto, the posture data and the target velocity output by the work point selecting section 150, and calculates command values of the boom cylinder velocity, the arm cylinder velocity, and the bucket cylinder velocity corresponding to the posture data and the target velocity. The actuator velocity calculating section 130 outputs the command values to the control valve driving section 200. The processing then proceeds to step S10.
In step S10, the control valve driving section 200 generates the control valve driving signals corresponding to the boom cylinder velocity, the arm cylinder velocity, and the bucket cylinder velocity calculated in step S9, and outputs the control valve driving signals to the control valve 20 that controls the hydraulic cylinders 5, 6, and 7. The driving signals drive the control valve 20 to operate the respective hydraulic cylinders 5, 6, and 7. The work device 15 operates on the basis of the operation of the hydraulic cylinders 5, 6, and 7. It is thereby possible to prevent all of the four work point candidates 8c to 8f from entering the target surface 60.
—Action and Effect—
The hydraulic excavator according to the present embodiment configured as described above calculates the target velocities VTc to VTf respectively, on the basis of the deviation data Da to Df with respect to the target surface 60, for the four work point candidates 8c to 8f set to the work device 15, also calculates velocities (candidate point velocities) VTcd, VTce, VTcf, VTdc, VTde, VTdf, VTec, VTed, VTef, VTfc, VTfd, and VTfe occurring at three remaining work point candidates when each of the work point candidates 8a to 8f is moved at the target velocity VTa to VTf, and divides the 12 candidate point velocities into four groups (c-group to f-group) for the four respective work point candidates 8c to 8f. Then, a velocity at which an entry into the target surface 60 is possibly made earliest is selected in each of the four groups, one velocity at which an entry into the target surface 60 is possibly made latest is selected among the selected four velocities, and a work point candidate associated with a velocity group to which the velocity at which an entry is possibly made latest belongs is selected as the work point. When the work point is thus selected, the remaining work point candidates not selected as the work point among the four work point candidates 8c to 8f can also be prevented from entering the target surface 60. Thus, also for a target surface located at a position from which the work point candidates 8c to 8f are separated by boom lowering, the plurality of work point candidates 8c to 8f on the work device 15 can be prevented from entering the target surface 60. It is thereby possible to improve accuracy and efficiency of work by the hydraulic excavator.
In addition, in the present embodiment, the plurality of work point candidates are present in the direction of a rotational axis of the work device 15 (for example, the axial direction of a boom pin). Thus, semiautomatic excavation and shaping can be performed also on a target surface 60 not uniform in the direction of the rotational axis of the work device 15 (for example, a target surface not parallel with the rotational axis of the work device 15) while the tip end edges and the back edges of the bucket are prevented from entering the target surface 60.
<Others>
The present invention is not limited to the foregoing embodiments, but includes various modifications within a scope not departing from the spirit of the present invention. For example, the present invention is not limited to including all of the configurations described in the foregoing embodiments, but includes configurations obtained by omitting a part of the configurations. In addition, a part of a configuration according to a certain embodiment can be added to or replaced with a configuration according to another embodiment.
For example, while in the first and second embodiments, the work device 15 is constituted of the boom 11, the arm 12, and the bucket 8, which each have a rotational axis in a same direction, the work device 15 may be other than this. As an example, there is a bucket having a rotary rotational axis or a tilt rotational axis or the like. In addition, while the four work point candidates are vertices of the perimeter of the bucket (vertices of four sides constituting the bottom surface of the bucket) in the second embodiment, a work point candidate may be further added to at least one of the four sides constituting the bottom surface of the bucket (excluding the vertices), and in work on an uneven target surface 60, for example, the work point candidate set to one of the four sides may be prevented from coming into contact with a projecting portion of the target surface 60.
In the foregoing embodiments, description has been made of cases where the number of work point candidates is two and four. However, it is needless to say that the present invention is applicable also to cases where the number of work point candidates is three or five or more.
In addition, the above description has been made of a case where the target surface is set in the machine body coordinate system. However, semiautomatic excavation and shaping control can be performed on a target surface set in a geographic coordinate system by, for example, mounting two GNSS antennas and a receiver on the upper swing structure 10 of the hydraulic excavator and thereby making it possible to calculate the position and orientation of the hydraulic excavator in the geographic coordinate system. The same is true for coordinate systems other than the machine body coordinate system and the geographic coordinate system.
In addition, in the above description, only the boom cylinder 5 is set as a target of semiautomatic control. However, the arm cylinder 6 and the bucket cylinder 7 may be set as a target of semiautomatic control.
A part or the whole of each configuration of the controller 500 described above and functions, execution processing, and the like of each such configuration may be implemented by hardware (for example, by designing logic for performing each function by an integrated circuit). In addition, the configurations of the controller 500 described above may be a program (software) that implements each function of the configurations of the controller 5005 by being read and executed by a calculation processing device (for example, a CPU). Data related to the program can be stored in, for example, a semiconductor memory (a flash memory, an SSD, or the like), a magnetic storage device (a hard disk drive or the like), a recording medium (a magnetic disk, an optical disk, or the like), and the like. In addition, a system may be configured such that a plurality of controllers or computers perform distributed processing of a part or the whole of the processing performed by the controller 500.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/034896 | 9/20/2018 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/059094 | 3/26/2020 | WO | A |
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| Entry |
|---|
| International Search Report of PCT/JP2018/034896 dated Oct. 16, 2018. |
| International Preliminary Report on Patentability received in corresponding International Application No. PCT/JP2018/034896 dated Apr. 1, 2021. |
| Number | Date | Country | |
|---|---|---|---|
| 20210148081 A1 | May 2021 | US |
