JP2014224452A - Excavation control system for hydraulic excavator - Google Patents

Abstract

An excavation control system for a hydraulic excavator capable of easily obtaining desired design surface data. An excavation control system 200 includes a first design surface data DS1 indicating a first design surface S1 closest to a bucket 8 and a first design surface S1 based on design terrain data Dg and bucket position data Dp. Second to fifth design surface data DS2 to DS5 indicating the second to fifth design surfaces S2 to S5 are generated, and the first to fifth design surfaces are generated based on the first to fifth design surface data DS1 to DS5. A design surface data generation unit 284 that generates shape data Df indicating the shapes of the surfaces S1 to S5 is provided. [Selection] Figure 6

Description

  The present invention relates to an excavator control system for a hydraulic excavator in a construction machine including a work machine.

  Conventionally, excavation area restriction control for moving a bucket along a boundary surface indicating a target shape to be excavated has been proposed in a construction machine including a front device including a bucket (see, for example, Patent Document 1).

  There is also known a method of calculating design surface data in a hydraulic excavator computer based on dimension and gradient data transmitted from the office computer (see Patent Document 2).

International Publication No. WO95 / 30059 JP 2006-265594 A

  However, in Patent Document 2, the construction machine computer calculates design surface data regardless of whether or not the excavator bucket is located in an excavable range, so that the processing load on the construction machine computer is large, and In some cases, the calculated design surface data must be discarded without being used.

  The present invention has been made in view of the above-described situation, and an object thereof is to provide a hydraulic excavator excavation control system that can easily acquire desired design surface data.

  An excavation control system for a hydraulic excavator according to a first aspect includes a boom that is swingably attached to a vehicle body, an arm that is swingably attached to a tip portion of the boom, and a tip portion of the arm. A working machine having a bucket that is swingably mounted, a design terrain data storage unit that stores design terrain data indicating a target shape to be excavated, and a bucket position that generates bucket position data indicating a current position of the bucket Based on the data generation unit, the design terrain data, and the bucket position data, main design surface data indicating a main design surface corresponding to a specified position on the bucket, and a plurality of slave units connected to the main design surface. A design surface data generation unit for generating slave design surface data indicating a design surface, and generating shape data indicating the shapes of the master design surface and the plurality of slave design surfaces; The shape data based on the bucket position data, and a digging limitation control unit for automatically adjusting the position of the bucket relative to the said main design surface and the plurality of slave design surface.

  According to the excavation control system for a hydraulic excavator according to the first aspect, since the main design surface is set based on the position of the bucket, it is possible to easily acquire desired design surface data required for excavation work. it can. Therefore, it is possible to reduce the processing load for generating the design surface data and to suppress the generation of design surface data that is not required for excavation work. In addition, when the excavator performs soil removal after excavating the main design surface, it is possible to prevent the bucket from being driven in a direction not intended by the operator.

  The excavation control system of the excavator according to the second aspect is updated at any time, and the design surface data generation unit is configured to update the main design surface data according to the bucket position data update by the bucket position data generation unit, The secondary design surface data and the shape data are updated.

  According to the excavation control system for a hydraulic excavator according to the second aspect, for example, when the transition from the first design surface to the second design surface is performed, the second design surface is quickly updated to the first design surface. In addition, another design surface connected to the third design surface is newly set. Therefore, it is possible to more reliably suppress the bucket from being driven in an unintended direction.

  The excavation control system for a hydraulic excavator according to a third aspect relates to the first or second aspect, wherein the design surface data generation unit is configured to sequentially connect the two designs so as to be sequentially connected to the vehicle body side of the main design surface. A plane is set, and two design planes are set so as to be successively connected to the opposite side of the main design plane from the vehicle body.

  According to the excavation control system for a hydraulic excavator according to the third aspect, since two design surfaces are set on both sides of the first design surface, the soil excavated from the groove is discharged to the near side of the groove or the deep side of the groove. When soiling, the bucket can be prevented from being driven in an unintended direction. Specifically, when the first design surface is the bottom surface of the groove and the two design surfaces on both sides of the first design surface are both wall surfaces of the groove and are located within the movable range of the work implement, It is decided by the operator each time whether the discharged soil is discharged to the front side or the back side of the groove. Therefore, by setting two design surfaces on both sides of the first design surface in advance, it is possible to deal with a case where soil is discharged on either the near side or the deep side of the groove.

  ADVANTAGE OF THE INVENTION According to this invention, the excavation control system of the hydraulic shovel which can acquire desired design surface data simply can be provided.

It is a perspective view of a hydraulic excavator. (A) is a side view of the excavator 100, and (b) is a rear view of the excavator 100. It is a block diagram which shows the function structure of the excavation control system of a hydraulic shovel. It is a block diagram which shows the structure of a display controller. It is a schematic diagram which shows a candidate surface. It is a schematic diagram which shows a design surface. It is a block diagram which shows the structure of a working machine controller. It is a schematic diagram which shows the positional relationship of a bucket and the design surface S. It is a graph which shows the relationship between a speed limit and distance. It is a schematic diagram for demonstrating operation | movement of a bucket.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, a hydraulic excavator will be described as an example of “construction machine”.

[Overall configuration of excavator 100]
FIG. 1 is a perspective view of a hydraulic excavator 100 according to the embodiment. The excavator 100 includes a vehicle main body 1 and a work implement 2. The excavator 100 is equipped with an excavation control system 200. The configuration and operation of the excavation control system 200 will be described later.

  The vehicle body 1 includes a turning body 3, a cab 4, and a traveling device 5. The revolving structure 3 is disposed on the traveling device 5 and can revolve around a revolving axis along the vertical direction. The swivel body 3 houses an engine, a hydraulic pump, etc. (not shown). A first GNSS antenna 21 and a second GNSS antenna 22 are disposed on the rear end of the revolving unit 3. The first GNSS antenna 21 and the second GNSS antenna 22 are antennas for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system). The cab 4 is placed on the front part of the revolving unit 3. Various operation devices are arranged in the cab 4. The traveling device 5 has a pair of crawler belts 5a and 5b, and the excavator 100 travels by the rotation of each of the pair of crawler belts 5a and 5b.

  The work machine 2 is mounted on the swivel body 3. The work implement 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The base end portion of the boom 6 is swingably attached to the front portion of the swing body 3 via the boom pin 13. The base end portion of the arm 7 is swingably attached to the tip end portion of the boom 6 via the arm pin 14. The bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are hydraulic cylinders that are driven by hydraulic oil, respectively. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8.

  Here, FIG. 2A is a side view of the excavator 100, and FIG. 2B is a rear view of the excavator 100. As shown in FIG. 2A, the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14 is L1. The length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15 is L2. The length of the bucket 8, that is, the length from the bucket pin 15 to the tip of the tooth of the bucket 8 (hereinafter referred to as “bucket blade edge 8a”) is L3.

  Moreover, as shown to Fig.2 (a), the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are provided with the 1st-3rd stroke sensors 16-18, respectively. The first stroke sensor 16 detects the stroke length of the boom cylinder 10 (hereinafter referred to as “boom cylinder length N1”). The display controller 28 (see FIG. 4) described later calculates the tilt angle θ1 of the boom 6 with respect to the vertical direction of the vehicle body coordinate system from the boom cylinder length N1 detected by the first stroke sensor 16. The second stroke sensor 17 detects the stroke length of the arm cylinder 11 (hereinafter referred to as “arm cylinder length N2”). The display controller 28 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length N2 detected by the second stroke sensor 17. The third stroke sensor 18 detects the stroke length of the bucket cylinder 12 (hereinafter referred to as “bucket cylinder length N3”). The display controller 28 calculates the inclination angle θ3 of the bucket blade edge 8a of the bucket 8 with respect to the arm 7 from the bucket cylinder length N3 detected by the third stroke sensor 18.

  The vehicle main body 1 is provided with a position detection unit 19. The position detector 19 detects the current position of the excavator 100. The position detector 19 includes the first and second GNSS antennas 21 and 22 described above, a global coordinate calculator 23, and an IMU (Inertial Measurement Unit) 24. The first and second GNSS antennas 21 and 22 are separated from each other in the vehicle width direction. A signal corresponding to the GNSS radio wave received by the first and second GNSS antennas 21 and 22 is input to the global coordinate calculator 23. The global coordinate calculator 23 detects the installation positions of the first and second GNSS antennas 21 and 22. As shown in FIG. 2B, the IMU 24 detects the inclination angle θ4 in the vehicle width direction of the vehicle main body 1 with respect to the direction of gravity (vertical line) and the inclination angle θ5 in the front-rear direction of the vehicle main body 1. The global coordinate calculator 23 updates the current position information of the first and second GNSS antennas 21 and 22 as the excavator 100 moves and turns.

[Configuration of Excavation Control System 200]
FIG. 3 is a block diagram illustrating a functional configuration of the excavation control system 200. The excavation control system 200 includes an operating device 25, a work machine controller 26, a proportional control valve 27, a display controller 28, and a display unit 29.

  The operation device 25 receives an operator operation for driving the work machine 2 and outputs an operation signal corresponding to the operator operation. Specifically, the operation device 25 includes a boom operation tool 31, an arm operation tool 32, and a bucket operation tool 33. The boom operation tool 31 includes a boom operation lever 31a and a boom operation detection unit 31b. The boom operation lever 31a receives an operation of the boom 6 by the operator. The boom operation detection unit 31b outputs a boom operation signal M1 according to the operation of the boom operation lever 31a. The arm operation lever 32a receives an operation of the arm 7 by the operator. The arm operation detection unit 32b outputs an arm operation signal M2 according to the operation of the arm operation lever 32a. The bucket operation tool 33 includes a bucket operation lever 33a and a bucket operation detection unit 33b. Bucket operation lever 33a receives operation of bucket 8 by an operator. The bucket operation detection unit 33b outputs a bucket operation signal M3 according to the operation of the bucket operation lever 33a.

  The work machine controller 26 acquires a boom operation signal M1, an arm operation signal M2, and a bucket operation signal M3 (hereinafter, collectively referred to as “operation signal M” as appropriate) from the operation device 25. Moreover, the work machine controller 26 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16-18. The work machine controller 26 drives the work machine 2 by outputting a control signal to the proportional control valve 27 based on these pieces of information. The function of the work machine controller 26 will be described later.

  The proportional control valve 27 is disposed between each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown). The proportional control valve 27 supplies hydraulic oil to each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 while adjusting the opening degree of the valve in accordance with a control signal from the work machine controller 26.

  The display controller 28 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16-18. In addition, the display controller 28 acquires the inclination angle θ4 from the IMU 24 and acquires the installation positions of the first and second GNSS antennas 21 and 22 from the global coordinate calculator 23. The display controller 28 then selects the candidate surface S0 (see FIG. 5) and the first to fifth design surfaces based on the current position of the bucket 8 calculated from these pieces of information and the design terrain that is the target shape of the excavation target. S1 to S5 (see FIG. 6) are generated. The display controller 28 displays the candidate surface S0 on the display unit 29, and transmits the first to fifth design surfaces S1 to S5 to the work machine controller 26. The function of the display controller 28 will be described later.

[Configuration of display controller 28]
FIG. 4 is a block diagram showing a configuration of the display controller 28. FIG. 5 is a schematic diagram illustrating an example of the candidate surface S0. FIG. 6 is a schematic diagram illustrating an example of the first to fifth design surfaces S1 to S5.

  The display controller 28 includes a design terrain data storage unit 281, a bucket position data generation unit 282, a candidate surface data generation unit 283, and a design surface data generation unit 284.

  The design terrain data storage unit 281 stores design terrain data Dg indicating a target shape to be excavated in the work area (hereinafter referred to as “design terrain”). The design landform data Dg only needs to include coordinate data and angle data required to generate the three-dimensional shapes of the candidate surface S0 and the first to fifth design surfaces S1 to S5.

  The bucket position data generation unit 282 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16 to 18, acquires the inclination angle θ4 from the IMU 24, and the global coordinate calculator 23, the installation positions of the first and second GNSS antennas 21 and 22 are acquired. The bucket position data generation unit 282 calculates the inclination angles θ1 to θ3 based on the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3. The bucket position data generation unit 282 generates bucket position data Dp indicating the current position of the bucket 8 based on the inclination angles θ1 to θ4 and the installation positions of the first and second GNSS antennas 21 and 22. The bucket position data generation unit 282 transmits the generated bucket position data Dp to the work machine controller 26. Further, the bucket position data generation unit 282 updates the bucket position data Dp as needed according to the update of the current position information of the first and second GNSS antennas 21 and 22 by the global coordinate calculator 23.

The candidate surface data generation unit 283 acquires the design landform data Dg stored in the design landform data storage unit 281 and the bucket position data Dp generated by the bucket position data generation unit 282. The candidate surface data generation unit 283 acquires a bucket vicinity design landform indicating an area near the bucket blade edge 8a in the design landform based on the design landform data Dg and the bucket position data Dp. Next, the candidate surface data generation unit 283 determines an intersection line between the bucket vicinity design landform and the operation plane of the work machine 2 as a candidate surface S0 that is a candidate for the design surface, and candidate surface data D _S0 indicating the candidate surface _S0. Is generated. The candidate surface data generation unit 283 transmits the candidate surface data D _S0 to the display unit 29, and causes the operator to display the candidate surface S0. Further, the candidate surface data generation unit 283 transmits the candidate surface data _DS0 to the design surface data generation unit 284. Candidate surface data generation unit 283 updates candidate surface data _DS0 as needed according to the update of bucket position data Dp by bucket position data generation unit 282.

Designed surface data generation unit 284 acquires the bucket position data Dp generated by the bucket position data generator 282, and a candidate face data D _S0 generated by the candidate face data generator 283. As shown in FIG. 6, the design surface data generation unit 284 determines, as the first design surface S1, the surface closest to the bucket 8 among the candidate surfaces S0 based on the bucket position data Dp and the candidate surface data _DS0. First design surface data _DS1 indicating the first design surface _S1 is generated. Further, the design surface data generation unit 284 generates second to fifth design surface data D _{S2 to} D _S5 indicating the second to fifth design surfaces _{S2 to S5} connected to the first design surface S1. The design surface data generation unit 284 includes a second design surface S2 connected to one end (for example, the vehicle body 1 side) of the first design surface S1, and a third design surface further connected to the second design surface S2. S5 is set, and a fourth design surface S4 connected to the other end of the first design surface S1 (for example, the side opposite to the vehicle body 1), and a fifth design surface further connected to the fourth design surface S4 S5 is set.

In the present embodiment, the first design surface S1 is an example of a main design surface, and the second to fifth design surfaces S2 to S5 are examples of a plurality of sub-design surfaces. The first design surface data DS1 indicating the first design surface _S1 is an example of main design surface data, and the second to fifth design surface data DS2 to indicate the second to fifth design surfaces _S2 to S5. _DS5 is an example of secondary design surface data.

Further, the design surface data generation unit 284 generates shape data Df indicating the shapes of the first to fifth design surfaces _{S1 to S5} based on the generated first to fifth design surface data DS1 to DS5.

As shown in FIG. 6, the first design surface data _DS1 includes coordinate data P1, coordinate data P2, and angle data θ1, and the first design surface S1 is defined by these. The dimension of the first design surface S1 is defined by the coordinate data P1 and the coordinate data P2, and the gradient of the first design surface S1 with respect to the horizontal line is defined by the angle data θ1.

Further, the second design surface data _DS2 includes coordinate data P3 and angle data θ2, and the second design surface S2 is defined by these. The dimension of the second design surface S2 is defined by the coordinate data P1 and the coordinate data P3, and the gradient of the second design surface S2 with respect to the horizontal line is defined by the angle data θ2.

Further, the third design surface data _DS3 includes angle data θ3 (θ3 = 0 ° in the example of FIG. 6), thereby defining the third design surface S3. The angle data θ3 defines the gradient with respect to the horizontal line of the third design surface S3 starting from the coordinate data P3. In addition, the dimension of 3rd design surface S3 does not need to be prescribed | regulated.

Further, the third designed surface data D _S4, includes the coordinate data P4 and angle data .theta.4, fourth design surface S4 are defined by these. The dimension of the fourth design surface S4 is defined by the coordinate data P4 and the coordinate data P2, and the gradient of the fourth design surface S4 with respect to the horizontal line is defined by the angle data θ4.

Further, in the fifth designed surface data D _S5, it includes the angle data .theta.5, whereby the fifth design surface S5 is defined. The gradient with respect to the horizontal line of the fifth design surface S5 starting from the coordinate data P4 is defined by the angle data θ5. In addition, the dimension of 5th design surface S5 does not need to be prescribed | regulated.

The design surface data generation unit 284 transmits the shape data Df indicating the first to fifth design surfaces S1 to S5 generated as described above to the work machine controller 26. Further, the design surface data generation unit 284, updates the bucket position data Dp by the bucket position data generator 282, or, depending on the update of the candidate face data D _S0 by the candidate face data generation unit 283, first to fifth design The surface data D _{S1 to} D _S5 and the shape data Df are updated.

[Configuration of work machine controller 26]
FIG. 7 is a block diagram showing a configuration of the work machine controller 26. FIG. 8 is a schematic diagram showing the positional relationship between the bucket 8 and the design surface S (including the first to fifth design surfaces S1 to S5).

  As shown in FIG. 7, the work machine controller 26 includes a relative distance acquisition unit 261, a speed limit determination unit 262, a relative speed acquisition unit 263, and an excavation limit control unit 264.

  The relative distance acquisition unit 261 acquires the bucket position data Dp from the bucket position data generation unit 282, and acquires the shape data Df of the first to fifth design surfaces S1 to S5 from the design surface data generation unit 284. The relative distance acquisition unit 261 acquires the distance d from the bucket blade edge 8a in the direction perpendicular to the first design surface S1 based on the bucket position data Dp and the shape data Df. The relative distance acquisition unit 261 outputs the distance d to the speed limit determination unit 262. In the example shown in FIG. 8, the distance d is smaller than the line distance h to the excavation restriction control intervention line C, and the bucket blade edge 8a has entered the inside of the excavation restriction control intervention line C.

  The speed limit determining unit 262 acquires a speed limit V corresponding to the distance d. When the speed limit determination unit 262 compares the distance d with the line distance h and determines that the bucket blade edge 8a has exceeded the excavation restriction control intervention line C, the speed limit determination unit 262 limits the relative speed Q1 with respect to the design surface S of the bucket blade edge 8a. Get the velocity V. Here, FIG. 9 is a graph showing the relationship between the speed limit V of the relative speed Q1 and the distance d. As shown in FIG. 9, the speed limit V becomes maximum when the distance d is equal to or greater than the line distance h, and becomes slower as the distance d becomes smaller than the line distance h. When the distance d is “0”, the speed limit V is also “0”. The speed limit determining unit 262 outputs the speed limit V to the excavation limit control unit 264.

  The relative speed acquisition unit 263 calculates the speed Q of the bucket blade edge 8a based on the operation signal M acquired from the operation device 25. Further, the relative speed acquisition unit 263 acquires a relative speed Q1 (see FIG. 8) with respect to the design surface S of the bucket blade edge 8a based on the speed Q. The relative speed acquisition unit 263 outputs the relative speed Q1 to the excavation restriction control unit 264. In the example shown in FIG. 8, the relative speed Q1 is larger than the speed limit V.

  The excavation restriction control unit 264 determines whether or not the relative speed Q1 of the bucket blade edge 8a with respect to the design surface S exceeds the speed limit V. When it is determined that the relative speed Q1 exceeds the limit speed V, the excavation limit control unit 264 automatically adjusts the position of the bucket blade edge 8a with respect to the design surface S by suppressing the relative speed Q1 to the limit speed V. Excavation restriction control is executed. On the other hand, when the excavation restriction control unit 264 determines that the relative speed Q1 does not exceed the restriction speed V, the excavation restriction control unit 264 outputs the output to the proportional control valve 27 as it is without correcting the output to the proportional control valve 27. The work machine 2 is driven as intended.

[Action and effect]
(1) The excavation control system 200 according to the present embodiment includes first design surface data D _S1 indicating the first design surface S1 closest to the bucket 8 based on the bucket position data Dp and the candidate surface data _DS0 ; Second to fifth design surface data D _{S2 to} D _S5 indicating the second to fifth design surfaces _{S2 to S5} connected to the first design surface S1 are generated, and the first to fifth design surface data D _{S1 to} D _S5 are generated. Based on the above, shape data Df indicating the shapes of the first to fifth design surfaces S1 to S5 is generated.

Thus, since the first design surface S1 is set based on the position of the bucket 8, desired design surface data D _S (first to fifth design surface data D _{S1 to} D _S5) required for excavation work. Can be easily obtained. Therefore, it is possible to suppress the can be reduced processing load on the generation of the design surface data D _S, thus generating a designed surface data D _S which are not required to drilling operations.

  Further, as shown in FIG. 6, since the second to fifth design surfaces S2 to S5 are set based on the first design surface S1, for example, the second and fourth design surfaces based on the first design surface S1. Compared to the case where only S2 and S4 are set, the bucket 8 can be prevented from being driven in an unintended direction. Specifically, when only the second and fourth design surfaces S2 and S4 are set, when the first design surface S1 shifts to the excavation of the second design surface S2, the second design surface S2 If the data of the third design surface S3 cannot be acquired before excavation is completed, the work machine controller 26 recognizes that the second design surface S2 has been extended, and the bucket 8 has the second design surface as shown in FIG. It will be driven upward with the operation along the design surface S2. When the data of the third design surface S3 is acquired, the bucket 8 is guided to the third design surface S3, so that excavation according to the target shape may not be performed. On the other hand, in this embodiment, since the 2nd thru | or 5th design surface S2-S5 on the basis of 1st design surface S1 is set, it transfers to excavation of 1st design surface S1 from 2nd design surface S2. In this case, since the third design surface S3 has already been set, the bucket 8 can be reliably guided from the second design surface S2 to the third design surface S3.

(2) The design surface data generation unit 284 updates the first to fifth design surface data D _{S1 to} D _S5 and the shape data Df in accordance with the bucket position data generation unit 282 updating the bucket position data Dp. .

  Therefore, for example, when shifting from the first design surface S1 to the excavation of the second design surface S2, the second design surface S2 is promptly updated to the first design surface S1 and continues to the third design surface S3. Other design surfaces are newly set. Therefore, it can suppress more reliably that the bucket 8 drives in the direction which is not intended.

  (3) The design surface data generation unit 284 sets the second and third design surfaces S1 and S2 so as to be sequentially connected to one side (for example, the vehicle body 1 side) of the first design surface S1, and the fourth and fourth 5 Design surfaces S4 and S5 are set so as to be successively connected to the other side of the first design surface S1 (for example, the side opposite to the vehicle body 1).

  Thus, since two design surfaces are set on both sides of the first design surface S1, when the soil excavated from the groove is discharged to the near side or the deep side of the groove, the bucket 8 is in an unintended direction. Driving can be suppressed. Specifically, the first design surface S1 is the bottom surface of the groove, the two design surfaces S2 and S4 on both sides of the first design surface S1 are both wall surfaces of the groove, and are located within the movable range of the work implement 2. In this case, the operator decides whether the excavated soil is discharged to the near side of the groove or the deep side of the groove each time. Therefore, by setting two design surfaces on both sides of the first design surface S1 in advance, it is possible to deal with the case where the soil is discharged to either the front side of the groove or the back side of the groove.

[Other embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.

(A) In the above embodiment, the display controller 28 generates the shape data Df indicating the shapes of the first to fifth design surfaces _{S1 to S5} based on the first to fifth design surface data DS1 to DS5. However, it is not limited to this. Display controller 28, based on the six or more design surface data D _S, may generate shape data Df indicating the shape of the six or more design surface S.

On the other hand, if the area indicated by the design terrain data Dg is narrow, only four or less design surfaces may be set. In this case, the display controller 28, based on the four following design surface data D _S, may generate shape data Df indicating the shape of the four following design surface S.

  (B) In the above embodiment, the display controller 28 is set so that the second and third design surfaces S1 and S2 are sequentially connected to one side of the first design surface S1, and the second controller 3 is connected to the other side of the first design surface S1. Although the fourth and fifth design surfaces S4 and S5 are set to be successively connected, the present invention is not limited to this. The display controller 28 may be set so that the second to fifth design surfaces S2 to S5 are sequentially connected to one side of the first design surface S1, or the second to fourth design surfaces on one side of the first design surface S1. The design surfaces S2 to S4 may be sequentially connected, and the fifth design surface S5 may be connected to the other side of the first design surface S1.

  (C) Although not particularly mentioned in the above embodiment, the display controller 28 may generate the shape data Df indicating the design surface included in the movable range of the bucket 8. In this case, it is possible to reduce the processing load on the display controller 28 that is required to set the design surface S where it is clear that excavation work by the bucket 8 is not performed.

  (D) In the above-described embodiment, the work machine controller 26 executes the speed limitation based on the position of the bucket blade edge 8a in the bucket 8, but is not limited thereto. The work machine controller 26 can execute the speed limit based on an arbitrary position in the bucket 8 (for example, the lowest point of the bucket 8).

  (E) In the above embodiment, the predetermined position at which the bucket blade edge 8a stops is set on the design surface S, but is not limited thereto. The predetermined position may be set to an arbitrary position separated from the design surface S toward the excavator 100 side.

  (F) Although not specifically mentioned in the above embodiment, the excavation control system 200 may suppress the relative speed Q1 to the limit speed V only by reducing the rotation speed of the boom 6, and not only the boom 6 but also the arm 7 and The relative speed Q1 may be suppressed to the speed limit V by adjusting the rotational speed of the bucket 8.

  (G) In the above embodiment, the excavation control system 200 calculates the speed Q of the bucket blade edge 8a based on the operation signal M acquired from the operation device 25, but is not limited thereto. The excavation control system 200 can calculate the speed Q based on the amount of change per hour of each of the cylinder lengths N1 to N3 acquired from the first to third stroke sensors 16 to 18. In this case, the speed Q can be calculated with higher accuracy than when the speed Q is calculated based on the operation signal M.

  (H) In the above embodiment, as shown in FIG. 9, the speed limit and the vertical distance are in a linear relationship, but the present invention is not limited to this. The relationship between the speed limit and the vertical distance can be set as appropriate, and may not be linear or pass through the origin.

(I) In the above embodiment, as shown in FIG. 6, the first design surface data D _S1 includes the coordinate data P1, the coordinate data P2, and the angle data θ1, but the first design surface data the D _S1, the angle data θ1 may not be included. Even in this case, the first design surface S1 can be defined by the coordinate data P1 and the coordinate data P2.

  (J) In the embodiment described above, the excavation control system 200 determines the surface closest to the bucket 8 among the candidate surfaces S0 as the first design surface S1, but is not limited thereto. The first design surface S <b> 1 may be determined based on the position defined on the bucket 8. Therefore, the excavation control system 200 may determine, for example, a surface located below the bucket 8 in the vertical direction of the candidate surface S0 as the first design surface S1.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle main body, 2 ... Working machine, 3 ... Turning body, 4 ... Driver's cab, 5 ... Traveling device, 5a, 5b ... Track, 6 ... Boom, 7 ... Arm, 8 ... Bucket, 8a ... Bucket blade edge, 10 ... Boom cylinder, 11 ... arm cylinder, 12 ... bucket cylinder, 13 ... boom pin, 14 ... arm pin, 15 ... bucket pin, 16 ... first stroke sensor, 17 ... second stroke sensor, 18 ... third stroke sensor, 19 ... position Detection unit, 21 ... first GNSS antenna, 22 ... second GNSS antenna, 23 ... global coordinate calculator, 24 ... IMU, 25 ... operating device, 26 ... work machine controller, 261 ... relative distance acquisition unit, 262 ... speed limit determination unit 263 ... Relative speed acquisition unit, 264 ... Excavation restriction control unit, 27 ... Proportional control valve, 28 ... Display controller, 281 ... Design landform data Storage unit, 282 ... Bucket position data generation unit, 284 ... Design surface data generation unit, 29 ... Display unit, 31 ... Boom operation tool, ... 32 arm operation tool, 33 ... Bucket operation tool, 100 ... Hydraulic excavator, 200 ... Excavation Control system, S ... Design surface, T ... Slope, U ... Slope, C ... Excavation limit control intervention line, h ... Line distance

Claims (7)

A vehicle body,
A work machine including a boom attached to the vehicle body, an arm attached to the boom, and a bucket attached to the arm;
A design terrain data storage unit for storing design terrain data indicating the target shape of the excavation target;
A bucket position data generation unit that generates bucket position data indicating a current position of the bucket;
Based on the design terrain data and the bucket position data, main design surface data indicating a main design surface corresponding to a position defined by the bucket, and sub-design surface data indicating a sub-design surface connected to the main design surface. And a design surface data generation unit that generates shape data indicating the shapes of the main design surface and the sub-design surface,
An excavation restriction control unit that automatically adjusts the position of the bucket relative to the main design surface and the sub-design surface based on the shape data and the bucket position data;
Excavator excavation control system equipped with. The bucket position data generation unit updates the bucket position data as needed,
The design surface data generation unit updates the main design surface data, the secondary design surface data, and the shape data according to the update of the bucket position data by the bucket position data generation unit.
The excavation control system for a hydraulic excavator according to claim 1. The design surface data generation unit sets a plurality of the slave design surfaces, sets one of the slave design surfaces to be connected to an end of the main design surface on the vehicle body side, and sets the other slave design surface to the Set to be connected to the end opposite to the vehicle body side of the main design surface,
The excavation control system for a hydraulic excavator according to claim 1 or 2. The design surface data generation unit sets the main design surface and the sub-design surface based on the intersection of the operation plane on which the work machine operates and the design terrain data.
The excavation control system of the hydraulic excavator according to any one of claims 1 to 3. The main design surface and the secondary design surface are each defined by coordinate data of two points.
The excavation system for a hydraulic excavator according to claim 1. A hydraulic cylinder for driving each of the working machines;
The hydraulic cylinder has a stroke sensor for measuring the cylinder length;
The excavation control system for a hydraulic excavator according to any one of claims 1 to 5. The vehicle body includes a traveling device and a revolving body attached to the traveling device so as to be capable of turning.
The excavation control system for a hydraulic excavator according to any one of claims 1 to 6.

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