JP6901406B2 - Work machine and control method of work machine - Google Patents

Description

The present invention relates to a work machine provided with a work machine and a method for controlling the work machine.

In a work machine including a front device including a bucket, a control for moving the bucket along a boundary surface indicating a target shape to be constructed has been proposed (see, for example, Patent Document 1). Such control is called intervention control.

In the intervention control, for example, when the target shape of the construction target disappears, or when the work machine does not erode the target shape due to the operation of the operator, it is not necessary to execute the intervention control. It is no longer necessary to perform control to raise the work machine so that the work machine does not erode the target shape.

International Publication No. 2016/111384

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

Depending on the difference between the speed at which the work equipment is raised by intervention control and the speed at which the work equipment is raised according to the operation command of the operating device, a sudden speed change may occur when the control is switched, which makes the operator feel uncomfortable. May occur.

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

A work machine according to a certain aspect includes a work machine, an operation device for operating the work machine, and a controller for controlling the work machine. The controller executes intervention control to raise the work machine based on the operation command from the operation device, determines the switching from the intervention control to the control of the work machine according to the operation command of the operation device, and operates in the switching based on the judgment result. It is determined whether or not the operation command of the device is the ascending or neutral command of the working machine, and if the operating command of the operating device is the ascending or neutral command of the working machine based on the judgment result, the intervention control is applied. Judge the speed difference between the ascending target speed of the work equipment and the target speed according to the operation command of the operating device, and if the speed difference is equal to or more than the predetermined value, the target ascending target speed of the working machine follows the operation command of the operating device. Adjust so that the speed gradually changes.

Preferably, the controller switches between an intervention control unit that executes an intervention control that raises the work machine based on an operation command from the operation device and a switch that determines switching from the intervention control to the control of the work machine that follows the operation command of the operation device. In the judgment result of the judgment unit, the operation command judgment unit that determines whether the operation command of the operation device is an ascending or neutral command of the work machine in the switching based on the judgment result of the switching judgment unit, and the judgment result of the operation command judgment unit. Based on this, when the operation command of the operating device is an ascending or neutral command of the working machine, the speed difference for determining the speed difference between the ascending target speed of the working machine by the intervention control and the target speed according to the operating command of the operating device. If the speed difference is greater than or equal to a predetermined value based on the judgment results of the judgment unit and the speed difference judgment unit, adjust so that the ascending target speed of the work equipment gradually changes to the target speed according to the operation command of the operating device. Includes a speed adjuster.

Preferably, when the speed difference is less than a predetermined value, the controller switches the ascending target speed of the working machine to the target speed according to the operation command of the operating device.

The control method of the work machine according to a certain aspect is a control method of the work machine including the work machine and an operation device for operating the work machine, and intervention control for raising the work machine based on an operation command from the operation device. The step of determining the switching from the intervention control to the control of the work machine according to the operation command of the operation device, and the operation command of the operation device in the switching based on the judgment result is the ascent or neutral command of the work machine. Steps to determine whether or not, and if the operation command of the operating device is an ascending or neutral command of the working machine based on the judgment result, the ascending target speed of the working machine by intervention control and the operating command of the operating device A step of determining the speed difference from the target speed according to the above, and a step of adjusting so that the ascending target speed of the work equipment gradually changes to the target speed according to the operation command of the operating device when the speed difference is equal to or more than a predetermined value. And.

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

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

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. Since their names and functions are the same, detailed explanations about them will not be repeated. In the following description, "upper", "lower", "front", "rear", "left", and "right" are terms based on the operator seated in the driver's seat.

<Overall configuration of work machine>
FIG. 1 is a perspective view of a work machine based on an embodiment.

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

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

The vehicle body 1 has an upper swivel body 3 which is a swivel body and a traveling device 5 as a traveling body. The upper swivel body 3 houses an internal combustion engine as a power generator, a hydraulic pump, and other devices inside the engine room 3EG. The engine room 3EG is arranged on one end side of the upper swivel body 3.

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

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

The power generator of the hydraulic excavator 100 does not have an internal combustion engine, and a power storage device and a generator motor may be combined.

The upper swing body 3 has a driver's cab 4. The driver's cab 4 is installed on the other end side of the upper swing body 3. The driver's cab 4 is installed on the side opposite to the side where the engine room 3EG is arranged. The display unit 29 and the operation device 25 shown in FIG. 2 are arranged in the driver's cab 4.

The traveling device 5 supports the upper swivel body 3. The traveling device 5 has tracks 5a and 5b. The traveling device 5 travels the hydraulic excavator 100 by causing one or both of the traveling motors 5c provided on the left and right to drive and rotate the tracks 5a and 5b. The work machine 2 is attached to the side of the driver's cab 4 of the upper swing body 3.

The hydraulic excavator 100 may include tires instead of tracks 5a and 5b, and may include a traveling device capable of transmitting the driving force of the engine to the tires via a transmission to travel. As the hydraulic excavator 100 of such a form, for example, there is a wheel type hydraulic excavator.

The hydraulic excavator 100 may be, for example, a backhoe loader.
In the upper swivel body 3, the side where the work machine 2 and the driver's cab 4 are arranged is the front, and the side where the engine room 3EG is arranged is the rear. The left side facing the front is the left side of the upper turning body 3, and the right side facing the front is the right side of the upper turning body 3. The left-right direction of the upper swivel body 3 is also referred to as a width direction. The hydraulic excavator 100 or the vehicle body 1 has the traveling device 5 side on the lower side with reference to the upper turning body 3, and the upper turning body 3 side on the upper side with reference to the traveling device 5. The front-rear direction of the hydraulic excavator 100 is the x direction, the width direction is the y direction, and the vertical direction is the z direction. When the hydraulic excavator 100 is installed on a horizontal plane, the lower part is on the side in the direction of action of gravity, which is the vertical direction, and the upper part is on the side opposite to the vertical direction.

The working machine 2 has a boom 6, an arm 7, a bucket 8 which is a working tool, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The base end portion of the boom 6 is attached to the front portion of the vehicle body 1 via the boom pin 13. The base end portion of the arm 7 is attached to the tip end portion of the boom 6 via the arm pin 14. A bucket 8 is attached to the tip of the arm 7 via a bucket pin 15. The bucket 8 moves around the bucket pin 15. A plurality of blades 8B are attached to the bucket 8 on the side opposite to the bucket pin 15. The blade tip 8T is the tip of the blade 8B.

In the embodiment, raising the working machine 2 means an operation in which the working machine 2 moves in a direction from the ground contact surface of the hydraulic excavator 100 toward the upper swing body 3. The lowering of the working machine 2 means an operation in which the working machine 2 moves in the direction from the upper swing body 3 of the hydraulic excavator 100 toward the ground contact surface. The ground contact surface of the hydraulic excavator 100 is a plane defined by at least three points in the ground contact portion of the tracks 5a and 5b.

In the case of a work machine that does not have the upper swivel body 3, raising the work machine 2 means an operation in which the work machine 2 moves away from the ground plane of the work machine. The lowering of the work machine 2 means an operation in which the work machine 2 moves in a direction approaching the ground plane of the work machine. If the work machine is equipped with wheels rather than tracks, the tread is a plane defined by the portion where at least three wheels come into contact.

The bucket 8 does not have to have a plurality of blades 8B. A bucket that does not have the blade 8B as shown in FIG. 1 and whose cutting edge is formed in a straight shape by a steel plate may be used. The working machine 2 may include, for example, a tilt bucket having a single blade. A tilt bucket is equipped with a bucket tilt cylinder, and by tilting the bucket to the left and right, even if the hydraulic excavator is on a slope, the slope and flat ground can be freely formed and leveled, and the bottom plate plate can be used for rolling. It is a bucket that can also perform pressure work. In addition to this, the working machine 2 may be provided with a slope bucket or an attachment for rock drilling having a tip for rock drilling as a working tool instead of the bucket 8.

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

A directional control valve 64 shown in FIG. 2 is provided between the hydraulic cylinders such as the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12 and the hydraulic pumps 36 and 37 shown in FIG. The directional control valve 64 controls the flow rate of the hydraulic oil supplied from the hydraulic pumps 36 and 37 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the like, and switches the direction in which the hydraulic oil flows. The directional control valve 64 is for a working machine for controlling a traveling directional control valve for driving the traveling motor 5c and a swivel motor for swiveling the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the upper swivel body 3. Includes directional control valve.

The work equipment controller 26 shown in FIG. 2 controls the control valve 27 shown in FIG. 2, thereby controlling the pilot pressure of the hydraulic oil supplied from the operating device 25 to the directional control valve 64. The control valve 27 is provided in the hydraulic system of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The work equipment controller 26 can control the operations of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 by controlling the control valve 27 provided in the pilot oil passage 450. In the embodiment, the work equipment controller 26 can control the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 to be decelerated by controlling the control valve 27 to be closed.

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

The position detection device 19 detects the current position of the hydraulic excavator 100 by using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means a global navigation satellite system). In the following description, the antennas 21 and 22 are appropriately referred to as GNSS antennas 21 and 22. The signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the position detection device 19. The position detection device 19 detects the installation position of the GNSS antennas 21 and 22. The position detection device 19 includes, for example, a three-dimensional position sensor.

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

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

<Control system 200>
As shown in FIG. 2, the control system 200, which is a control system for a work machine, includes a position detection device 19, a global coordinate calculation unit 23, an operation device 25, and a work that is a control device for the work machine according to the embodiment. The machine controller 26, the sensor controller 39, the display controller 28, and the display unit 29 are included.

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

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

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

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

In the embodiment, the operating device 25 has a left operating lever 25L installed on the left side of the operator and a right operating lever 25R arranged on the right side of the operator. In the left operation lever 25L and the right operation lever 25R, the front / rear / left / right movements correspond to the two-axis movements of the arm 7 and the turning.

For example, the operation of the right operating lever 25R in the front-rear direction corresponds to the operation of the boom 6. When the right operating lever 25R is operated forward, the boom 6 is lowered, and when it is operated backward, the boom 6 is raised. The operation of lowering and raising the boom 6 is executed according to the operation of the right operating lever 25R in the front-rear direction.

The operation of the right operating lever 25R in the left-right direction corresponds to the operation of the bucket 8. When the right operating lever 25R is operated to the left, the bucket 8 is excavated, and when it is operated to the right, the bucket 8 dumps. The excavation or dump operation of the bucket 8 is executed according to the operation of the right operating lever 25R in the left-right direction.

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

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

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

According to the operation of the right operating lever 25R in the front-rear direction, the pilot oil can be supplied to the pilot oil passage 450, and the operation of the boom 6 by the operator is accepted. The valve device included in the right operating lever 25R opens according to the amount of operation of the right operating lever 25R, and hydraulic oil is supplied to the pilot oil passage 450.

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

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

According to the operation of the right operating lever 25R in the left-right direction, the pilot oil can be supplied to the pilot oil passage 450, and the operation of the bucket 8 by the operator is accepted. The valve device included in the right operating lever 25R opens according to the amount of operation of the right operating lever 25R, and hydraulic oil is supplied to the pilot oil passage 450.

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

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

According to the operation of the left operation lever 25L in the front-rear direction, the pilot oil can be supplied to the pilot oil passage 450, and the operation of the arm 7 by the operator is accepted. The valve device included in the left operating lever 25L opens according to the amount of operation of the left operating lever 25L, and hydraulic oil is supplied to the pilot oil passage 450.

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

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

When the right operating lever 25R is operated, the operating device 25 supplies the directional control valve 64 with pilot oil having a magnitude corresponding to the amount of operation of the right operating lever 25R.

When the left operating lever 25L is operated, the operating device 25 supplies the directional control valve 64 with a pilot oil having a magnitude corresponding to the amount of operation of the left operating lever 25L. The directional control valve 64 is operated by the pilot oil supply supplied from the operating device 25 to the directional control valve 64.

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

The sensor controller 39 has a storage unit such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and a processing unit such as a CPU (Central Processing Unit).

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

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

The sensor controller 39 calculates the inclination angle θ3 of the cutting edge 8T of the bucket 8 held by the bucket 8 with respect to the arm 7 from the bucket cylinder length LS3 detected by the third stroke sensor 18, and outputs the tilt angle θ3 to the work equipment controller 26 and the display controller 28. To do.

The inclination angles θ1, θ2, and θ3 can be detected by other than the first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18. For example, an angle sensor such as a potentiometer can also detect tilt angles θ1, θ2, and θ3.

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

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

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

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

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

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

The position detection device 19 included in the control system 200 includes the GNSS antennas 21 and 22 described above. A signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the global coordinate calculation unit 23.

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

The GNSS antennas 21 and 22 receive the reference position data P1 and P2 at a predetermined cycle. The reference position data P1 and P2 are information on the position where the GNSS antenna is installed. The GNSS antennas 21 and 22 output to the global coordinate calculation unit 23 each time the reference position data P1 and P2 are received.

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

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

The global coordinate calculation unit 23 updates the reference position data P and the turning body orientation data Q, which are the turning body arrangement data, every time two reference position data P1 and P2 are acquired from the GNSS antennas 21 and 22 at a predetermined cycle. Then, it is output to the display controller 28.

The display controller 28 has a storage unit such as a RAM and a ROM, and a processing unit such as a CPU. The display controller 28 acquires the reference position data P and the swivel body orientation data Q, which are the swivel body arrangement data, from the global coordinate calculation unit 23.

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

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

The display controller 28 derives the target excavation terrain data Ua for display based on the target excavation terrain data U, and based on the target excavation terrain data Ua for display, the display unit 29 serves as a target for the work target of the work machine 2. Display the shape, for example, the terrain.

The display unit 29 is, for example, a liquid crystal display device that receives input from a touch panel, but is not limited thereto. In the embodiment, the switch 29S is installed adjacent to the display unit 29. The switch 29S is an input device for executing the intervention control described later or stopping the intervention control being executed.

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

The work equipment controller 26 acquires the target excavation terrain data U from the display controller 28. The target excavation topography data U is information on the range in which the hydraulic excavator 100 will work in the target construction information T.

The target excavation topography data U is a part of the target construction information T. The target excavation terrain data U represents a target shape of the work target of the work machine 2 as well as the target construction information T. The target shape of this finish is appropriately referred to as a target excavation topography in the following.

The working machine controller 26 calculates the position of the cutting edge 8T of the bucket 8 (hereinafter, appropriately referred to as the cutting edge position) from the angle of the working machine 2 acquired from the sensor controller 39.

The work machine controller 26 is based on the distance between the target excavation terrain data U and the cutting edge 8T of the bucket 8 and the speed of the work machine 2 so that the cutting edge 8T of the bucket 8 moves along the target excavation terrain data U. Control the operation of 2.

In the work machine controller 26, in order to prevent the bucket 8 from eroding the target shape of the work target of the work machine 2 which is the target excavation topography data U, the speed in the direction in which the work machine 2 approaches the construction target is increased. Control so that it is below the speed limit. This control is appropriately referred to as intervention control.

The intervention control is performed, for example, when the operator of the hydraulic excavator 100 chooses to perform the intervention control using the switch 29S shown in FIG. When calculating the distance between the target excavation terrain and the bucket 8 to be described later, the reference position of the bucket 8 is not limited to the cutting edge 8T and may be any place.

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

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

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

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

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

The spool 64S is moved by hydraulic oil (hereinafter, appropriately referred to as pilot oil) supplied from the operating device 25 shown in FIG. The directional control valve 64 supplies hydraulic oil to the boom cylinder 10 by moving the spool 64S to operate the boom cylinder 10.

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

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

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

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

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

By moving the spool 64S in the axial direction, the flow rate, which is the amount of hydraulic oil supplied to the boom cylinder 10 per unit time, is adjusted. By adjusting the flow rate of hydraulic oil with respect to the boom cylinder 10, the operating speed of the boom cylinder 10 is adjusted.

When the spool 64S of the directional control valve 64 moves in the first direction, the hydraulic oil is supplied from the directional control valve 64 to the cap side oil chamber 48R, and the hydraulic oil is returned from the rod side oil chamber 47R to the directional control valve 64. , The piston 10P of the boom cylinder 10 moves from the oil chamber 48R on the cap side toward the oil chamber 47R on the rod side. As a result, the rod 10L connected to the piston 10P extends from the boom cylinder 10.

When the spool 64S of the directional control valve 64 moves in the second direction opposite to the first direction based on the command from the operating device 25, the hydraulic oil is returned from the cap side oil chamber 48R to the directional control valve 64. Is done. When hydraulic oil is supplied from the directional control valve 64 to the rod side oil chamber 47R, the piston 10P of the boom cylinder 10 moves from the rod side oil chamber 47R toward the cap side oil chamber 48R. As a result, the rod 10L connected to the piston 10P retracts to the boom cylinder 10. By adjusting the moving direction of the spool 64S of the direction control valve 64 in this way, the operating direction of the boom cylinder 10 is changed.

By adjusting the movement amount of the spool 64S of the directional control valve 64, the flow rate of the hydraulic oil supplied to the boom cylinder 10 and returned from the boom cylinder 10 to the directional control valve 64 is changed, so that the operation of the boom cylinder 10 is performed. The moving speeds of the piston 10P and the rod 10L, which are the speeds, are changed.

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

The operating device 25 adjusts the pilot oil pressure based on the operation of each operating lever. The directional control valve 64 is driven by the adjusted pilot oil pressure. By adjusting the magnitude of the pilot oil pressure and the direction of the pilot oil pressure by the operating device 25, the movement amount and the movement direction of the spool 64S with respect to the axial direction are adjusted. As a result, the operating speed and operating direction of the boom cylinder 10 are changed.

In the intervention control, the work equipment controller 26 has tilt angles θ1 and θ2 for obtaining the target excavation terrain (target excavation terrain data U) indicating the design terrain which is the target shape of the excavation target and the position of the bucket 8 in the intervention control. , Θ3, the speed of the boom 6 is limited so that the speed at which the bucket 8 approaches the target excavation terrain 43I decreases according to the distance between the target excavation terrain 43I and the bucket 8.

In the embodiment, when the work machine 2 operates based on the operation of the operation device 25, the work machine controller 26 generates a boom command signal CBI so that the cutting edge 8T of the bucket 8 does not invade the target excavation terrain 43I. Is used to control the operation of the boom 6.

Specifically, the work equipment controller 26 raises the boom 6 so that the cutting edge 8T does not invade the target excavation terrain 43I in intervention control. The control for raising the boom 6 executed in the intervention control is appropriately referred to as boom intervention control.

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

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

The shuttle valve 51 connects the oil passage 452B with the one of the two inlets 51Ia and 51Ib having the higher pilot oil pressure.

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

When the boom intervention control is not executed, the directional control valve 64 is driven based on the pilot oil pressure adjusted by the operation of the operating device 25. For example, the work equipment controller 26 opens (fully opens) the pilot oil passage 450B by the control valve 27B so that the directional control valve 64 is driven based on the pilot oil pressure adjusted by the operation of the operating device 25. The intervention valve 27C is controlled to close the pilot oil passage 50.

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

When the work equipment controller 26 executes boom intervention control, for example, it generates a boom command signal CBI, which is a speed command for raising the boom 6, and controls the intervention valve 27C. By doing so, the directional control valve 64 of the boom cylinder 10 supplies hydraulic oil to the boom cylinder 10 so that the boom 6 rises at a speed corresponding to the boom command signal CBI, so that the boom cylinder 10 is the boom 6. To raise.

Although the hydraulic circuit 301 of the boom cylinder 10 has been described, the hydraulic circuit of the arm cylinder 11 and the hydraulic circuit of the bucket cylinder 12 exclude the intervention valve 27C, the shuttle valve 51, and the pilot oil passage 50 from the hydraulic circuit 301 of the boom cylinder 10. It is a configuration.

The boom intervention control is a control that raises the boom 6 executed in the intervention control, but in the intervention control, the work equipment controller 26 receives the arm 7 and the arm 7 and instead of the rise of the boom 6. At least one of the buckets 8 may be raised.

In the intervention control, the work machine controller 26 raises at least one of the boom 6, the arm 7, and the bucket 8 constituting the work machine 2, so that the target shape of the work target of the work machine 2 and the target excavation terrain in the embodiment. The work machine 2 is moved in a direction away from 43I.

In the embodiment, when the work machine 2 operates based on the operation of the operation device 25, the work machine controller 26 intervenes control to operate at least one of the boom 6, the arm 7, and the bucket 8 constituting the work machine 2. It is called.

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

FIG. 4 is a block diagram of the work equipment controller 26 based on the embodiment.
FIG. 5 is a diagram showing the target excavation topography data U and the bucket 8 based on the embodiment.

FIG. 6 is a diagram for explaining a boom speed limit Vcy_bm based on the embodiment.
FIG. 7 is a diagram for explaining the speed limit Vc_lmt based on the embodiment.

The work equipment controller 26 includes a determination unit 26J and a control unit 26CNT. The control unit 26CNT includes a relative position calculation unit 26A, a distance calculation unit 26B, a target speed calculation unit 26C, an intervention speed calculation unit 26D, an intervention command calculation unit 26E, and an intervention speed correction unit 26F.

The functions of the determination unit 26J, the relative position calculation unit 26A, the distance calculation unit 26B, the target speed calculation unit 26C, the intervention speed calculation unit 26D, the intervention command calculation unit 26E, and the intervention speed correction unit 26F are shown in FIG. The processing unit 26P of the controller 26 is realized.

When the intervention control is executed, the work equipment controller 26 uses the boom operation amount MB, the arm operation amount MA, the bucket operation amount MT, the target excavation topography data U acquired from the display controller 28, the bucket cutting edge position data S, and the sensor controller 39. Using the tilt angles θ1, θ2, and θ3 obtained from, the boom command signal CBI required for intervention control is generated, the arm command signal and bucket command signal are generated as necessary, and the control valve 27 and the intervention valve 27C are generated. Drive to control the work equipment 2.

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

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

The target excavation terrain 43I is obtained from the line of intersection between the plane of the work machine 2 defined in the front-rear direction of the upper swivel body 3 and passing through the excavation target position Pdg and the target construction information T represented by a plurality of target construction surfaces. Be done.

More specifically, among the above-mentioned lines of intersection, one or a plurality of inflection points before and after the excavation target position Pdg of the target construction information T and the lines before and after the inflection point are the target excavation topography 43I.

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

The target speed calculation unit 26C determines the boom target speed Vc_bm, the arm target speed Vc_am, and the bucket target speed Vc_bkt. The boom target speed Vc_bm is the speed of the cutting edge 8T when the boom cylinder 10 is driven. The arm target speed Vc_am is the speed of the cutting edge 8T when the arm cylinder 11 is driven. The bucket target speed Vc_bkt is the speed of the cutting edge 8T when the bucket cylinder 12 is driven. The boom target speed Vc_bm is calculated according to the boom operation amount MB. The arm target speed Vc_am is calculated according to the arm operation amount MA. The bucket target speed Vc_bkt is calculated according to the bucket operation amount MT.

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

As shown in FIG. 6, the intervention speed calculation unit 26D sets the boom speed limit Vcy_bm by subtracting the arm target speed Vc_am and the bucket target speed Vc_bkt from the speed limit Vc_lmt of the entire working machine 2 shown in FIG. Ask.

The speed limit Vc_lmt is an allowable moving speed of the cutting edge 8T in the direction in which the cutting edge 8T of the bucket 8 approaches the target excavation terrain 43I.

As shown in FIG. 7, the speed limit Vc_lmt is a descent speed when the work machine 2 descends, which is a negative value when the distance d is positive, and is a positive value when the distance d is negative. This is the ascending speed when the working machine 2 ascends.

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

The determination unit 26J determines whether or not to correct the boom limit speed Vcy_bm.
When the determination unit 26J determines that the boom limit speed Vcy_bm is corrected, the intervention speed correction unit 26F corrects the boom limit speed Vcy_bm and outputs it. The corrected boom speed limit is represented by Vcy_bm'.

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

The boom command signal CBI is a command for setting the opening degree of the intervention valve 27C to the magnitude required for the shuttle valve 51 to exert the pilot pressure required for the boom 6 to rise at the boom limit speed Vcy_bm. The boom command signal CBI is, in the embodiment, a current value corresponding to the boom command speed.

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

The switching determination unit 26K determines whether or not intervention control becomes unnecessary.
The operation command determination unit 26L determines whether or not the operator is performing an operation of raising the boom 6 or a neutral operation with respect to the right operation lever 25R. The neutral operation is a state in which the operation of raising or lowering is not performed. The right operating lever 25R is in the intermediate position.

The speed difference determination unit 26M determines the speed difference between the boom limit speed Vcy_bm and the boom target speed Vc_bm according to the operation of raising the boom 6 with respect to the right operating lever 25R by the operator. Alternatively, the speed difference determination unit 26M determines the speed difference between the boom limit speed Vcy_bm and the boom target speed 0 according to the neutral operation of the right operating lever 25R by the operator. Specifically, it is determined whether or not the speed difference is equal to or greater than the threshold value Dr.

In the embodiment, the determination unit 26J has a boom limit speed Vcy_bm and a right operation lever 25R by the operator when the operator is operating to raise the boom 6 with respect to the right operation lever 25R when intervention control is not required. When the speed difference from the boom target speed Vc_bm according to the operation of raising the boom 6 is equal to or greater than the threshold value Dr, the boom limit speed Vcy_bm is corrected. Further, the determination unit 26J determines the boom target speed Vcy_bm and the boom target according to the neutral operation of the right operation lever 25R by the operator when the operator is performing the neutral operation with respect to the right operation lever 25R when the intervention control becomes unnecessary. When the speed difference from the speed 0 is equal to or greater than the threshold Dr, the boom limit speed Vcy_bm is corrected.

<Aspect of boom intervention control>
FIG. 8 is a diagram showing the relationship between the bucket 8 and the target excavation terrain 43I based on the embodiment.

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

Intervention control is performed when the operator attempts to erode the target excavation terrain 43I by operator operation, as shown in FIG.

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

Intervention control becomes unnecessary when the working machine does not erode the target excavation terrain 43I by the operator operation.

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

As shown in FIG. 8, when the intervention control is released when the bucket 8 is removed from the area where the target excavation terrain 43I exists, the intervention control is switched to the manual operation of the work equipment 2.

When switching from the intervention control to the control of the work equipment 2 by manual operation, the sudden speed change causes a sense of discomfort to the operator as a result.

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

As shown in FIG. 9, the vertical axis is the boom target speed Vbm, and the horizontal axis is the time t. The boom target speed Vbm represents an ascending speed that is the speed at which the boom 6 rises when it takes a positive value, and represents a descending speed that is the speed at which the boom 6 descends when it takes a negative value.

Since the boom 6 is a part of the working machine 2, the boom target speed Vbm is the speed of the working machine 2. The ascending speed of the boom 6 corresponds to the ascending speed of the working machine 2, and the descending speed of the boom 6 corresponds to the descending speed of the working machine 2.

In the embodiment, the ascending speed and the descending speed of the working machine 2 are referred to as the moving speed of the working machine 2. The moving speed of the work machine 2 takes a positive value when the work machine 2 rises, and takes a negative value when the work machine 2 falls.

The work equipment controller 26 determines the boom target speed Vbm by the operator of the hydraulic excavator 100 when the bucket 8 is removed from the area where the target excavation terrain 43I exists and the boom intervention control is not required. Set the boom target speed Vbop.

Under a predetermined condition, the work equipment controller 26 reduces the boom target speed Vbm from the boom limit speed Vcy_bm1 before the boom intervention control becomes unnecessary by a constant rate of change VRC, and sets the boom target speed Vbop.

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

In the embodiment, the work equipment controller 26 follows the boom intervention control when the operation command from the operation device 25 is an ascending command or a neutral command of the boom 6 when the boom intervention control becomes unnecessary. Vcy_bm1 is compared with the boom target speed Vboo or 0 determined by the operator's operation. Then, the difference D between the boom limit speed Vcy_bm1 and the boom target speed Vboo or 0 is calculated. The larger the difference D between the boom limit speed Vcy_bm1 and the boom target speed Vboo or 0, the larger the speed change.

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

When the boom intervention control becomes unnecessary, the work equipment controller 26 sets the boom limit speed Vcy_bm1 and the boom target speed Vpop or 0 when the operation command from the operation device 25 is the boom 6 ascending command or the neutral command. When the difference D is equal to or greater than the threshold value Dr, the boom target speed Vbm before boom intervention control becomes unnecessary is reduced by a constant rate of change VRC to change to the boom target speed Vpop instructed by the operator.

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

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

When the boom intervention control is being executed and the operator is performing an operation to raise the boom 6 or a neutral operation, when the bucket 8 is removed from the area where the target excavation terrain 43I exists and the boom intervention control becomes unnecessary, The boom target speed Vbm gradually changes from the boom limit speed Vcy_bm1 to the boom target speed Vpop or 0 instructed by the operator. As a result, the sudden deceleration of the boom 6 is alleviated, so that the operator feels uncomfortable.

Further, the impact due to the sudden deceleration of the boom 6 can be reduced, and the influence on the earth and sand loaded on the bucket 8 can be alleviated.

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

Next, in the determination unit 26J of the work equipment controller 26 shown in FIG. 4, the switching determination unit 26K determines whether or not the boom intervention control becomes unnecessary. The operation command determination unit 26L determines whether or not the operator is performing an operation of raising the boom 6 or a neutral operation with respect to the right operation lever 25R when the boom intervention control becomes unnecessary. The speed difference determination unit 26M sets the boom speed limit Vcy_bm and the boom by the operator when the operator is operating the boom 6 to be raised or neutralized with respect to the right operating lever 25R when the boom intervention control is not required. The speed difference from the boom target speed Vc_bm according to the operation of raising 6 or the boom target speed 0 according to the neutral operation is determined.

When the speed difference determination unit 26M determines that the speed difference is equal to or greater than the threshold value Dr, the determination unit 26J determines that the boom limit speed Vcy_bm is corrected, and causes the intervention speed correction unit 26F to correct the boom limit speed Vcy_bm. Instruct.

The intervention speed correction unit 26F of the control unit 26CNT obtains the corrected boom limit speed Vcy_bm'and outputs it to the intervention command calculation unit 26E of the control unit 26CNT.

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

Specifically, the intervention speed correction unit 26F controls so that the boom limit speed Vcy_bm changes to the boom target speed Vpop according to the rate of change VRC.

If the rate of change VRC is large, the rise of the boom 6 will stop promptly when the boom intervention control becomes unnecessary, but the change of the boom target speed Vboo will be rapid, so an impact will occur and the operator will feel uncomfortable. Or

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

<Control method of work machine based on the embodiment>
FIG. 10 is a diagram illustrating a flow showing a control method of a work machine based on an embodiment.

As shown in FIG. 10, the work machine control method according to the embodiment is realized by the work machine controller 26.

In step S2, the switching determination unit 26K of the work equipment controller 26 shown in FIG. 4 determines whether or not boom intervention control is unnecessary. When the switching determination unit 26K determines that the boom intervention control is unnecessary (YES in step S2), in step S4, the operation command determination unit 26L performs an operation for raising the boom 6 or a neutral operation by the operator. It is determined whether or not it is (step S4).

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

The speed difference determination unit 26M determines whether or not the speed difference is equal to or greater than the threshold value Dr (step S6).

If the speed difference determination unit 26M determines in step S6 that the speed difference is equal to or greater than the threshold value Dr (YES in step S6), in step S8, the intervention command calculation unit 26E of the work equipment controller 26 determines the intervention speed. A boom command signal CBI is generated from the corrected boom limit speed Vcy_bm' obtained by the correction unit 26F, and the intervention valve 27C is controlled based on the boom command signal.

Then, the process ends (end).
On the other hand, if the switching determination unit 26K determines in step S2 that boom intervention control is not necessary (YNO in step S2), in step S16, the intervention command calculation unit 26E of the work equipment controller 26 does not correct the boom. The intervention valve 27C is controlled based on the boom command signal CBI using the speed limit Vcy_bm.

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

Then, the process ends (end).

<Electric operation lever>
In the embodiment, the operating device 25 has a pilot hydraulic type operating lever, but may have an electric type left operating lever 25La and a right operating lever 25Ra.

When the left operating lever 25La and the right operating lever 25Ra are of the electric type, the respective operating amounts are detected by the potentiometer. The operating amounts of the left operating lever 25La and the right operating lever 25Ra detected by the potentiometer are acquired by the working machine controller 26.

The work equipment controller 26 that has detected the operation signal of the operation lever of the electric system executes the same control as that of the pilot hydraulic system.

As described above, in the embodiment, when the intervention control is not required and the operator is performing an operation of raising the boom 6 or a neutral operation with respect to the right operation lever 25R, the boom speed limit Vcy_bm and the boom 6 are raised. When the speed difference from the boom target speed Vc_bm according to the operation to be made or the boom target speed 0 according to the neutral operation is equal to or more than the threshold Dr, the boom limit speed Vcy_bm is corrected. The boom limit speed Vcy_bm is reduced by a constant rate of change VRC to change to the boom target speed Vboo or 0 specified by the operator.

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

The embodiments disclosed this time are examples, and are not limited to the above contents. The scope of the present invention is indicated by the claims and is intended to include all modifications within the meaning and scope equivalent to the claims.

1 Vehicle body, 2 Work equipment, 3 Upper swivel body, 4 Driver's cab, 5 Traveling device, 6 Boom, 7 arm, 8 bucket, 10 boom cylinder, 11 arm cylinder, 12 bucket cylinder, 13 boom pin, 14 arm pin, 15 bucket Pin, 16 1st stroke sensor, 17 2nd stroke sensor, 18 3rd stroke sensor, 19 position detection device, 26 work equipment controller, 26A relative position calculation unit, 26B distance calculation unit, 26C target speed calculation unit, 26CNT control unit , 26D intervention speed calculation unit, 26E intervention command calculation unit, 26F intervention speed correction unit, 26J judgment unit, 26K switching judgment unit, 26L operation command judgment unit, 26M speed difference judgment unit, 26P processing unit, 26Q storage unit.

Claims (4)

With the work machine
An operating device that operates the work equipment and
It is equipped with a controller that controls the work equipment.
The controller
Intervention control for raising the work equipment is executed during an operation command from the operation device.
It is determined that the intervention control is switched to the control of the working machine according to the operation command of the operating device.
In the switching based on the determination result, it is determined whether or not the operation command of the operation device is an ascending or neutral command of the working machine.
When the operation command of the operation device is an ascent or neutral command of the work machine based on the determination result, the ascending target speed of the work machine by the intervention control and the target speed according to the operation command of the operation device. Judging the speed difference of
When the speed difference is equal to or greater than a predetermined value, the work machine adjusts so that the ascending target speed of the work machine gradually changes to the target speed according to the operation command of the operation device. The controller
An intervention control unit that executes intervention control to raise the work equipment during an operation command from the operation device.
A switching determination unit that determines switching from the intervention control to the control of the working machine according to the operation command of the operating device, and
An operation command determination unit that determines whether or not the operation command of the operation device is an ascending or neutral command of the work machine in the switching based on the determination result of the switching determination unit.
When the operation command of the operation device is an ascent or neutral command of the work machine based on the judgment result of the operation command determination unit, the ascending target speed of the work machine by the intervention control and the operation device of the operation device. A speed difference judgment unit that determines the speed difference from the target speed according to the operation command,
When the speed difference is equal to or greater than a predetermined value based on the judgment result of the speed difference determination unit, the ascending target speed of the work machine is adjusted so as to gradually change to the target speed according to the operation command of the operation device. The work machine according to claim 1, which includes a speed adjusting unit. The controller
The work machine according to claim 1, wherein when the speed difference is less than the predetermined value, the ascending target speed of the work machine is switched to a target speed according to an operation command of the operation device. It is a control method of a work machine including a work machine and an operation device for operating the work machine.
A step of executing an intervention control for raising the work equipment during an operation command from the operation device, and
A step of determining switching from the intervention control to the control of the working machine according to the operation command of the operating device, and
In the switching based on the determination result, a step of determining whether or not the operation command of the operating device is an ascending or neutral command of the working machine, and
When the operation command of the operation device is an ascent or neutral command of the work machine based on the determination result, the ascending target speed of the work machine by the intervention control and the target speed according to the operation command of the operation device. Steps to determine the speed difference of
A method for controlling a work machine, comprising a step of adjusting the ascending target speed of the work machine so as to gradually change to a target speed according to an operation command of the operation device when the speed difference is equal to or more than a predetermined value.

Images