WO2023100689A1 - Construction machine driving device, and construction machine and construction machine system provided with same - Google Patents

Abstract

A controller (50) of a driving device sets a target physical quantity relating to the orientation of a work device, calculates a present physical quantity relating to the actual orientation of the work device, calculates a physical quantity deviation between the target physical quantity and the present physical quantity, calculates an assist operation value for assisting in operation of an operator, corrects an operator operation value to an operator correction value so as to attain a small value when the physical quantity deviation is small as compared with when the physical quantity deviation is large, corrects the assist operation value to an assist correction value so as to attain a large value when the physical quantity deviation is small as compared with when the physical quantity deviation is large, and controls the orientation of the work device using a total value obtained by adding the operator correction value and the assist correction value.

Description

Driving device for construction machine, construction machine and construction machine system provided with the same

The present disclosure relates to a construction machine driving device, a construction machine having the same, and a construction machine system.

A construction machine is equipped with a machine body and a working device that can change its attitude with respect to the machine body. When the construction machine is, for example, a hydraulic excavator, the machine body is composed of a lower traveling body, and the working device includes an upper rotating body, a boom, an arm and a bucket. Construction machines perform various operations at work sites. An operator frequently operates a lever to adjust the posture of the work device to a desired posture according to the content of the work. However, it is not easy for non-experts to efficiently perform such operations. Therefore, a technology has been proposed in which a controller of a construction machine assists an operation by an operator.

Patent Document 1 discloses a construction machine intended to assist the operator so that the work elements can reliably reach the target values in each work. In this construction machine, the control device outputs from the operating device when the pilot pressure is less than the maximum value at the time when the working element has moved to the second predetermined position before it has moved to the first predetermined position. change the pilot pressure value to the maximum value and accelerate the work element based on the changed maximum value. Further, the control device decelerates and stops the work element using one deceleration pattern selected from a plurality of deceleration patterns based on the speed of the work element detected by the speed detector.

In the assist technique of Patent Document 1, when the work element is accelerating, the pilot pressure is changed to the maximum value regardless of the lever operation amount, which is the magnitude of the operation by the operator. The work element decelerates to a stop according to the deceleration pattern. That is, in the assist control of Patent Document 1, since the operator's intention does not intervene either when the work element is accelerating or when it is stopped, there is a problem that it is difficult for the operator's operation skill to improve.

JP 2011-157789 A

DISCLOSURE OF THE INVENTION The present disclosure provides a driving device for a construction machine capable of assisting an operator's operation for adjusting the posture of a working device to a desired posture while allowing the operator's intention to intervene, a construction machine and a construction machine system including the same. intended to provide

The provided driving device for a construction machine includes an operation device that is operated by an operator to move the working device with respect to the machine body, and a controller, wherein the controller determines physical quantities related to the attitude of the working device. A target physical quantity is set as a target, a current physical quantity is calculated as a physical quantity related to the actual attitude of the working device, a physical quantity deviation is calculated as a deviation between the target physical quantity and the current physical quantity, and the operator's calculating an assist operation value for assisting the operation, and calculating an operator operation value corresponding to the operation so that the operator correction value is smaller when the physical quantity deviation is smaller than when the physical quantity deviation is large; is corrected to the operator correction value, and the assist operation value is corrected to the assist correction value so that the assist correction value becomes a larger value when the physical quantity deviation is smaller than when the physical quantity deviation is large. and controlling the attitude of the working device by using the total value obtained by adding the operator correction value and the assist correction value.

1 is a side view showing an example of a construction machine equipped with a driving device according to an embodiment of the present disclosure; FIG. It is a figure which shows the hydraulic circuit and controller of the said construction machine. 4 is an example of a map showing a relationship between a physical quantity deviation, which is a deviation between a target physical quantity of a working device of the construction machine and a current physical quantity of the working device, and an assist rate; It is an example of the block diagram which shows the flow of control by the said controller. 4 is a flowchart showing an example of arithmetic processing by the controller; FIG. 4 is a side view for explaining the operation of the working device in earth-removing work, which is an example of work performed by the construction machine; 7 is a graph showing an example of changes over time in bucket tip height and assist rate. It is another example of the block diagram which shows the flow of control by the said controller. It is still another example of a block diagram showing the flow of control by the controller. It is a figure which shows an example of the display apparatus of the said drive device. It is a figure which shows the other example of the said display apparatus.

A driving device for a construction machine according to an embodiment of the present disclosure and a construction machine equipped with the same will be described below with reference to the drawings.

[First embodiment]
As shown in FIGS. 1 and 2, the construction machine 100 includes a lower traveling body 1 and an upper turning body supported by the lower traveling body 1 so as to be able to turn relative to the lower traveling body 1 about a vertically extending Z-axis. A body 2, an attachment 3 supported by the upper revolving body 2, a plurality of hydraulic actuators, a plurality of hydraulic pumps, an attitude information acquisition section, a plurality of operating devices, a plurality of control valves, and a plurality of proportional valves. and a controller 50 . A construction machine 100 according to the present embodiment shown in FIG. 1 is a hydraulic excavator. Attachment 3 includes boom 4, arm 5 and tip attachment. The tip attachment is a bucket 6 in the example shown in FIG. 1, but may be other tip attachments such as forks, grapples, breakers, crushers (crusher). The driving device includes the plurality of operating devices and the controller 50 .

The lower traveling body 1 is an example of the machine body, and each of the upper rotating body 2, boom 4, arm 5, and tip attachment (for example, bucket 6) is an example of a working device. Each of these working devices is operable to change its relative posture with respect to the undercarriage 1 .

The construction machine 100 can perform various operations at the work site. Various operations include, for example, excavation operations, earth holding turning operations, dumping operations, and return turning operations. The excavation work is work in which the bucket 6 is moved along an excavation target such as the ground or embankment to excavate the excavation target and hold the earth and sand in the bucket 6 . The earth and sand holding and turning work is the work of moving the bucket 6 near the loading platform of the dump truck by turning the upper rotating body 2 while holding the excavated earth and sand in the bucket 6 . The unloading work is the work of releasing the earth and sand held in the bucket 6 that has moved to the vicinity of the loading platform from the bucket 6, dropping it onto the loading platform of the dump truck, and loading the earth and sand onto the loading platform. The return turning work is a work of turning the upper turning body 2 and adjusting the attitude of the attachment 3 to move the bucket 6 to the excavation target after the earth discharging work.

The lower traveling body 1 includes a pair of left and right traveling devices for causing the construction machine 100 to travel, and a lower frame connecting these traveling devices. The upper revolving body 2 includes an upper frame supported by the lower frame so as to be rotatable with respect to the lower frame, and a cabin and a machine room supported by the upper frame. A driver's seat on which an operator sits is arranged in the cabin, and various devices constituting a hydraulic circuit are arranged in the machine room.

The boom 4 has a base end portion supported by the front portion of the upper frame of the upper rotating body 2 so that the boom 4 can rotate about a horizontal axis (boom rotation axis) with respect to the upper rotating body 2; and an opposite tip. The arm 5 has a base end attached to the tip of the boom 4 so that the arm 5 can rotate about a horizontal axis (arm rotation axis) with respect to the boom 4, a tip on the opposite side, have The bucket 6 has a base end attached to the tip of the arm 5 so that the bucket 6 can rotate about a horizontal axis (bucket rotation axis) with respect to the arm 5, and a base end that can accommodate and hold earth and sand. It has an accommodation part which is a part and a tip of the bucket 6 . In this embodiment, the tip of the bucket 6 is composed of at least part of a tooth for excavation.

The plurality of hydraulic pumps include a main pump 21 and a pilot pump 22. The main pump 21 and the pilot pump 22 are driven by, for example, an engine (not shown). Each of the main pump 21 and the pilot pump 22 discharges hydraulic oil by being driven by the engine. The pilot pump 22 is driven by the engine to supply pilot pressure to each of the plurality of control valves.

The multiple hydraulic actuators include multiple hydraulic cylinders and the swing motor 11 . The plurality of hydraulic cylinders includes at least one boom cylinder 7 for moving boom 4 , an arm cylinder 8 for moving arm 5 and a bucket cylinder 9 for moving bucket 6 . Although only one main pump 21 is illustrated in FIG. 2 , the construction machine 100 may have a plurality of main pumps 21 .

At least one boom cylinder 7 has one end connected to the upper swing structure 2 and the other end connected to the boom 4 . At least one boom cylinder 7 extends or contracts by being supplied with hydraulic oil discharged from the main pump 21, thereby rotating the boom 4 in the boom raising direction or the boom lowering direction. The boom raising direction is the direction in which the tip of the boom 4 moves away from the ground, and the boom lowering direction is the direction in which the tip of the boom 4 approaches the ground.

The arm cylinder 8 has one end connected to the boom 4 and the other end connected to the arm 5 . The arm cylinder 8 is supplied with hydraulic oil discharged from the main pump 21 to extend or contract, thereby rotating the arm 5 in the arm pulling direction or the arm pushing direction. The arm pushing direction is the direction in which the tip of the arm 5 moves away from the boom 4 , and the arm pulling direction is the direction in which the tip of the arm 5 approaches the boom 4 .

The bucket cylinder 9 has one end connected to the arm 5 and the other end connected to the bucket 6 via a link member. The bucket cylinder 9 expands or contracts by being supplied with hydraulic oil discharged from the main pump 21, thereby rotating the bucket 6 in the bucket pulling direction or the bucket pushing direction. The bucket pulling direction is the direction in which the tip of the bucket 6 approaches the lower traveling body 1 , and the bucket pushing direction is the direction in which the tip of the bucket 6 moves away from the lower traveling body 1 .

The swing motor 11 is a hydraulic motor that operates to swing the upper swing structure 2 to the right or left with respect to the lower traveling structure 1 by receiving hydraulic oil discharged from the main pump 21 . The turning motor 11 has an output part (not shown) that rotates when supplied with the hydraulic oil, and the output part transmits driving force to the upper turning body 2 so as to turn the upper turning body 2 in both left and right directions. do. Specifically, the turning motor 11 has a pair of ports, and when hydraulic oil is supplied to one of these ports, the output portion rotates in the direction corresponding to the one port and the other port rotates. Drain the hydraulic oil from the port of

The attitude information acquisition unit acquires attitude information, which is information about the attitudes of a plurality of work devices including the upper rotating body 2, boom 4, arm 5, and bucket 6. The posture information acquisition unit inputs the acquired posture information to the controller 50 . In this embodiment, the attitude information acquisition unit includes a boom attitude detector 31 , an arm attitude detector 32 , a bucket attitude detector 33 , and a revolving body attitude detector 34 .

The boom attitude detector 31 detects boom attitude information, which is information about the attitude of the boom 4 . The boom attitude detector 31 inputs a detection signal corresponding to the detected boom attitude information to the controller 50 . Specifically, the boom attitude detector 31 may be a boom angle sensor that detects the angle of the boom 4 (an example of boom attitude information) with respect to a preset reference. In this case, the reference may be, for example, the upper revolving body 2, a horizontal plane, or a straight line or plane perpendicular to the central axis of revolving (the Z axis in FIG. 1). Also, the boom attitude detector 31 may be a cylinder stroke sensor that detects the cylinder length of the boom cylinder 7 . The cylinder length of the boom cylinder 7 corresponds to the attitude of the boom 4 with respect to the upper swing structure 2 . The cylinder length of the boom cylinder 7 is an example of boom attitude information.

The arm orientation detector 32 detects arm orientation information, which is information regarding the orientation of the arm 5 . The arm orientation detector 32 inputs a detection signal corresponding to the detected arm orientation information to the controller 50 . Specifically, the arm orientation detector 32 may be an arm angle sensor that detects the angle of the arm 5 (an example of arm orientation information) with respect to a preset reference. In this case, the reference may be, for example, the boom 4, a horizontal plane, or a straight line or plane perpendicular to the pivot axis (the Z axis in FIG. 1). Also, the arm posture detector 32 may be a cylinder stroke sensor that detects the cylinder length of the arm cylinder 8 . The cylinder length of arm cylinder 8 corresponds to the posture of arm 5 with respect to boom 4 . The cylinder length of the arm cylinder 8 is an example of arm posture information.

The bucket attitude detector 33 detects bucket attitude information, which is information about the attitude of the bucket 6 . The bucket attitude detector 33 inputs a detection signal corresponding to the detected bucket attitude information to the controller 50 . Specifically, the bucket attitude detector 33 may be a bucket angle sensor that detects the angle of the bucket 6 with respect to a preset reference (an example of bucket attitude information). In this case, the reference may be, for example, the arm 5, a horizontal plane, or a straight line or plane perpendicular to the pivot axis (the Z axis in FIG. 1). Also, the bucket position detector 33 may be a cylinder stroke sensor that detects the cylinder length of the bucket cylinder 9 . The cylinder length of bucket cylinder 9 corresponds to the posture of bucket 6 with respect to arm 5 . The cylinder length of the bucket cylinder 9 is an example of bucket attitude information.

The revolving body posture detector 34 detects revolving body posture information, which is information about the posture of the upper revolving body 2 . The rotating body posture detector 34 inputs a detection signal corresponding to the detected rotating body posture information to the controller 50 . Specifically, the revolving body posture detector 34 may be, for example, an inclination angle sensor that detects the inclination angle of the upper revolving body 2 with respect to the horizontal plane (an example of revolving body posture information). A rotation angle sensor that detects the rotation angle of the revolving body 2 (an example of revolving body posture information) may be used. Also, the revolving body attitude detector 34 may include both an inclination angle sensor and a rotation angle sensor.

Each of the boom angle sensor, arm angle sensor, bucket angle sensor, and rotation angle sensor may be, for example, a resolver, a rotary encoder, a potentiometer, or an IMU (Inertial Measurement Unit). , or other sensors. The tilt angle sensor may be, for example, an IMU.

The controller 50 preliminarily stores the size of each of a plurality of work devices according to the model of the construction machine 100 . In addition, the controller 50 can also control, for example, the relative positional relationship between the turning center axis and the boom rotation axis, the relative positions of the boom rotation axis, the arm rotation axis, the bucket rotation axis, and the corresponding work devices. relationship, etc. may be stored in advance. Thereby, the controller 50 geometrically adjusts the posture of each of the plurality of work devices including the upper rotating body 2, the boom 4, the arm 5 and the bucket 6 based on the detection signals input from the detectors 31 to 34, respectively. In addition, the coordinates of a specific portion SP, which is a preset portion in any one of the plurality of working devices, can be calculated. The specific portion SP may be set at the tip of the bucket 6 as shown in FIG. 1, for example.

As shown in FIG. 2, the plurality of operating devices include a boom operating device 61, an arm operating device 62, a bucket operating device 63, and a turning operating device 64. These operating devices 61 to 64 have operating levers 61A to 64A, respectively, which are operated by operators. Each of the operation devices 61 to 64 may be an electric operation device that inputs an operator operation value (electrical signal), which is an operation value corresponding to the operation given to the operation lever by the operator, to the controller 50 . FIG. 2 shows a circuit configuration when the operating devices 61 to 64 are configured by electric operating devices. Further, each of the operation devices 61 to 64 may be configured by an operation device (not shown) having a remote control valve.

A single operating lever may have a lever structure that also functions as a plurality of operating levers. For example, the right operation lever located on the right front of the driver's seat where the operator sits functions as the boom operation lever 61A when operated in the longitudinal direction, and functions as the bucket operation lever 63A when operated in the left and right direction. You may Further, the left operation lever arranged on the front left side of the driver's seat may function as the arm operation lever 62A when operated in the front-rear direction, and may function as the turn operation lever 64A when operated in the left-right direction. . The lever structure may be configured such that a combination of a plurality of operating levers can be arbitrarily changed by an operator's instruction.

The operation lever 61A of the boom operating device 61 is operated by the operator to raise the boom 4 in the boom raising direction and to lower the boom 4 in the boom lowering direction. and is configured to be able to receive The boom operation device 61 inputs an operator operation value (Lo) corresponding to the magnitude and direction of the operation to the controller 50 when the operation lever 61A is operated to raise or lower the boom.

The operating lever 62A of the arm operating device 62 is operated by the operator to operate the arm 5 in the arm pushing direction, and the arm pulling operation is operated by the operator to operate the arm 5 in the arm pulling direction. and is configured to be able to receive The arm operation device 62 inputs an operator operation value (Lo) corresponding to the magnitude and direction of the operation to the controller 50 when the operation lever 62A is subjected to an arm push operation or an arm pull operation.

The operation lever 63A of the bucket operation device 63 performs a bucket pulling operation, which is an operation by the operator for moving the bucket 6 in the bucket pulling direction, and a bucket pushing operation, which is an operation by the operator for moving the bucket 6 in the bucket pushing direction. and is configured to be able to receive The bucket operation device 63 inputs an operator operation value (Lo) corresponding to the magnitude and direction of the operation to the controller 50 when the operation lever 63A is subjected to a bucket pull operation or a bucket push operation.

The operation lever 64A of the turning operation device 64 is operated by the operator to turn the upper turning body 2 to the right and to turn the upper turning body 2 to the left. and a left turn operation. The turning operation device 64 inputs an operator operation value (Lo) corresponding to the magnitude of the operation and the direction of the operation to the controller 50 when the operation lever 64A is turned right or left.

The plurality of control valves include a boom control valve 41, an arm control valve 42, a bucket control valve 43, and a swing control valve 44. Each of the multiple control valves has a pair of pilot ports.

The boom control valve 41 is interposed between the main pump 21 and the boom cylinder 7, and controls the boom cylinder 7 according to the pilot pressure supplied to the pilot port corresponding to either one of the boom raising operation and the boom lowering operation. It opens and closes so as to change the direction and flow rate of the supplied hydraulic oil.

The arm control valve 42 is interposed between the main pump 21 and the arm cylinder 8, and controls the arm cylinder 8 according to the pilot pressure supplied to the pilot port corresponding to either one of the arm pushing operation and the arm pulling operation. It opens and closes so as to change the direction and flow rate of the supplied hydraulic oil.

The bucket control valve 43 is interposed between the main pump 21 and the bucket cylinder 9, and controls the bucket cylinder 9 according to the pilot pressure supplied to the pilot port corresponding to either the bucket pulling operation or the bucket pushing operation. It opens and closes so as to change the direction and flow rate of the supplied hydraulic oil.

The swing control valve 44 is interposed between the main pump 21 and the swing motor 11, and controls the swing motor 11 according to the pilot pressure supplied to the pilot port corresponding to either the right swing operation or the left swing operation. It opens and closes so as to change the direction and flow rate of the hydraulic oil supplied to.

The plurality of proportional valves include a pair of boom electromagnetic proportional valves 45, 45, a pair of arm electromagnetic proportional valves 46, 46, a pair of bucket electromagnetic proportional valves 47, 47, a pair of swing electromagnetic proportional valves 48, 48, including. Each of the plurality of proportional valves reduces the pressure of the pilot oil (operating oil) discharged by the pilot pump 22 according to a control command input from the controller 50, and the pilot pressure, which is the reduced pressure, is applied to the proportional valve is supplied to the pilot port of the control valve corresponding to . As a result, the control valve opens with a stroke corresponding to the magnitude of the pilot pressure in the direction corresponding to the pilot port to which the pilot pressure is supplied. As a result, hydraulic fluid from the main pump 21 is supplied to the hydraulic actuator corresponding to the control valve at a flow rate corresponding to the stroke.

The controller 50 includes, for example, a computer including an arithmetic processing unit such as an MPU and a memory. The controller 50 includes an operation command unit 51, a target physical quantity setting unit 52, a current physical quantity calculation unit 53, a physical quantity deviation calculation unit 54, an assist rate setting unit 55, an assist operation value calculation unit 56, and an operator operation value correction unit. A section 57 , an assist operation value correction section 58 , and a work determination section 59 are provided. an operation command unit 51, a target physical quantity setting unit 52, a current physical quantity calculation unit 53, a physical quantity deviation calculation unit 54, an assist rate setting unit 55, an assist operation value calculation unit 56, an operator operation value correction unit 57, an assist operation value correction unit 58, and the work determination unit 59 are implemented by the arithmetic processing unit executing a program.

The operation command unit 51 inputs the control command to each of the plurality of proportional valves. Specifically, when the operation lever 61A of the boom operating device 61 is given a boom raising operation or a boom lowering operation, the operation command unit 51 controls the boom electromagnetic proportional valves 45, 45 corresponding to the operation. A control command is input to the proportional valve 45 . When the operation lever 62A of the arm operating device 62 is subjected to an arm push operation or an arm pull operation, the operation command unit 51 controls the arm electromagnetic proportional valve 46 corresponding to the operation among the pair of arm electromagnetic proportional valves 46, 46. Enter directives. When the operation lever 63A of the bucket operation device 63 is given a bucket pull operation or a bucket push operation, the operation command unit 51 controls the bucket electromagnetic proportional valve 47 corresponding to the operation among the pair of bucket electromagnetic proportional valves 47, 47. Enter directives. When the operation lever 64A of the turning operation device 64 is given a right turning operation or a left turning operation, the operation command unit 51 controls the turning electromagnetic proportional valve 48 corresponding to the operation among the pair of turning electromagnetic proportional valves 48, 48. Input the control command.

More specifically, when a predetermined target work is being performed among a plurality of tasks that can be performed by the construction machine 100, the operation command unit 51 sets the operator correction value as described later. A control command calculated using (Lo') and the assist correction value (La') is input to the proportional valve corresponding to the operation being performed in the target work. The target work is a work set in advance as a target for assistance by the controller 50 in response to the operator's operation.

On the other hand, if the target work is not being performed among the plurality of tasks, that is, if a non-target work that is work other than the target work is being performed, the operation command unit 51 controls the plurality of operation devices. A command corresponding to the operator operation value (Lo) input to the controller 50 from the operating device operated in the non-target work among 61 to 64 is input as the control command to the proportional valve corresponding to the operation.

The target physical quantity setting unit 52 sets a target physical quantity, which is a target physical quantity related to the attitude of at least one working device. In this embodiment, the physical quantity related to the posture of the working device is the coordinates of the specific part, and the target physical quantity is the target coordinates of the specific part. In this embodiment, the specific portion is the tip of the bucket 6 . The target physical quantity setting unit 52 may set target coordinates as follows, for example.

In this embodiment, the construction machine 100 further includes a memory switch 80 that can be operated by the operator. The memory switch 80 is arranged at a position (for example, a position near the driver's seat) that can be operated by the operator, for example, in the cabin. The memory switch 80 may be an operator operable button. Alternatively, the memory switch 80 may be an area formed on the screen of the display and operable by the operator. The operator places the tip of the bucket 6 at a desired position by operating at least one of the operating levers 61A-64A of the plurality of operating devices 61-64. With the tip of the bucket 6 positioned at the desired position, the operator performs an input operation (for example, button operation) on the memory switch 80 . The target physical quantity setting unit 52 sets the coordinates at which the tip (specific portion) of the bucket 6 is arranged when the memory switch 80 is operated to be the target coordinates. The coordinate system that serves as a reference for the target coordinates may be, for example, a coordinate system whose origin is a preset position on the work site, or a coordinate system whose origin is a preset portion of the construction machine 100. It may be a coordinate system with another position as the origin. Also, the coordinate system may be a three-dimensional coordinate system or a two-dimensional coordinate system.

It should be noted that the method of setting the target coordinates is not limited to the above specific example. For example, when the construction machine 100 is provided with a camera that acquires an image of the work site, and a display capable of displaying an image of the work site (for example, a three-dimensional image) based on image data input from the camera to the controller 50. , when the operator designates a desired portion in the image displayed on the display (specifically, for example, when the operator touches the desired portion on the screen), the target physical quantity setting unit 52 sets the designated portion may be set as the target coordinates. The target physical quantity setting unit 52 may also set the coordinates (a plurality of numerical values) input by the operator as the target coordinates.

The current physical quantity calculation unit 53 calculates a current physical quantity that is a physical quantity related to the actual posture of at least one work device. In this embodiment, the current physical quantity is the actual coordinates of the tip of the bucket 6, that is, the current coordinates at that time. Therefore, the current physical quantity calculator 53 calculates the current coordinates, which are the coordinates of the tip (specific portion) of the bucket 6 . The current physical quantity calculation unit 53 calculates the current coordinates of the tip of the bucket 6 based on the posture information input from the posture information acquisition unit. Specifically, the current physical quantity calculation unit 53 calculates the attitude of the boom 4, the attitude of the arm 5, and the attitude of the bucket 6 based on the boom attitude information, the arm attitude information, and the bucket attitude information detected by the detectors 31 to 33, for example. Based on these attitudes, the current coordinates of the tip of the bucket 6 may be calculated. Further, the current physical quantity computing unit 53 may compute the current coordinates of the tip of the bucket 6 further taking into account the revolving body posture information detected by the detector 34 .

As shown in FIG. 1, the attitude of the boom 4 is represented by a boom angle θ1 that is the angle of the boom 4, the attitude of the arm 5 is represented by an arm angle θ2 that is the angle of the arm 5, and the attitude of the bucket 6 is represented by , a bucket angle θ3 that is the angle of the bucket 6 . The boom angle θ1 is, for example, an angle between a straight line connecting the rotation center of the boom 4 at the base end of the boom 4 and the rotation center of the arm 5 at the base end of the arm 5 and a reference plane. good too. The reference plane may be a horizontal plane or a plane orthogonal to the central axis of rotation (the Z axis in FIG. 1). The arm angle θ2 is the angle formed by the straight line connecting the rotation center of the boom 4 and the rotation center of the arm 5 and the straight line connecting the rotation center of the arm 5 and the rotation center of the bucket 6. may be The bucket angle θ3 is an angle formed by a straight line connecting the pivot center of the arm 5 and the pivot center of the bucket 6 and a straight line connecting the pivot center of the bucket 6 and the tip of the bucket 6. good too.

The physical quantity deviation calculation unit 54 calculates a physical quantity deviation, which is the deviation between the target physical quantity and the current physical quantity. In this embodiment, the physical quantity deviation calculator 54 calculates a coordinate deviation (e), which is the deviation between the target coordinates and the current coordinates. Specifically, the physical quantity deviation calculator 54 calculates the coordinate deviation (e) using, for example, the formula “coordinate deviation (e)=target coordinates−current coordinates”. The coordinate deviation (e) calculated by the above formula indicates the direction from the current coordinates to the target coordinates and the distance from the current coordinates to the target coordinates.

The assist rate setting unit 55 sets the assist rate so that the assist rate is larger when the physical quantity deviation is smaller than when the physical quantity deviation is large. In the present embodiment, the assist rate setting unit 55 sets the assist rate so that the assist rate (r) becomes a larger value when the coordinate deviation (e) is small than when the coordinate deviation (e) is large. (r) is set. Specifically, the assist rate setting unit 55 uses a map (graph) in which the relationship between the coordinate deviation (e) and the assist rate (r) is preset as shown in FIG. An assist rate (r) is set based on the calculated coordinate deviation (e).

In the graph shown in FIG. 3, the horizontal axis is the magnitude of the coordinate deviation (e), that is, the distance from the current coordinates to the target coordinates, and the vertical axis is the assist rate (r). As shown in FIG. 3, in the small area where the coordinate deviation (e) is small, the assist rate (r) is set to the maximum value ("1" in the specific example of FIG. 3), and the coordinate deviation (e) is In the large area, which is a large area, the assist rate (r) is set to the minimum value ("0" in the specific example of FIG. 3), and in the medium area, which is an intermediate area between the small area and the large area, the assist rate (r) is set to r) is set so that the assist rate (r) increases as the coordinate deviation (e) decreases. However, in the map shown in FIG. 3, the assist rate (r) is set so that the assist rate (r) is larger when the coordinate deviation (e) is smaller than when the coordinate deviation (e) is large. This is an example of a map prepared in advance to do so, and the map showing the relationship between the coordinate deviation (e) and the assist rate (r) is not limited to the specific example shown in FIG. The map may, for example, represent at least part of the middle region by a curved line, or omit at least one of the small region and the large region. Further, the maximum value of the assist rate (r) may be a value larger than "1" or a value smaller than "1", and the minimum value of the assist rate (r) may be a value larger than "0" or "0 ” may be a smaller value.

The assist operation value calculation unit 56 calculates an assist operation value (La), which is an operation value for assisting the operator's operation. In this embodiment, the assist operation value calculator 56 calculates an assist operation value (La) for assisting the operator's operation based on the coordinate deviation (e). Specifically, the controller 50 preliminarily stores, for example, the following formula (1) for performing feedback control. For example, as shown in FIG. 4, the assist operation value calculator 56 (PID controller) calculates the assist operation value (La) using the following equation (1) and the coordinate deviation (e). In the following formula (1), "u" is an assist operation value (La), and "Kp", "Ki", and "Kd" are PID gains (proportional gain, integral gain and differential gain). , “e” are the coordinate deviations.

The assist operation value (La) is an operation value for bringing the coordinate deviation (e) closer to zero, that is, an operation value for bringing the tip (specific portion) of the bucket 6 closer to the target coordinates. The controller 50 performs feedback control using an assist operation value (La) for bringing the coordinate deviation (e) closer to zero. For example, the assist operation value (La) is such that the direction in which the tip of the bucket 6 moves is closer to the target coordinates, and the speed at which the tip of the bucket 6 moves as the magnitude (distance) of the coordinate deviation (e) decreases. may be an operation value that realizes at least one of reducing The assist operation value (La) may be an operation value that assists the operator's operation so that the tip of the bucket 6 moves toward the target coordinates. The assist operation value (La) increases the speed at which the tip of the bucket 6 moves toward the target coordinates when the coordinate deviation (e) is large, and the tip of the bucket 6 moves toward the target coordinates when the coordinate deviation (e) is small. An operation value that reduces the speed of movement toward the coordinates may be used.

An operator operation value correction unit 57 adjusts the operator operation value (Lo) so that the operator correction value (Lo') becomes smaller when the physical quantity deviation is smaller than when the physical quantity deviation is large. Correct to the correction value (Lo'). In this embodiment, the operator operation value correction unit 57 adjusts the operator operation value (Lo) to the operator correction value (Lo') so that the operator correction value (Lo') decreases as the assist rate (r) increases. to correct. For example, the operator operation value correction unit 57 multiplies the operator operation value (Lo) by a value obtained by subtracting the assist rate (r) from a preset setting value (for example, "1") to obtain the operator correction value (Lo' ) may be calculated. Specifically, for example, the operator operation value correction unit 57 calculates the operator correction value (Lo') using the equation (2) "Lo'=Lo×(1−r)". In this formula (2), the assist rate (r) is a value between zero and 1 (0≦r≦1). Therefore, the operator correction value (Lo') decreases as the assist rate (r) increases.

An assist operation value correction unit 58 corrects the assist operation value (La) so that the assist correction value (La') becomes larger when the physical quantity deviation is small than when the physical quantity deviation is large. Correct to the value (La'). In the present embodiment, the assist operation value correction unit 58 sets the assist operation value (La) to the assist correction value (La') so that the assist correction value (La') increases as the assist rate (r) increases. to correct. The assist operation value correction unit 58 calculates an assist correction value (La') by, for example, multiplying the assist operation value (La) by the assist rate (r). Specifically, for example, the assist operation value correction unit 58 calculates the assist correction value (La') using the following equation (3) "La'=La×r". In this equation (3), the assist rate (r) is a value between zero and 1 (0≦r≦1), as described above. Therefore, the assist correction value (La') increases as the assist rate (r) increases.

As described above, when the target work is being performed among the plurality of works, the operation command unit 51 uses the operator correction value (Lo') and the assist correction value (La') to calculate A control command is input to the proportional valve corresponding to the operation being performed in the target operation. Specifically, when the target work is being performed, the operation command unit 51 adds the operator correction value (Lo') and the assist correction value (La') to the final operation value. is output as a control command Y (Y=Lo×(1−r)+La×r). The output control command Y is input to the proportional valve corresponding to at least one of the operating devices operated in the target work.

The work determination unit 59 determines the work performed by the construction machine 100 . The work determination unit 59 can acquire the boom attitude, the arm attitude, the bucket attitude, and the revolving body attitude based on detection signals input to the controller 50 from the plurality of detectors 31 to 34 . For example, in each of excavation work, earth and sand holding turning work, earth discharging work, and return turning work, at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 is characteristic. Since it changes over time, the work determination unit 59 determines the work of the construction machine 100 based on data on changes over time in at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2. can judge.

Specifically, for example, when the data of changes over time satisfies a predetermined condition regarding excavation work, the work determination unit 59 determines that the construction machine 100 is performing excavation work. Similarly, when the data of change over time satisfies a predetermined condition related to the turning work for holding earth and sand, the work determination unit 59 determines that the construction machine 100 is performing the turning work for holding earth and sand, and the data of change with time. satisfies a predetermined condition regarding the earth-discharging work, the work determination unit 59 determines that the construction machine 100 is performing the earth-discharging work, and the data of the change over time satisfies the predetermined condition regarding the return turning work. is satisfied, the work determination unit 59 determines that the construction machine 100 is performing the return turning work.

The work determination unit 59 replaces with or together with the data on at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 with time, the above-mentioned operator operation Work performed by the construction machine 100 may be determined based on the value (Lo). In addition, the work determination unit 59 may replace or together with the data on at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 with time, and perform the work. Work performed by the construction machine 100 may be determined based on the load applied to the device. In this case, the work determining unit 59, for example, detects the detection result (detection signal) of a load sensor capable of detecting the load applied to the working device or a load sensor attached to at least one of the plurality of movable parts constituting the working device. , may be used to determine the work of the construction machine 100 .

In addition, when the driving device of the construction machine 100 is provided with an input device 90 (see FIG. 2) that allows the operator to input the type of work, the work determination unit 59 can determine the work contents input by the operator. Based on this, the work to be performed by the construction machine 100 may be determined.

An example of arithmetic processing by the controller 50 will be described below with reference to the flowchart shown in FIG. In the following specific example, at a work site, an earth and sand loading operation including a series of operations including an excavation operation, an earth and sand holding turning operation, an earth dumping operation, and a return turning operation is repeatedly performed. Among these works, the earth removal work is set as the above-mentioned target work, and the excavation work, the earth and sand holding swing work, and the return swing work are set as non-target work. The specific portion is set at the tip of the bucket 6 .

The target physical quantity setting unit 52 of the controller 50 determines whether or not an input operation has been performed on the storage switch 80 (coordinate storage switch in this embodiment) (step S1).

At the time of starting the earth and sand loading work, the operator operates at least one of the operating levers 61A to 64A of the operating devices 61 to 64 as shown in the upper diagram (A) of FIG. The tip of the bucket 6 is moved to the position TP (star position). This asterisk position TP is a target position suitable for dropping the earth and sand held in the bucket 6 from the bucket 6 onto the bed of the dump truck during earth discharging work. The operator presses the memory switch 80 after stopping the tip of the bucket 6 at the desired position TP (star position).

When a signal indicating that memory switch 80 has been pressed is input to controller 50, target physical quantity setting unit 52 determines that an input operation has been performed on memory switch 80 (YES in step S1). 6 is set as a target coordinate (target physical quantity) (step S2). On the other hand, when the target physical quantity setting unit 52 determines that no input operation is performed on the memory switch 80 (NO in step S1), it sets the target coordinates (target physical quantity) to default values (step S3). The default values may be coordinates that are set in advance as target coordinates and stored in the memory, or may be target coordinates that were previously set.

Next, the work determination unit 59 of the controller 50 determines whether or not the soil removal work set as the target work is being performed (step S4). The work determining unit 59 is related to the earth discharging work in which the data of changes over time of the posture of the arm 5 and the posture of the bucket 6 are predetermined based on the detection signals input to the controller 50 from the plurality of detectors 31 to 34. When the condition is satisfied, the work determination unit 59 determines that the construction machine 100 is performing the earth removal work (YES in step S4). Specifically, it is as follows.

At the time when the earth-removing work is started after the earth-retaining turning work performed before the earth-removing work is completed, the work device is in a posture (discharging work) as shown in the second diagram (B) in FIG. 6, for example. work start posture). The third diagram (C) in FIG. 6 shows the posture of the working device at the intermediate stage of the earth discharging work, and the lower diagram (D) in FIG. 6 shows the posture of the working device at the time when the earth discharging work is completed. . As shown in these figures (B) to (D), in the earth removal work, an arm pushing operation is applied to the operating lever 62A of the arm operating device 62 so that the arm 5 moves in the arm pushing direction. , a bucket pushing operation is applied to the operating lever 63A of the bucket operating device 63 so that the bucket 6 moves in the bucket pushing direction. That is, in the earth removing work, the posture of the arm 5 and the posture of the bucket 6 characteristically change with time as described above. Therefore, the conditions relating to the earth-removing work are set in advance to conditions that allow determination of characteristic changes over time in the attitude of the arm 5 and the attitude of the bucket 6 as described above.

When the work determination unit 59 determines that the earth-removing work is being performed (YES in step S4), the current physical quantity calculation unit 53 operates based on the posture information input from the posture information acquisition unit (detectors 31 to 34). The current coordinates, which are the coordinates of the tip of the bucket 6 at that point in time, are calculated. is calculated (step S5).

Next, the assist rate setting unit 55 sets the assist rate (r) based on, for example, the map shown in FIG. 3 and the coordinate deviation (e) calculated by the physical quantity deviation calculator 54 (step S6). .

Next, the operator's operation value (Lo) at that time is input to the controller 50 . Specifically, when an arm pushing operation is given to the operating lever 62A, the arm operating device 62 inputs an operator operation value (Lo), which is an electric signal corresponding to the magnitude of the arm pushing operation, to the controller 50, and The bucket operation device 63 inputs an operator operation value (Lo), which is an electric signal corresponding to the magnitude of the bucket pushing operation, to the controller 50 when a bucket pushing operation is given to the operation lever 63A.

Further, the assist operation value calculation unit 56 (PID controller) uses the above equation (1) and the coordinate deviation (e) to calculate an assist operation value (La) for assisting the bucket pushing operation. .

The operator operation value correction unit 57 uses the above equation (2), the operator operation value (Lo) in the bucket pushing operation, and the assist rate (r) to calculate the operator correction value (Lo').

The assist operation value correction unit 58 uses the above equation (3), the assist operation value (La) in the bucket pushing operation, and the assist rate (r) to calculate the assist correction value (La').

Regarding the bucket pushing operation, the operation command unit 51 converts the total value obtained by adding the operator correction value (Lo') and the assist correction value (La') to the control command Y (Y=Lo×( 1−r)+La×r) (step S7). The output control command Y is input to the proportional valve 47 corresponding to the bucket pushing operation.

On the other hand, when the work determination unit 59 determines that the earth removal work is not being performed (NO in step S4), the operation command unit 51 responds to the operation input from at least one of the plurality of operation devices 61 to 64. The operator operation value (Lo) is output as a control command, which is the final operation value (step S8).

As described above, in this construction machine, the controller 50 provides an operator correction value (Lo' ) and an assist correction value (La′) corrected to be larger when the coordinate deviation (e) is smaller than when the coordinate deviation (e) is large, Control the attitude of at least one work implement. That is, the controller 50 performs feedback control using the assist operation value (La) for bringing the coordinate deviation (e) closer to zero as shown in FIG. Arithmetic processing is repeated. This makes it possible to assist the operator's operation for adjusting the posture of at least one working device to a desired posture while intervening the operator's will.

The controller 50 sets a larger assist rate (r) when the coordinate deviation (e) is smaller than when the coordinate deviation (e) is large, and multiplies the assist operation value (La) by the assist rate (r). Assist correction value (La') is calculated, and operator correction value (Lo' ). Therefore, as the coordinate deviation (e) becomes smaller, that is, as the tip of the bucket 6 approaches the target coordinates, the operator correction value (Lo') is continuously decreased and the assist correction value (La') is continuously decreased. You can make it bigger. This enables a smooth transition from a state in which the operation by the operator is the main focus to a state in which the controller 50 is the main focus in the process in which the tip of the bucket 6 approaches the target coordinates.

[Second embodiment]
In the first embodiment, the physical quantity related to the posture of the working device is the coordinates of the tip (specific part) of the bucket 6, but in the second embodiment, the stroke sensor (an example of the posture information acquisition unit) detects the is the length of the cylinder. In the second embodiment, the target physical quantity is the target cylinder length, and the current physical quantity is the actual cylinder length (current cylinder length) detected by the stroke sensor. The physical quantity deviation is a length deviation that is the deviation between the target cylinder length and the current cylinder length.

In this second embodiment, the boom attitude detector 31 is a cylinder stroke sensor that detects the cylinder length of the boom cylinder 7, and the arm attitude detector 32 is a cylinder stroke sensor that detects the cylinder length of the arm cylinder 8. and the bucket position detector 33 is a cylinder stroke sensor that detects the cylinder length of the bucket cylinder 9 .

In this second embodiment, the operator places the boom 4, the arm 5 and the bucket 6 in desired postures by operating at least one of the operating levers 61A-64A of the plurality of operating devices 61-64. The desired posture differs depending on the target work.

The controller 50 of the driving device according to the second embodiment may perform arithmetic processing according to the flowchart shown in FIG. 5, for example, as in the first embodiment. An example of arithmetic processing by the controller 50 according to the second embodiment will be described below with reference to the flowchart shown in FIG. Also in the following specific examples, the object work is set to the earth removal work, and the excavation work, the earth and sand holding swing work, and the return swing work are set to the non-target work.

The target physical quantity setting unit 52 of the controller 50 determines whether or not an input operation has been performed on the memory switch 80 (step S1).

At the time of starting the earth and sand loading work, the operator operates at least one of the operation levers 61A to 64A of the operation devices 61 to 64 to move the arm 5 and the bucket 6 to the upper diagram (A) in FIG. 6, for example. The storage switch 80 is pressed while the device is placed in the desired posture as shown.

When a signal indicating that the memory switch 80 has been pressed is input to the controller 50, the target physical quantity setting unit 52 determines that an input operation has been performed on the memory switch 80 (YES in step S1). The cylinder length of the cylinder 8 is set to the target cylinder length (first target cylinder length), and the cylinder length of the bucket cylinder 9 at that time is set to the target cylinder length (second target cylinder length) ( step S2). On the other hand, when target physical quantity setting unit 52 determines that an input operation to storage switch 80 has not been performed (NO in step S1), target physical quantity setting unit 52 sets the target cylinder length to a default value (step S3). The default values may be values preset and stored in the memory as the first target cylinder length and the second target cylinder length. It can be length.

Next, the work determination unit 59 of the controller 50 determines whether or not soil removal work is being performed (step S4). The work determining unit 59 is related to the earth discharging work in which the data of changes over time of the posture of the arm 5 and the posture of the bucket 6 are predetermined based on the detection signals input to the controller 50 from the plurality of detectors 31 to 34. When the condition is satisfied, the work determination unit 59 determines that the construction machine 100 is performing the earth removal work (YES in step S4).

When the work determination unit 59 determines that the earth-removing work is being performed (YES in step S4), the current physical quantity calculation unit 53 determines the current arm cylinder position based on the detection signal input from the arm posture detector 32. The current cylinder length (first current cylinder length), which is the cylinder length of No. 8, is calculated, and based on the detection signal input from the bucket attitude detector 33, the cylinder length of the bucket cylinder 9 at that time is calculated. A current cylinder length (second current cylinder length) is calculated. Then, the physical quantity deviation calculator 54 calculates the first length deviation (e) related to the posture of the arm 5 using, for example, the formula (first length deviation=first target cylinder length−first current cylinder length). and calculate a second length deviation (e) related to the attitude of the bucket 6 using, for example, the formula (second length deviation=second target cylinder length−second current cylinder length) (step S5).

The controller 50 stores in advance a map (arm map) set in advance to control the attitude of the arm 5, for example, as shown in FIG. 3 (bucket map) is stored in advance. These two maps are individually set in advance so that the arm 5 and the bucket 6 perform suitable operations in the earth discharging work. In the second embodiment, in the graph shown in FIG. 3, the horizontal axis is length deviation (first length deviation or second length deviation), and the vertical axis is assist rate (r).

Next, the assist rate setting unit 55 sets the first length deviation (e), which is the assist rate for the arm 5, based on the arm map and the first length deviation (e) calculated by the physical quantity deviation calculation unit 54. The assist rate (r) is set, and the second assist rate, which is the assist rate for the bucket 6, is calculated based on the bucket map and the second length deviation (e) calculated by the physical quantity deviation calculator 54. A rate (r) is set (step S6).

Next, the operator's operation value (Lo) at that time is input to the controller 50 . Specifically, when an arm pushing operation is applied to the operating lever 62A, the arm operating device 62 outputs an operator operation value (first operator operation value (Lo)), which is an electrical signal corresponding to the magnitude of the arm pushing operation. is input to the controller 50 . Bucket operating device 63 inputs an operator operation value (second operator operation value (Lo)), which is an electric signal corresponding to the magnitude of the bucket pushing operation, to controller 50 when a bucket pushing operation is given to operation lever 63A. do.

The controller 50 preliminarily stores an equation (arm computing equation) set in advance for feedback-controlling the attitude of the arm 5, for example, as shown in the above equation (1), and controls the attitude of the bucket 6 by feedback-controlling the equation. A preset formula (bucket computational formula), for example, as shown in the above formula (1), is stored in advance. These two formulas are individually set in advance so that the arm 5 and the bucket 6 perform suitable operations in the earth discharging work.

The assist operation value calculation unit 56 (PID controller) uses the above-described arm arithmetic expression and the first length deviation (e) to calculate the first assist operation value, which is an assist operation value for assisting the arm pushing operation. Calculate the value (La). Similarly, the assist operation value calculation unit 56 (PID controller) uses the bucket operation expression and the second length deviation (e) to obtain the assist operation value for assisting the bucket pushing operation. 2 Calculate an assist operation value (La).

The operator operation value correction unit 57 calculates the first operator correction value (Lo '), and using the above equation (2), the second operator operation value (Lo) in the bucket pushing operation, and the second assist rate (r), the second operator correction value (Lo') to calculate

The assist operation value correction unit 58 uses the above equation (3), the first assist operation value (La) in the arm pushing operation, and the first assist rate (r) to determine the first assist correction value (La '), and using the above equation (3), the second assist operation value (La) in the bucket pushing operation, and the second assist rate (r), the second assist correction value (La') to calculate

Regarding the arm pushing operation, the operation command unit 51 converts the first total value, which is the sum of the first operator correction value (Lo′) and the first assist correction value (La′), into the final operation value. A certain first control command Y (Y=Lo×(1−r)+La×r) is output. In addition, regarding the bucket pushing operation, the operation command unit 51 sets the second total value, which is the sum of the second operator correction value (Lo') and the second assist correction value (La'), as the final operation value. A second control command Y (Y=Lo×(1−r)+La×r), which is a value, is output (step S7). The output first control command Y is input to the proportional valve 46 corresponding to the arm pushing operation, and the output second control command Y is input to the proportional valve 47 corresponding to the bucket pushing operation.

On the other hand, when the work determination unit 59 determines that the earth removal work is not being performed (NO in step S4), the operation command unit 51 responds to the operation input from at least one of the plurality of operation devices 61 to 64. The operator operation value (Lo) is output as a control command, which is the final operation value (step S8).

As described above, the controller 50 performs feedback control for each of the arm 5 and the bucket 6 using the assist operation value (La) for bringing the length deviation (e) closer to zero as shown in FIG. , the arithmetic processing shown in steps S1 to S8 in the flow chart of FIG. This makes it possible to assist the operator's operation for adjusting the attitude of the arm 5 and the attitude of the bucket 6 to desired attitudes while allowing the operator to intervene.

[Third embodiment]
In the drive device according to the above embodiment, the target work is soil removal work, but the drive device according to the present disclosure is not limited to the above embodiment. The target work may be, for example, the return turning work. In this case, the specific portion is, for example, the tip of the bucket 6, the physical quantity related to the attitude of the work device is the height of the tip of the bucket 6, and the target physical quantity is, for example, the target height of the tip of the bucket 6 (excavation start height), the current physical quantity is, for example, the current height, which is the actual height of the tip of the bucket 6, and the physical quantity deviation is the deviation between the target height (excavation start height) and the current height. It is the height deviation (for example, the distance between the tip of the bucket 6 and the construction surface). The excavation start height and current height may be values based on, for example, the ground, or may be values based on a position below or above the ground. FIG. 7 is a graph showing an example of temporal changes in the tip height of the bucket and the assist rate in the third embodiment, and FIG. 8 is a block diagram showing the flow of control by the controller 50 in the third embodiment. is an example of

In this third embodiment, the operator places the tip of the bucket 6 at a desired position by operating at least one of the operating levers 61A-64A of the plurality of operating devices 61-64. The desired position is, for example, the position of the tip of the bucket 6 when excavation is started. When the operator performs an input operation on the memory switch 80 with the tip of the bucket 6 positioned at a desired position, the target physical quantity setting unit 52 sets the height at which the tip of the bucket 6 is positioned at that time. Set the excavation start height (target height).

The current physical quantity calculation unit 53 calculates the current height of the tip of the bucket 6 (attachment tip height) based on the posture information input from the posture information acquisition unit. The current physical quantity calculator 53 calculates, for example, the boom angle θ1, the arm angle θ2, and the bucket angle θ3 detected by the detectors 31 to 33, and the inclination angle of the upper swing structure 2 with respect to the horizontal plane detected by the swing structure attitude detector . and the current height may be calculated based on. Specifically, for example, when the current physical quantity calculation unit 53 assumes that the ground on which the lower traveling body 1 is arranged and the ground located below the bucket 6 are included in the same plane, the detector 31 34, the height of the tip of the bucket 6 from the ground can be geometrically calculated.

The physical quantity deviation calculation unit 54 calculates the height deviation, which is the deviation between the excavation start height and the current height, using the formula "height deviation = excavation start height - current height", for example.

The assist rate setting unit 55 sets the assist rate (r) so that the assist rate (r) is larger when the height deviation is small than when the height deviation is large. Specifically, as shown in FIG. The assist rate (r) is set based on the height deviation obtained.

The assist operation value calculation unit 56 calculates an assist operation value (La) for assisting the operator's operation. Specifically, in the third embodiment, the assist operation value calculator 56 is an assist operation value ( Calculate La).

In FIG. 1, the angle θ4 is the arm ground angle, which is the angle of the arm 5 with respect to the ground, and the angle θ5 is the bucket ground angle, which is the angle of the bucket 6 with respect to the ground. The arm-to-ground angle θ4 may be the angle between the ground and a straight line connecting the center of rotation of the arm 5 with respect to the boom 4 and the center of rotation of the bucket 6 with respect to the arm 5, as shown in FIG. The bucket-to-ground angle θ5 may be the angle between the ground and a straight line connecting the center of rotation of the bucket 6 with respect to the arm 5 and the tip of the bucket 6, as shown in FIG. 1, for example.

The assist operation value calculation unit 56 stores a map in which the relationship between the arm-to-ground angle θ4 and the target angle (target bucket angle) of the bucket 6 is set in advance, such as the graph drawn at the left end of FIG. The target bucket angle is set based on the actual arm ground angle θ4. Next, the assist operation value calculation unit 56 (PID controller) calculates the assist operation value (La) using, for example, Equation (1) as described above and the angular deviation.

The operator operation value correction unit 57 calculates the operator correction value (Lo') using the same equation (2) "Lo'=Lo×(1−r)" as above. The calculated operator correction value (Lo') decreases as the assist rate (r) increases.

The assist operation value correction unit 58 calculates the assist correction value (La') using the same formula (3) "La'=La×r" as described above. The calculated assist correction value (La') increases as the assist rate (r) increases.

When the target work (return turning work in the third embodiment) is being performed, the motion command unit 51 calculates the sum of the operator correction value (Lo') and the assist correction value (La'). , is output as a control command Y (Y=Lo×(1−r)+La×r), which is the final manipulated value. The output control command Y is input to the proportional valve corresponding to at least one of the operating devices operated during the return swing operation.

In this third embodiment, the assist rate is set using the height deviation, which is the deviation between the excavation start height of the bucket 6 and the current height of the tip of the bucket 6 . Therefore, when the height deviation is large, the operator's intention can be greatly intervened. On the other hand, when the height deviation is small, that is, when the tip of the bucket 6 approaches the excavation start height (target height) and the posture of the work equipment is to be finely adjusted, the operator's intentional intervention is large. The tip of the bucket 6 can be easily adjusted to the digging start height with the assistance of the controller 50. As a result, it is possible to achieve both the intentional intervention of the operator and the easy adjustment of the posture of the working device.

Also, in the third embodiment, the assist operation value (La) is calculated using the angular deviation that is the deviation between the target bucket angle and the actual bucket angle θ3. This assist operation value (La) is an operation value calculated using the above equation (1), for example, in order to bring the angular deviation closer to zero. Therefore, in the third embodiment, the controller 50 performs feedback control using an assist operation value (La) for bringing the angular deviation closer to zero as shown in FIG. By repeating the arithmetic processing shown in S1 to S8, the bucket-to-ground angle θ5 at the start of excavation can be brought close to a desired angle while intervening the operator's will. The desired angle is preferably an angle (for example, an angle of about 90 degrees) such that the tip of the bucket 6 is positioned directly below the center of rotation of the bucket 6 with respect to the arm 5 .

[Fourth embodiment]
FIG. 9 is an example of a block diagram showing the flow of control by the controller 50 according to the fourth embodiment. In the fourth embodiment, the physical quantity related to the attitude of the working device is the angle detected by the angle sensor, the target physical quantity is the target angle of the working device, and the current physical quantity is the angle sensor. is the current angle, which is the actual angle detected by Specifically, in the fourth embodiment, the attitude of the boom 4 , the attitude of the arm 5 and the attitude of the bucket 6 are controlled using the angle of the boom 4 , the angle of the arm 5 and the angle of the bucket 6 . In the fourth embodiment, the boom attitude detector 31 is a boom angle sensor, the arm attitude detector 32 is an arm angle sensor, and the bucket attitude detector 33 is a bucket angle sensor.

In this fourth embodiment, the target physical quantity includes first to third target physical quantities, the current physical quantity includes first to third current physical quantities, and the physical quantity deviation includes the first to third physical quantity deviations. Specifically, the first target physical quantity is the first target angle (boom target angle) that is the target of the angle of the boom 4, and the second target physical quantity is the second target angle that is the target of the angle of the arm 5 ( arm target angle), and the third target physical quantity is the third target angle (bucket target angle) that is the target angle of the bucket 6 . The first current physical quantity is the first current angle that is the actual angle of the boom 4 detected by the boom attitude detector 31, and the second current physical quantity is the actual angle of the arm 5 that is detected by the arm attitude detector 32. The third current physical quantity is the third current angle that is the actual angle of the bucket 6 detected by the bucket attitude detector 33 . The first physical quantity deviation is the first angle deviation that is the deviation between the first target angle and the first current angle, and the second physical quantity deviation is the second angle that is the deviation between the second target angle and the second current angle. The third physical quantity deviation is the third angle deviation that is the deviation between the third target angle and the third current angle.

The controller 50 of the driving device according to the fourth embodiment may perform arithmetic processing according to the flowchart shown in FIG. 5, for example, as in the first embodiment. An example of arithmetic processing by the controller 50 according to the fourth embodiment will be described below with reference to the flowchart shown in FIG. In the fourth embodiment, the target work is set to the earth removal work, and the excavation work, the earth and sand holding turning work, and the return turning work are set to the non-target work.

At the time of starting the earth and sand loading work, the operator operates at least one of the operating levers 61A to 64A of the operating devices 61 to 64 to move the boom 4, the arm 5 and the bucket 6, for example, to the upper diagram in FIG. The storage switch 80 is pressed while the device is placed in the desired posture as shown in A).

When a signal indicating that the memory switch 80 has been pressed is input to the controller 50, the target physical quantity setting unit 52 (the target posture setting device in FIG. 9) determines that an input operation has been performed on the memory switch 80 (step YES in S1), the angle of the boom 4 at that time is set to the first target angle, the angle of the arm 5 at that time is set to the second target angle, and the angle of the bucket 6 at that time is set to the third target angle. Set (step S2). On the other hand, when the target physical quantity setting unit 52 determines that no input operation is performed on the memory switch 80 (NO in step S1), it sets the first to third target angles to default values (step S3). The default values may be values preset and stored in the memory as the first to third target angles, or may be the previously set first to third target angles.

Next, the work determination unit 59 of the controller 50 determines whether or not earth removal work is being performed as described above (step S4). When the work determination unit 59 determines that the earth removal work is being performed (YES in step S4), the current physical quantity calculation unit 53 determines the boom 4 at that time based on the detection signal input from the boom attitude detector 31. Based on the detection signal input from the arm attitude detector 32, the second current angle that is the angle of the arm 5 at that time is calculated. A third current angle, which is the angle of the bucket 6 at that time, is calculated based on the input detection signal. Then, the physical quantity deviation calculation unit 54 calculates the first angle deviation that is the deviation regarding the boom 4 using, for example, the formula (first angle deviation=first target angle−first current angle), and for example, the formula (second Angular deviation = 2nd target angle - 2nd current angle) is used to calculate the 2nd angle deviation which is the deviation with respect to the arm 5, for example, the formula (3rd angle deviation = 3rd target angle - 3rd current angle) is used to calculate the third angular deviation that is the deviation of the bucket 6 (step S5).

The controller 50 stores in advance a map (boom map) set in advance to control the attitude of the boom 4, for example, as shown in FIG. 3 (arm map) is stored in advance, and a map (bucket map) set in advance to control the posture of the bucket 6, for example, as shown in FIG. 3, is stored in advance. These three maps are individually set in advance so that the boom 4, the arm 5, and the bucket 6 perform suitable operations in the earth discharging work. In the fourth embodiment, in the graph shown in FIG. 3, the horizontal axis is the angular deviation (the first angular deviation, the second angular deviation, or the third angular deviation), and the vertical axis is the assist rate (r).

Next, the assist rate setting unit 55 sets the first assist rate, which is the assist rate for the boom 4, based on the boom map and the first angular deviation (e) calculated by the physical quantity deviation calculating unit 54. Set the rate (r). Similarly, the assist rate setting unit 55 sets the second assist rate, which is the assist rate for the arm 5, based on the arm map and the second angular deviation (e) calculated by the physical quantity deviation calculator 54. rate (r) is set, and a third assist rate ( r) is set (step S6).

Next, the operator's operation value (Lo) at that time is input to the controller 50 . Specifically, when a boom operation (boom down operation or boom up operation) is given to the operation lever 61A, the boom operation device 61 is an operator operation value ( A first operator manipulated value (Lo)) is input to the controller 50 . When an arm pushing operation is applied to the operating lever 62A, the arm operating device 62 inputs an operator operation value (second operator operation value (Lo)), which is an electrical signal corresponding to the magnitude of the arm pushing operation, to the controller 50. do. Bucket operating device 63 inputs an operator operation value (third operator operation value (Lo)), which is an electric signal corresponding to the magnitude of the bucket pushing operation, to controller 50 when a bucket pushing operation is given to operation lever 63A. do.

The controller 50 stores in advance a formula (computational formula for boom) such as the above formula (1) set in advance for feedback control of the attitude of the boom 4, For example, a preset equation (arm operation equation) as shown in the above equation (1) is stored in advance, and a preset equation such as the above equation (1) is stored for feedback control of the attitude of the bucket 6. Formulas (calculation formulas for buckets) are stored in advance. These three formulas are individually set in advance so that the boom 4, the arm 5 and the bucket 6 perform suitable operations in the earth discharging work.

The assist operation value calculation unit 56 (PID controller) uses the boom operation expression and the first angle deviation (e) to calculate a first assist operation value ( Calculate La). Similarly, the assist operation value calculation unit 56 (PID controller) uses the arm operation formula and the second angle deviation (e) to obtain the second angle deviation, which is the assist operation value for assisting the arm pushing operation. The assist operation value (La) is calculated, and the third assist operation value (La ).

The operator operation value correction unit 57 calculates the first operator correction value (Lo' ). Similarly, the operator operation value correction unit 57 uses the above equation (2), the second operator operation value (Lo) in the arm pushing operation, and the second assist rate (r) to perform the second operator correction value (Lo') is calculated, and the third operator correction value ( Lo').

The assist operation value correction unit 58 uses the above equation (3), the first assist operation value (La) in the boom operation, and the first assist rate (r) to determine the first assist correction value (La' ). Similarly, the assist operation value correction unit 58 uses the above equation (3), the second assist operation value (La) in the arm pushing operation, and the second assist rate (r) to perform the second assist correction. value (La') is calculated, and the third assist correction value ( La') is calculated.

Regarding the boom operation, the operation command unit 51 sets the first total value, which is the sum of the first operator correction value (Lo') and the first assist correction value (La'), as the final operation value. Output as the first control command Y (Y=Lo×(1−r)+La×r). In addition, regarding the arm pushing operation, the operation command unit 51 sets the second total value, which is the sum of the second operator correction value (Lo') and the second assist correction value (La'), as the final operation value. is output as a second control command Y (Y=Lo×(1−r)+La×r). In addition, regarding the bucket pushing operation, the operation command unit 51 sets the third total value, which is the sum of the third operator correction value (Lo') and the third assist correction value (La'), as the final operation value. A third control command Y (Y=Lo×(1−r)+La×r), which is a value, is output (step S7). The output first control command Y is input to the proportional valve 45 corresponding to the boom operation (boom down operation or boom up operation), and the output second control command Y is input to the proportional valve 46 corresponding to the arm pushing operation. The third control command Y input to and output from is input to the proportional valve 47 corresponding to the bucket pushing operation.

On the other hand, when the work determination unit 59 determines that the earth removal work is not being performed (NO in step S4), the operation command unit 51 responds to the operation input from at least one of the plurality of operation devices 61 to 64. The operator operation value (Lo) is output as a control command, which is the final operation value (step S8).

As described above, the controller 50 performs feedback control using the assist operation value (La) for bringing the angular deviation (e) closer to zero as shown in FIG. At the same time, the arithmetic processing shown in steps S1 to S8 in the flowchart of FIG. 5 is repeatedly performed for each of the boom 4, arm 5 and bucket 6. FIG. This makes it possible to assist the operator's operation for adjusting the posture of the boom 4, the posture of the arm 5, and the posture of the bucket 6 to desired postures while intervening the operator's will.

[Modification]
Although the construction machine driving device according to the embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment, and includes, for example, the following modifications.

(A) In the first embodiment, the physical quantity related to the posture of the working device is the coordinates of the tip of the bucket 6, and the posture of the bucket 6 is controlled using the coordinates of the tip of the bucket 6, but in the first embodiment. is not limited to such specific examples. For example, at least one of coordinates of a specific portion of the boom 4 (for example, the tip of the boom 4), coordinates of a specific portion of the arm 5 (for example, the tip of the arm 5), and coordinates of a specific portion of the bucket 6 (for example, the tip of the bucket 6). may be used to control the attitude of the work device. Specifically, for example, the coordinates of the tip of the arm 5 may be used to control the attitude of the arm 5 , and the coordinates of the tip of the bucket 6 may be used to control the attitude of the bucket 6 . In addition, the attitude of the boom 4 is controlled using the coordinates of the tip of the boom 4, the attitude of the arm 5 is controlled using the coordinates of the tip of the arm 5, and the coordinates of the tip of the bucket 6 are used. Attitude may be controlled. Specifically, in the first embodiment, when the tip of the arm 5 is set as the specific part and the tip of the bucket 6 is set as the specific part, the controller 50 sets the actual coordinates of the tip of the arm 5 to the current coordinates. Using a physical quantity, a target physical quantity that is a target coordinate of the tip of the arm 5, a physical quantity deviation that is a deviation of these, an operator operation value, an assist operation value, an operator correction value, and an assist correction value, The attitude of the arm 5 is controlled, and the current physical quantity that is the actual coordinates of the tip of the bucket 6, the target physical quantity that is the target of the coordinates of the tip of the bucket 6, the physical quantity deviation that is the deviation of these, the operator operation value, It is preferable to control the attitude of the bucket 6 using the assist operation value, the operator correction value, and the assist correction value.

(B) In the second embodiment, the physical quantity related to the attitude of the working device is the cylinder length, the cylinder length of the arm cylinder 8 is used to control the attitude of the arm 5, and the cylinder length of the bucket cylinder 9 is Although the attitude of the bucket 6 is controlled using the height, the second embodiment is not limited to such a specific example. For example, at least one of the cylinder length of the boom cylinder 7, the cylinder length of the arm cylinder 8, and the cylinder length of the bucket cylinder 9 may be used to control the posture of the working device.

(C) In the third embodiment, the physical quantity related to the posture of the working device is the height of the tip of the bucket 6, and the height of the tip of the bucket 6 is used to control the posture of the working device. is not limited to specific examples. For example, the height of a specific portion of the boom 4 (for example, the tip of the boom 4), the height of a specific portion of the arm 5 (for example, the tip of the arm 5), and the height of a specific portion of the bucket 6 (for example, the tip of the bucket 6) The attitude of the working device may be controlled using at least one of

(D) The physical quantity related to the posture of the work device may include at least one of boom angle θ1, arm angle θ2, bucket angle θ3, and inclination angle of upper swing body 2, for example.

(E) Construction machine system The driving device according to the present disclosure can also be applied to construction machine systems. The construction machine system includes the construction machine 100 and remote controllers 61 to 64 which are controllers 61 to 64 arranged at positions separated from the construction machine 100 . The construction machine 100 may include part or all of the controller 50, and part or all of the controller 50 may be remotely located. Construction machine 100 is configured to operate based on operator's operations given to remote control devices 61-64. Operator operation values (Lo) output from the remote control devices 61 to 64 are transmitted to the construction machine 100 by wireless communication or wired communication. An image of the work site where the construction machine 100 is working is captured by a camera (not shown), and the captured data is transmitted to a remote location by wireless or wired communication. , and displays images of the work site in real time using the transmitted data. An operator operates the remote controllers 61 to 64 while looking at the display device at a remote location. When operating the remote control devices 61 to 64 at a remote location in this way, compared to the case where the operator rides on the construction machine 100 (actual machine) and operates the operating device, the operator can feel the perspective of the work site. It becomes difficult to grasp the situation of Therefore, by applying the drive device according to the present disclosure to such a system for remote control, the effect of reducing the burden on the operator due to the assistance of the drive device in the work of adjusting the work device to a predetermined posture is further enhanced. become prominent.

(F) Operation Device When each of the operation devices 61 to 64 is configured by an operation device having a remote control valve, the construction machine 100 can be operated by the magnitude of the operation given to the operation lever of each of the operation devices 61 to 64. A plurality of pilot pressure sensors (not shown) are provided to detect the pressure of the pilot oil output from the remote control valve according to the lever operation amount. Each of the plurality of pilot pressure sensors inputs an operation value, which is a signal corresponding to the detected pilot oil pressure, to the controller 50 as an operator operation value. Further, an electromagnetic proportional valve is arranged between each remote control valve and the corresponding control valve, and the electromagnetic proportional valve reduces the pressure of the pilot oil based on a control command from the controller 50, Supply pressure to the pilot port of the corresponding control valve. When a pressure greater than the pressure of the pilot oil output from the remote control valve is supplied to the pilot port of the control valve in accordance with the lever operation amount, the controller 50 controls the second electromagnetic valve different from the electromagnetic proportional valve. The second electromagnetic proportional valve may be controlled such that the secondary pressure of the proportional valve is selected at a high level by a shuttle valve (not shown) to be supplied to the pilot port of the control valve.

(G) Input Device The driving device further includes an input device 90 (see FIG. 2) for receiving operator input for correcting the assist rate (r). It may be configured to correct the assist rate (r) based on. In this configuration, the operator can correct the assist rate (r), so that the degree of intervention of the operator's will can be adjusted according to the operator's preference.

Specifically, for example, the operator inputs an input value (r') to the input device 90 for correcting the assist rate (r). The operator operation value correction unit 57 of the controller 50 calculates the operator correction value (Lo′) using, for example, the formula “Lo×(1−min(r,r′))”, and the assist operation value correction unit 58 For example, the assist correction value (La') may be calculated using the formula "La×min(r, r')". Then, the operation command unit 51 calculates the total value obtained by adding the operator correction value (Lo') and the assist correction value (La') to the control command Y (Y=Lo×(1−min (r, r′))+La×min(r, r′)). Note that "min (r, r')" in the above expression means that the smaller one of the assist rate (r) and the input value (r') is adopted for calculation.

Further, the operator operation value correction unit 57 of the controller 50 calculates the operator correction value (Lo′) using, for example, the formula “Lo×(1−r)×(1−r′)”, and the assist operation value correction unit 58 may calculate the assist correction value (La') using, for example, the formula "La×r×r'". Then, the operation command unit 51 calculates the total value obtained by adding the operator correction value (Lo') and the assist correction value (La') to the control command Y (Y=Lo×(1−r )×(1−r′)+La×r×r′).

(H) Notification Device The driving device further includes a notification device 70 (an example of a teaching device) for informing the operator of the control status by the controller 50 as shown in FIG. ), the operation of the notification device 70 may be controlled so that the output from the notification device 70 changes according to the condition. The notification device 70 outputs, for example, sound, image, vibration (for example, vibration of an operation lever). With this configuration, the operator can perform work for adjusting the posture of the working device to a desired posture while roughly grasping the state of control by the controller 50 based on the assist rate (r). As a result, the operator can recognize that the assist control is being performed by the controller 50, thereby improving the operator's sense of security during the operation. In this case, the controller 50 is preferably configured to control the operation of the notification device so that the output from the notification device 70 changes according to the magnitude of the assist rate (r). As a result, the operator can perform work for adjusting the posture of the working device to a desired posture while more accurately grasping the state of control by the controller 50 based on the assist rate (r).

Further, the controller 50 may be configured to control the operation of the notification device 70 so that the output from the notification device 70 changes according to the physical quantity deviation (e). With this configuration, the operator can perform the work for adjusting the attitude of the working device to a desired attitude while roughly grasping the state of control by the controller based on the physical quantity deviation (e). As a result, the operator can operate the operation device while grasping the distance until the work device reaches a desired posture (target posture), so that the operator's sense of security during operation is improved. In particular, when the operator is an unskilled operator, an improvement in the ability of the unskilled operator to grasp the sense of distance can be expected.

In this case, the controller 50 notifies that the output from the notification device 70 changes according to the magnitude of the physical quantity deviation (eg, coordinate deviation, height deviation, distance deviation, length deviation, angle deviation, etc.). Preferably, it is arranged to control the operation of the device. Thereby, the operator can perform the work for adjusting the posture of the working device to a desired posture while more accurately grasping the physical quantity deviation (e), that is, the sense of distance.

In the specific example shown in FIG. 9, the controller 50 controls the operation of the notification device 70 so that the alarm sound from the alarm sound notification device as the notification device 70 changes according to the angular deviation. The controller 50 may be configured to change the type of sound depending on the deviation (e). As a result, the operator can recognize the distance until the working device reaches a desired posture (target posture) through changes in the type of sound, thereby improving the sense of security. Also, the controller 50 may be configured to change the type of sound according to the assist rate (r). As a result, the operator can recognize that the assist control is being performed by the controller 50, thereby improving the operator's sense of security during the operation.

(I) Target Physical Quantities The controller 50 sets a plurality of target physical quantities, determines the work being performed by the construction machine 100, and selects the target physical quantity according to the determined work from among the plurality of target physical quantities. may be configured to With this configuration, for example, when a plurality of different tasks are performed in succession, the operator does not need to select the target physical quantity for each task, thus reducing the burden on the operator. Specific examples are as follows.

In the case where earth and sand loading work, which is a series of operations including excavation work, earth holding and turning work, earth removal work, and return turning work, is repeatedly performed at a work site, the earth removal work and return turning work are subject to the above-mentioned targets. work, and the excavation work and the earth-and-sand holding turning work may be set as non-target work. In this case, before the series of work is started, the controller 50 sets and stores the target physical quantity for the dumping work and the target physical quantity for the return turning work. In the series of work described above, the work determining unit 59 of the controller 50 determines the work being performed by the construction machine 100, and the operation command unit 51 determines whether the earth discharging work or the return turning work is being performed. is the total value obtained by adding the operator correction value (Lo') and the assist correction value (La') as the control command Y (Y=Lo×(1−r)+La×r), which is the final operation value. Output. On the other hand, when neither the earth discharging work nor the return turning work is being performed, the operation command unit 51 sets the operator operation value ( Lo) is output as a control command that is the final manipulated value.

(J) In the above embodiment, the controller 50 calculates the assist correction value (La') by multiplying the assist operation value (La) by the assist rate (r), and the operator operation value (Lo) is set in advance. The operator correction value (Lo') is calculated by multiplying the value obtained by subtracting the assist rate (r) from the set value (for example, "1"), but the configuration is not limited to this. The controller 50 may calculate the assist correction value (La') and the operator correction value (Lo') without using the assist rate. That is, the controller 50 operates based on a preset map so that the operator correction value (Lo') is smaller when the physical quantity deviation (e) is smaller than when the physical quantity deviation (e) is large. , the operator operation value (Lo) corresponding to the operator's operation may be corrected to the operator correction value (Lo'). In addition, the controller 50 is based on a preset map so that the assist correction value (La') is larger when the physical quantity deviation (e) is smaller than when the physical quantity deviation (e) is large. , the assist operation value (La) may be corrected to the assist correction value (La').

(K) Image Assistance The drive device for the construction machine 100 in each of the above-described embodiments further includes a display device (an example of a teaching device), and the controller 50 controls at least one of the plurality of work devices on the display device. It may be configured to display an actual attitude image, which is an image relating to the actual attitudes of one working device, and a desired attitude image, which is an image relating to a target orientation of the at least one working device. The display device may be, for example, a display arranged at a position that can be seen by the operator in the cabin of the upper swing structure 2, or a head-mounted display that can be worn by the operator. Also, the display device may be, for example, a device capable of displaying an image on the windshield of the cabin. Moreover, when the driving device according to the present disclosure is applied to the construction machine system as described above, the display device may be arranged at a remote location. In other words, the display device may be a device that can be seen by the operator who operates the remote control devices 61 to 64 located at a distance from the construction machine 100 .

FIG. 10 is a diagram showing an example of the display device 92. FIG. In the specific example shown in FIG. 10, the controller 50 displays a side view image of the entire construction machine 100 including a plurality of work devices. The images drawn with solid lines in FIG. 10 include actual attitude images, which are images of the actual attitudes of the lower traveling body 1, the upper rotating body 2, the boom 4, the arm 5, and the bucket 6 at that time. The actual posture video may be, for example, an actual video of at least one work device captured by a camera, and is a video created by the controller 50 based on the posture information input to the controller 50 from the posture information acquisition unit. There may be.

10 are a boom target attitude image about the target attitude of the boom 4, an arm target attitude image about the target attitude of the arm 5, a bucket target attitude image about the target attitude of the bucket 6, including. The boom target attitude image is an image corresponding to the target physical quantity (boom target physical quantity) related to the attitude of the boom 4 set by the target physical quantity setting unit 52 . The arm target orientation image is an image corresponding to the target physical quantity (arm target physical quantity) related to the orientation of the arm 5 set by the target physical quantity setting unit 52 . The bucket target orientation image is an image corresponding to the target physical quantity (bucket target physical quantity) related to the orientation of the bucket 6 set by the target physical quantity setting unit 52 .

The controller 50 causes the display device 92 to display the boom target posture video, arm target posture video, and bucket target posture video superimposed on the actual posture video of the boom 4, arm 5, and bucket 6. Thereby, the operator can recognize the gap between the target attitudes of the boom 4 , the arm 5 and the bucket 6 and their actual attitudes through the image displayed on the display device 92 . In particular, when the operator is an unskilled person, the unskilled person can effectively improve the operation technique by operating the operation device while recognizing the gap through the image displayed on the display device 92 .

FIG. 11 is a diagram showing another example of the display device 92. FIG. In the specific example shown in FIG. 11, the controller 50 displays an image assuming the viewpoint of an operator sitting in the driver's seat of the cabin. The image on the left drawn with a solid line in FIG. 11 is an image (actual attitude image) of the actual attitudes of the arm 5 and the bucket 6 at that time. The actual posture video may be, for example, an actual video of at least one work device captured by a camera, or may be a video created by the controller 50 based on the posture information. Further, when the display device is a device capable of displaying an image on the windshield of the cabin, the actual attitude image may be an image created by the controller 50 based on the attitude information. It may also be a real image of the arm 5 and bucket 6 seen through.

The image on the right drawn with a broken line in FIG. 11 is a bucket target attitude image related to the target attitude of bucket 6. The bucket target orientation image is an image corresponding to the target physical quantity related to the orientation of the bucket 6 set by the target physical quantity setting unit 52 . 11 is an intermediate attitude image (bucket intermediate attitude image) relating to an intermediate attitude between the actual attitude of the bucket 6 and the target attitude of the bucket 6. In FIG. The controller 50 causes the display device 92 to display the actual attitude image of the arm 5 and the bucket 6, the bucket target attitude image, and the bucket intermediate attitude image. Thereby, the operator can recognize the gap between the target attitude of the bucket 6 and the actual attitude of the bucket 6 through the image displayed on the display device 92 . Moreover, the operator can recognize through the bucket intermediate posture image displayed on the display device 92 what intermediate postures the bucket 6 passes through from the actual posture to the target posture.

Further, the controller 50 may cause the display device 92 to display an image of an object existing around the bucket 6 in addition to the image of the actual posture of the bucket 6 , the target bucket posture image, and the intermediate bucket posture image. In this case, the operator determines whether or not the bucket 6 collides with an object existing around the bucket 6 while the bucket 6 reaches the target posture from the actual posture through the intermediate posture. be able to.

The controller 50 may, for example, calculate the intermediate posture based on information related to the operating speed of the bucket 6. This allows the controller 50 to predict the intermediate posture relatively accurately. Specifically, the movement speed of bucket 6 includes the direction in which bucket 6 moves and the speed at which bucket 6 moves. The controller 50 uses information related to the operating speed of the bucket 6 at that point in time and, for example, a preset set time or a set time set based on an operator's input, to determine the lapse of the set time from that point. The subsequent attitude of the bucket 6 may be calculated as the intermediate attitude. However, the calculation of the intermediate posture by the controller 50 is not limited to the above specific example. For example, the controller 50 may compute the attitude at the midpoint between the actual attitude of the bucket 6 and the target attitude of the bucket 6 using a technique such as linear interpolation.

The information related to the operating speed of the bucket 6 may be an operator operation value corresponding to the operation given to at least one operating device among the plurality of operating devices 61-64. Further, the information related to the operating speed of the bucket 6 may be the sum of the operator correction value (Lo') and the assist correction value (La'). Also, the information related to the operating speed of the bucket 6 may be the operating speed of the bucket 6 actually detected by a speed sensor (not shown).

(L) Cancellation of Assist Control When the controller 50 performs the assist control for controlling the attitude of the working device using the total value, the non-assist condition, which is a predetermined condition, is satisfied. In some cases, the assist control may be switched to control (normal control) based on the operation given to the operating device. In this modification, if the non-assist condition is satisfied while the assist control is being performed, the controller 50 switches from the assist control to the normal control. As a result, the assist by the controller 50 is released, and the working device performs the operation corresponding to the operation given to the operating device by the operator. This makes it possible to cancel the assist and operate the working device appropriately as the operator intends when a situation arises in which it is not desirable to continue the assist control.

Situations in which it is not desirable to continue the assist control as it is include, for example, situations in which the working device needs to avoid obstacles, and when the posture of the working device reaches the target posture while earth-discharging work is being performed. For example, a situation where the bucket has been completely unloaded before.

The non-assist condition may include switching from the operation given to the operating device in the assist control to another preset operation. When the situation as described above occurs, the operator often switches from the operation given to the operating device to another operation in the assist control. Specifically, for example, when a situation arises in which the work device needs to avoid an obstacle, the operator operates the work device in a different direction (for example, in the opposite direction) from the direction of lever operation that has been given to the work device so far. Try to avoid contact between work equipment and obstacles by switching. By canceling the assistance by the controller 50 under such circumstances, contact between the work device and the obstacle can be more effectively avoided. In addition, when a situation arises in which the earth has been unloaded from the bucket during the earth unloading work, the operator must perform the arm pushing operation that has been given to the work device until then in order to perform the next work (for example, return turning work). switches to the arm pulling operation in the opposite direction. By canceling the assist by the controller 50 in such a situation, the continuity of a plurality of tasks is more effectively secured. As described above, switching from the operation given to the operating device in the assist control to another preset operation is an indicator for determining that a situation where it is not desirable to continue the assist control as it is has occurred. Become.

However, the non-assist condition is not limited to the above specific example. exceeding a time threshold of .

As described above, according to the present disclosure, there is provided a driving device for a construction machine that can assist the operator's operation for adjusting the posture of the working device to a desired posture while allowing the operator's intention to intervene. A construction machine and construction machine system are provided.

The provided driving device for a construction machine includes an operation device that is operated by an operator to move the working device with respect to the machine body, and a controller, wherein the controller determines physical quantities related to the posture of the working device. A target physical quantity is set as a target, a current physical quantity is calculated as a physical quantity related to the actual attitude of the working device, a physical quantity deviation is calculated as a deviation between the target physical quantity and the current physical quantity, and the operator's calculating an assist operation value for assisting the operation, and calculating an operator operation value corresponding to the operation so that the operator correction value is smaller when the physical quantity deviation is smaller than when the physical quantity deviation is large; is corrected to the operator correction value, and the assist operation value is corrected to the assist correction value so that the assist correction value becomes a larger value when the physical quantity deviation is smaller than when the physical quantity deviation is large. and controlling the attitude of the working device by using the total value obtained by adding the operator correction value and the assist correction value.

This construction machine controller has an operator correction value that is corrected so that it becomes a smaller value when the physical quantity deviation is smaller than when the physical quantity deviation is large, and a larger value when the physical quantity deviation is smaller than when the physical quantity deviation is large. The posture of the working device is controlled using the total value obtained by adding the assist correction value corrected so as to be Therefore, the controller of this construction machine can assist the operator's operation for adjusting the posture of the working device to a desired posture while allowing the operator's intention to intervene. Specifically, when the physical quantity deviation is large, the ratio of the operator operation value contributing to the total value can be increased, and when the physical quantity deviation is small, the ratio of the assist operation value contributing to the total value can be increased. can be done. Therefore, when the physical quantity deviation is large, the operator's intention can be greatly intervened. is smaller than when the physical quantity deviation is large, and the posture of the working device can be easily adjusted to the target posture with the assistance of the controller. As a result, it is possible to achieve both the intentional intervention of the operator and the easy adjustment of the posture of the working device.

The controller sets the assist rate so that the assist rate is larger when the physical quantity deviation is smaller than when the physical quantity deviation is large, and multiplies the assist operation value by the assist rate. It is preferable to calculate the operator correction value by calculating the assist correction value and multiplying the operator operation value by a value obtained by subtracting the assist rate from a preset setting value. With this configuration, the operator correction value can be continuously decreased and the assist correction value can be continuously increased as the physical quantity deviation becomes smaller, that is, as the posture of the working device approaches the target posture. This enables a smooth transition from a state in which the operation by the operator is the main subject to a state in which the controller mainly assists, in the process in which the posture of the working device approaches the target posture.

The driving device may further include an input device for receiving input by the operator for correcting the assist rate, and the controller may correct the assist rate based on the input by the operator. In this configuration, the operator can correct the assist rate, so the degree of intervention of the operator's intention can be adjusted according to the operator's preference.

The driving device further includes a notification device for informing the operator of the control status of the controller, and the controller operates the notification device so that the output from the notification device changes according to the assist rate. is preferably controlled. With this configuration, the operator can perform the work for adjusting the posture of the working device to a desired posture while roughly grasping the state of control by the controller based on the assist rate.

The driving device further includes a notification device for informing the operator of the control status of the controller, and the controller operates the notification device so that the output from the notification device changes according to the physical quantity deviation. may be controlled. With this configuration, the operator can perform the work for adjusting the posture of the working device to a desired posture while roughly grasping the state of control by the controller based on the physical quantity deviation.

The controller may calculate the assist operation value based on the physical quantity deviation so that the physical quantity deviation approaches zero. With this configuration, the controller can effectively assist in bringing the posture of the working device closer to the target posture.

The controller sets a plurality of target physical quantities including the target physical quantity, determines the work being performed by the construction machine, and selects a target physical quantity according to the determined work from among the plurality of target physical quantities. may With this configuration, the controller can select an appropriate target physical quantity for each task. Therefore, in this configuration, for example, when a plurality of different works are performed in succession, the operator does not need to select the target physical quantity for each work, thus reducing the burden on the operator.

The controller determines whether or not a target work, which is a task preset to be assisted by the controller, is being performed, and if the target work is being performed, the total value is used to Preferably, the attitude of the device is controlled, and the attitude of the work device is controlled using the operator operation value when the target work is not being performed. With this configuration, the controller can perform control according to the determination result as to whether or not the target work is being performed. This allows the operator to smoothly perform a series of multiple operations including the target operation and other operations.

The work device may include a bucket, and the physical quantity deviation may be a value corresponding to the distance between the tip of the bucket and the work surface. With this configuration, the operator can easily place the tip of the bucket at a desired position, which is the excavation start position, on the construction surface while receiving assistance from the controller when performing excavation work, for example.

The drive device further includes a display device, and the controller controls the display device to display an actual posture video image representing an actual posture of the work device and a desired posture video image representing a target posture of the work device. and may be displayed. Thereby, the operator can recognize the gap between the target attitude and the actual attitude of the work implement through the image displayed on the display device. In particular, when the operator is an unskilled person, it is expected that the unskilled person can effectively improve the operation technique by operating the operation device while recognizing the gap through the image displayed on the display device.

The controller may cause the display device to further display an intermediate posture image, which is an image relating to an intermediate posture between the actual posture and the target posture. Thus, the operator can recognize through the image displayed on the display device what intermediate postures the working device passes through from the actual posture to the target posture.

The controller may calculate the intermediate posture based on information related to the operating speed of the work device. This allows the controller to predict the intermediate pose relatively accurately.

When a non-assist condition, which is a predetermined condition, is satisfied while performing assist control for controlling the posture of the working device using the total value, the controller performs the assist control. , it is preferable to switch to control (normal control) based on the operation given to the operating device. In this configuration, when the non-assist condition is satisfied while the assist control is being performed, the controller switches from the assist control to the normal control, so that the assist by the controller is canceled and the work device is operated by the operator. performs an action corresponding to the operation given to the operating device. Accordingly, when a situation arises in which it is not desirable to continue the assist control as it is, the assist can be canceled and the working device can be appropriately operated as the operator intends.

The non-assist condition preferably includes switching from the operation given to the operating device in the assist control to another preset operation. When the situation as described above occurs, the operator often switches from the operation given to the operating device to another operation in the assist control. Therefore, switching from the operation given to the operating device to another preset operation in the assist control serves as an indicator for determining that a situation where it is not preferable to continue the assist control has occurred.

The provided construction machine includes the machine body, the work device, and the drive device described above. This construction machine can assist the operator's operation for adjusting the posture of the working device to a desired posture while allowing the operator's intention to intervene.

The provided construction machine system includes the drive device described above, and the operating device is a remote control device arranged at a location remote from the construction machine. In this construction machine system, when the operator remotely operates the remote control device to cause the construction machine to perform work at the work site, the controller can assist the operator's operation while allowing the operator's intention to intervene. . Specifically, when operating a remote control device at a remote location, compared to operating the operating device while riding on a construction machine (actual machine), the operator can feel the perspective of the work site. It becomes difficult to grasp the situation. Therefore, by applying the drive device according to the present disclosure to such a system for remote control, the effect of reducing the burden on the operator due to the assistance of the drive device in the work of adjusting the working device to a predetermined posture is more remarkable. become.

Claims (16)

an operation device that is operated by an operator to move the work device relative to the machine body;
a controller;
The controller is
setting a target physical quantity, which is a target physical quantity related to the attitude of the working device;
calculating a current physical quantity, which is a physical quantity related to the actual posture of the working device;
calculating a physical quantity deviation that is a deviation between the target physical quantity and the current physical quantity;
calculating an assist operation value for assisting the operation of the operator;
correcting an operator operation value corresponding to the operation to the operator correction value so that the operator correction value becomes a smaller value when the physical quantity deviation is smaller than when the physical quantity deviation is large;
correcting the assist operation value to the assist correction value so that the assist correction value becomes a larger value when the physical quantity deviation is smaller than when the physical quantity deviation is large;
A driving device for a construction machine, wherein the total value obtained by adding the operator correction value and the assist correction value is used to control the posture of the work device. The controller is
setting the assist rate so that the assist rate is larger when the physical quantity deviation is smaller than when the physical quantity deviation is large;
calculating the assist correction value by multiplying the assist operation value by the assist rate;
2. The drive system for a construction machine according to claim 1, wherein said operator correction value is calculated by multiplying said operator operation value by a value obtained by subtracting said assist rate from a preset set value. further comprising an input device for receiving input by the operator for correcting the assist rate;
3. The driving device for a construction machine according to claim 2, wherein said controller corrects said assist rate based on said input by said operator. further comprising a notification device for informing the operator of the status of control by the controller;
4. The driving device for a construction machine according to claim 2, wherein said controller controls the operation of said notification device such that the output from said notification device changes according to said assist rate. further comprising a notification device for informing the operator of the status of control by the controller;
The construction machine driving device according to any one of claims 1 to 3, wherein said controller controls the operation of said notification device so that the output from said notification device changes according to said physical quantity deviation. The driving device for the construction machine according to any one of claims 1 to 5, wherein said controller calculates said assist operation value based on said physical quantity deviation so that said physical quantity deviation approaches zero. The controller is
setting a plurality of target physical quantities including the target physical quantity;
determining the work being performed by said construction machine;
The construction machine driving device according to any one of claims 1 to 6, wherein, from among the plurality of target physical quantities, a target physical quantity corresponding to the determined work is selected. The controller is
Determining whether or not a target work, which is a work preset as a target for assistance by the controller, is being performed,
controlling the posture of the work device using the total value when the target work is being performed;
The driving device for a construction machine according to any one of claims 1 to 6, wherein the posture of the work device is controlled using the operator operation value when the target work is not being performed. the working device includes a bucket;
The driving device for construction machinery according to any one of claims 1 to 8, wherein said physical quantity deviation is a value corresponding to a distance between said bucket tip and a construction surface. further comprising a display device,
10. The controller causes the display device to display, on the display device, an actual attitude image that is an image about an actual attitude of the work device and a target attitude image that is an image about a target attitude of the work device. The driving device for construction machinery according to any one of the above. 11. The driving device for the construction machine according to claim 10, wherein said controller causes said display device to further display an intermediate posture image, which is an image relating to an intermediate posture between said actual posture and said target posture. The driving device for the construction machine according to claim 11, wherein said controller calculates said intermediate posture based on information relating to the operating speed of said work device. When a non-assist condition, which is a predetermined condition, is satisfied while performing assist control for controlling the posture of the working device using the total value, the controller performs the assist control. , the driving device for the construction machine according to any one of claims 1 to 12, wherein the control is switched to the control based on the operation given to the operating device. 14. The driving device for construction machinery according to claim 13, wherein said non-assist condition includes switching from said operation given to said operating device in said assist control to another preset operation. A construction machine comprising the machine body, the working device, and the driving device according to any one of claims 1 to 14. A driving device according to any one of claims 1 to 14,
The construction machine system, wherein the operation device is a remote control device arranged at a location remote from the construction machine.

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