WO2020179346A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2020179346A1
WO2020179346A1 PCT/JP2020/004512 JP2020004512W WO2020179346A1 WO 2020179346 A1 WO2020179346 A1 WO 2020179346A1 JP 2020004512 W JP2020004512 W JP 2020004512W WO 2020179346 A1 WO2020179346 A1 WO 2020179346A1
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WIPO (PCT)
Prior art keywords
turning
angle
braking
working machine
work
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Application number
PCT/JP2020/004512
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English (en)
Japanese (ja)
Inventor
理優 成川
坂本　博史
秀一 森木
Original Assignee
日立建機株式会社
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Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Publication of WO2020179346A1 publication Critical patent/WO2020179346A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the present invention relates to a work machine.
  • a work machine for example, a hydraulic excavator
  • a work machine driven by a hydraulic actuator for example, an articulated front work machine including a boom, an arm and an attachment
  • the work machine There may be obstacles (for example, structures such as buildings) on the side of the.
  • obstacles for example, structures such as buildings
  • intrusion prohibition areas work sites close to areas where work machines should not enter
  • the operator of the work machine needs to operate the work machine so as to avoid contact with these structures and intrusion into the invasion prohibited area.
  • an electric motor for rotating and driving an upper revolving structure by rotating a rotor with respect to a stator, an angular velocity detecting means for detecting an angular velocity of the rotor as a motor angular velocity, and the motor angular velocity is controlled by a turning operation lever.
  • the control device is disclosed.
  • the controller determines the turning braking start timing for stopping the turning body at the turning stop angle position at a predetermined turning deceleration and the subsequent target turning angular velocity based on the turning remaining angle of the turning body.
  • Angular velocity control is executed, and regardless of this control, disturbance (that is, external force that can be a resistance to turning (eg, gravity or wind acting on the upper revolving superstructure in a tilted posture)) causes Disclosed is a turning stop control device and method for a turning work machine, which corrects the target turning angular velocity to increase and generates restartable turning torque when the turning body stops at a position.
  • a control for applying a braking force (braking torque) to a working machine (turning body) during turning operation to stop at a predetermined turning angle.
  • a control turning braking control
  • braking torque braking torque
  • the front working machine is operated and the length and the moment of inertia of the front working machine are changed before the revolving structure is stopped by the braking force, which may cause a problem.
  • the front work machine for example, when a linear work area is defined on the side surface side of the front work machine, even if the same braking torque is applied at the same turning angle, the front work machine ( Depending on the length of the arm), it may or may not deviate from the work area. However, since such a situation is not taken into consideration in the above-mentioned prior art documents, depending on the length of the front working machine, even if the front working machine is stopped at a predetermined turning angle, the front working machine deviates from the work area (that is, intrusion prohibition). (Invades the area).
  • the latter moment of inertia changes depending on the posture of the front working machine and affects the turning motion, so it is necessary to consider it when turning braking.
  • the moment of inertia fluctuates according to the posture change of the front work implement. If the front working machine is operated in the direction in which the moment of inertia increases, the turning braking angle, which is the turning angle from the time when the turning braking is executed to the time when the front braking is stopped, increases, and there is a possibility of deviating from the work area.
  • An object of the present invention is to provide a work machine capable of preventing the occurrence of a problem due to the operation of the front work machine for executing the turning braking control in which a braking force is applied to the turning body during the turning operation to stop the turning body at a predetermined turning angle.
  • the present application includes a plurality of means for solving the above problems, and to give an example thereof, the lower traveling body, the upper rotating body rotatably attached to the lower traveling body, and the upper rotating body.
  • the upper revolving structure and the working machine Based on the attached work machine, the position of the preset work area, and the postures of the upper revolving structure and the working machine, the upper revolving structure and the working machine are deviated from the work area before deviating from the upper area.
  • a control device that calculates a target turning stop angle, which is a target value of a turning angle for stopping the turning of the turning body, and outputs a turning stop command for stopping the upper turning body during turning at the target turning stop angle.
  • the control device controls the operation of the upper revolving structure and the working machine during a braking period from when the turning stop command is output to when the upper revolving structure stops.
  • a predicted swing braking angle that is the angle at which the upper swing structure swings during the braking period is calculated, and the predicted swing braking angle of the working machine during the braking period is calculated. It is characterized in that the target turning stop angle is corrected based on the prediction result of the operation, and the turning stop command is output at a timing determined based on the predicted turning braking angle and the corrected target turning stop angle.
  • FIG. 3 is a detailed view of a control hydraulic unit in FIG. 2.
  • the hardware block diagram of the control controller of the hydraulic excavator of FIG. The figure which shows the coordinate system (excavator reference coordinate system) in a hydraulic excavator.
  • FIG. 3 is a functional block diagram of the controller according to the first embodiment of the present invention.
  • FIG. 3 is a diagram showing a flowchart of deviation prevention control according to the first embodiment of the present invention.
  • the functional block diagram of the control controller which concerns on the modification of 1st Embodiment of this invention.
  • a hydraulic excavator including a bucket as a working tool (attachment) at the tip of the working machine is illustrated, but the present invention may be applied to a working machine including an attachment other than the bucket. Further, as long as it has a multi-joint type working machine configured by connecting a plurality of link members (attachment, boom, arm, etc.) on a swingable structure, a working machine other than a hydraulic excavator can be used. Can also be applied.
  • the lowercase letters of the alphabet may be added at the end of the code, but the uppercase letters of the alphabet should be omitted and the plurality of components should be described together.
  • the same three pumps 190a, 190b, 190c are present, these may be collectively referred to as a pump 190.
  • FIG. 1 is a configuration diagram of a hydraulic excavator according to a first embodiment of the present invention
  • FIG. 2 is a diagram showing a control controller (control device) 40 of the hydraulic excavator according to an embodiment of the present invention together with a hydraulic drive device.
  • 3 is a detailed view of the front control hydraulic unit 160 shown in FIG.
  • the hydraulic excavator 1 is composed of an articulated front working machine 1A and a vehicle body (machine body) 1B.
  • the vehicle body (machine body) 1B is mounted on the lower traveling body 11 which is driven by the left and right traveling hydraulic motors 3a and 3b, and is driven by the pivoting hydraulic motor 4 so that the vehicle body can rotate in the left and right directions. It consists of a body 12.
  • the front working machine 1A is configured by connecting a plurality of front members (boom 8, arm 9, and bucket 10) that rotate in the vertical direction, respectively, and is attached to the upper swing body 12.
  • the base end of the boom 8 is rotatably supported at the front part of the upper swing body 12 via a boom pin.
  • the arm 9 is rotatably connected to the tip of the boom 8 via an arm pin, and the bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin.
  • the boom 8 is driven by the boom cylinder 5, the arm 9 is driven by the arm cylinder 6, and the bucket 10 is driven by the bucket cylinder 7.
  • a boom angle sensor 30 is attached to the boom pin, an arm angle sensor 31 is attached to the arm pin, and a bucket angle sensor is attached to the bucket link 14 so that the rotation angles ⁇ , ⁇ , ⁇ (see FIG. 5) of the boom 8, the arm 9, and the bucket 10 can be measured.
  • 32 is attached, and a vehicle body tilt angle sensor 33 that detects an inclination angle ⁇ (see FIG. 5) of the upper swing body 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane) is attached to the upper swing body 12.
  • the angle sensors 30, 31, and 32 can be replaced with angle sensors (for example, an inertial measurement unit (IMU)) that detects an angle with respect to a reference plane (for example, a horizontal plane), respectively.
  • the obtained cylinder stroke may be converted into an angle by substituting the cylinder stroke sensor for detecting the stroke of each hydraulic cylinder 5, 6, 7.
  • a turning angle sensor 19 capable of detecting the relative angle (turning angle ⁇ sw ) between the upper turning body 12 and the lower running body 11 is attached near the rotation center of the upper turning body 12 and the lower traveling body 11. Further, a turning angular velocity sensor 17 capable of detecting the turning angular velocity is attached to the upper-part turning body 12.
  • An operating device 47a (FIG. 2) for operating the traveling right hydraulic motor 3a (lower traveling body 11) having a traveling right lever 23a (FIG. 1) is provided in the cab provided in the upper swing body 12, and traveling The operating device 47b (FIG. 2) for operating the traveling left hydraulic motor 3b (lower traveling body 11) having the left lever 23b (FIG. 1) and the operation right lever 22a (FIG. 1) are shared and the boom cylinder 5 ( The operation cylinders 45a and 46a (FIG. 2) for operating the boom 8) and the bucket cylinder 7 (bucket 10) share the operation left lever 22b (FIG. 1), and the arm cylinder 6 (arm 9) and the swing hydraulic motor 4 are shared. Operating devices 45b and 46b (FIG. 2) for operating the (upper rotating body 12) are installed.
  • the operation right lever 22a, the operation left lever 22b, the traveling right lever 23a, and the traveling left lever 23b may be collectively referred to as the operation levers 22 and 23.
  • the hydraulic pump 2 is a variable displacement pump whose displacement is controlled by the regulator 2a, and the pilot pump 48 is a fixed displacement pump.
  • a shuttle block 162 is provided in the middle of the pilot lines 144, 145, 146, 147, 148, and 149.
  • the hydraulic signals output from the operating devices 45, 46, 47 are also input to the regulator 2a via the shuttle block 162.
  • a hydraulic signal is input to the regulator 2a via the shuttle block 162, and the discharge flow rate of the hydraulic pump 2 is controlled according to the hydraulic signal.
  • the operating devices 45, 46, 47 are of the hydraulic pilot type, and the operation amount (for example, lever stroke) of the operating levers 22, 23 operated by the operator based on the pressure oil discharged from the pilot pump 48, respectively. Pilot pressure (sometimes called operating pressure) is generated according to the operating direction. The pilot pressure generated in this way is supplied to the hydraulic drive units 150a to 155b of the corresponding flow rate control valves 15a to 15f (see FIG. 2) in the control valve unit 20 via the pilot lines 144a to 149b (see FIG. 2). It is used as a control signal for driving these flow control valves 15a to 15f.
  • the pressure oil discharged from the hydraulic pump 2 passes through the flow control valves 15a, 15b, 15c, 15d, 15e, 15f (see FIG. 2), and the traveling right hydraulic motor 3a, the traveling left hydraulic motor 3b, and the swing hydraulic motor 4, It is supplied to the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7.
  • the boom cylinder 5, arm cylinder 6, and bucket cylinder 7 expand and contract with the supplied pressure oil, so that the boom 8, arm 9, and bucket 10 rotate, respectively, and the position and posture of the bucket 10 change.
  • the swing hydraulic motor 4 is rotated by the supplied pressure oil, so that the upper swing body 12 swings with respect to the lower traveling body 11.
  • the traveling right hydraulic motor 3a and the traveling left hydraulic motor 3b are rotated by the supplied pressure oil, so that the lower traveling body 11 travels.
  • the traveling hydraulic motor 3, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be collectively referred to as a hydraulic actuator 3-7.
  • FIG. 4 is a configuration diagram of a deviation prevention control system (turning braking control system) included in the hydraulic excavator according to the present embodiment.
  • a deviation prevention control system (turning braking control system) included in the hydraulic excavator according to the present embodiment.
  • the shovel 1 when a turning operation is input from the operator to the operation lever 22b and the upper turning body 12 turns, the shovel 1 (more specifically) from a preset work area where the movement of the shovel 1 is permitted.
  • the deviation prevention that forcibly decelerates or stops the swing hydraulic motor 4 It executes control.
  • this control is referred to as "turning braking control”.
  • the swivel braking control when the operation of the swivel hydraulic motor 4 is instructed by the operation of the operation lever 22b, it is based on the positional relationship between the boundary of the work area 60 (work area boundary) 61 (see FIG. 7) and the hydraulic excavator 1.
  • a control signal for limiting the operation of the swing hydraulic motor 4 that approaches the work area boundary 61 is output to the flow control valve 15d, thereby preventing the hydraulic excavator 1 from deviating from the work area.
  • deviation of each part of the hydraulic excavator 1 from the work area 60 can be prevented. It becomes possible to concentrate on the original work of.
  • the work area 60 set along the side surface of the shovel 1 (the side surface of the lower traveling body 11) is shown.
  • the system of FIG. 4 includes a work machine posture detection device 51, a work area setting device 52, an operator operation detection device 53, a turning angle detection device 54, a turning angular velocity detection device 55, and a controller for controlling deviation prevention control (control).
  • the device) 40, a display device 83 capable of displaying the positional relationship between the work area 60 and the hydraulic excavator 1, and electromagnetic proportional valves 87 (87a, 87b) are provided.
  • the work implement attitude detection device 51 is a sensor that detects the attitude information of the upper swing body 12 (vehicle body 1B) and the front work implement 1A, and includes a boom angle sensor 30, an arm angle sensor 31, and a bucket attached to the front work implement 1A. It is composed of an angle sensor 32 and a vehicle body inclination sensor 33 which is an IMU attached to the upper swing body 12.
  • the turning angle detection device 54 includes a turning angle sensor 19 that detects a relative angle (turning angle ⁇ sw ) between the upper turning body 12 and the lower traveling body 11.
  • the turning angular velocity detection device 55 includes a turning angular velocity sensor 17 that detects a turning angular velocity of the upper-part turning body 12.
  • the turning angular velocity can be obtained from the difference (time change) of the turning angle ⁇ sw detected by the turning angle detection device 54 (turning angle sensor 19), and in this case, the turning angular velocity sensor 17 can be omitted. ..
  • the work area setting device 52 is an interface that can set the work area 60 of the hydraulic excavator 1 as shown in FIG. 7. Specifically, the work area 60 is set by setting the work area boundary 61. The operator may manually set the work area 60 via the work area setting device 52, or the work area setting device 52 is connected to an external terminal and the work area 60 set by the external terminal is swiveled and braked. It may be used for control. Further, the work area 60 can be set, for example, on the local coordinate system (excavator reference coordinate system) set in the hydraulic excavator 1 (for example, the lower traveling body 11). Besides, it is also possible to set on a desired coordinate system such as a global coordinate system (geographical coordinate system) or a site coordinate system set on the site.
  • a desired coordinate system such as a global coordinate system (geographical coordinate system) or a site coordinate system set on the site.
  • GNSS Global Navigation Satellite System
  • the swing braking control may be executed by calculating the coordinates and reading the work area 60 existing in a predetermined range from the coordinates into the controller 40.
  • the operator operation detection device 53 detects pressure sensors 70a to 75a and pressure sensors 70b to 75b (see FIG. 2) that detect the operation pressure generated in the pilot lines 144 to 149 shown in FIG. 2 by the operation of the operation levers 22 and 23 by the operator. Composed of. That is, the operator operation detection device 53 (pressure sensors 70 to 75) detects the operation of the operator regarding the hydraulic actuator 3-7.
  • the control controller 40 is based on the position of the work area 60 and the postures of the upper swing body 12 and the front work machine 1A, before the upper swing body 12 and the front work machine 1A deviate from the work area 60.
  • the target turning stop angle ⁇ stop (described later), which is the target value of the turning angle for stopping the turning, is calculated, and the turning stop for turning braking control to stop the upper turning body 12 during turning at the target turning stop angle is performed.
  • the control controller 40 executes turning braking control by appropriately changing the operating pressure generated in the pilot lines 147a and 147b by the operation of the operating lever 22b by the control hydraulic unit 160 (see FIG. 2).
  • FIG. 3 shows the details of the control hydraulic unit 160.
  • the control hydraulic unit 160 includes electromagnetic proportional valves 87a and 87b, which are pressure reducing valves installed on the two pilot lines 147a and 147b, respectively.
  • the electromagnetic proportional valves 87a and 87b are electrically connected to the control controller 40, and the valve opening degree is controlled based on the control signal output from the control controller 40, whereby the operating pressure of the pilot lines 147a and 147b ( Pilot pressure) can be reduced.
  • the opening degree of the electromagnetic proportional valves 87a and 87b is maximum when the power is off, and the opening degree decreases as the current, which is a control signal from the control controller 40, is increased. That is, the electromagnetic proportional valves 87a and 87b can generate a pilot pressure in which the pilot pressure generated by the operator operating the operating lever 22b is forcibly reduced.
  • the signal may be referred to as a "turning stop command".
  • the turning stop command of this embodiment reduces the operating pressure (pilot pressure) of the pilot lines 147a and 147b, but another operating pressure is generated as long as it brakes the turning of the upper swing body 12. May be.
  • another operation pressure for example, there is a pressure that causes the upper-part turning body 12 to turn in a direction opposite to the turning direction defined by the operator's operation.
  • the turning stop command may be a command that changes the pilot pressure according to the passage of time or a change in turning speed.
  • control controller 40 includes an input interface 91, a central processing unit (CPU) 92 that is a processor, a read only memory (ROM) 93 and a random access memory (RAM) 94 that are storage devices, and an output interface 95.
  • CPU central processing unit
  • ROM read only memory
  • RAM random access memory
  • the input interface 91 receives signals from the angle sensors 30, 31, 32, 34 and the tilt angle sensor 33, which are the working machine posture detection device 51, and a work area setting device 52, which is a device for setting the work area 60. Signals, a signal from an operator operation detecting device 53 which is a pressure sensor (including the pressure sensors 70 to 75) for detecting an operation amount from the operating devices 45 to 47, and a turning angle sensor 19 which is a turning angle detecting device 54. Signal and the signal from the turning angular velocity sensor 17 which is the turning angular velocity detection device 55 are input and converted so that the CPU 92 can calculate.
  • the ROM 93 is a recording medium in which a control program for executing deviation prevention control (turning braking control) including processing related to a flowchart described later and various information necessary for executing the flowchart are stored. According to the control program stored in the ROM 93, a predetermined arithmetic processing is performed on the signals received from the input interface 91 and the memories 93 and 94.
  • the output interface 95 controls the swing hydraulic motor 4 by creating an output signal according to the calculation result in the CPU 92 and outputting the signal to the solenoid proportional valve 87 (87a, 87b) or the display device 83.
  • images of the front working machine 1A, the vehicle body 1B, the bucket 10, the work area 60, and the like are displayed on the screen of the display device 83.
  • the control controller 40 of FIG. 4 is provided with semiconductor memories of ROM 93 and RAM 94 as storage devices, but any storage device can be substituted, and for example, a magnetic storage device such as a hard disk drive may be provided.
  • FIG. 6 is a functional block diagram of the controller 40.
  • the control controller 40 By executing the program stored in the ROM 93 by the CPU 92, the control controller 40 operates the turning angle calculation unit 170, the work area calculation unit 171, the work machine attitude calculation unit 172, the turning angular velocity calculation unit 173, and the operator. Functions as a speed estimation unit 174, a display control unit 175, a solenoid proportional valve control 176, a target stop angle calculation unit 101, a turning braking behavior prediction unit 102, a target stop angle correction unit 103, and a turning command calculation unit 104. To do. The processing in each unit will be described below.
  • the turning angle calculation unit 170 calculates the turning angle ⁇ sw of the upper turning body 12 in the shovel reference coordinate system (local coordinate system) based on the information from the turning angle detection device 54 (turning angle sensor 19).
  • the work implement posture calculation unit 172 calculates the posture of the front work implement 1A in the shovel reference coordinate system.
  • the posture of the hydraulic shovel 1 can be defined on the shovel reference coordinate system in FIG.
  • the shovel reference coordinate system in FIG. 5 has an origin at a point on the turning center axis where the lower traveling body 11 contacts the ground.
  • the traveling direction when the undercarriage 11 travels straight and the operating plane of the front working machine 1A are parallel, and the operating direction of the extending direction of the front working machine 1A and the operating direction when the undercarriage 11 is forwarded are
  • the matching directions are the X-axis
  • the turning center of the upper swivel body 12 is the Z-axis
  • the X-axis and the Z-axis described above are defined as the Y-axis so as to form a right-handed coordinate system.
  • the turning angle ⁇ sw the state in which the front working machine 1A is parallel to the X axis is 0 degree.
  • the rotation angle of the boom 8 with respect to the X-axis is the boom angle ⁇
  • the rotation angle of the arm 9 with respect to the boom 8 is the arm angle ⁇
  • the rotation angle of the tip of the toe of the bucket 10 with respect to the arm 9 is the bucket angle ⁇
  • the rotation of the upper revolving structure 12 with respect to the lower traveling structure 11 is the same.
  • the turning angle was defined as the turning angle ⁇ sw .
  • the boom angle ⁇ is detected by the boom angle sensor 30, the arm angle ⁇ is detected by the arm angle sensor 31, the bucket angle ⁇ is detected by the bucket angle sensor 32, and the swivel angle ⁇ sw is detected by the swivel angle sensor 19.
  • the posture and position of each part of the hydraulic excavator 1 in the excavator reference coordinate system can be calculated. Further, the inclination angle ⁇ of the vehicle body 1B with respect to the horizontal plane (reference plane) perpendicular to the direction of gravity can be detected by the vehicle body inclination angle sensor 33.
  • the work area calculation unit 171 executes an operation of converting the position information of the work area 60 into the excavator reference coordinate system shown in FIG. 5 based on the information from the work area setting device 52.
  • the work area 60 defined by a single work area boundary 61 as shown in FIG. 7 is shown, but the work area 60 may be defined by a plurality of work area boundaries 61.
  • the work area boundary 61 is not limited to the straight line shown in FIG. 7, but may be a curved line, and is not limited to the straight line substantially parallel to the X axis as shown in FIG.
  • the operator operation speed estimation unit 174 correlates the pilot pressure (operation pressure) detected by the operator operation detection device 53 (pressure sensors 70 to 75) with the pilot pressure and the actuator speed previously stored in the ROM 93 in the controller 40. Based on a table (see, eg, FIG. 11), the speed of the hydraulic actuator 3-7 operated by the operator is estimated.
  • the detection of the operation amount by the pressure sensors 70-75 is merely an example, and for example, a position sensor (for example, a rotary encoder) that detects the rotational displacement (tilt amount) of each operation lever 22, 23 is used for the operation lever 22, 23.
  • the pilot pressure is calculated from the lever operation amount based on the detected lever operation amount and the correlation table of the lever operation amount and the pilot pressure, and the spectacular table illustrated in FIG. 11 is used.
  • the speed of the hydraulic actuator 3-7 may be estimated. Further, instead of the configuration in which the operating speed of each hydraulic actuator 3-7 is estimated from the operation amount of the operator, the displacement of the hydraulic cylinder 3-7 is calculated from the detection values of the angle sensors 30 to 32 and the vehicle body inclination angle sensor 33, The operating speed may be calculated based on the time change of the displacement.
  • the turning angular velocity calculation unit 173 calculates the turning angular velocity of the upper swing body 12 based on the detection value of the turning angular velocity detection device 55 (turning angular velocity sensor 17).
  • the target stop angle calculation unit 101 includes the position of the work area 60 (work area boundary 61) calculated by the work area calculation unit 171, and the front work machine 1A and the upper swing body 12 calculated by the work machine attitude calculation unit 172. Based on the posture, a target turning stop angle ⁇ stop, which is a target value of a turning angle for stopping the turning of the upper swing body 12 before the front working machine 1A and the upper swing body 12 deviate from the work area 60, is calculated. .. In the excavator reference coordinate system, the target stop angle calculation unit 101 of the present embodiment has the reach length (sometimes simply referred to as “reach”) Rbk (FIG. 5) of the front work machine 1A and the work area boundary from the main body 1B.
  • the target turning stop angle ⁇ stop is calculated. For example, the calculation of the target turning stop angle ⁇ stop when the left end portion 10L of the bucket 10 approaches the work area boundary 61 of FIG. 7 will be described.
  • the distance d (FIG. 7) between the work area boundary 61 and the origin of the excavator reference coordinate system (the turning center 120 of the upper turning body 12), the length of the turning center 120 of the upper turning body 12 and the boom pin 8a in the X-axis direction is Lsb.
  • the length from the boom pin 8a to the arm pin 9a is Lbm
  • the length from the arm pin 9a to the bucket pin 10a is Lam (FIG.
  • the target turning stop angle ⁇ stop is It is expressed as 3).
  • the target turning stop angle ⁇ stop at this time is the turning angle ⁇ sw when the left end 10L of the bucket tip is located on the work area boundary 61, as shown in FIG. In this case, the left end 10L of the bucket tip reaches the work area boundary 61 at the earliest point on the hydraulic excavator 1 due to the turning operation of the upper swing body 12.
  • the point on the hydraulic excavator 1 that reaches the work area boundary 61 earliest by the turning motion of the upper swing body 12 changes each time. obtain.
  • the turning braking behavior prediction unit 102 is a period from the time when the turning stop command is output from the control controller 40 (start of turning braking) to the time when the upper turning body 12 is stopped (may be referred to as “braking period” in this document).
  • the turning braking behavior prediction unit 102 sets the braking period as initial conditions, for example, at a predetermined timing determined by the control cycle, with the posture of the front working machine 1A at that moment, the speed of the front working machine 1A, and the angular velocity of the upper turning body 12 as initial conditions.
  • the behaviors of the upper revolving superstructure 12 and the front working machine 1A are predicted. More specifically, the swing braking behavior prediction unit 102 changes the rotation angles ⁇ , ⁇ , ⁇ of the boom 8, the arm 9, and the bucket 10 during the braking period by the swing braking control, thereby changing the front working machine 1A.
  • Predicted value of reach (also referred to as “predictive work machine reach”) Rpre change and the angle at which the upper swing body 12 turns during the braking period (that is, the angle required from the start of turning braking to the stop of turning)
  • a predicted value of the turning braking angle (also referred to as “predicted turning braking angle”) ⁇ pre.
  • the change in reach Rpre of the front working machine 1A and the turning braking angle ⁇ pre can be calculated, for example, based on the equation of motion of the following equation (4).
  • ⁇ is the braking torque for turning
  • ⁇ is the turning angular velocity
  • J is the moment of inertia of the upper swinging body 12 that depends on the posture of the front working machine 1A (working machine posture)
  • B is the viscous damping coefficient
  • C is dependent on the working machine posture.
  • the change in the reach Rpre of the front working machine 1A during the braking period is defined by the change in the speed of the hydraulic actuator 5-7 during the braking period based on the speed characteristic of the hydraulic actuator (hydraulic cylinder) 5-7. Can be calculated by geometrically changing the rotation angles ⁇ , ⁇ , and ⁇ .
  • the speed characteristic of the hydraulic actuator 5-7 the correlation table between the pilot pressure and the hydraulic actuator 5-7 shown in FIG. 11 used by the operator operation speed estimation unit 174 is used.
  • the reach Rbk of the front working machine 1A shown in the equation (2) is calculated from the posture at the time of calculation (current time) to the maximum value.
  • the amount of increase in reach Rbk per hour is the theoretical maximum value defined by the specifications of the excavator 1.
  • the reach Rbk reaches the maximum value during the braking period, the maximum value is maintained thereafter.
  • the swing braking control when the operator operates so that the reach of the front work implement 1A increases from the current attitude and speed of the front work implement 1A toward the maximum value
  • the behavior at time can be predicted, and the predicted turning braking angle ⁇ pre can be calculated based on the behavior.
  • the turning braking behavior prediction unit 102 of the present embodiment calculates the predicted braking angle ⁇ pre on the assumption that the reach Rbk of the front work implement 1A continues to increase during the braking period.
  • the turning braking behavior prediction unit 102 does not assume a change in the posture of the front working machine 1A during the braking period, and the current posture.
  • the turning braking angle ⁇ pre is calculated while keeping (that is, the reach Rbk is the maximum value).
  • the target stop angle correction unit 103 corrects the target turn stop angle ⁇ stop from the prediction result of the operation of the front work machine 1A by the turn braking behavior prediction unit 102 (specifically, the reach Rpre of the front work machine 1A).
  • the modified value of the target turning stop angle ⁇ stop may be referred to as the modified turning stop angle ⁇ rs.
  • the corrected turning stop angle ⁇ rs of the present embodiment is a point on the shovel 1 when turning toward the work area boundary 61 while extending the reach of the front working machine 1A from the current value toward the maximum value according to a predetermined rule.
  • the turning angle ⁇ sw when the point at which the work area boundary 61 is reached earliest in the case of FIG.
  • the corrected turning stop angle ⁇ rs is usually smaller than ⁇ stop as the reach increases when the reach is not the maximum at the current time.
  • ⁇ rs and ⁇ stop have the same value.
  • the target stop angle correction unit 103 of the present embodiment corrects the turn stop angle ⁇ stop by correcting the target turn stop angle ⁇ stop on the assumption that the reach Rbk of the front work machine 1A continues to increase during the braking period. It can be said that the angle ⁇ rs is calculated.
  • the turning stop command (turning stop command (turning stop command) is determined based on the modified turning stop angle ⁇ rs, the current turning angle ⁇ c (turning angle detected by the turning angle sensor 19), and the predicted turning braking angle ⁇ pre.
  • a command to decelerate and stop the turning of the upper swing body 12) is output to the electromagnetic proportional valve 87.
  • a turning stop command for decelerating with the turning braking torque ⁇ (see equation (4)) is output, and the turning braking control is executed.
  • FIG. 8 shows a flow chart of deviation prevention control executed by the controller 40 of the present embodiment, and each step number is indicated by adding S.
  • the controller 40 starts the flow of FIG. 8 when the turning operation by the operator's operation lever 22b is executed. However, during turning, the flow of FIG. 8 is repeated and executed at a predetermined cycle.
  • step S100 the controller 40 sets the work area 60 at the current position of the hydraulic excavator 1 (own machine) based on the position of the work area 60 calculated by the work area calculation unit 171. Judge whether or not. For example, it is determined whether or not the work area boundary 61 exists within a predetermined range centering on the position of the player's own machine, and when the work area boundary 61 exists within the predetermined range, the work area 60 is set. It is judged that it has been done. Further, a switch for switching ON/OFF of execution of the deviation prevention control is provided, and the work area 60 is set when the switch is turned on through the switch, and the work area 60 is not set when the switch is OFF. There is also something to judge. If it is determined in S100 that the work area 60 is set, the process proceeds to S101, and if it is determined that there is no setting, the process proceeds to step S110.
  • step S101 the control controller 40 (working machine attitude calculation unit 172) receives data input (inputting attitude information of the front working machine 1A) from the working machine attitude detecting device 51, and at the present time (when executing step S101). In, it is determined whether or not the front working machine 1A has reached the full reach (maximum). If it is determined that the reach of the front working machine 1A is the maximum, the process proceeds to step S102, and if it has not reached the full reach, the process proceeds to step S105.
  • step S102 the controller 40 (target stop angle calculation unit 101) determines whether or not the front working machine 1A deviates from the work area 60 by the turning motion in the full reach posture. That is, the presence or absence of deviation from the work area 60 is determined by determining whether or not the hydraulic excavator 1 goes out of the work area 60 when turning with full reach. If it is determined to deviate, the process proceeds to step S103, and if it is determined not to deviate, the process proceeds to step S110.
  • step S103 the control controller 40 (target stop angle calculation unit 101) calculates the target stop angle ⁇ stop that does not deviate from the work area 60 with the current work implement posture (full reach). Specifically, the target stop angle calculation unit 101 describes the rotation angles ⁇ , ⁇ , ⁇ of the boom 8, arm 9, and bucket 10 and the distance d between the origin of the excavator reference coordinate system and the work area boundary 61. The target stop angle ⁇ stop at full reach is calculated based on (1)-(3) and is output to the turning command calculation unit 104. When step S104 ends, the process then proceeds to step S104.
  • step S104 the control controller 40 (turning braking behavior predicting unit 102) predicts the turning braking that is the angle required from the start of turning braking to the stop of the upper-part turning body 12 in the current working machine posture (full reach).
  • the angle ⁇ pre is calculated and output to the turning command calculation unit 104. Then proceed to step 108.
  • step S108 the control controller 40 (turning command calculation unit 104) calculates the target calculated in step 103 by the sum of the predicted turning braking angle ⁇ pre calculated in step S104 and the current angle ⁇ c input from the turning angle calculation unit 170. It is determined whether or not the turning stop angle ⁇ stop is reached. If the sum of these reaches the target turning stop angle ⁇ stop, the process proceeds to step S109, and if not, the process proceeds to step S110.
  • step S109 the control controller 40 (turning command calculation unit 104) executes turning braking control, that is, turning braking, thereby decelerating the turning operation of the upper turning body 12 and preventing deviation from the work area 60. ..
  • step S110 the turning braking control by the control controller 40 is not executed, and the turning operation of the excavator 1 is performed as operated by the operator.
  • the process of step S110 is performed when it is determined in step S100, step S102, step S106, and step S108 that the process is negative.
  • step S105 that is, when it is determined in step S101 that the front working machine 1A has not reached full reach
  • the control controller 40 performs turning braking by turning braking control.
  • the change in reach Rpre of the front work machine 1A predicted work machine reach) between the start and the stop of the upper swivel body 12 and the time required from the start of the swivel braking until the upper swivel body 12 stops.
  • the predicted turning braking angle ⁇ pre which is the angle, is calculated.
  • the work implement reach is maximized by rotating the reach Rbk of the front implement 1A shown in the equation (2) so as to maximize the reach Rbk from the posture at the time of calculation (current time).
  • the angles ⁇ , ⁇ , ⁇ are changed according to a predetermined rule.
  • the calculation of the predicted working machine reach and the predicted turning braking angle ⁇ pre are completed, they are output to the target stop angle correction unit 103 and the turning command calculation unit 104, and the process proceeds to step S106.
  • step S106 when the controller 40 (target stop angle correction unit 103) turns the hydraulic excavator 1 with the predicted work machine reach calculated in step S105 (that is, while increasing the work machine reach toward the maximum). , It is determined whether or not a part of the hydraulic excavator 1 deviates from the work area 60. The determination can be performed in the same manner as step S102. If it is determined that the vehicle departs, the process proceeds to step S107, and if it is determined that the vehicle does not depart, the process proceeds to step S110.
  • step S107 the controller 40 (target stop angle correction unit 103) causes the predicted work machine reach calculated in step S105 (changes in the rotation angles ⁇ , ⁇ , ⁇ ), the distance d, and the above equation (1)- From (3), the target turning stop angle (corrected turning stop angle ⁇ rs) for not departing from the work area 60 is calculated. Then, the process proceeds to step S108.
  • step S108 the control controller 40 (turning command calculation unit 104) determines the predicted turning braking angle ⁇ pre calculated in step S105 and the current angle ⁇ c input from the turning angle calculation unit 170. It is determined whether the sum has reached the target turning stop angle (corrected turning stop angle ⁇ rs) calculated in step 107. When these sums reach the target turning stop angle (corrected turning stop angle ⁇ rs), the process proceeds to step S109 (that is, turning braking is executed), and when not reached, the process proceeds to step S110.
  • step S109 that is, turning braking is executed
  • the target turning stop angle (corrected turning stop angle ⁇ rs) is calculated when the reach length of the front work implement 1A is increased toward the maximum value, and the upper turning body is started after turning braking (turning braking control) is started.
  • the reach length and moment of inertia of the front working machine 1A are taken into consideration in the calculation of the predicted turning braking angle ⁇ pre, which is the angle required for 12 to stop.
  • the calculation is performed when passing through S105, 106, and 107 in the present embodiment.
  • the control result is conservative because it takes a large value compared with ⁇ pre and the predicted work machine reach.
  • the predicted working machine reach and the predicted turning braking angle ⁇ pre are sequentially calculated based on the attitude of the front working machine 1A at the current time, the turning braking control is performed under a reasonable condition that may actually occur. Can be executed.
  • step S102 of FIG. 8 is executed after YES is determined in step S100, and step S101 is executed after YES is determined there. That is, in FIG. 8, before and after the order of steps S101 and S102 can be exchanged. When the front and back of steps S101 and S102 are exchanged, step S106 can be omitted.
  • the turning braking behavior predicting unit 102 shown in FIG. 6 determines the gravitational force based on the tilt angle ⁇ of the vehicle body 1B (upper revolving superstructure 12) detected by the vehicle body inclination angle sensor 33 (working machine attitude calculation unit 172).
  • Rpre which is the predicted reach of the working machine during swing braking control
  • ⁇ pre which is the predicted swing braking angle.
  • equation (6) the following equation of motion (Equation (6)) is used, where G is the term of the influence of gravity (the term of influence of gravity).
  • the hydraulic excavator 1 When the operator does not touch the operation right lever 22a As shown in FIG. 2, the hydraulic excavator 1 according to the first embodiment has three front members (boom 8, arm 9, Of the bucket 10), the boom 8 which is two front members and the operation right lever 22a which can operate the bucket 10 and the arm 9 which is the remaining one front member excluding the two front members from the three front members.
  • the upper swing body 12 and an operation left lever 22b capable of operating the upper swing body 12 are provided.
  • the operator normally inputs a swing operation with his/her left hand through the operation left lever 22b, and when it is necessary to operate the front working machine 1A, in addition to this swing operation, another operation is performed. input.
  • a contact detection sensor capable of detecting whether or not the operator touches the operation right lever 22a is attached to the operation right lever 22a, and the predictive work machine reach and the predictive turning braking in S105 of FIG. 8 are attached according to the output signal of the sensor.
  • the calculation content of the angle ⁇ pre may be changed. Specifically, when it is determined that the operator is touching the operation right lever 22a, the predicted work implement reach and the predicted turning braking angle ⁇ pre are calculated based on the processing already described in step S105 of FIG. That is, the calculation is performed assuming that the reach of the work implement is maximized).
  • the boom 8 when it is determined that the operator has not touched the operation right lever 22a, the boom 8 from the posture of the front work implement 1A at that time.
  • the bucket 10 may not operate, and the flowchart may be modified to calculate the predicted work implement reach and the predicted turning braking angle ⁇ pre assuming that the work implement reach increases only by pushing the arm 9 (that is, Work machine reach is calculated as increasing only by arm dump operation).
  • step S105 may be performed in consideration of the delay required to move in the moving direction).
  • FIG. 14 is a functional block diagram of the controller 40 of the hydraulic excavator according to this modification.
  • the contact detection sensor 58 shown in FIG. 14 is a sensor for detecting whether or not the operator is touching the operation right lever 22a, and is attached to the operation right lever 22a.
  • the contact detection sensor 58 is electrically connected to the control controller 40, and the detection signal of the contact detection sensor 58 is output to the turning braking behavior prediction unit 102 in the control controller 40.
  • FIG. 12 shows a part of a flowchart of processing executed by the controller 40 shown in FIG. 14, in which the contents of (1) and (2) above are reflected in step S105 of FIG. Has become.
  • the processes up to steps S1051 to S1057 in FIG. 12 are alternative processes to step S105 in FIG. 8, and the process in step S1051 is executed when NO is determined in step S101 in FIG. 8, and any of S1053-S1057. It is assumed that the process returns to step S106 of FIG. 8 when the process of FIG. 8 is completed, and the other processes are the same as those of FIG.
  • step S1051 the control controller 40 (turning braking behavior prediction unit 102) determines whether or not the operator is touching the operation right lever 22a based on the signal from the contact detection sensor 58. If it is determined that the operator is touching the operation right lever 22a, the process proceeds to step S1052.
  • step S1052 the control controller 40 (turning braking behavior prediction unit 102) operates the operation right lever 22a and the operation left lever 22b based on the signal from the operator operation detection device 53 to reduce the reach of the front work machine 1A. It is determined whether or not it is operated. When it is determined that the front working machine 1A is operated in the contracting direction by the operation right lever 22a and the operation left lever 22b, the process proceeds to step S1053.
  • step S1053 the control controller 40 (turning braking behavior prediction unit 102) starts and stops turning braking after considering the delay time until the actuator operated in the contraction direction moves in the reverse direction (extension direction).
  • the predicted work machine reach and the predicted turning braking angle ⁇ pre are calculated. That is, the predicted work implement reach and the predicted turning braking angle ⁇ pre are calculated on the assumption that the work implement reach increases toward the maximum value after the lapse of the delay time.
  • step S1052 When it is determined in step S1052 that the operation is not performed in the contraction direction, the process proceeds to step S1054, and the control controller 40 (turning braking behavior prediction unit 102) starts the same process as step S105 in FIG.
  • the predicted work machine reach and the predicted turning braking angle ⁇ pre until the vehicle stops are calculated.
  • step S1051 determines whether the operation right lever 22a is touched. If it is determined in step S1051 that the operation right lever 22a is not touched, the process proceeds to step S1055.
  • step S1055 the control controller 40 (turning braking behavior prediction unit 102) determines whether or not the operation left lever 22b is operated in the contracting direction of the arm 9 based on the signal from the operator operation detection device 53. If it is determined that the operation is in the contraction direction, the process proceeds to step S1056.
  • step S1056 the control controller 40 (turning braking behavior predicting unit 102) considers the delay until the arm 9 operated in the contraction direction moves in the opposite direction (extension direction) while the boom 8 and the bucket 10 do not move. Then, the predicted work machine reach from the start to the stop of the turning braking and the predicted turning braking angle ⁇ pre are calculated. That is, when the work machine reach increases toward the maximum value (however, only the arm operation is performed while the boom 8 and the bucket 10 are held in the same posture) after the delay time elapses, the work machine reach increases. Assuming that the predicted work machine reach and the predicted turning braking angle ⁇ pre are calculated.
  • step 1055 If it is determined in step 1055 that the operation has not been performed in the contraction direction, the process proceeds to step S1057.
  • step S1057 the control controller 40 (turning braking behavior prediction unit 102) calculates the predicted work machine reach and the predicted turning braking angle ⁇ pre from the start to the stop of turning braking, assuming that the boom 8 and the bucket 10 do not move. That is, the predicted working machine is assumed assuming that the working machine reach increases toward the maximum value (however, only the arm operation is performed while the boom 8 and the bucket 10 are held in the same posture) by the operation of only the arm 9. The reach and the predicted turning braking angle ⁇ pre are calculated.
  • step S105 of the flowchart of FIG. 8 By substituting step S105 of the flowchart of FIG. 8 with S1051-1057 shown in FIG. 12, it is possible to prevent the prediction work machine reach and the prediction turning braking angle ⁇ pre from being overestimated. Compared with, the work efficiency and the operation feeling of the operator can be improved.
  • the length from the turning center 120 to the left rear end 12BL is Lus, and the angle from the front working machine longitudinal direction (corresponding to the X axis when the turning angle is zero) to the left rear end 12BL is ⁇ us. Then, the position Yus of the left rear end portion 12BL of the upper swing body 12 with respect to the swing center 120 in the Y-axis direction is expressed by the following equation (7).
  • the target turning stop angle ⁇ usstop is expressed by the following equation (8).
  • the turning braking behavior prediction unit 102 adjusts the attitude of the front work implement 1A so that the term J of the moment of inertia in the formula (4) (or the formula (6)) continues to increase from the present point toward the maximum value.
  • the turning braking angle ⁇ pre is calculated on the assumption that the turning braking angle is changed from the present time.
  • the positional relationship between the rear end of the upper swing body 12 and the work area boundary 61 is not influenced by the posture of the front work machine 1A.
  • the turning braking angle ⁇ pre is influenced by the term J of the moment of inertia that depends on the attitude of the front work implement 1A.
  • the influence of the term J of the moment of inertia may be considered.
  • the flowchart in this case is shown in FIG.
  • the correlation diagram shown in FIG. 11 can also be used for calculating the change in the posture of the front working machine 1A of the present embodiment as in the first embodiment.
  • FIG. 9 shows a flowchart of deviation prevention control executed by the controller 40 of the present embodiment.
  • the controller 40 starts the flow of FIG. 9 when the turning operation by the operator's operation lever 22b is executed. However, during turning, the flow of FIG. 9 is repeated and executed at a predetermined cycle.
  • the same processes (steps) as those in FIG. 8 are designated by the same reference numerals and the description thereof may be omitted.
  • step S200 the control controller 40 (target stop angle calculation unit 101) determines whether or not the rear end of the upper swing body 12 deviates from the work area 60 by the swing motion. If it is determined to deviate, the process proceeds to step S201, and if it is determined not to deviate, the process proceeds to step S110.
  • step S201 the control controller 40 (target stop angle calculation unit 101) calculates the target turn stop angle ⁇ usstop using the above equation (7). After that, the process proceeds to step S202.
  • step S202 the control controller 40 (turning braking behavior prediction unit 102) determines whether or not the moment of inertia J determined by the posture of the front working machine 1A is the maximum at the present time (at the time of calculation in step S202).
  • the maximum value of the moment of inertia J is calculated in advance, and here it is determined whether or not the moment of inertia J at the present time has reached the maximum value. If J is the maximum at the present time, the process proceeds to step S104, and if it is not the maximum, the process proceeds to step S203.
  • step S104 the control controller 40 (turning braking behavior predicting unit 102) starts the turning braking with the current work implement attitude (that is, keeping the inertia moment J at the maximum), and then the upper turning body 12 stops.
  • the predicted turning braking angle ⁇ pre which is the angle required until it is calculated, is calculated and output to the turning command calculation unit 104. Then proceed to step 108.
  • step S203 the controller 40 (turning braking behavior prediction unit 102) makes a prediction assuming that the attitude of the front work implement 1A is changed so that the inertia moment J continues to increase toward the maximum value during the braking period.
  • the turning braking angle ⁇ pre is calculated, and then the process proceeds to step S108.
  • steps S100, S108, S109, and S110 are the same as those in the first embodiment, the description thereof will be omitted.
  • the work area 60 at the rear end of the upper swing body 12 is subject to deviation prevention control, so that the target turn stop angle ⁇ usstop does not change depending on the posture of the front work machine 1A. Therefore, the step of predicting the behavior during turning braking control and changing the target turning stop angle ⁇ usstop (step S107 in FIG. 8) is unnecessary and is not performed.
  • the present embodiment it is determined which of the front working machine 1A and the upper revolving structure 12 is likely to deviate from the work area 60, and the front working machine 1A and the upper working body 1 are separated. It is also possible to adopt a configuration in which the turning braking control is executed by giving priority to the turning body 12 that is more likely to deviate from the work area 60. That is, when the front work implement 1A is more likely to deviate, the flowchart of FIG. 8 is executed to determine the timing for outputting the turning stop command, and when the upper revolving superstructure 12 is more likely to deviate, The flowchart of 9 is executed to determine the timing of outputting the turning stop command. As for the determination of the high possibility of deviation, for example, it can be determined that the one that reaches the target turning stop angle first in step S108 has a high possibility of deviation.
  • the weight of the load in the bucket 10 affects the moment of inertia J. Therefore, in the present embodiment, the weight (load) of the load in the bucket 10 is calculated, and the inertia moment J calculated based on the load value is used to operate the upper swing body 12 and the front working machine 1A during the braking period. A case of predicting will be described. The description of the parts common to the first embodiment will be omitted.
  • FIG. 10 is a functional block diagram of the control controller 40 of the hydraulic excavator according to the present embodiment.
  • the load calculation unit 105 is added to the functional block diagram of the first embodiment shown in FIG.
  • the load calculator 105 is connected to the cylinder pressure detector 57.
  • the cylinder pressure detecting device 57 is composed of a pressure sensor provided on the rod portion and the bottom portion of the boom cylinder 5.
  • the load calculation unit 105 calculates the load of the load (load) of the bucket 10 from the posture of the front work implement 1A and the differential pressure between the rod portion and the bottom portion of the boom cylinder 5 from the cylinder pressure detection device 57.
  • the turning braking behavior prediction unit 102 calculates the term J of the moment of inertia shown in the above equation (4) (or equation (6)) based on the load calculation result of the load calculation unit 105. Further, based on this, similarly to the first embodiment, Rpre, which is the predicted reach of the working machine during the turning braking control, and ⁇ pre, which is the predicted turning braking angle, are calculated.
  • the moment of inertia becomes larger and the braking distance becomes longer by the amount of the load of the load, as compared with the case where there is no load in the same posture.
  • the predicted turning braking angle ⁇ pre can be estimated accurately, and the deviation from the work area 60 can be prevented more reliably.
  • the construction has been described by taking a working machine (hydraulic excavator) equipped with a hydraulic lever that outputs a pilot pressure according to the operation of the operating lever 22 by an operator as an example.
  • the present invention is also applicable to a working machine equipped with an electric lever that outputs an electric signal according to lever operation.
  • the tip of the bucket 10 has been described as an example of the reach, when a portion other than the tip of the bucket 10 (for example, the rear end of the bucket 10 or the rod-side tip of the bucket cylinder 7) has the maximum reach,
  • the target turning stop angle ⁇ stop may be calculated from a portion other than the tip of the bucket 10.
  • the operator may be notified that the turning braking control is being executed by displaying it on the screen of the display device 83.
  • the present invention is not limited to each of the above embodiments, and includes various modifications within a range not deviating from the gist thereof.
  • the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, part of the configuration according to one embodiment can be added or replaced with the configuration according to another embodiment.
  • the configuration related to the above control device may be a program (software) in which each function related to the configuration of the control device is realized by reading and executing by an arithmetic processing unit (for example, a CPU).
  • Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), and the like.
  • control line and the information line are shown to be necessary for the description of the embodiment, but all control lines and information lines related to the product are not necessarily required. Does not always indicate. In reality, it can be considered that almost all the configurations are connected to each other.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

L'invention concerne un dispositif de commande dont est équipée une pelle hydraulique. Le dispositif de commande : calcule, sur la base de la position d'une zone de travail prédéfinie et de l'orientation d'un corps rotatif supérieur et d'un engin de chantier, un angle d'arrêt de rotation cible θstop pour arrêter la rotation du corps rotatif supérieur avant que le corps rotatif supérieur et que l'engin de chantier dévient d'une zone de travail; et émet une instruction d'arrêt de rotation pour arrêter le corps rotatif supérieur pendant la rotation à l'angle d'arrêt de rotation cible. Le dispositif de commande : prédit le fonctionnement du corps rotatif supérieur et de l'engin de chantier pendant une période de freinage sur la base de la vitesse angulaire de rotation du corps rotatif supérieur et de l'orientation de l'engin de chantier, et calcule ainsi un angle de freinage de rotation prédit θpre, qui est l'angle auquel le corps rotatif supérieur tourne pendant la période de freinage; corrige l'angle d'arrêt de rotation cible θstop sur la base des résultats de la prédiction du fonctionnement de l'engin de chantier pendant la période de freinage; et émet une instruction d'arrêt de rotation à un instant déterminé sur la base de l'angle de freinage de rotation prédit et de l'angle d'arrêt de rotation cible corrigé.
PCT/JP2020/004512 2019-03-04 2020-02-06 Engin de chantier WO2020179346A1 (fr)

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WO2022208974A1 (fr) * 2021-03-29 2022-10-06 日立建機株式会社 Engin de chantier

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Publication number Priority date Publication date Assignee Title
JP2005330034A (ja) * 2004-05-18 2005-12-02 Hitachi Constr Mach Co Ltd 把持力制御装置および解体作業機
JP2010095906A (ja) * 2008-10-16 2010-04-30 Hitachi Constr Mach Co Ltd 建設機械および旋回制御装置
JP2010247968A (ja) * 2009-04-17 2010-11-04 Kobe Steel Ltd 旋回式作業機械の旋回停止制御装置および方法
JP2011052383A (ja) * 2009-08-31 2011-03-17 Caterpillar Sarl 作業機械の旋回制御装置
JP2011063407A (ja) * 2009-09-18 2011-03-31 Kobe Steel Ltd 旋回式作業機械の旋回停止制御装置および方法
JP2013189767A (ja) * 2012-03-13 2013-09-26 Sumitomo Heavy Ind Ltd 電動式旋回装置
WO2014123228A1 (fr) * 2013-02-08 2014-08-14 日立建機株式会社 Dispositif de surveillance d'environs pour un engin de chantier du type orientable
JP2017096006A (ja) * 2015-11-25 2017-06-01 日立建機株式会社 建設機械の制御装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005330034A (ja) * 2004-05-18 2005-12-02 Hitachi Constr Mach Co Ltd 把持力制御装置および解体作業機
JP2010095906A (ja) * 2008-10-16 2010-04-30 Hitachi Constr Mach Co Ltd 建設機械および旋回制御装置
JP2010247968A (ja) * 2009-04-17 2010-11-04 Kobe Steel Ltd 旋回式作業機械の旋回停止制御装置および方法
JP2011052383A (ja) * 2009-08-31 2011-03-17 Caterpillar Sarl 作業機械の旋回制御装置
JP2011063407A (ja) * 2009-09-18 2011-03-31 Kobe Steel Ltd 旋回式作業機械の旋回停止制御装置および方法
JP2013189767A (ja) * 2012-03-13 2013-09-26 Sumitomo Heavy Ind Ltd 電動式旋回装置
WO2014123228A1 (fr) * 2013-02-08 2014-08-14 日立建機株式会社 Dispositif de surveillance d'environs pour un engin de chantier du type orientable
JP2017096006A (ja) * 2015-11-25 2017-06-01 日立建機株式会社 建設機械の制御装置

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