WO2022163168A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2022163168A1 WO2022163168A1 PCT/JP2021/045582 JP2021045582W WO2022163168A1 WO 2022163168 A1 WO2022163168 A1 WO 2022163168A1 JP 2021045582 W JP2021045582 W JP 2021045582W WO 2022163168 A1 WO2022163168 A1 WO 2022163168A1
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- bucket
- work
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- state
- target plane
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- 238000012937 correction Methods 0.000 claims description 42
- 238000001514 detection method Methods 0.000 claims description 16
- 238000010276 construction Methods 0.000 abstract description 67
- 230000010365 information processing Effects 0.000 description 21
- 230000036544 posture Effects 0.000 description 14
- 238000009412 basement excavation Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000003921 oil Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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Classifications
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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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- 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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- 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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
Definitions
- the present invention relates to working machines used for road construction, construction work, civil engineering work, dredging work, demolition work, and the like.
- the work machine body As a work machine used for road construction, construction work, civil engineering work, dredging work, etc., the work machine body has a rotating body attached to the upper part of the traveling body that runs by the power system, and the articulated work front can be moved up and down. It is known to mount each front member so as to be able to swing in any direction, and to drive each front member constituting the work front by a cylinder. An example of this is a so-called hydraulic excavator having a work front composed of a boom, an arm, a bucket, and the like.
- the target surface to be excavated is set in advance, and the boom operation is automatically controlled according to the arm operation of the operator so that the bucket can excavate along the target surface to be excavated. There are things that control.
- bucket control is performed in accordance with the operator's intention by performing bucket control that maintains a constant angle of the bucket according to the operation state of the bucket by the operator and the distance between the bucket and the construction target surface.
- a technique related to a construction machine control device and a construction machine control method is disclosed.
- the present invention has been made in view of the above problems, and is intended to improve workability by maintaining a working state of a work tool in line with an operator's intention in a machine control that causes the work tool to follow a construction target surface.
- An object of the present invention is to provide a working machine capable of
- the present invention provides a machine main body, a work front having a work tool attached to the machine main body so as to be vertically swingable, an actuator for driving the work front, and the actuator.
- an operation input device for instructing the operation of the actuator
- an attitude detection device for detecting attitudes of the machine main body and the work front
- Actuation of the actuator based on information input from a plane information setting device, and information input from the operation input device, the attitude detection device, and the target plane information setting device so that the work implement moves along the target plane.
- a work machine comprising a controller that calculates a command value and outputs the command value to the drive device, wherein the controller operates based on the operation input amount input from the operation input device and the attitude of the work implement with respect to the target plane. determining the working state of the work implement, calculating a range of operation command values for the actuator in which the determined work state is maintained, Correction is performed so that the distance to the target surface is reduced.
- the workability of the work machine is improved by maintaining the working state of the work implement in line with the operator's intention in the machine control that causes the work implement to follow the work target surface. becomes possible.
- the present invention it is possible to improve the workability of the work machine by maintaining the working state of the work tool in accordance with the operator's intention in the machine control that causes the work tool to follow the construction target surface.
- FIG. 1 is a side view of a hydraulic excavator according to an embodiment of the present invention
- FIG. 2 is a diagram showing the configuration of a control system of the hydraulic excavator shown in FIG. 1
- FIG. 3 is a functional block diagram of the information processing apparatus shown in FIG. 2
- FIG. 10 is a diagram showing the operation of the work front by machine control
- FIG. 4 is a diagram showing a movement trajectory of a bucket to be achieved by machine control
- FIG. 10 is a diagram showing an actual movement trajectory of a bucket by machine control
- FIG. 4 is a diagram showing a target motion trajectory of a bucket during excavation work
- FIG. 10 is a diagram showing a target movement trajectory of the bucket during rubbing work
- It is a side view of a slope bucket.
- FIG. 1 is a side view of a hydraulic excavator according to an embodiment of the present invention
- FIG. 2 is a diagram showing the configuration of a control system of the hydraulic excavator shown in FIG. 1
- FIG. 10 is a diagram showing a motion trajectory of a bucket by machine control in the prior art
- FIG. 4 is a diagram showing a movement trajectory of a bucket by machine control in the embodiment of the present invention
- 4 is a flow chart showing the processing contents of the information processing device according to the embodiment of the present invention
- FIG. 1 is a side view of a hydraulic excavator according to this embodiment.
- the hydraulic excavator 1 includes a work front 2 , a revolving body 3 that constitutes a machine body, and a traveling body 4 .
- the work front 2 rotates with respect to the rotating body 3, and the rotating body 3 rotates with respect to the traveling body 4, respectively, centering on the connecting portion.
- the work front 2 includes a boom 20 having one end connected to the revolving body 3 , an arm 21 having one end connected to the boom 20 , a bucket 22 having one end connected to the arm 21 , and both ends having the boom 20 and the revolving body 3 .
- the traveling body 4 includes a traveling motor 41 and crawler belts 45 .
- the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A are structured to expand and contract respectively by hydraulic pressure, and the boom 20, arm 21, and bucket 22 can be rotated by expansion and contraction.
- the bucket 22 can be arbitrarily replaced with an attachment (not shown) such as a grapple, breaker, ripper, or magnet.
- a boom IMU (Inertial Measurement Unit) 20S for detecting the attitude of the boom 20 is attached to the boom 20 .
- An arm IMU 21S for detecting the posture of the arm 21 is attached to the arm 21 .
- a bucket IMU for detecting the posture of the bucket 22 is attached to the first link 22B.
- Boom IMU 20S, arm IMU 21S, and bucket IMU 22S are each composed of an angular velocity sensor and an acceleration sensor.
- the revolving body 3 includes a revolving body IMU 30S, a main frame 31, an operator's cab 32, an information processing device 34, a driving device 35, a driving device 36, a counterweight 37, and a revolving motor 38.
- the swing body IMU 30S, operator's cab 32, information processing device 34, drive device 35, prime mover 36, counterweight 37, and swing motor 38 are arranged on the main frame 31.
- the revolving superstructure IMU 30S includes an acceleration sensor and an angular velocity sensor, and can detect the inclination angle of the revolving superstructure 3 .
- An operation input device 33, a target plane information setting device 100, and a display setting device 110 are arranged in the driver's cab 32.
- the operation input device 33 includes an operation lever 33a and an operation input amount sensor 33b (both shown in FIG. 2) that detects the amount of operation of the operation lever 33a by the operator. By detecting the amount of operation of the operation lever 33a, the operation input amount sensor 33b can convert the target operation of each movable portion requested by the operator into an electric signal.
- the operation input device 33 may be of a hydraulic pilot type or a type that can be operated from a remote location.
- the target surface information setting device 100 can set a construction target surface to be excavated by the work front desk 2 .
- the display setting device 110 is composed of a display monitor and a touch panel, and displays the posture of the hydraulic excavator 1, information on the construction target plane, the positional relationship and distance between the construction target plane and the work front 2, and various dimensions of the work front 2. and mass can be set. In addition, an operation mode for angle retention of the bucket 22 can be set.
- the information processing device 34 will be described later with reference to FIG.
- the driving device 35 is composed of a hydraulic pump 35a, a direction switching valve 35b, and an electromagnetic control valve 35c.
- the hydraulic pump 35a generates hydraulic pressure necessary for operating the hydraulic excavator 1 .
- the electromagnetic control valve 35 c drives the direction switching valve 35 b according to the operation command value input from the information processing device 34 .
- the direction switching valve 35b controls the flow rate and direction of pressure oil supplied from the hydraulic pump 35a to the boom cylinder 20A, the arm cylinder 21A, the bucket cylinder 22A, the turning motor 38, and the traveling motor 41, which are actuators.
- the prime mover 36 is a power source for the hydraulic pump 35a, and is composed of an engine 36a.
- the traveling body 4 includes a track frame 40 , a traveling motor 41 and crawler belts 45 .
- the crawler belt 45 is installed so that it can be circulated around the track frame 40 by the driving motor 41 .
- the operator can adjust the travel speed of the hydraulic excavator 1 by operating the operation input device 33 to change the rotational speed of the travel motor 41 .
- the running body 4 is not limited to one having crawler belts 45, and may be one having running wheels or legs.
- FIG. 2 shows the configuration of the control system of the hydraulic excavator 1.
- the control system 10 includes an operation input device 33, an attitude detection device 30, a target plane information setting device 100, a display setting device 110, an information processing device 34, a driving device 35, and a driving device .
- the operation input device 33 is composed of an operation lever 33a and an operation input amount sensor 33b.
- the operation amount of the operation lever 33 a is converted into an electric signal by the operation input amount sensor 33 b and input to the information processing device 34 .
- the posture detection device 30 includes an angular velocity center 30a and an acceleration sensor 30b, and can measure the angles between each member of the work front 2 and the revolving body 3.
- the target plane information setting device 100 includes a target plane information setting controller 100a, and can set and manage construction target planes.
- the display setting device 110 includes a display monitor 110a and a touch panel 110b, and displays the posture of the hydraulic excavator 1, the area information of the construction target plane set by the target plane information setting device 100, the distance between the work front 2 and the construction target plane. etc. can be displayed to the operator.
- the display setting device 110 can also set the dimensions of the boom 20, arm 21 and bucket 22 to implement accurate machine control.
- the display setting device 110 further includes a mode for automatically maintaining the angle of the bucket 22 with respect to the construction target plane, and a mode for automatically maintaining the angle of the bucket 22 with respect to the construction target plane.
- a mode for automatically maintaining the angle of a mode for maintaining the angle of the bucket 22 with respect to the arm 21, and the like can be selected.
- the information processing device 34 includes an information processing controller 34a, and processes control signals and detection signals from each device.
- the operation input device 33 , the orientation detection device 30 , the target plane information setting device 100 and the display setting device 110 are connected to the information processing device 34 .
- the information processing device 34 also outputs a command for driving the hydraulic excavator 1 to the driving device 35 .
- the driving device 35 is composed of a hydraulic pump 35a, a direction switching valve 35b, and an electromagnetic control valve 35c.
- the hydraulic pump 35a generates pressure oil necessary for driving the hydraulic cylinders 20A, 21A, 22A and the hydraulic motors 38, 41.
- the direction switching valve 35b drives the hydraulic cylinders 20A, 21A, 22A and the hydraulic motors 38, 41 by adjusting the flow rate and direction of pressure oil supplied from the hydraulic pump 35a.
- Drive 35 may also drive attachments and equipment not included above.
- the prime mover 36 is composed of an engine 36a.
- the engine 36a drives the hydraulic pump 35a.
- the driving device 36 is not limited to this configuration, and other power sources such as an electric motor may be used.
- the hydraulic excavator 1 is generally configured such that the operating speed of the actuator increases as the amount of operation of the control lever 33a increases.
- the operator can change the operation speed of each actuator 20A, 21A, 22A, 38, 41 by adjusting the operation amount of the operation lever 33a.
- the operation input device 33 includes an operation input amount sensor 33b that electrically detects the operation amount (operation input amount) of the operation lever 33a, and transmits a target operation of the actuator requested by the operator to the information processing apparatus 34. can be done.
- the operation input amount sensor 33b is not limited to the one that directly detects the operation amount of the operation lever 33a, and may be of a type that detects the operation pilot pressure.
- the attitude detection device 30 includes an angular velocity sensor and an acceleration sensor for each of the swinging body IMU 30S, the boom IMU 20S, the arm IMU 21S, and the bucket IMU 22S. Angular velocity and acceleration information at each position can be obtained from these IMUs.
- the boom 20, the arm 21, the bucket 22, the boom cylinder 20A, the arm cylinder 21A, the bucket cylinder 22A, the first link 22B, the second link 22C, and the revolving body 3 are each mounted so as to be able to swing, so that the machine can
- the attitudes of the boom 20, the arm 21, the bucket 22, and the revolving body 3 can be estimated from the physical link relationship.
- the posture detection method shown here is only an example, and the method of directly measuring the relative angle of each part of the work front 2, or the detection of the strokes of the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A to detect the hydraulic excavator 1. may be calculated.
- the target plane information setting device 100 can set a construction target plane to be excavated by the work front desk 2 .
- the construction target plane may be set to have a plurality of planes in addition to a single plane, and the work front 2 may set an excavable range.
- the construction target plane may be set in a coordinate system based on the work machine 1 or in a coordinate system based on the earth.
- the construction target plane may be set by reading model data such as 3D data.
- the driving device 35 includes a hydraulic pump 35a, a direction switching valve 35b, and an electromagnetic control valve 35c, and according to the operation command value input from the information processing device 34, an actuator (hydraulic cylinder 20A, 21A, 22A and hydraulic motors 38, 41).
- the operation command value input from the information processing device 34 is converted into pilot pressure by the electromagnetic control valve 35c, and the direction switching valve 35b is driven by this pilot pressure.
- the direction switching valve 35b controls the operating speed of the actuators 20A, 21A, 22A, 38, 41 by adjusting the flow rate of hydraulic oil supplied to the actuators 20A, 21A, 22A, 38, 41.
- FIG. 3 is a functional block diagram of the information processing device 34.
- the information processing device 34 is connected to the orientation detection device 30 , the operation input device 33 , the target plane information setting device 100 , the display setting device 110 and the driving device 35 .
- the information processing device 34 includes an attitude calculation unit 210 , a target surface distance calculation unit 220 , a target speed calculation unit 310 , a bucket angle control determination unit 410 , a bucket movement direction determination unit 420 , and a bucket work state determination unit 430 . , a bucket correction limit value calculation unit 440 , a bucket target speed correction unit 450 , and an operation command value calculation unit 610 .
- the attitude calculation unit 210 calculates the attitudes of the work front desk 2 and the revolving body 3 based on the signals detected by the attitude detection device 30 .
- the calculation result of attitude calculation section 210 is output to target plane distance calculation section 220 , bucket angle control determination section 410 , and target speed calculation section 310 .
- the target surface distance calculation unit 220 calculates the distance between arbitrary multiple points set on the bucket 22 and the construction target surface based on the calculation results of the target surface information setting device 100 and the posture calculation unit 210 .
- the calculation result of the target surface distance calculation unit 220 is used by the display setting device 110, the bucket angle control determination unit 410, the target speed calculation unit 310, the bucket movement direction determination unit 420, the bucket work state determination unit 430, and the bucket correction limit value calculation unit 440. , and bucket target speed correction unit 450 .
- Bucket angle control determination unit 410 determines the angle control of bucket 22 set in display setting device 110 based on the operation input amount from operation input device 33 and the calculation results of attitude calculation unit 210 and target surface distance calculation unit 220. Based on this, the control state regarding the angle control of the bucket 22 is determined, and the result is output to the target speed calculation unit 310 , the bucket work state determination unit 430 and the bucket target speed correction unit 450 .
- the target speed calculation unit 310 calculates the operation amount information of the operation input device 33 , the distance between the bucket 22 and the construction target surface calculated by the target surface distance calculation unit 220 , the calculation result of the bucket angle control determination unit 410 , and the position calculation unit 210 .
- Target velocities of the actuators 20A, 21A, 22A that drive the work front 2 are calculated based on the calculation results.
- the calculation result of target speed calculation unit 310 is output to bucket traveling direction determination unit 420 , bucket target speed correction unit 450 , and operation command value calculation unit 610 .
- the bucket travel direction determination unit 420 determines the direction in which the bucket 22 travels, that is, the direction toward the toe of the bucket 22 or the side opposite to the toe. It determines whether to advance (rear end side) and outputs the result to the bucket work state determination unit 430 .
- Bucket working state determination unit 430 determines the working state of bucket 22, that is, the bucket 22 on the toe side, based on the calculation results of target surface distance calculation unit 220, bucket angle control determination unit 410, and bucket traveling direction determination unit 420.
- Bucket correction limit value calculation section 440 calculates the upper limit value of the angle correction amount (bucket correction limit value ). Bucket correction limit value calculation section 440 also calculates an upper limit value (bucket correction limit value) of the angular velocity correction amount of bucket 22 that does not give the operator a sense of discomfort. The calculation result (bucket correction limit value) of bucket correction limit value calculation unit 440 is output to bucket target speed correction unit 450 .
- Bucket target speed correction unit 450 corrects the target speed of bucket 22 based on the calculation results of bucket angle control determination unit 410 , target surface distance calculation unit 220 , bucket correction limit value calculation unit 440 , and target speed calculation unit 310 . do.
- Operation command value calculation unit 610 calculates an operation command value necessary to control drive device 35 based on the calculation results of target speed calculation unit 310 and bucket target speed correction unit 450, and outputs the value to drive device 35. do.
- FIG. 4 shows the operation of the work front desk 2 by machine control.
- the machine control automatically controls the boom 20 according to the movement speed of the arm 21 so that the bucket 22 moves along the set construction target plane.
- the boom 20 is automatically raised or lowered so that the toe of the bucket 22 moves along the construction target surface. This allows the operator to excavate along the construction target plane without requiring skillful operation.
- FIG. 5 shows the motion trajectory (target motion trajectory) of the bucket 22 to be achieved by machine control.
- the machine control can automatically control the angle of the bucket 22 .
- the angle control of the bucket 22 includes controlling the movement of the bucket 22 so as to keep the angle of the bucket 22 constant with respect to the construction target plane, and controlling the angle of the bucket 22 in accordance with the movement of the boom 20 and the arm 21 .
- the angle control of the bucket 22 is switched according to the operator's selection operation, or automatically based on the operator's operation amount of the bucket 22, the distance between the bucket 22 and the construction target surface, the attitude of the bucket 22 with respect to the construction target surface, and the like. can be switched to For example, in this embodiment, the operation of the bucket 22 is normally controlled so as to keep the angle of the bucket 22 with respect to the arm 21 constant, and the operator holds the angle of the bucket 22 via the display setting device 110.
- the distance between the bucket 22 and the target surface for construction is smaller than a predetermined value, and the target surface for construction is
- the operation of the bucket 22 is controlled so as to keep the angle of the bucket 22 constant with respect to the revolving plane of the revolving body 3 .
- FIG. 6 shows the actual movement trajectory of the bucket 22 by machine control.
- the work front 2 is made heavy from the viewpoint of strength, so that the mass is relatively large and the inertia is large.
- the hydraulic oil that drives the work front 2 is a compressible fluid, it is difficult to accurately control the operation of the work front 2 . Therefore, when the movement of the arm 21 and the boom 20 is actually controlled to cause the bucket 22 to follow the work target surface, a deviation occurs between the bucket 22 and the work target surface as shown in FIG. As a result, unevenness occurs in the excavated ground.
- the motion trajectory in FIG. 6 is an image for explanation and is different from the actual scale.
- FIG. 7 shows the target motion trajectory of the bucket 22 during excavation work
- FIG. 8 shows the target motion trajectory of the bucket 22 during rubbing work.
- a claw called a tooth is attached to the tip side of the bucket 22 to facilitate excavating the ground.
- An iron plate is attached to the lower part of the bucket 22, and is used for compacting the ground or smoothing the ground by rubbing the bottom surface and the rear end side of the bucket 22 against the ground.
- the working state of the bucket 22 when working under machine control includes a state in which the toe side of the bucket 22 excavates (digging state) as shown in FIG. There is a state of rubbing on the end side (rubbing state). Since the work (excavation work or rubbing work) of the bucket 22 by machine control is performed by a series of operations of the work front 2, it is necessary to maintain the working state of the bucket 22 during that time.
- the working state of the bucket 22 can be determined based on the attitude and traveling direction of the bucket 22 with respect to the construction target surface. In this embodiment, the distance between the toe side of the bucket 22 and the target surface for construction and the distance between the rear end side opposite to the toe side of the bucket 22 and the target surface for construction are calculated. The excavation state or the rubbing state is determined based on the direction. The traveling direction of the bucket 22 can be calculated by extracting a directional component parallel to the construction target plane from the target speeds of the arm 21 and the boom 20 . In the configuration of the work front 2 shown in FIGS. 7 and 8, the arm pulling action advances the bucket 22 toward the toe side, and the arm pushing action causes the bucket 22 to advance toward the rear end side opposite to the toe.
- the condition for determining the working state of the bucket 22 is not limited to the above.
- the excavating state or the rubbing state may be determined based on the angle formed by the bottom surface of the bucket 22 and the construction target surface.
- the rear end side of the bucket 22 may excavate the ground, so the rear end side is positioned below the toe side.
- a state in which the bucket 22 advances to the rear end side in a posture of doing so may be determined as an excavating state.
- a correction method for correcting the target speed of the bucket 22 so as to reduce the distance between the bucket 22 and the construction target surface during machine control work will be described. Correction of the target speed of the bucket 22 is performed based on the working state of the bucket 22 and the distance between the bucket 22 and the work target surface. In this embodiment, when the toe side of the bucket 22 is located below the rear end side and the bucket 22 advances toward the toe side, the bucket cylinder 22A is rotated so that the distance between the toe side of the bucket 22 and the work target surface becomes zero. A displacement is calculated, and this displacement is divided by a predetermined time and added to the target speed of the bucket cylinder 22A calculated by the target speed calculator 310 .
- the predetermined time referred to here is the time required for the distance between the toe of the bucket 22 and the target surface to be worked to become zero, and is determined to be an appropriate value through experiments or the like in consideration of the characteristics of the hydraulic excavator 1 and the like.
- the displacement of the bucket cylinder 22A is calculated so that the distance between the rear end of the bucket 22 and the work target surface becomes zero. , divided by the predetermined time and added to the target speed of the bucket cylinder 22A calculated by the target speed calculator 310 .
- the displacement of the bucket cylinder 22A is calculated so that the distance between the rear end of the bucket 22 and the work target surface becomes zero. is divided by the predetermined time and added to the target speed of the bucket cylinder 22A calculated by the target speed calculator 310 .
- the displacement of the bucket cylinder 22A is calculated so that the distance between the toe of the bucket 22 and the work target surface becomes zero. , divided by the predetermined time and added to the target speed of the bucket cylinder 22A calculated by the target speed calculator 310 .
- the operation command value of the bucket 22 is corrected so that the toe side of the bucket 22 faces upward when the toe of the bucket 22 is positioned below the construction target surface. This prevents them from digging deeper into the ground.
- the excavation state of the bucket 22 is canceled contrary to the operator's intention, resulting in a section in which excavation cannot be performed.
- an upper limit value may be set in advance for the operating speed or angular speed of the bucket cylinder 22A. Furthermore, the upper limit of the operating speed of the bucket cylinder 22A may be changed according to the operating speed of the work front 2.
- FIG. These values are related to the operator's sense of discomfort, and are preferably determined by experiments or the like.
- the angle of the bucket 22 with respect to the work target plane can be fixed by setting the above-described angle limit or angular velocity limit for the target holding angle of the bucket 22. is kept within a certain range, the distance between the bucket 22 and the target surface for construction can be reduced.
- the movement of the bucket 22 is corrected so that the toe of the bucket 22 follows the construction target surface without considering the attitude of the bucket 22 with respect to the construction target surface. Therefore, the working state of the bucket 22 may change during a series of operations of the work front 2 . For example, if the rear end of the bucket 22 is positioned below the toe in the middle of a series of operations even though the work is started in the excavating state as shown in FIG. Gone. Further, if the toe of the bucket 22 is positioned below the rear end in the middle of a series of operations even though the work is started in the rubbing state, the rubbing work by the rear end of the bucket 22 cannot be performed.
- FIG. 11 is a flow chart showing the processing contents of the information processing device 34. As shown in FIG. Each step will be described in order below.
- the attitudes of the work front 2 and the revolving body 3 are calculated based on the signals obtained from the attitude detection device 30.
- step S120 the distance between the bucket 22 and the construction target surface is calculated.
- step S130 the target speed of the work front desk 2 is calculated based on the attitudes of the work front desk 2 and the revolving body 3, the distance between the bucket 22 and the construction target surface, and the amount of operation input from the operation input device 33.
- step S140 it is determined whether or not the bucket angle holding condition is satisfied based on the postures of the work front 2 and the revolving body 3, the positional relationship between the bucket 22 and the construction target surface, and the amount of operation input from the operation input device 33. do.
- the bucket angle holding condition here is a condition for determining whether it is necessary to hold the angle of the bucket 22 with respect to the construction target plane. This is the case where the operation of the work front desk 2 is instructed as follows. If the bucket angle holding condition is satisfied, the process proceeds to step S150, and if the bucket angle holding condition is not satisfied, the process proceeds to step S185.
- step S150 the traveling direction of the bucket 22 is determined based on the target speed of the work front 2 and the target surface information. Specifically, when the speed component of the target speed of the bucket 22 that is parallel to the work target surface and directed toward the toe side is greater than the speed component perpendicular to the work target surface, the moving direction of the bucket 22 is calculated as the toe side. , the moving direction of the bucket 22 is calculated to be the rear end side when the speed component parallel to the target surface for construction and directed toward the rear end of the target speed of the bucket 22 is larger than the speed component perpendicular to the target surface for construction.
- step S160 the working state of the bucket 22 is determined based on the distance between the bucket 22 and the construction target surface calculated in step S120 and the traveling direction of the bucket 22 determined in step S150. If the working state of the bucket 22 is the digging state, the process proceeds to step S170, and if it is the rubbing state, the process proceeds to step S175.
- step S170 a bucket correction limit value for maintaining the excavating state of the bucket 22 is calculated.
- step S175 a bucket correction limit value for maintaining the rubbing state of the bucket 22 is calculated.
- step S180 the target speed of the bucket 22 is corrected so that the distance between the bucket 22 and the target surface for construction is reduced within a range in which the movement correction amount of the bucket 22 does not exceed the bucket correction limit value calculated in step S170 or step S175. do.
- step S185 the target speed of the bucket 22 is not corrected.
- step S190 it is determined whether the target speed of the bucket 22 corresponding to the amount of operation input from the operation input device 33 is smaller than the target speed calculated in step S180 or step S185. If the operation input amount from the operation input device 33 is smaller than the target motion calculated at step S180 or step S185, the process proceeds to step S210, and the target speed corresponding to the operation input amount from the operation input device 33 is set at step S180 or step S185. If it is equal to or higher than the calculated target speed, the process proceeds to step S200.
- step S200 the target speed of the bucket 22 is corrected based on the amount of operation input from the operation input device 33.
- step S210 an operation command value is calculated based on the target speed of the bucket 22 and output to the driving device 35.
- a machine body 3 a work front 2 having a work tool 22 attached to the machine body 3 so as to be vertically swingable, actuators 20A, 21A, and 22A for driving the work front 2, actuators A driving device 35 for driving 20A, 21A and 22A, an operation input device 33 for instructing the operation of the actuators 20A, 21A and 22A, an attitude detecting device 30 for detecting the attitudes of the machine main body 3 and the working front 2, and a working tool.
- a target plane information setting device 100 for setting a target plane to be excavated 22, an operation input device 33, an attitude detection device 30, and a target plane information setting device 100 so that the work implement 22 moves along the target plane.
- the work machine 1 includes a controller 34a that calculates operation command values for the actuators 20A, 21A, and 22A based on information input from the operation input device 33 and outputs the values to the drive device 35.
- the work state of the work implement 22 is determined based on the determined operation input amount and the attitude of the work implement 22 with respect to the target surface, and operation command values for the actuators 20A, 21A, and 22A that maintain the determined work state. and corrects the operation command value of the actuator within the range so that the distance between the work implement 22 and the target surface is reduced.
- the operation command values for the actuators 20A, 21A and 22A are indirectly corrected by correcting the target speed of the bucket 22. However, the operation command values for the actuators 20A, 21A and 22A are directly corrected can be corrected.
- the work of the hydraulic excavator 1 in the machine control for causing the work tool 22 to follow the work target surface, the work of the hydraulic excavator 1 can be performed by maintaining the working state of the work tool 22 in accordance with the operator's intention. It is possible to improve the performance.
- the controller 34a in the present embodiment controls the distance between the work implement 22 and the target surface to be equal to or less than a predetermined value, and the target speed of the work implement 22 calculated based on the operation input amount is parallel to the target surface.
- the working state of the work tool 22 is determined at the timing when the velocity component perpendicular to the target surface becomes larger than the velocity component perpendicular to the target plane. This makes it possible to determine the working state of the work implement 22 at the timing when the work by the work implement 22 is started.
- controller 34a in this embodiment determines the working state of the work implement 22 based on the attitude and traveling direction of the work implement 22 with respect to the target surface. This makes it possible to improve the accuracy of determining the working state of the work implement 22 .
- controller 34a in this embodiment determines the position of the work tool relative to the target plane based on the distance between two points (a point on the toe side and a point on the rear end side) set in advance on the work tool 22 and the target plane. 22 postures are detected. This makes it possible to easily detect the posture of the work implement 22 with respect to the construction target surface.
- the work tool 22 in this embodiment is a bucket
- the controller 34a controls the toe of the bucket 22 to be positioned below the rear end side of the bucket 22 with respect to the target surface, and the target speed of the bucket 22
- the working state of the bucket 22 is determined to be an excavating state, and the toe is positioned with respect to the target plane.
- the working state of the bucket 22 is determined to be the rubbing state. As a result, it is possible to accurately determine whether the working state of the bucket 22 is the digging state or the rubbing state, in the hydraulic excavator 1 to which the bucket 22 is attached as a working tool.
- the controller 34a in the present embodiment determines that the working state of the bucket 22 is the excavating state
- the controller 34a issues an operation command to maintain the state in which the toe is positioned below the rear end side with respect to the target surface.
- the operation command values for the actuators 20A, 21A, and 22A are corrected so that the distance from the toe to the target surface is reduced within the range of values, and when the working state of the bucket 22 is determined to be the rubbing state, the target Actuators 20A, 21A, and 22A are operated so that the distance from the toe to the target surface is reduced within the range of the operation command value that maintains the state in which the rear end side is positioned below the toe with respect to the surface. Correct the operation command value.
- the workability of the hydraulic excavator 1 can be improved by maintaining the working state (digging state or rubbing state) of the bucket 22 in accordance with the operator's intention in the machine control that causes the bucket 22 to follow the construction target surface. becomes possible.
- the controller 34a in the present embodiment controls the amount of change in the angular velocity of the work implement 22 so that it does not exceed a preset angle correction limit value, or the amount of change in the angular velocity of the work implement 22 exceeds the preset angular velocity correction limit value.
- the operation command values for the actuators 20A, 21A, and 22A are corrected so as not to exceed .
- the fluctuation range of the posture of the work implement 22 during work can be suppressed to a certain level or less, so that the discomfort given to the operator can be reduced.
- the controller 34a in this embodiment calculates the angle correction limit value or the angular velocity correction limit value of the work implement 22 based on the operating speed of the work front 2, and the angle change amount of the work implement 22 exceeds the angle correction limit value.
- the operation command values for the actuators 20A, 21A, and 22A are corrected so as not to exceed the angular velocity correction limit value or so that the angular velocity change amount of the work implement 22 does not exceed the angular velocity correction limit value.
- the fluctuation range of the posture of the work tool 22 during work can be suppressed in accordance with the operating speed of the work front desk 2, so that the discomfort given to the operator can be further reduced.
- SYMBOLS 1 Hydraulic excavator (working machine), 2... Work front, 3... Revolving body (machine body), 4... Traveling body, 10... Control system, 20... Boom, 20A... Boom cylinder (actuator), 20S... Boom IMU, 21 Arm 21A Arm Cylinder (Actuator) 21S Arm IMU 22 Bucket (Work Tool) 22A Bucket Cylinder (Actuator) 22B First Link 22C Second Link 22S Bucket IMU 30S: Slewing body IMU, 31: Main frame, 32: Driver's cab, 33: Operation input device, 34: Information processing device, 35: Driving device, 36: Driving device, 37: Counterweight, 38: Slewing motor (actuator ), 40...
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Abstract
Description
図1は、本実施形態における油圧ショベルの側面図である。図1に示すように、油圧ショベル1は、作業フロント2と、機械本体を構成する旋回体3と、走行体4とを備えている。
図2に油圧ショベル1の制御システムの構成を示す。図2において、制御システム10は、操作入力装置33、姿勢検出装置30、目標面情報設定装置100、表示設定装置110、情報処理装置34、駆動装置35、および原動装置36により構成される。
油圧ショベル1は一般に、操作レバー33aの操作量が大きくなると、アクチュエータの動作速度が速くなるように構成されている。オペレータは、操作レバー33aの操作量を調節することにより、各アクチュエータ20A,21A,22A,38,41の動作速度を変化させることができる。
姿勢検出装置30は、旋回体IMU30S、ブームIMU20S、アームIMU21S、およびバケットIMU22Sにそれぞれ角速度センサと加速度センサとを備える。これらのIMUによりそれぞれの位置における角速度と加速度情報を得ることができる。ブーム20、アーム21、バケット22、ブームシリンダ20A、アームシリンダ21A、バケットシリンダ22A、第1リンク22B、第2リンク22C、および旋回体3は、それぞれ揺動できるように取り付けられているので、機械的なリンク関係から、ブーム20、アーム21、バケット22、および旋回体3の姿勢を推定することができる。なお、ここで示した姿勢の検出方法は一例であり、作業フロント2の各部の相対角度を直接計測するものや、ブームシリンダ20A、アームシリンダ21A、バケットシリンダ22Aのストロークを検出して油圧ショベル1の各部の姿勢を算出してもよい。
目標面情報設定装置100は、作業フロント2が掘削目標とする施工目標面を設定することができる。施工目標面は単一な平面に加え、複数の平面を持つように設定してもよく、作業フロント2が掘削可能な範囲を設定できるようにしてもよい。施工目標面は、作業機械1を基準とする座標系で設定してもよいし、地球を基準とする座標系で設定してもよい。施工目標面の設定方法は、3Dデータなどのモデルデータを読み込ませることでもよい。
駆動装置35は、油圧ポンプ35aと、方向切替弁35bと、電磁制御弁35cとにより構成され、情報処理装置34から入力された動作指令値に従って、油圧ショベル1の各部を駆動するアクチュエータ(油圧シリンダ20A,21A,22Aおよび油圧モータ38,41)に供給される作動油(圧油)の流量を制御する。情報処理装置34から入力された動作指令値は電磁制御弁35cによってパイロット圧に変換され、このパイロット圧によって方向切替弁35bが駆動される。方向切替弁35bは、アクチュエータ20A,21A,22A,38,41に供給される作動油の流量を調整することにより、アクチュエータ20A,21A,22A,38,41の動作速度を制御する。
図3は情報処理装置34の機能ブロック図である。図3に示すように、情報処理装置34は、姿勢検出装置30と、操作入力装置33と、目標面情報設定装置100と、表示設定装置110と、駆動装置35とに接続されている。情報処理装置34は、姿勢演算部210と、目標面距離演算部220と、目標速度演算部310と、バケット角度制御決定部410と、バケット進行方向判定部420と、バケット作業状態判定部430と、バケット補正制限値演算部440と、バケット目標速度補正部450と、動作指令値演算部610とにより構成される。
図4にマシンコントールによる作業フロント2の動作を示す。図4に示すように、マシンコントロールでは設定された施工目標面に沿ってバケット22が動作するように、アーム21の動作速度に応じてブーム20を自動的に制御する。例えば、図4に示す状態においてオペレータがアーム21のクラウド操作を行うと、バケット22の爪先が施工目標面に沿って移動するように、ブーム20が自動的に上昇または下降する。これによりオペレータは、熟練の操作を要することなく施工目標面に沿って掘削作業を行うことができる。
図6にマシンコントロールによる実際のバケット22の動作軌跡を示す。一般に油圧ショベル1では、強度の観点から作業フロント2は重厚に作られているため質量が比較的大きく、慣性が大きい。また、油圧システムの場合、作業フロント2を駆動する作動油が圧縮性のある流体であるため、作業フロント2の動作を正確に制御することは難しい。そのため、実際にアーム21とブーム20の動作を制御してバケット22を施工目標面に追従させようとすると、図6に示すようにバケット22と施工目標面には偏差が生じる。その結果、掘削した地面に凹凸が生じてしまう。なお、図6の動作軌跡は説明用のイメージであり、実際の縮尺とは異なる。
図7に掘削作業中のバケット22の目標動作軌跡を示し、図8に擦り付け作業中のバケット22の目標動作軌跡を示す。図7および図8に示すように、バケット22が広く一般に用いられる掘削用バケットの場合、バケット22の先端側にはツースと呼ばれる爪が取り付けられており、地面を掘削しやすくなっている。バケット22の下部には鉄板が取り付けられており、地面を締め固めたり、バケット22の底面や後端側を地面に擦り付けることで地面を滑らかに均す際に使用される。マシンコントロールで作業するときのバケット22の作業状態としては、図7に示すようにバケット22の爪先側で掘削する状態(掘削状態)と、図8に示すようにバケット22の爪先と反対の後端側で擦り付けする状態(擦り付け状態)とがある。マシンコントロールによるバケット22の作業(掘削作業または擦り付け作業)は作業フロント2の一連の動作により行われるため、その間はバケット22の作業状態を維持する必要がある。
(i)掘削状態と判定するための条件
施工目標面を基準としてバケット22の爪先側が後端側より下方に位置する状態でバケット22が爪先側に進行するとき。
(ii)擦り付け状態と判定するための条件
施工目標面を基準としてバケット22の後端側が爪先側より下方に位置する状態でバケット22が爪先側に進行するとき。または、施工目標面を基準としてバケット22の後端側が爪先側より下方に位置しする状態でバケット22が後端側に進行するとき。
マシンコントロール作業をしている際にバケット22と施工目標面の距離を小さくするようにバケット22の目標速度を補正するときの補正方法について説明する。バケット22の目標速度の補正は、バケット22の作業状態と、バケット22と施工目標面の距離に基づいて行う。本実施形態では、バケット22の爪先側が後端側より下方にある状態でバケット22が爪先側に進行するときに、バケット22の爪先と施工目標面の距離が零になるようにバケットシリンダ22Aの変位を演算し、この変位を所定時間で除算して目標速度演算部310で演算されていたバケットシリンダ22Aの目標速度に加算する。ここでいう所定時間は、バケット22の爪先と施工目標面の距離が零になるのに要する時間であり、油圧ショベル1の特性などを考慮して実験等により適切な値に決定される。
図10Aに示す「掘削作業ができない区間」においてバケット22の掘削状態を維持するためには、施工目標面を基準としてバケット22の後端が爪先より上方に位置している必要がある。そこで、図10Bに示すように、施工目標面を基準としてバケット22の爪先が後端より上方に位置しないようにバケットシリンダ22Aの動作指令値を補正する。これにより、施工目標面を基準としてバケット22の後端が爪先より下方に位置することを無くなるため、バケット22の掘削状態を維持することができる。なお、擦り付け状態を維持する場合は、バケット22の後端と爪先の上下関係を逆にして上記と同様の処理を行えばよい。
従来技術におけるマシンコントロールを用いた場合、図10Aに示すように、施工目標面に対するバケット22の姿勢を考慮せずにバケット22の爪先が施工目標面に追従するようにバケット22の動作が補正されるため、作業フロント2の一連の動作の途中でバケット22の作業状態が変化してしまうことがある。例えば、図10Aのように掘削状態で作業を開始したにもかかわらず、一連の動作の途中でバケット22の後端が爪先より下方に位置してしまうと、バケット22の爪先による掘削作業ができなくなる。また、擦り付け状態で作業を開始したにもかかわらず、一連の動作の途中でバケット22の爪先が後端より下方に位置してしまうと、バケット22の後端による擦り付け作業ができなくなる。
図11は、情報処理装置34の処理内容を示すフローチャートである。以下、各ステップを順に説明する。
本実施形態では、機械本体3と、機械本体3に上下方向に揺動自在に取り付けられた、作業具22を有する作業フロント2と、作業フロント2を駆動するアクチュエータ20A,21A,22Aと、アクチュエータ20A,21A,22Aを駆動する駆動装置35と、アクチュエータ20A,21A,22Aの動作を指示する操作入力装置33と、機械本体3および作業フロント2の姿勢を検出する姿勢検出装置30と、作業具22の掘削対象となる目標面を設定する目標面情報設定装置100と、作業具22が前記目標面に沿って移動するように操作入力装置33、姿勢検出装置30、および目標面情報設定装置100から入力される情報に基づいて、アクチュエータ20A,21A,22Aの動作指令値を演算し、駆動装置35に出力するコントローラ34aとを備えた作業機械1において、コントローラ34aは、操作入力装置33から入力された操作入力量と前記目標面に対する作業具22の姿勢とに基づいて作業具22の作業状態を判定すると共に、判定された前記作業状態が維持されるアクチュエータ20A,21A,22Aの動作指令値の範囲を演算し、前記範囲の中で前記アクチュエータの動作指令値を、作業具22と前記目標面との距離が小さくなるように補正する。なお、本実施形態では、バケット22の目標速度を補正することによりアクチュエータ20A,21A,22Aの動作指令値を間接的に補正する構成としたが、アクチュエータ20A,21A,22Aの動作指令値を直接補正してもよい。
Claims (8)
- 機械本体と、
前記機械本体に上下方向に揺動自在に取り付けられた、作業具を有する作業フロントと、
前記作業フロントを駆動するアクチュエータと、
前記アクチュエータを駆動する駆動装置と、
前記アクチュエータの動作を指示する操作入力装置と、
前記機械本体および前記作業フロントの姿勢を検出する姿勢検出装置と、
前記作業具の掘削対象となる目標面を設定する目標面情報設定装置と、
前記作業具が前記目標面に沿って移動するように前記操作入力装置、前記姿勢検出装置、および前記目標面情報設定装置から入力される情報に基づいて、前記アクチュエータの動作指令値を演算し、前記駆動装置に出力するコントローラとを備えた作業機械において、
前記コントローラは、
前記操作入力装置から入力された操作入力量と前記目標面に対する前記作業具の姿勢とに基づいて前記作業具の作業状態を判定すると共に、判定された前記作業状態が維持される前記アクチュエータの動作指令値の範囲を演算し、前記範囲の中で前記アクチュエータの動作指令値を、前記作業具と前記目標面との距離が小さくなるように補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記作業具と前記目標面との距離が所定値以下となり、かつ、前記操作入力量に基づいて演算した前記作業具の目標速度のうち前記目標面に平行な速度成分が前記目標面に垂直な速度成分よりも大きくなったタイミングで前記作業具の作業状態を判定する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記目標面に対する前記作業具の姿勢および進行方向に基づいて前記作業具の作業状態を判定する
ことを特徴とする作業機械。 - 請求項3に記載の作業機械において、
前記コントローラは、前記作業具上に予め設定された2点と前記目標面との距離に基づいて、前記目標面に対する前記作業具の姿勢を検出する
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記作業具はバケットであり、
前記コントローラは、
前記目標面を基準として前記バケットの爪先が前記バケットの後端側よりも下方に位置し、かつ前記バケットの動作速度のうち前記目標面に平行でかつ前記爪先側に向かう速度成分が前記目標面に垂直な速度成分よりも大きい場合は、前記バケットの作業状態を掘削状態と判定し、
前記目標面を基準として前記爪先が前記後端側よりも下方に位置し、かつ前記バケットの動作速度のうち前記目標面に平行でかつ前記後端側に向かう速度成分が前記目標面に垂直な速度成分よりも大きい場合、または、前記目標面を基準として前記後端側が前記爪先よりも下方に位置し、かつ前記バケットの動作速度のうち前記目標面に平行な速度成分が前記目標面に垂直な速度成分よりも大きい場合は、前記バケットの作業状態を擦り付け状態と判定する
ことを特徴とする作業機械。 - 請求項5に記載の作業機械において、
前記コントローラは、
前記バケットの作業状態を掘削状態と判定した場合は、前記目標面を基準として前記爪先が前記後端側よりも下方に位置する状態が維持される動作指令値の範囲内で、前記爪先から前記目標面までの距離が小さくなるように前記アクチュエータの動作指令値を補正し、
前記バケットの作業状態を擦り付け状態と判定した場合は、前記目標面を基準として前記後端側が前記爪先よりも下方に位置する状態が維持される動作指令値の範囲内で、前記爪先から前記目標面までの距離が小さくなるように前記アクチュエータの動作指令値を補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記作業具の角度変化量が予め設定された角度補正制限値を超えないように、または、前記作業具の角速度変化量が予め設定された角速度補正制限値を超えないように、前記アクチュエータの動作指令値を補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、
前記作業フロントの動作速度に基づいて前記作業具の角度補正制限値または角速度補正制限値を演算し、
前記作業具の角度変化量が前記角度補正制限値を超えないように、または、前記作業具の角速度変化量が前記角速度補正制限値を超えないように、前記アクチュエータの動作指令値を補正する
ことを特徴とする作業機械。
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