JP2017008719A - Excavator drilling control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to provide a hydraulic shovel excavation control system and excavation control method that are capable of improving work efficiency of an operator.SOLUTION: A work machine control system 200 comprises: an operation unit 28b for creating and updating a design surface S for showing a target shape of an excavation target; a display unit 29 for displaying the design surface S; an excavation limitation control unit 265 for executing excavation limitation control for automatically adjusting a bucket tip position with respect to the design surface S; and an execution instruction unit 264 for instructing execution of the excavation limitation control to the excavation limitation control unit 265. The operation unit 28b periodically updates the design surface S.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an excavation control system and excavation control method for a hydraulic excavator.

  2. Description of the Related Art Conventionally, in a construction machine including a front device including a bucket, region limited excavation control for moving the bucket along a boundary surface indicating a target shape to be excavated has been proposed (see, for example, Patent Document 1).

  There is also known a method for obtaining global coordinates of intersection lines between an operation plane of a work device and a plurality of work surfaces (see Patent Document 2). The operation plane of the work device is a plane that includes the movable range of the work implement and is perpendicular to a plane that faces the upper swing body of the excavator.

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

  However, in Patent Document 2, the area limited excavation control is not executed when the work implement is turned. In order to execute the area limited excavation control, a work for directly facing the work machine to a place where a design surface is set or a work for giving a work surface update instruction is required. Since these operations are complicated for the operator, the operator cannot concentrate on excavation work, and the work efficiency is lowered.

  The present invention has been made in view of the above-described situation, and an object thereof is to provide a hydraulic excavator excavation control system and excavation control method capable of improving the work efficiency of an operator.

  A excavation control system for a hydraulic excavator according to a first aspect includes a boom that is swingably attached to a swinging body that is swingably disposed on a traveling device, and a swingable attachment to a tip portion of the boom. A working machine having a movable arm, a bucket swingably attached to the tip of the arm, a calculation unit that generates and updates a design surface that indicates a target shape to be excavated, and a display unit that displays the design surface An excavation restriction control unit for executing excavation restriction control for automatically adjusting the blade edge position of the bucket with respect to a design surface indicating a target shape to be excavated, and executing the excavation restriction control on the excavation restriction control unit An execution instruction unit for instructing. The calculation unit periodically updates the design surface.

  According to the excavation control system for a hydraulic excavator according to the first aspect, the operator can concentrate on excavation work while moving and turning the excavator by updating the design surface. As a result, work efficiency is increased and operator fatigue can be reduced.

  The excavation control system for a hydraulic excavator according to the second aspect is the excavation control system for a hydraulic excavator according to the first aspect, wherein the execution instructing unit is when the turning body is turning and the boom is descending. Instructs the excavation restriction control unit to release the excavation restriction control.

  According to the excavation control system for a hydraulic excavator according to the second aspect, the design surface is updated even while the swinging body is turning. For example, when the boom is lowered while the hydraulic excavator is turning, the bucket is not turned. The excavation area restriction control is executed at the timing when it is lowered to the height of the design surface, so that the excavator can be prevented from stopping. In addition, since the execution instructing unit does not instruct execution of excavation restriction control during so-called downturning, the operator's operation feeling is prevented from being impaired by excavation restriction control by leaving the driving of the hydraulic excavator to the operator's operation. can do.

  The excavation control system for a hydraulic excavator according to a third aspect relates to the first aspect, and the execution instruction unit is configured even when the swing body is turning and the boom is descending. When the arm is being driven and the turning speed of the revolving structure is below a predetermined value, the excavation restriction control unit is instructed to execute the excavation restriction control.

  According to the excavation control system for a hydraulic excavator according to the third aspect, when excavation work is performed while turning slowly, the roughening of the design surface can be suppressed by executing the excavation restriction control.

  The excavation control system for a hydraulic excavator according to a fourth aspect relates to the first or second aspect, and the excavation restriction control unit moves the cutting edge along the design surface when the arm is being driven. When the arm is not being driven, the cutting edge is stopped at a position in contact with the design surface.

  According to the excavation control system for a hydraulic excavator according to the fourth aspect, the drive control of the hydraulic excavator can be automatically switched between the molding mode and the blade edge alignment mode.

  A excavation control method for a hydraulic excavator according to a fifth aspect includes a boom that is swingably attached to a swinging body that is swingably disposed on a traveling device, and a swingable attachment to the tip of the boom. The excavation control method of a hydraulic excavator provided with a working machine having an arm to be mounted and a bucket that is swingably attached to a tip portion of the arm. The excavation control method for a hydraulic excavator according to a fifth aspect determines whether or not the cutting edge of the bucket is closer to the design surface than a limit line provided at a predetermined distance from a design surface indicating a target shape to be excavated. And determining whether the vertical component of the relative speed of the bucket blade edge with respect to the design surface is greater than the limit speed when it is determined that the blade edge of the bucket is closer to the design surface than the limit line. A step of determining, if it is determined that the vertical component is greater than the speed limit, a step of determining whether or not the turning body is turning and the boom is being lowered; and the turning body Is excavating and when the boom is not lowered, excavation restriction control is performed to control the vertical component below the speed limit, the turning body is turning, and the boom is being lowered. If that, and a step of releasing the drilling limit control.

  ADVANTAGE OF THE INVENTION According to this invention, the excavation control system and excavation control method of a hydraulic shovel which can improve an operator's working efficiency can be provided.

It is a perspective view of a hydraulic excavator. (A) is a side view of the excavator 100, and (b) is a rear view of the excavator 100. It is a perspective view for demonstrating the operation | work form of a hydraulic shovel. It is a top view for demonstrating the operation | work form of a hydraulic shovel. It is a schematic diagram of the cross section in the A line of FIG. It is a schematic diagram of the cross section in the B line | wire of FIG. It is a block diagram which shows the function structure of a working machine control system. It is a block diagram which shows the structure of a working machine controller. It is a schematic diagram which shows the positional relationship of a bucket and the design surface S. It is a graph which shows the relationship between a speed limit and distance. It is a flowchart for demonstrating operation | movement of a working machine control system.

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

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

  The vehicle body 1 includes a turning body 3, a cab 4, and a traveling device 5. The revolving structure 3 is disposed on the traveling device 5 and can revolve around a revolving axis along the vertical direction. The swivel body 3 houses an engine, a hydraulic pump, etc. (not shown). A first GNSS antenna 21 and a second GNSS antenna 22 are disposed on the rear end of the revolving unit 3. The first GNSS antenna 21 and the second GNSS antenna 22 are antennas for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system). The cab 4 is placed on the front part of the revolving unit 3. An operation device 25 to be described later is disposed in the cab 4 (see FIG. 3). The traveling device 5 has a pair of crawler belts 5a and 5b, and the excavator 100 travels as the pair of crawler belts 5a and 5b rotate.

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

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

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

  The vehicle main body 1 is provided with a position detection unit 19. The position detector 19 detects the current position of the excavator 100. The position detector 19 includes the first and second GNSS antennas 21 and 22 described above, a global coordinate calculator 23, and an IMU (Inertial Measurement Unit) 24. The first and second GNSS antennas 21 and 22 are separated from each other in the vehicle width direction. A signal corresponding to the GNSS radio wave received by the first and second GNSS antennas 21 and 22 is input to the global coordinate calculator 23. The global coordinate calculator 23 calculates the installation positions of the first and second GNSS antennas 21 and 22. As shown in FIG. 2B, the IMU 24 detects an inclination angle θ4 in the vehicle width direction of the vehicle main body 1 with respect to the gravity direction (vertical line). Further, the IMU 24 detects the angular velocity ω around the turning axis of the turning body 3.

[Working form of hydraulic excavator 100]
Next, a working mode of the excavator 100 assumed in the present embodiment will be described with reference to the drawings. FIG. 3 is a perspective view for explaining a working mode of the excavator 100. FIG. 4 is a top view for explaining the working mode of the excavator 100. FIG. 5 is a schematic diagram of a cross section taken along line A of FIG. 6 is a schematic diagram of a cross section taken along line B of FIG.

  In the present embodiment, it is assumed that the slope U is formed by excavating the slope T by moving the bucket cutting edge 8a of the bucket 8 along the design surface S. The design surface S indicates the target shape (that is, slope U) of the object to be excavated (that is, the slope T).

  In such a situation, there are two types of work forms of the excavator 100: “blade edge alignment work” and “molding work”.

  The blade edge alignment operation means that the bucket blade edge 8a stops at the lower end Ta of the slope T through the first state P1 in which the bucket blade edge 8a is separated from the design surface S and the second state P2 in which the bucket blade edge 8a approaches the design surface S. This is the work up to the third state P3. As shown in FIG. 3 and FIG. 4, in the first state P1 and the second state P2, the operator turns the work implement 2 in the turning direction X ′ by turning the turning body 3 in the turning direction X, 6 is lowered. On the other hand, in the third state P3, the operator lowers the boom 6 and aligns the bucket blade edge 8a without turning the swing body 3.

  The molding operation is an operation of forming the slope U by moving the bucket blade edge 8a along the design surface S from the lower end Ta to the upper end Tb of the slope T. At this time, the operator drives the arm 7 and the bucket 8 while raising the boom 6.

  Here, in the blade edge alignment work and the molding work, when the operation of the excavator 100 satisfies a predetermined condition, the position of the bucket blade edge 8a with respect to the design surface S is controlled by the excavation restriction control executed by the work machine control system 200. Is automatically adjusted. The excavation restriction control is control for improving work efficiency and reducing the load on the operator. The conditions under which the excavation restriction control is executed will be described later. As shown in FIGS. 5 and 6, according to the bucket blade edge 8a entering the inside of the excavation restriction control intervention line C parallel to the design surface S, It is determined whether or not a predetermined condition is satisfied. For example, in the scene shown in FIG. 6 (that is, the second state P2 during the transition to the first state P1 to the third state P3), the swing body 3 is turning and the boom 6 is descending. The predetermined condition is not satisfied and the excavation restriction control is not executed.

  Further, in the work machine control system 200, the design surface S is updated at any time, and as is apparent from the A and B lines in FIG. 4, the design surface S in FIG. 5 and the design surface S in FIG. The surfaces with different angles and slope lengths are shown. By updating the design surface S as described above, it is possible to provide the design surface S that can be excavated at the present time even when the work machine 2 is turning, and excavation restriction control can be accurately executed based on the design surface S.

[Configuration of work machine control system 200]
FIG. 7 is a block diagram illustrating a functional configuration of the work machine control system 200. The work machine control system 200 includes an operating device 25, a work machine controller 26, a proportional control valve 27, a display controller 28, and a display unit 29.

  The operation device 25 receives an operator operation for driving the work machine 2 and outputs an operation signal corresponding to the operator operation. Specifically, the operation device 25 includes a turning operation tool 30, a boom operation tool 31, an arm operation tool 32, and a bucket operation tool 33. The turning operation tool 30 includes a turning operation lever 30a and a turning operation detection unit 30b. The turning operation lever 30a receives a turning operation of the turning body 3 by the operator. The turning operation detection unit 30b outputs a turning operation signal M0 according to the operation of the turning operation lever 30a. The boom operation tool 31 includes a boom operation lever 31a and a boom operation detection unit 31b. The boom operation lever 31a receives an operation of the boom 6 by the operator. The boom operation detection unit 31b outputs a boom operation signal M1 according to the operation of the boom operation lever 31a. The arm operation lever 32a receives an operation of the arm 7 by the operator. The arm operation detection unit 32b outputs an arm operation signal M2 according to the operation of the arm operation lever 32a. The bucket operation tool 33 includes a bucket operation lever 33a and a bucket operation detection unit 33b. Bucket operation lever 33a receives operation of bucket 8 by an operator. The bucket operation detection unit 33b outputs a bucket operation signal M3 according to the operation of the bucket operation lever 33a.

  The work machine controller 26 acquires a turning operation signal M0, a boom operation signal M1, an arm operation signal M2, and a bucket operation signal M3 (hereinafter collectively referred to as “operation signal M” as appropriate) from the operation device 25. Moreover, the work machine controller 26 acquires the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 from the first to third stroke sensors 16-18. Further, the work machine controller 26 acquires the angular velocity ω from the IMU 24. The work machine controller 26 outputs a control signal to the proportional control valve 27 based on these pieces of information, thereby turning the revolving body 30 and driving the work machine 2. The function and operation of the work machine controller 26 will be described later.

  The proportional control valve 27 is disposed between the swing body 3, the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown). The proportional control valve 27 adjusts the opening degree of the proportional control valve for operating the boom 6, the arm 7, and the bucket 8 in accordance with a control signal from the work machine controller 26. As a result, the proportional control valve 27 supplies the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 with hydraulic oil at a flow rate corresponding to the opening degree of the proportional control valve.

  The display controller 28 includes a storage unit 28a such as a RAM and a ROM, and a calculation unit 28b such as a CPU. Data on the design topography excavated by the hydraulic excavator is input to the display controller 28 from the outside.

  The storage unit 28a includes the length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8, the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 8, respectively. The work machine data including the minimum and maximum values is stored. The storage unit 28a stores in advance three-dimensional design landform data indicating the shape of the three-dimensional design landform in the work area where the excavator can be excavated.

  The calculation unit 28b calculates the inclination angles θ1 to θ3 based on the boom cylinder length N1, the arm cylinder length N2, and the bucket cylinder length N3 acquired from the first to third stroke sensors 16 to 18. Further, the calculation unit 28b is based on the calculated tilt angles θ1 to θ3, the tilt angle θ4 acquired from the IMU 24, and the installation positions of the first and second GNSS antennas 21 and 22 acquired from the global coordinate calculator 23. The current position of the bucket blade edge 8a is calculated. Subsequently, based on the calculated current position data and design terrain data of the bucket blade edge 8a, the calculation unit 28b acquires a bucket vicinity design terrain indicating an area in the vicinity of the bucket blade edge 8a in the design terrain. Next, the calculation unit 28b determines an intersection line between the bucket vicinity design landform and the operation plane of the work machine 2 as a candidate surface S0 that is a candidate for the design surface S. And the calculating part 28b determines the surface where the bucket 8 is the closest among the candidate surfaces S0 as the design surface S. The design surface S determined by the calculation unit 28 b is transmitted to the work machine controller 26 and the display unit 29. The display unit 29 displays the determined candidate surface S0.

  The calculation unit 28b periodically updates the candidate surface S0 and the design surface S so that the operator can perform work at any time. The update of the candidate surface S0 and the design surface S is performed based on the same procedure as the generation of the candidate surface S0 and the design surface S. Specifically, first, the global coordinate calculator 23 updates the current position information of the bucket blade edge 8a as the excavator moves or turns. Based on the updated current position information of the bucket blade edge 8a, the calculation unit 28b updates the candidate surface S0 that is a candidate for the design surface S based on the design terrain data at the position closest to the bucket blade edge 8a. Then, the calculation unit 28b updates the intersecting line between the operation plane of the work machine 2 and the candidate plane S0 that the revolving body of the excavator 100 faces directly as the design plane S. In this way, the design surface update in the calculation unit 28b is executed even while the excavator 100 is moving or while the revolving structure 3 is turning.

[Configuration of work machine controller 26]
FIG. 8 is a block diagram illustrating a configuration of the work machine controller 26. FIG. 9 is a schematic diagram showing the positional relationship between the bucket 8 and the design surface S.

  As illustrated in FIG. 8, the work machine controller 26 includes a relative distance acquisition unit 261, a speed limit determination unit 262, a relative speed acquisition unit 263, an execution instruction unit 264, and an excavation limit control unit 265.

  The relative distance acquisition unit 261 acquires the distance d between the bucket blade edge 8a and the design surface S in the direction perpendicular to the design surface S, as shown in FIG. The relative distance acquisition unit 261 can calculate the distance d based on the design surface S acquired from the display controller 28 and the current position data of the bucket blade edge 8a. The relative distance acquisition unit 261 outputs the distance d to the speed limit determination unit 262. In the example shown in FIG. 9, the distance d is smaller than the line distance h to the excavation restriction control intervention line, and the bucket blade edge 8a has entered the inside of the excavation restriction control intervention line C.

  The speed limit determining unit 262 acquires a speed limit V corresponding to the distance d. The speed limit determining unit 262 determines whether or not the bucket cutting edge 8a has exceeded the excavation limit control intervention line C by comparing the distance d and the line distance h. When it is determined that the bucket blade edge 8a exceeds the excavation restriction control intervention line C, the speed limit determining unit 262 acquires the speed limit V of the relative speed Q1 with respect to the design surface S of the bucket blade edge 8a. Here, FIG. 10 is a graph showing the relationship between the speed limit V of the relative speed Q1 and the distance d. As shown in FIG. 10, the speed limit V becomes maximum when the distance d is equal to or greater than the line distance h, and becomes slower as the distance d becomes smaller than the line distance h. When the distance d is “0”, the speed limit V is also “0”. The speed limit determining unit 262 outputs the speed limit V to the excavation limit control unit 265.

  The relative speed acquisition unit 263 calculates the speed Q of the bucket blade edge 8a based on the operation signal M acquired from the operation device 25. Further, as shown in FIG. 9, the relative speed acquisition unit 263 acquires a relative speed Q1 with respect to the design surface S of the bucket blade edge 8a based on the speed Q. The relative speed acquisition unit 263 outputs the relative speed Q1 to the excavation restriction control unit 265. In the example shown in FIG. 9, the relative speed Q1 is larger than the speed limit V.

  The execution instructing unit 264 instructs the excavation restriction control unit 265 to execute excavation restriction control when the operation of the excavator 100 satisfies a predetermined condition, and when the operation of the excavator 100 does not satisfy the predetermined condition. Instructs the excavation restriction control unit 265 to release the excavation restriction control. Specifically, the execution instructing unit 264 does not instruct execution of the excavation restriction control when the revolving structure 3 is turning and the boom 6 is being lowered. However, the execution instruction unit 264 indicates that the arm 7 is being driven and the turning speed of the revolving structure 3 is predetermined even when the revolving structure 3 is turning and the boom 6 is being lowered. When the value is less than the value, execution of excavation restriction control is instructed.

  The execution instruction unit 264 can determine whether or not the turning body 3 is turning based on the angular velocity ω acquired from the IMU 24, and can acquire the turning speed when turning. The execution instruction unit 264 can determine whether or not the arm operation tool 32 has been operated by the operator based on the presence or absence of the arm operation signal M2.

  When the execution instruction unit 264 instructs the excavation restriction control unit 265 to execute the excavation restriction control, the execution instruction unit 264 notifies the excavation restriction control unit 265 that the blade edge alignment operation is being performed unless the arm 7 is being driven. If the arm 7 is being driven, the excavation restriction control unit 265 is notified that the molding operation is in progress.

  The excavation restriction control unit 265 determines whether or not the relative speed Q1 with respect to the design surface S of the bucket blade edge 8a exceeds the restriction speed V when the execution instruction unit 264 instructs execution of the excavation restriction control. When it is determined that the relative speed Q1 exceeds the limit speed V, the excavation limit control unit 265 automatically adjusts the position of the bucket blade edge 8a with respect to the design surface S by suppressing the relative speed Q1 to the limit speed V. Excavation restriction control is executed. Specifically, when the excavation restriction control unit 265 is notified from the execution instructing unit 264 that the blade edge alignment operation is being performed, the excavation restriction control unit 265 stops the bucket blade edge 8a of the bucket 8 at a position in contact with the design surface S (hereinafter, referred to as a mode). The work machine 2 is controlled in “stop control mode”. Further, when the excavation restriction control unit 265 is notified from the execution instruction unit 264 that the molding operation is being performed, the excavation restriction control unit 265 designs the bucket blade edge 8a of the bucket 8 by setting the relative speed Q1 to the speed limit U based on the distance d. The work implement 2 is controlled in a mode of moving along the plane S (hereinafter referred to as “profile excavation control mode”). The excavation restriction control unit 265 can switch between the excavation control mode and the excavation control mode by changing the method for correcting the output to the proportional control valve 27.

  The excavation restriction control unit 265 does not execute the excavation restriction control when the execution instruction unit 264 does not instruct execution of the excavation restriction control. In this case, the excavation restriction control unit 265 outputs the output to the proportional control valve 27 without correction to the proportional control valve 27 as it is, thereby driving the work implement 2 in accordance with the operation intended by the operator (hereinafter, “ The work machine 2 is controlled in the “manual mode”.

[Operation of work implement control system 200]
FIG. 11 is a flowchart for explaining the operation of the work machine control system 200.

  In step S10, the work machine control system 200 determines whether or not the bucket blade edge 8a has exceeded the excavation restriction control line C. If the bucket cutting edge 8a exceeds the excavation restriction control line C, the process proceeds to step S20. If the bucket cutting edge 8a does not exceed the excavation restriction control line C, the process repeats step S10.

  In step S <b> 20, the work machine control system 200 determines whether the arm operation tool 32 has been operated. If the arm operation tool 32 is operated, the process proceeds to step S30. If the arm operation tool 32 is not operated, the process proceeds to step S60.

  In step S30, the work machine control system 200 determines whether or not the relative speed Q1 of the bucket blade edge 8a is greater than the speed limit V. If the relative speed Q1 is greater than the speed limit V, the process proceeds to step S40. When the relative speed Q1 is not greater than the speed limit V, the work machine 2 is driven in the manual mode.

  In step S40, the work machine control system 200 determines whether or not the revolving structure 3 is turning down. When the revolving structure 3 is turning down, the process proceeds to step S50. When the revolving structure 3 is not turning down, the work machine 2 is driven in the follow excavation control mode.

  In step S50, the work machine control system 200 determines whether or not the turning speed of the turning body 3 exceeds a predetermined value. When the turning speed of the revolving structure 3 exceeds a predetermined value, the work implement 2 is recognized as being shifted to the third state P3 (see FIGS. 3 to 6) and is driven in the manual mode. On the other hand, when the turning speed of the revolving structure 3 does not exceed the predetermined value, the work implement 2 is not in the transition to the third state P3 (see FIGS. 3 to 6), and is performing excavation work while slowly turning. And is driven in the excavation control mode so as not to roughen the design surface S.

  In step S60, the work machine control system 200 determines whether or not the relative speed Q1 of the bucket blade edge 8a is greater than the speed limit V, as in step S30. If the relative speed Q1 is greater than the speed limit V, the process proceeds to step S70. When the relative speed Q1 is not greater than the speed limit V, the work machine 2 is driven in the manual mode.

  In step S70, the work machine control system 200 determines whether or not the revolving structure 3 is turning down, similarly to step S40. If the swing body 3 is turning down, the process proceeds to step S80. If the swing body 3 is not turning down, the work machine 2 is driven in the stop control mode.

  In step S80, the work machine control system 200 determines whether or not the turning speed of the revolving structure 3 exceeds a predetermined value, similarly to step S50. When the turning speed of the revolving structure 3 exceeds a predetermined value, the work implement 2 is recognized as being shifted to the third state P3 and is driven in the manual mode. On the other hand, when the turning speed of the turning body 3 does not exceed the predetermined value, the work implement 2 is recognized as not being shifted to the third state P3 and is driven in the stop control mode.

[Action and effect]
(1) In the work implement control system 200 according to the present embodiment, the calculation unit 28b updates the design surface S while the revolving unit 3 is turning.

  By updating the design surface, the operator can perform excavation at any time while performing the turning motion. As a result, work efficiency can be improved and operator fatigue can be reduced.

  (2) In the work implement control system 200, the execution instructing unit 264 performs excavation restriction control on the excavation restriction control unit 265 when the revolving structure 3 is turning and the boom 6 is descending. Instruct to cancel.

  Thus, since the design surface S is updated even while the revolving structure 3 is turning, for example, when the boom 6 is descending while the work implement 2 is turning, the bucket 8 reaches the height of the design surface S before turning. It is possible to suppress the excavation area restriction control from being executed at the descending timing and stopping the work machine 2.

  (3) Further, in the work machine control system 200, the execution instruction unit 264 indicates that the arm 7 is being driven even when the swing body 3 is turning and the boom 6 is being lowered. And when the turning speed of the turning body 3 is stopped or below a predetermined value, the execution of the excavation restriction control is instructed.

  Therefore, when excavation work is performed while turning slowly, the roughening of the design surface S can be suppressed by executing the excavation restriction control.

  (4) As shown in the flowchart of FIG. 11, the excavation restriction control unit 265 moves the bucket blade edge 8a along the design surface S when the arm 7 is being driven, and the arm 7 is not being driven. In this case, the bucket blade edge 8a is stopped at a position in contact with the design surface S.

  Thereby, the drive control of the work machine 2 can be automatically switched between the molding mode and the blade edge alignment mode.

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

  (A) In the above embodiment, the work machine control system 200 determines whether or not the turning speed of the turning body 3 exceeds a predetermined value in Step S50 and Step S80, as shown in FIG. However, these steps may not be performed when it is determined whether the turning operation tool 30 is turned by the amount of operation by the operator.

  (B) In the above embodiment, the work machine control system 200 performs steps S40 and S50 and steps S70 and S80 as shown in FIG. 11, but the turning speed of the revolving structure 3 exceeds a predetermined value. In such a case, it is not necessary to instruct execution of the stop control mode.

  (C) In the above embodiment, the execution instruction unit 264 acquires the turning speed of the revolving structure 3 based on the angular speed ω acquired from the IMU 24. However, the present invention is not limited to this. The execution instructing unit 264 determines the turning speed of the revolving structure 3 based on, for example, the amount of operation by the operator of the turning operation tool 30, the installation positions of the first and second GNSS antennas 21 and 22 acquired by the global coordinate calculator 23, and the like. Can be acquired.

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

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

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

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

  (H) In the above embodiment, as shown in FIG. 8, the speed limit and the vertical distance are in a linear relationship, but the present invention is not limited to this. The relationship between the speed limit and the vertical distance can be set as appropriate, and may not be linear or pass through the origin.

  (I) In the above embodiment, as shown in FIG. 3, the hydraulic excavator 100 is positioned above the slope T, but is not limited thereto. The excavator 100 may be located on the side of the slope T.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle main body, 2 ... Working machine, 3 ... Turning body, 4 ... Driver's cab, 5 ... Traveling device, 5a, 5b ... Track, 6 ... Boom, 7 ... Arm, 8 ... Bucket, 8a ... Cutting edge, 10 ... Boom Cylinder, 11 ... arm cylinder, 12 ... bucket cylinder, 13 ... boom pin, 14 ... arm pin, 15 ... bucket pin, 16 ... first stroke sensor, 17 ... second stroke sensor, 18 ... third stroke sensor, 19 ... position detection , 21 ... 1st GNSS antenna, 22 ... 2nd GNSS antenna, 23 ... Global coordinate calculation part, 24 ... IMU, 25 ... Operating device, 26 ... Work machine controller, 261 ... Relative distance acquisition part, 262 ... Speed limit determination part, 263 ... Relative speed acquisition unit, 264 ... Execution instruction unit, 265 ... Excavation restriction control unit, 27 ... Proportional control valve, 28 ... Display controller, 29 ... Display , 31 ... Boom operating tool, ... 32 arm operating tool, 33 ... Bucket operating tool, 100 ... Hydraulic excavator, 200 ... Work machine control system, S ... Design plane, T ... Slope, U ... Slope, C ... Excavation restriction control Intervention line, h ... Line distance

Claims (4)

A boom that is swingably attached to a swinging body that is swingably disposed on the traveling device, an arm that is swingably attached to the tip of the boom, and a swingably attached to the tip of the arm A working machine having a bucket,
A calculation unit that generates and updates a design surface indicating the target shape of the excavation target;
A display unit for displaying the design surface;
An excavation restriction control unit for executing excavation restriction control for automatically adjusting the position of the bucket with respect to the design surface;
An execution instructing unit that instructs the excavation restriction control unit to execute the excavation restriction control;
With
The arithmetic unit periodically updates the design surface.
Excavator excavation control system. The execution instructing unit instructs the excavation restriction control unit to release the excavation restriction control when the turning body is turning and the boom is descending.
The excavation control system for a hydraulic excavator according to claim 1. The execution instructing unit is configured such that the arm is being driven and the turning speed of the turning body is equal to or less than a predetermined value even when the turning body is turning and the boom is being lowered. When it is, the excavation restriction control unit is instructed to execute the excavation restriction control.
The excavation control system for a hydraulic excavator according to claim 1. The excavation restriction control unit moves the blade edge of the bucket along the design surface when the arm is being driven, and the position at which the arm is in contact with the design surface when the arm is not being driven. Stop the cutting edge,
The excavation control system for a hydraulic excavator according to claim 1 or 2.

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