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WO2025069961A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2025069961A1
WO2025069961A1 PCT/JP2024/031630 JP2024031630W WO2025069961A1 WO 2025069961 A1 WO2025069961 A1 WO 2025069961A1 JP 2024031630 W JP2024031630 W JP 2024031630W WO 2025069961 A1 WO2025069961 A1 WO 2025069961A1
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WO
WIPO (PCT)
Prior art keywords
rotation
bucket
angle
rotating body
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/031630
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English (en)
Japanese (ja)
Inventor
理優 成川
哲平 齋藤
匡士 小谷
英明 伊東
英史 石本
慧 佐藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of WO2025069961A1 publication Critical patent/WO2025069961A1/fr
Pending legal-status Critical Current
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Classifications

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

Definitions

  • the present invention relates to a work machine.
  • working machines such as hydraulic excavators that have a rotating body rotatably attached to a running body and a multi-jointed working device attached to the rotating body.
  • the working device attached to the hydraulic excavator has a boom rotatably attached to the rotating body, an arm rotatably attached to the boom, and a bucket rotatably attached to the arm.
  • Hydraulic excavators perform the following operations to excavate and load materials: an excavation operation to excavate soil and sand, a transport operation to transport the excavated material to above the loading platform of the loading machine such as a dump truck, a discharge operation to discharge the excavated material onto the loading platform of the loading machine, and a return operation to move the working equipment to the excavation position.
  • Patent Document 1 discloses a control device and control method for a work machine (loading machine) that automatically performs a return operation.
  • the control device for a loading machine is a control device for a loading machine that includes a rotating body that rotates around a rotation center and a working machine having a bucket and attached to the rotating body, and includes a loading target identification unit that identifies the position and shape of the loading target, an avoidance position identification unit that identifies an interference avoidance position that is a position a predetermined distance outside the loading target based on the position and shape of the loading target, and a movement processing unit that outputs an operation signal to drive only the rotating body until the bucket reaches the interference avoidance position from the loading position on the loading target, and outputs an operation signal to drive the rotating body and the working machine after the bucket reaches the interference avoidance position, and to move the bucket to an excavation position on the excavation target.”
  • Patent Document 1 states that "When automatic excavation and loading control is executed continuously, the empty rotation start position P01 coincides with the loading position P07," "When the position P of the tip of the arm 132 reaches the loading position P07, the rotation of the rotating body 120 stops,” and "When the bucket 133 reaches the loading position P07, the movement processing unit 1112 generates a dump operation signal for rotating the bucket 133 in the dumping direction.”
  • the rotating body is stopped while the bucket is rotated to discharge soil onto the loaded machine. Therefore, in order to perform the return operation, it is necessary to output a rotation operation command to rotate the rotating body after the soil discharge is completed.
  • the present invention aims to improve productivity by smoothly transitioning from a state in which the work equipment is operating independently (e.g., a state in which an excavation operation or a discharge operation is being performed) to an operation that requires a rotation operation (e.g., a transport operation or a return operation).
  • a state in which the work equipment is operating independently e.g., a state in which an excavation operation or a discharge operation is being performed
  • an operation that requires a rotation operation e.g., a transport operation or a return operation.
  • the working machine includes a travelling body, a rotating body provided so as to be rotatable with respect to the travelling body, a working device attached to the rotating body and having a boom, an arm and a bucket, an attitude detection device for detecting the attitude of the rotating body and the attitude of the working device, a vessel position detection device for detecting the position of a vessel of a loading machine into which the excavated material excavated by the working device is loaded, and a control device for performing automatic rotation control for automatically rotating the rotating body at least to a rotation completion angle which is a target rotation angle based on the detection results of the attitude detection device and the vessel position detection device.
  • the control device determines whether or not a rotation start condition for starting the automatic rotation control of the rotating body is satisfied based on the rotation operation state of the rotating body and the operation state of the working device, and when it is determined that the rotation start condition is satisfied, outputs a rotation operation start command for starting the rotation of the rotating body toward the rotation completion angle at the timing when the rotation start condition is satisfied, regardless of whether the working device is in an operating state or not.
  • the present invention improves productivity by smoothly transitioning the working device from a state in which it is operating independently to an operation that requires a rotational movement.
  • FIG. 1 is a side view of a hydraulic excavator 1 according to the first embodiment.
  • FIG. 2 is a diagram showing the hydraulic excavator 1 and a loaded machine 200.
  • FIG. 3 is a schematic diagram of a hydraulic drive system 50 of the hydraulic excavator 1.
  • FIG. 4 is a functional block diagram of the control device 40 according to the first embodiment.
  • FIG. 5 is a diagram showing the shovel reference coordinate system as viewed from the Y-axis direction.
  • FIG. 6 is a diagram showing the shovel reference coordinate system as viewed from the Z-axis direction.
  • FIG. 7 is an explanatory diagram of the excavation operation.
  • FIG. 8 is an explanatory diagram of the transport operation and the soil releasing operation.
  • FIG. 9 is an explanatory diagram of the return operation.
  • FIG. 10 is a flowchart showing an example of processing by the control device 40 according to the first embodiment, and shows the flow of processing from the start of an excavation operation to the completion of a transport operation.
  • FIG. 11 is a flowchart showing an example of the processing by the control device 40 according to the first embodiment, and shows the flow of processing from the start of the soil releasing operation to the completion of the return operation.
  • Figure 12 is a diagram showing the time series changes in the ground angle ⁇ of the bucket 10, the presence or absence of a rotation operation command (ON/OFF), and the rotation angle ⁇ sw when an operation transitions from an excavation operation to a transport operation, or from a dumping operation to a return operation, in the first embodiment.
  • FIG. 10 is a flowchart showing an example of processing by the control device 40 according to the first embodiment, and shows the flow of processing from the start of an excavation operation to the completion of a transport operation.
  • FIG. 11 is a flowchart showing an example of the processing by the control device 40 according to the first embodiment,
  • FIG. 13 is a schematic plan view showing a state in which the hydraulic excavator 1 according to the first modification of the first embodiment transitions from the earth releasing operation to the returning operation.
  • FIG. 14 is a flowchart showing an example of the processing by the control device 40 according to the first modification of the first embodiment, and shows the flow of processing from the start of the soil releasing operation to the completion of the return operation.
  • FIG. 15 is a diagram showing a data table of the third time t3r.
  • Figure 16 is a diagram showing the time series changes in the ground angle ⁇ of the bucket 10, the presence or absence of a rotation operation command (ON/OFF), and the rotation angle ⁇ sw when the operation transitions from the soil discharge operation to the return operation in variant example 1 of the first embodiment.
  • FIG. 17 is a functional block diagram of a control device 240 according to the second embodiment.
  • FIG. 18 is a flowchart showing an example of processing by the control device 240 according to the second embodiment, and shows the flow of processing from the start of an excavation operation to the completion of a transport operation.
  • FIG. 19 is a flowchart showing an example of the processing by the control device 240 according to the second embodiment, and shows the flow of processing from the start of the soil releasing operation to the completion of the return operation.
  • FIG. 20 is a diagram showing the time series changes in the weight (excavation amount) W of the transported object in the bucket 10, whether a rotation operation command is output (ON/OFF), and the rotation angle ⁇ sw when the operation transitions from an excavation operation to a transport operation.
  • FIG. 20 is a diagram showing the time series changes in the weight (excavation amount) W of the transported object in the bucket 10, whether a rotation operation command is output (ON/OFF), and the rotation angle ⁇ sw when the operation transitions from an
  • FIG. 21 is a diagram showing the time series changes in the reduction rate Pd of the transported goods in the bucket 10, the output (ON/OFF) of a swing operation command, and the swing angle ⁇ sw when the operation transitions from the soil-discharging operation to the return operation.
  • FIG. 22 is a diagram showing the relationship between the reduction rate Pd of the transported goods and the ground angle ⁇ of the bucket 10.
  • FIG. 23 is a diagram showing the ground angle conversion tables Tc1 and Tc2 after correction.
  • FIG. 24 is a functional block diagram of a control device 340 according to the third embodiment.
  • FIG. 25 is a flowchart showing an example of processing by the control device 340 according to the third embodiment, and shows the flow of processing from the start of an excavation operation to the completion of a transport operation.
  • FIG. 26 is a flowchart showing an example of processing by the control device 340 according to the third embodiment, and shows the flow of processing from the start of the soil releasing operation to the completion of the return operation.
  • traveling hydraulic motor 4 when there are multiple identical components, a lowercase alphabet letter may be added to the end of the reference numeral. In addition, the multiple components may be collectively referred to without the lowercase alphabet letter. For example, when there are two identical traveling hydraulic motors 4a, 4b, these may be collectively referred to as traveling hydraulic motor 4.
  • FIG. 1 is a side view of a hydraulic excavator 1 according to a first embodiment of the present invention.
  • Fig. 2 is a diagram showing the hydraulic excavator 1 and a loaded machine 200.
  • the hydraulic excavator 1 as a work machine performs an excavation operation for excavating a surface to be excavated, such as the ground, and a loading operation for loading the excavated material, such as soil and sand, onto a loaded machine 200, such as a transport vehicle including a dump truck.
  • the hydraulic excavator 1 performs an excavation operation in which the bucket 10 is used to excavate soil and other excavation objects, a transport operation in which the rotating body 7 is rotated to transport the excavated material in the bucket 10 to above the loaded machine 200, a soil discharge operation (discharge operation) in which the bucket 10 is moved in the dump direction to discharge the excavated material onto the loading platform (tray, vessel) 201 of the loaded machine 200, and a return operation in which the bucket 10 is moved from above the loaded machine 200 to a position for performing the next excavation operation.
  • This excavation and loading cycle is performed multiple times for one loaded machine 200.
  • the hydraulic excavator 1 shown in FIG. 1 comprises a vehicle body (machine body) 3 and an articulated working device 2 attached to the vehicle body 3.
  • the vehicle body 3 comprises a running body 5 and a rotating body 7 that is rotatable relative to the running body 5.
  • the running body 5 travels using a right crawler drive traveling hydraulic motor 4a (see FIG. 3) that drives the right crawler, and a left crawler drive traveling hydraulic motor 4b (see FIG. 3) that drives the left crawler.
  • the rotating body 7 is attached to the upper part of the running body 5 via a rotating device, and rotates using a rotating hydraulic motor 6 (see FIG. 3) of the rotating device.
  • the right crawler drive traveling hydraulic motor 4a and the left crawler drive traveling hydraulic motor 4b are collectively referred to as traveling hydraulic motors 4.
  • the work device 2 attached to the rotating body 7 has a number of drive target members (8, 9, 10) that are rotatably connected, and a number of hydraulic cylinders (11, 12, 13) that drive the drive target members.
  • the boom 8, arm 9, and bucket 10, which are three drive target members driven by the multiple hydraulic cylinders (11, 12, 13), are connected in series.
  • the boom 8 has its base end rotatably connected to the front of the rotating body 7 by a boom pin 8a (see Figure 5).
  • the arm 9 has its base end rotatably connected to the tip of the boom 8 by an arm pin 9a.
  • the bucket 10 is rotatably connected to the tip of the arm 9 by a bucket pin 10a.
  • the boom pin 8a, arm pin 9a, and bucket pin 10a are arranged parallel to one another, and each driven member (8, 9, 10) can rotate relative to one another in the same plane.
  • the boom 8 rotates vertically by the extension and retraction of the boom cylinder 11.
  • the arm 9 rotates forward and backward (dump direction and cloud direction) by the extension and retraction of the arm cylinder 12.
  • the bucket 10 rotates forward and backward (dump direction and cloud direction) by the extension and retraction of the bucket cylinder 13.
  • One end of the boom cylinder 11 is connected to the boom 8 and the other end is connected to the frame of the rotating body 7.
  • One end of the arm cylinder 12 is connected to the arm 9 and the other end is connected to the boom 8.
  • One end of the bucket cylinder 13 is connected to the bucket 10 via a bucket link 16 and the other end is connected to the arm 9.
  • FIG. 3 is a schematic diagram of the hydraulic drive system 50 of the hydraulic excavator 1.
  • the hydraulic drive system 50 includes an engine 103, which is a prime mover mounted on the rotating body 7, and a main pump 102 and a pilot pump 104, which are hydraulic pumps driven by the engine 103.
  • the main pump 102 and the pilot pump 104 are driven by the engine 103 and discharge hydraulic oil.
  • the hydraulic drive system 50 includes a flow control valve 101 that controls the flow rate and flow direction of hydraulic oil discharged from the main pump 102, a plurality of electromagnetic proportional valves 51 that output an operating pressure as an operating signal to the flow control valve 101, a control device 40 that outputs a control signal to the electromagnetic proportional valve 51, operation devices 20, 21 that are operated by an operator and output a signal corresponding to the operation amount and operation direction to the control device 40, and a control selection switch 24 that outputs a control switching signal to the control device 40 to switch between automatic control and manual control depending on the operation of the operator.
  • the operation devices 20, 21 and the control selection switch 24 are installed in a cab 71 (see FIG. 1) provided on the rotating body 7.
  • the work operation device 20 includes a work operation right lever 22a for operating the boom 8 and bucket 10, and a work operation left lever 22b for operating the arm 9 and the rotating body 7.
  • the operation device 20 functions as a boom operation device, a bucket operation device, an arm operation device, and a swing operation device 28.
  • the boom operation device, the bucket operation device, and the arm operation device are also collectively referred to as work operation devices 29.
  • the travel operation device 21 includes a travel operation right lever 23a for operating the right crawler, and a travel operation left lever 23b for operating the left crawler.
  • the work operation right lever 22a and the work operation left lever 22b are collectively referred to as the operation lever 22, and the travel operation right lever 23a and the travel operation left lever 23b are collectively referred to as the operation lever 23.
  • the control selection switch 24 is provided on one of the operation levers 22a, 22b, 23a, 23b.
  • the control selection switch 24 may be configured as a touch sensor of a touch panel provided in the operator's cab 71.
  • the control selection switch 24 is an operation switch for switching between a manual mode in which the operation of the hydraulic excavator 1 is controlled in response to the operation of the operation device 20, and an automatic mode in which the operation of the hydraulic excavator 1 is controlled in response to a target route set by the control device 40.
  • the operator can use the control selection switch 24 to select either the manual mode or the automatic mode at any time.
  • the operation system according to this embodiment is an electric lever type operation system in which an electrical signal indicating the amount and direction of operation is input from the operation device 20 to the control device 40, a control signal is output from the control device 40 to the electromagnetic proportional valve 51, and an operating pressure is output from the electromagnetic proportional valve 51 to the flow control valve 101.
  • the hydraulic excavator 1 has an operation detection device 56 that detects the amount and direction of operation of the operation levers 22, 23 and outputs a signal indicating the detection result to the control device 40.
  • the operation detection device 56 has an operation amount sensor 52a that detects the amount of arm operation (arm crowding operation amount and arm dumping operation amount) by the work operation left lever 22b, an operation amount sensor 52b that detects the amount of rotation operation (right rotation operation amount and left rotation operation amount) by the work operation left lever 22b, an operation amount sensor 52c that detects the amount of boom operation (boom raising operation amount and boom lowering operation amount) by the work operation right lever 22a, an operation amount sensor 52d that detects the amount of bucket operation (bucket crowding operation amount and bucket dump operation amount) by the work operation right lever 22a, an operation amount sensor 52e that detects the amount of right crawler forward operation and right crawler backward operation by the travel operation right lever 23a, and an operation amount sensor 52f that detects the amount of left crawler forward operation and left crawler backward
  • the multiple operation amount sensors 52 are, for example, rotary encoders or potentiometers capable of detecting the amount and direction of operation of the operating levers 22, 23.
  • the control device 40 controls the rotational movement of the work device 2, the running movement of the running body 5, and the rotational movement of the rotating body 7 according to the operation information (amount and direction of operation) of the operating levers 22, 23 by the operator.
  • the operating pressure output by the solenoid proportional valve 51 is guided to the pressure receiving chamber of the spool valve, and the spool operates.
  • the hydraulic oil discharged from the main pump 102 is supplied to the corresponding hydraulic actuator through the spool valve, and the hydraulic actuator is operated.
  • the electromagnetic proportional valves 51a, 51b output operating pressure for controlling the pressurized oil supplied to the swing hydraulic motor 6 to the pressure receiving chamber of the spool valve of the flow control valve 101 for driving the swing hydraulic motor 6.
  • the electromagnetic proportional valves 51c, 51d output operating pressure for controlling the pressurized oil supplied to the arm cylinder 12 to the pressure receiving chamber of the spool valve of the flow control valve 101 for driving the arm cylinder 12.
  • the electromagnetic proportional valves 51e, 51f output operating pressure for controlling the pressurized oil supplied to the boom cylinder 11 to the pressure receiving chamber of the spool valve of the flow control valve 101 for driving the boom cylinder 11.
  • the electromagnetic proportional valves 51g, 51h output operating pressure for controlling the pressurized oil supplied to the bucket cylinder 13 to the pressure receiving chamber of the spool valve of the flow control valve 101 for driving the bucket cylinder 13.
  • the electromagnetic proportional valves 51i and 51j output operating pressure for controlling the pressure oil supplied to the travel hydraulic motor 4a to the pressure receiving chamber of the spool valve for driving the travel hydraulic motor 4a of the flow control valve 101.
  • the electromagnetic proportional valves 51k and 51l output operating pressure for controlling the pressure oil supplied to the travel hydraulic motor 4b to the pressure receiving chamber of the spool valve for driving the travel hydraulic motor 4b of the flow control valve 101.
  • the boom cylinder 11, arm cylinder 12, and bucket cylinder 13 each extend and retract with the supplied pressure oil, rotating the boom 8, arm 9, and bucket 10. This changes the position of the bucket 10 and the attitude of the work device 2.
  • the swing hydraulic motor 6 rotates with the supplied pressure oil, rotating the swing body 7.
  • the traveling hydraulic motor 4a and traveling hydraulic motor 4b rotate with the supplied pressure oil, moving the traveling body 5. Note that even if the operator does not operate the operating levers 22, 23, the hydraulic actuators (4a, 4b, 6, 11, 12, 13) can be driven by operating the electromagnetic proportional valves 51a-51l and the flow control valve 101 with a control signal from the control device 40.
  • the hydraulic excavator 1 is equipped with a posture detection device 53 that detects the posture of the vehicle body 3 (swivel body 7) and the posture of the work device 2, including the ground angle of the bucket 10.
  • the posture detection device 53 is composed of a plurality of posture sensors, namely, a boom angle sensor 14, an arm angle sensor 15, a bucket angle sensor 17, a tilt angle sensor 18, and a swing angle sensor 19.
  • the boom angle sensor 14 is attached to the boom pin 8a, detects the rotation angle of the boom 8 relative to the swing body 7, and outputs a signal representing the detection result to the control device 40.
  • the arm angle sensor 15 is attached to the arm pin 9a, detects the rotation angle of the arm 9 relative to the boom 8, and outputs a signal representing the detection result to the control device 40.
  • the bucket angle sensor 17 is attached to the bucket link 16, detects the rotation angle of the bucket 10 relative to the arm 9, and outputs a signal representing the detection result to the control device 40.
  • the control device 40 obtains the rotation angles of the boom 8, arm 9, and bucket 10 by the angle sensors 14, 15, and 17.
  • the control device 40 may acquire each rotation angle by detecting each angle of the boom 8, arm 9, and bucket 10 relative to a reference plane such as a horizontal plane using an inertial measurement unit (IMU) and converting it into each rotation angle of the boom 8, arm 9, and bucket 10.
  • the control device 40 may also acquire each rotation angle by detecting each stroke of the boom cylinder 11, arm cylinder 12, and bucket cylinder 13 using a stroke sensor and converting it into each rotation angle of the boom 8, arm 9, and bucket 10.
  • the rotation angles of the boom 8, arm 9, and bucket 10 are parameters that represent the attitude of the work device 2. That is, the boom angle sensor 14, arm angle sensor 15, and bucket angle sensor 17 function as attitude sensors that detect the attitude of the work device 2. Also, the tilt angle of the rotating body 7 and the rotation angle of the rotating body 7 relative to the running body 5 are parameters that represent the attitude of the rotating body 7 (vehicle body 3). That is, the tilt angle sensor 18 and the rotation angle sensor 19 function as attitude sensors that detect the attitude of the rotating body 7 (vehicle body 3).
  • the hydraulic excavator 1 is equipped with an object detection device 54 that detects objects present within a detection range set around the hydraulic excavator 1.
  • the object detection device 54 also detects the shape, type (excavated material, loading platform 201, etc.) and position of the object.
  • the object detection device 54 is, for example, a LiDAR (Light Detection And Ranging) or a stereo camera, and is attached to the top of the driver's cab 71, etc. (see Figure 1).
  • the object detection device 54 detects the loading platform 201 of the loading machine 200 onto which the excavated material excavated by the work device 2 is loaded, and detects position information (relative position) of the loading platform 201 with respect to the object detection device 54.
  • the object detection device 54 functions as a vessel position detection device that detects the position of the loading platform (vessel) 201.
  • the object detection device 54 also detects the shape of the terrain 210 (see FIG. 2) to be excavated. Note that multiple object detection devices 54 may be attached to the hydraulic excavator 1.
  • the hydraulic excavator 1 is equipped with a hydraulic oil temperature sensor 55 that detects the temperature of the hydraulic oil discharged from the main pump 102.
  • the hydraulic oil temperature sensor 55 is installed, for example, in a hydraulic oil tank or piping.
  • the control device 40 is a computer in which processing devices such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and DSP (Digital Signal Processor), internal storage devices such as RAM (Random Access Memory) and ROM (Read Only Memory), and an external I/F (Interface) are connected to each other via a bus.
  • processing devices such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and DSP (Digital Signal Processor), internal storage devices such as RAM (Random Access Memory) and ROM (Read Only Memory), and an external I/F (Interface) are connected to each other via a bus.
  • An operation detection device 56, a posture detection device 53, an object detection device 54, a control selection switch 24, a hydraulic oil temperature sensor 55, an input device 57, and external storage devices such as a hard disk drive and large-capacity flash memory are connected to the external I/F of the control device 40.
  • the ROM stores programs capable of executing various calculations.
  • the ROM is a storage medium capable of reading programs that realize the functions of this embodiment.
  • the processing device is a calculation device that expands the programs stored in the ROM into the RAM and executes the calculations, and performs predetermined calculation processing on signals received from the external I/F and storage devices (internal storage device and external storage device) in accordance with the programs.
  • the input section of the external I/F converts signals input from various devices (operation detection device 56, attitude detection device 53, object detection device 54, hydraulic oil temperature sensor 55, control selection switch 24, input device 57, etc.) into data that can be calculated by the processing device.
  • the output section of the external I/F generates an output signal according to the calculation result in the processing device, and outputs the signal to various devices (electromagnetic proportional valve 51, etc.).
  • the attitude detection device 53 includes attitude sensors (14, 15, 17) that detect the attitude of the above-mentioned working device 2, and attitude sensors (18, 19) that detect the attitude of the rotating body 7 (vehicle body 3).
  • the control device 40 controls the operation of the rotating body 7 and the work device 2 based on the operation information detected by the operation detection device 56.
  • the control device 40 controls the operation of the rotating body 7 and the work device 2 based on the attitude of the rotating body 7 and the work device 2 and the position information of the loading platform 201.
  • the control device 40 automatically operates the working device 2 from the operation start posture to the operation completion posture based on the detection results of the posture detection device 53 and the object detection device 54. Furthermore, when the transport operation and the return operation are performed automatically, the control device 40 automatically rotates the rotating body 7 from the rotation start angle to the rotation completion angle (executes automatic rotation control) based on the detection results of the posture detection device 53 and the object detection device 54, and automatically operates the working device 2 from the operation start posture to the operation completion posture.
  • FIG. 4 is a functional block diagram of the control device 40. As shown in FIG. 4, the control device 40 executes programs stored in the ROM to function as an attitude calculation unit 41, an object position calculation unit 42, an operation transition determination unit 49, a turning start determination unit 43, an excavation control unit 44, a transportation control unit 45, a soil release control unit 46, a return control unit 47, and an actuator command unit 48.
  • programs stored in the ROM to function as an attitude calculation unit 41, an object position calculation unit 42, an operation transition determination unit 49, a turning start determination unit 43, an excavation control unit 44, a transportation control unit 45, a soil release control unit 46, a return control unit 47, and an actuator command unit 48.
  • the ROM of the control device 40 stores in advance the shovel reference coordinate system used to identify the position and posture of the components of the hydraulic excavator 1, the dimensions of the components of the hydraulic excavator 1, and data on the mounting position of the object detection device 54.
  • the shovel reference coordinate system of this embodiment is defined as a right-handed coordinate system with the origin O being the point where the central axis of rotation intersects with the ground G.
  • the forward movement direction of the traveling body 5 is defined as the positive direction of the X-axis.
  • the direction extending upward from the origin O parallel to the central axis of rotation is defined as the positive direction of the Z-axis.
  • the direction perpendicular to each of the X-axis and Z-axis is defined as the positive direction of the Y-axis, and the left side of the traveling body 5.
  • the shovel reference coordinate system of this embodiment is a coordinate system set based on the traveling body 5, and the XY plane is fixed to the ground (traveling surface) G on which the traveling body 5 contacts.
  • the rotation angle ⁇ sw of the rotating body 7 is 0 degrees when the hydraulic excavator 1 is in the reference posture, i.e., when the work device 2 is parallel to the X-axis.
  • the rotation angle ⁇ sw of the rotating body 7 is 0 degrees
  • the operating plane of the work device 2 is parallel to the XZ plane
  • the lifting direction of the boom 8 is the positive direction of the Z-axis
  • the dumping direction of the arm 9 and bucket 10 is the positive direction of the X-axis.
  • the attitude calculation unit 41 calculates the attitude of the components of the hydraulic excavator 1 in the excavator reference coordinate system from the detection signal of the attitude detection device 53. Specifically, the attitude calculation unit 41 calculates the rotation angle of the boom 8 with respect to the X-axis (hereinafter also referred to as the boom angle) ⁇ bm from the detection signal of the rotation angle of the boom 8 output from the boom angle sensor 14. The attitude calculation unit 41 calculates the rotation angle of the arm 9 with respect to the boom 8 (hereinafter also referred to as the arm angle) ⁇ am from the detection signal of the rotation angle of the arm 9 output from the arm angle sensor 15.
  • the attitude calculation unit 41 calculates the rotation angle of the bucket 10 with respect to the arm 9 (hereinafter also referred to as the bucket angle) ⁇ bk from the detection signal of the rotation angle of the bucket 10 output from the bucket angle sensor 17.
  • the attitude calculation unit 41 calculates the rotation angle ⁇ sw of the rotating body 7 relative to the X-axis (traveling body 5) from the detection signal of the rotation angle of the rotating body 7 output from the rotation angle sensor 19.
  • the posture calculation unit 41 calculates the positions of the boom 8, arm 9, and bucket 10 in the shovel reference coordinate system, that is, the planar positions specified by the X and Y coordinates, and the heights from the ground G specified by the Z coordinate, based on the calculated rotation angles ⁇ bm, ⁇ am, and ⁇ bk of the working device 2 and the rotation angle ⁇ sw of the rotating body 7, as well as the boom length Lbm, arm length Lam, and bucket length Lbk.
  • the boom length Lbm is the length from the boom pin 8a to the arm pin 9a.
  • the arm length Lam is the length from the arm pin 9a to the bucket pin 10a.
  • the bucket length Lbk is the length from the bucket pin 10a to the tip (tip) of the bucket 10.
  • the boom pin 8a is located at a position offset by Lox in the X-axis direction from the rotation center axis (Z-axis) when the rotation angle is set to 0 degrees.
  • the attitude calculation unit 41 calculates the inclination angle (pitch angle and roll angle) of the vehicle body 3 (traveling body 5) with respect to a reference plane from the detection signal of the inclination angle of the vehicle body 3 output from the inclination angle sensor 18.
  • the reference plane is, for example, a horizontal plane perpendicular to the direction of gravity.
  • the attitude calculation unit 41 calculates the ground angle ⁇ , which is the angle of the bucket 10 with respect to a horizontal plane (ground G) perpendicular to the direction of gravity, from the inclination angle of the vehicle body 3 and each rotation angle ⁇ bm, ⁇ am, ⁇ bk of the work device 2.
  • the ground angle ⁇ of the bucket 10 is the angle that a straight line SL passing through the tip of the bucket 10 and the bucket pin 10a makes with respect to the horizontal plane (ground G).
  • the ground angle ⁇ of the bucket 10 is 0 (zero) degrees when the opening of the bucket 10 faces upward and the straight line SL is parallel to the horizontal plane (ground G), and increases as the bucket dump operation progresses.
  • the ground angle ⁇ of the bucket 10 is 180 degrees when the opening of the bucket 10 faces downward and the line SL is parallel to the horizontal plane (ground surface G).
  • the object position calculation unit 42 shown in FIG. 4 calculates the position of the platform 201 of the loaded machine 200 in the shovel reference coordinate system (the planar position specified by the X and Y coordinates, and the height from the ground G specified by the Z coordinate) based on the position information of the platform 201 detected by the object detection device 54, the rotation angle ⁇ sw of the rotating body 7 calculated by the attitude calculation unit 41, and the mounting position of the object detection device 54 in the shovel reference coordinate system.
  • the position information of the platform 201 is information on the relative position of the platform 201 of the loaded machine 200 with respect to the object detection device 54.
  • the control device 40 uses the object detection device 54 to obtain the relative position of the platform 201 with respect to the hydraulic excavator 1 (X, Y, Z coordinates in the shovel reference coordinate system).
  • the position information of the platform 201 acquired by the control device 40 is, for example, the position coordinates of the four corners of the top surface of the platform 201, which is rectangular in plan view, i.e., the position coordinates of the front and rear ends of the upper edge of the left side (left end) of the platform 201 and the front and rear ends of the upper edge of the right side (right end).
  • the position information of the platform 201 acquired by the control device 40 includes information on the relative position and relative angle of the platform 201 with respect to the rotating body 7.
  • control device 40 uses the object detection device 54 to acquire various pieces of information regarding the relative position of the platform 201 of the loading machine 200, on which the excavated material excavated by the working device 2 is loaded, relative to the working device 2, as relative position information.
  • the object position calculation unit 42 calculates the position information of characteristic points (e.g., the toe, the bottom, etc.) of the shape of the terrain 210 to be excavated, in the same way as it calculates the position information of the loading platform 201.
  • characteristic points e.g., the toe, the bottom, etc.
  • the soil discharge control unit 46 calculates a target route for releasing the excavated material held in the bucket 10 onto the platform 201 of the loaded machine 200, and the target speed of each hydraulic actuator on the target route.
  • the return control unit 47 calculates a target route for moving the bucket 10 from the platform 201 of the loaded machine 200 to the next excavation start position, and a target speed of each hydraulic actuator on the target route. Note that the target speed on the target route can also be said to be the target speed for each calculation cycle (control cycle).
  • the excavation control unit 44, the transport control unit 45, the soil discharge control unit 46, and the return control unit 47 perform various calculations in different work situations, but have similar functions, and therefore are collectively referred to as the operation control unit 400 below.
  • the operation control unit 400 generates a target path for the control point of the work device 2 (e.g., the tip of the bucket 10).
  • the operation control unit 400 also calculates a target value ⁇ t of the ground angle of the bucket 10 on the target path.
  • the operation control unit 400 makes the tip of the bucket 10 follow the target path, and calculates the target speed of each hydraulic actuator to make the actual ground angle ⁇ of the bucket 10 follow the target value ⁇ t.
  • FIG. 7 is an explanatory diagram of the excavation operation.
  • the excavation control unit 44 generates an excavation start position DP1, an excavation completion position DP2, and a target path DPT for the excavation operation, which is a path connecting the excavation start position DP1 and the excavation completion position DP2.
  • the excavation control unit 44 also sets a target value ⁇ t for the ground angle of the bucket 10 on the target path DPT. In this way, the excavation control unit 44 sets target values for both the position and angle of the bucket 10 in order to move a control point such as the tip of the bucket 10 along the target path DPT.
  • FIG. 8 is an explanatory diagram of the transport operation and the soil dumping operation.
  • the transport control unit 45 generates a transport start position CP1, a transport completion position CP2, and a target path CPT for the transport operation, which is a path connecting the transport start position CP1 and the transport completion position CP2.
  • the transport start position CP1 and the transport completion position CP2 can be determined by the turning angle ⁇ sw and the attitude of the work device 2.
  • the turning angle ⁇ sw at the transport start position CP1 is the angle at which turning for the transport operation starts, and is hereinafter also referred to as the turning start angle of the transport operation.
  • the turning angle ⁇ sw at the transport completion position CP2 is the angle at which turning for the transport operation is completed, and is hereinafter also referred to as the turning completion angle of the transport operation.
  • the soil dumping control unit 46 generates a soil dumping start position LP1, a soil dumping completion position LP2, and a target path LPT for the soil dumping operation, which is a path connecting the soil dumping start position LP1 and the soil dumping completion position LP2.
  • the return control unit 47 generates a return start position RP1, a return completion position RP2, and a target path RPT for the return movement, which is a path connecting the return start position RP1 and the return completion position RP2.
  • the return start position RP1 and the return completion position RP2 can be determined by the rotation angle ⁇ sw and the posture of the working device 2.
  • the rotation angle ⁇ sw at the return start position RP1 is the angle at which rotation for the return movement starts, and is hereinafter also referred to as the rotation start angle of the return movement.
  • the rotation angle ⁇ sw at the return completion position RP2 is the angle at which rotation for the return movement is completed, and is hereinafter also referred to as the rotation completion angle of the return movement.
  • the transport control unit 45, the soil discharge control unit 46, and the return control unit 47 like the excavation control unit 44, set target values for both the position and angle of the bucket 10 to move the tip of the bucket 10 along the target path CPT, LPT, RPT.
  • Each operation control unit 400 (excavation control unit 44, transport control unit 45, soil discharge control unit 46, and return control unit 47) shown in FIG. 4 calculates the target speed of each hydraulic actuator based on the target values of the position and angle of the bucket 10.
  • the motion transition determination unit 49 determines whether each motion transition condition from excavation to transport, from transport to dumping, from dumping to return, and from return to excavation is met. If a motion transition condition is met, the motion transition determination unit 49 generates a start command to start the next motion. The motion transition condition is met when the tip of the bucket 10 reaches the completion position of the target path, and is not met when the tip of the bucket 10 has not reached the completion position of the target path.
  • the operation transition determination unit 49 determines that the operation transition condition from the excavation operation to the transport operation is met, and outputs a command to start the transport operation to the transport control unit 45.
  • the operation transition determination unit 49 also sets the control mode to either the automatic mode or the manual mode based on an operation command from the control selection switch 24.
  • the actuator command unit 48 calculates a target speed according to the amount of operation of the operating lever 22 detected by the operation detection device 56. Furthermore, the actuator command unit 48 calculates a control current value to the electromagnetic proportional valve 51 according to the calculated target speed, and outputs a control current according to the calculation result to the electromagnetic proportional valve 51. In other words, the actuator command unit 48 outputs a control signal to the electromagnetic proportional valve 51 so that the boom cylinder 11, arm cylinder 12, bucket cylinder 13, and swing hydraulic motor 6 operate at a target speed according to the amount of operation detected by the operation detection device 56.
  • the actuator command unit 48 calculates the control current value to the electromagnetic proportional valve 51 according to the target speed calculated by the operation control unit 400, and outputs a control current according to the calculation result to the electromagnetic proportional valve 51.
  • the actuator command unit 48 outputs a control signal (operation command) to the electromagnetic proportional valve 51 so that the boom cylinder 11, arm cylinder 12, bucket cylinder 13, and swing hydraulic motor 6 operate at the target speed calculated by the operation control unit 400.
  • control signal output from the actuator command unit 48 to the electromagnetic proportional valves 51a, 51b in order to operate the swing hydraulic motor 6 is referred to as a “swing operation command”, and in particular, a swing operation command that starts the swing of the swing body 7 when the swing operation of the swing body 7 is stopped is referred to as a “swing operation start command”.
  • the control device 40 when an excavation operation is being performed, the control device 40 outputs a rotation operation start command for the transport operation before the operation transition condition from the excavation operation to the transport operation is met, so that the rotating body 7 is rotated immediately after the excavation operation is completed.
  • the control device 40 when an earth dumping operation is being performed, the control device 40 outputs a rotation operation start command for the return operation before the operation transition condition from the earth dumping operation to the return operation is met, so that the rotating body 7 is rotated immediately after the earth dumping operation is completed.
  • the rotation start determination unit 43 determines whether or not to output a rotation operation start command for executing an operation that requires rotation (transport operation and return operation) without waiting for the completion of the previous work (digging operation and soil dumping operation). In other words, the rotation start determination unit 43 has a function of determining the timing to output a rotation operation start command.
  • the excavation operation completion angle ⁇ 1c is the completion angle of the operation of the working device 2 excavating the excavation target.
  • the posture of the working device 2 when the ground angle ⁇ of the bucket 10 reaches the excavation operation completion angle ⁇ 1c is referred to as the excavation operation completion posture.
  • the earth discharge operation completion angle ⁇ 1r is the completion angle of the operation of the working device 2 releasing the excavated material in the bucket 10 above the loading platform 201.
  • the posture of the working device 2 when the ground angle ⁇ of the bucket 10 reaches the earth discharge operation completion angle ⁇ 1r is referred to as the earth discharge operation completion posture.
  • the digging operation completion posture and the soil discharge operation completion posture are collectively referred to as the operation completion posture.
  • the digging operation completion angle ⁇ 1c and the soil discharge operation completion angle ⁇ 1r are collectively referred to as the operation completion angle ⁇ 1.
  • the rotation start determination unit 43 determines whether or not a rotation start condition for starting automatic rotation control of the rotating body 7 is satisfied when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating.
  • the rotation start condition is satisfied when it is predicted that the rotation of the rotating body 7 will start after the ground angle ⁇ of the bucket 10 reaches the operation completion angle ⁇ 1 if a rotation operation start command is output at the current time.
  • the rotation start condition is met when the working device 2, while moving toward the operation completion posture, reaches a specified posture before the operation completion posture.
  • the specified posture is a posture in which, if a rotation operation start command is output when the working device 2 is in that posture, the rotation of the rotating body 7 will actually start immediately after the working device 2 reaches the operation completion posture.
  • the determination as to whether the rotation start condition is met is made by calculating the first time t1 and the second time t2, and comparing the calculated first time t1 and second time t2.
  • the rotation start determination unit 43 calculates the first time t1 from when the rotation operation start command is output to when the operation of the rotating body 7 actually starts.
  • the first time t1 when an excavation operation is being performed is referred to as the first time t1c
  • the first time t1 when an earth discharge operation is being performed is referred to as the first time t1r.
  • the first time t1 may be obtained by performing a calculation using a mathematical model of the hydraulic excavator 1, or by experimentally measuring the time from when a command to start a swing operation is given to the hydraulic excavator 1 until it starts moving and saving the value.
  • the mathematical model of the hydraulic excavator 1 is represented, for example, by an equation of motion of a four-link system that operates by a driving torque, with the swing body 7 and the three driven members (boom 8, arm 9, and bucket 10) that make up the work device 2 treated as rigid bodies.
  • the driving torque used in the equation of motion can be converted from the pressure acting on each hydraulic actuator.
  • a transfer function for a speed command to each hydraulic actuator may be used as the mathematical model of the hydraulic excavator 1.
  • the first time t1 taking into account the attitude of the working device 2.
  • the first time t1 also changes depending on the temperature of the hydraulic oil (i.e., the viscosity of the hydraulic oil). For this reason, it is preferable to determine the first time t1 taking into account the temperature of the hydraulic oil.
  • the rotation start determination unit 43 calculates the first time t1 using characteristic data of the first time t1 according to the posture of the work device 2 (boom angle, arm angle, bucket angle) and the temperature of the hydraulic oil.
  • the characteristic data of the first time t1 may be a data table of the first time t1 that changes according to the posture of the work device 2 and the temperature of the hydraulic oil, or may be function data. Note that the characteristic data of the first time t1c and the characteristic data of the first time t1r may be the same or different.
  • the rotation start determination unit 43 refers to the characteristic data of the first time t1 and calculates the first time t1 based on the posture of the work device 2 calculated by the posture calculation unit 41 and the temperature of the hydraulic oil detected by the hydraulic oil temperature sensor 55.
  • the second time t2c corresponds to the predicted time from the current time until the tip of the bucket 10 reaches the excavation completion position DP2.
  • the second time t2r corresponds to the predicted time from the current time until the tip of the bucket 10 reaches the soil discharge completion position LP2.
  • the turning start determination unit 43 calculates the second time t2c based on the current attitude of the work device 2 calculated by the attitude calculation unit 41, the target route DPT calculated by the excavation control unit 44, and the target speed of each hydraulic actuator up to the excavation operation completion attitude. Similarly, the turning start determination unit 43 calculates the second time t2r based on the current attitude of the work device 2 calculated by the attitude calculation unit 41, the target route LPT calculated by the soil discharge control unit 46, and the target speed of each hydraulic actuator up to the soil discharge operation completion attitude.
  • the second time t2 is not limited to being calculated by the rotation start determination unit 43.
  • the excavation control unit 44 or the soil discharge control unit 46 may calculate the second time t2 and output the calculated second time t2 to the rotation start determination unit 43.
  • the turn start determination unit 43 determines that the turn start condition is met when the second time t2 becomes shorter than the first time t1, i.e., when the second time t2 transitions from a state in which it is longer than the first time t1 to a state in which it is shorter than the first time t1, and sets a turn flag indicating the determination result to ON.
  • the rotation start determination unit 43 determines that the rotating body 7 will start rotating immediately after the control point of the bucket 10 reaches the excavation completion position DP2, and turns on the transport rotation flag.
  • the rotation start determination unit 43 determines that the rotating body 7 will start rotating immediately after the control point of the bucket 10 reaches the earth dumping completion position LP2, and turns on the return rotation flag.
  • the rotation start determination unit 43 determines that the rotation start condition is met when the second time t2 becomes shorter than the first time t1 due to an operation of the work device 2, such as an excavation operation or a soil dumping operation. In other words, the rotation start determination unit 43 determines whether or not the rotation start condition is met based on the operating state of the work device 2. Furthermore, the rotation start condition is premised on the fact that the rotation operation has stopped. For this reason, the rotation start determination unit 43 determines whether or not the rotation start condition is met based not only on the operating state of the work device 2 but also on the rotation operation state of the rotating body 7.
  • the transport control unit 45 starts automatic rotation control of the rotating body 7 during the transport operation while continuing the excavation operation.
  • a rotation operation start command that starts the movement of the rotating body 7 in the direction from the transport start position CP1 toward the transport completion position CP2 is output from the actuator command unit 48 to the electromagnetic proportional valve 51.
  • the return control unit 47 starts automatic rotation control of the rotating body 7 during the return operation while continuing the earth dumping operation.
  • a rotation operation start command that starts the movement of the rotating body 7 in the direction from the return start position RP1 toward the return completion position RP2 is output from the actuator command unit 48 to the electromagnetic proportional valve 51.
  • Figure 10 is a flowchart showing an example of processing executed by the control device 40 according to the first embodiment, showing the flow of processing from the start of the excavation operation to the completion of the transport operation.
  • Figure 11 is a flowchart showing an example of processing executed by the control device 40 according to the first embodiment, showing the flow of processing from the start of the soil discharge operation to the completion of the return operation.
  • a case will be described in which only one excavation operation, one transport operation, one soil discharge operation, and one return operation are executed. However, this series of operations may be executed multiple times. In addition, it is not necessarily necessary to start with an excavation operation.
  • step S101 when the control selection switch 24 is operated to set the control mode to automatic mode, the operation transition determination unit 49 sets the control mode to automatic mode.
  • the actuator command unit 48 starts an excavation operation by the work device 2 based on the target speed of each hydraulic actuator calculated by the excavation control unit 44. In other words, excavation control by the excavation control unit 44 is started.
  • the excavation control unit 44 automatically operates the work device 2 until the ground angle ⁇ of the bucket 10 becomes the excavation operation completion angle ⁇ 1c.
  • the rotation start determination unit 43 calculates the time (first time) t1c from when the rotation operation start command for the transport operation is output until the rotating body 7 starts moving. In the next step S103, the rotation start determination unit 43 calculates the time (second time) t2c from the current time until the bucket 10 reaches the excavation completion position DP2.
  • step S104 the rotation start determination unit 43 compares the first time t1c with the second time t2c. Through this comparison, the rotation start determination unit 43 determines whether or not the movement of the rotating body 7 in the specified direction will start after the work device 2 reaches the excavation operation completion posture if a rotation operation start command is currently output.
  • the process of step S104 is a process for determining whether or not the rotation start condition is satisfied.
  • the turning start determination unit 43 determines that the turning start condition is not met and returns the process to step S103. If the first time t1c is greater than the second time t2c, the turning start determination unit 43 determines that the turning start condition is met, sets the transport turning flag to on, and proceeds to step S105.
  • step S105 the transport control unit 45 starts controlling the rotating body 7 in the transport operation. That is, in step S105, the transport control unit 45 outputs a rotation operation start command for the transport operation.
  • step S106 the operation transition determination unit 49 determines whether the operation transition condition from the excavation operation to the transport operation is satisfied. When the ground angle ⁇ of the bucket 10 reaches the excavation operation completion angle ⁇ 1c and the tip of the bucket 10 reaches the excavation completion position DP2, the operation transition determination unit 49 determines that the operation transition condition from the excavation operation to the transport operation is satisfied, and proceeds to step S107.
  • step S106 determines that the operation transition condition from the excavation operation to the transport operation is not satisfied.
  • the process of step S106 is repeatedly executed at a predetermined calculation cycle until a positive determination is made.
  • step S107 the transport control unit 45 starts controlling the work device 2 during the transport operation. As described above, the control of the rotating body 7 during the transport operation is started before the operation transition condition is met (step S105).
  • step S108 when the operation transition condition from the transport operation to the soil dumping operation is met, the transport operation is completed.
  • the transport control unit 45 sets the transport rotation flag to off.
  • step S109 shown in FIG. 11, and the operation transition determination unit 49 transitions the operation to the soil dumping operation.
  • This starts soil dumping control by the soil dumping control unit 46.
  • the soil dumping control unit 46 automatically operates the work device 2 until the ground angle ⁇ of the bucket 10 becomes the soil dumping operation completion angle ⁇ 1r.
  • the rotation start determination unit 43 calculates the time (first time) t1r until the rotating body 7 starts moving after the return operation rotation command is issued. In the next step S112, the rotation start determination unit 43 calculates the time (second time) t2r from the current time until the bucket 10 reaches the soil discharge completion position LP2.
  • step S113 the rotation start determination unit 43 compares the first time t1r with the second time t2r. Through this comparison, the rotation start determination unit 43 determines whether or not the operation of the rotating body 7 in the specified direction will start after the work device 2 reaches the soil discharge operation completion posture when a rotation operation start command is output at the current time.
  • the process of step S113 is a process for determining whether or not the rotation start condition is satisfied.
  • the turn start determination unit 43 determines that the turn start condition is not met and returns the process to step S112. If the first time t1r is greater than the second time t2r, the turn start determination unit 43 determines that the turn start condition is met, sets the return turn flag to on, and proceeds to step S114.
  • step S114 the return control unit 47 starts controlling the revolving body 7 in the return operation. That is, in step S114, the return control unit 47 outputs a rotation operation start command for the return operation.
  • step S115 the operation transition determination unit 49 determines whether the operation transition condition from the soil dumping operation to the return operation is satisfied. When the ground angle ⁇ of the bucket 10 reaches the soil dumping operation completion angle ⁇ 1r and the tip of the bucket 10 reaches the soil dumping completion position LP2, the operation transition determination unit 49 determines that the operation transition condition from the soil dumping operation to the return operation is satisfied and proceeds to step S116.
  • step S115 is repeatedly executed at a predetermined calculation cycle until a positive determination is made.
  • step S116 the return control unit 47 starts controlling the working device 2 during the return operation. As described above, the control of the rotating body 7 during the return operation is started before the operation transition condition is satisfied (step S114).
  • next step S108 when the tip of the bucket 10 reaches the return completion position RP2, the return operation is completed.
  • the return control unit 47 sets the return swing flag to OFF.
  • the process shown in the flowchart of FIG. 11 ends.
  • Fig. 12 is a diagram showing the time series changes in the ground angle ⁇ of the bucket 10, the presence or absence of a swing command output (ON/OFF), and the swing angle ⁇ sw when the operation transitions from an excavation operation to a transport operation, or from a dumping operation to a return operation.
  • the horizontal axis in Figs. 12(a) to (c) indicates time.
  • the vertical axis in Fig. 12(a) indicates the ground angle ⁇ of the bucket 10
  • the vertical axis in Fig. 12(b) indicates the presence or absence of a swing command output
  • the swing angle ⁇ sw is shown as a graph that increases in the positive direction from the reference position to the operation completion angle, with the position at which the excavation operation or the dumping operation is started as the reference position.
  • the time series changes in each parameter of the transition from an excavation operation to a transport operation and the transition from a dumping operation to a return operation are shown in a common graph. However, the time series changes of each parameter during the transition from excavation to transport, and during the transition from dumping to return, are actually different.
  • the control device 40 determines whether the rotation start condition is met when the rotation of the rotating body 7 has stopped and the work device 2 is operating automatically so that the ground angle ⁇ of the bucket 10 approaches the excavation operation completion angle ⁇ 1c (steps S101 to S104 in Figure 10).
  • the rotating body 7 actually starts to rotate (state S12) immediately after the ground angle ⁇ of the bucket 10 reaches the operation completion angle ⁇ 1 (excavation operation completion angle ⁇ 1c).
  • the timing when the ground angle ⁇ of the bucket 10 reaches the excavation operation completion angle ⁇ 1c and the timing when the rotating body 7 starts to rotate are approximately the same. This allows for a smooth transition from the excavation operation to the transport operation.
  • the excavation control unit 44 sets the position where there is no soil around the bucket 10 as the excavation completion position DP2 based on the information on the excavation target topography 61 acquired by the object detection device 54. Therefore, even if the turning operation is started immediately after reaching the excavation completion position DP2, there is no soil that will strike the bucket 10 sideways, so damage to the work device 2 can be prevented.
  • the control device 40 judges whether the rotation start condition is met when the rotation operation of the rotating body 7 is stopped and the work device 2 is operating automatically so that the ground angle ⁇ of the bucket 10 approaches the soil-discharging operation completion angle ⁇ 1r (steps S109 to S113 in Figure 11).
  • the rotating body 7 actually starts to rotate immediately after the ground angle ⁇ of the bucket 10 reaches the operation completion angle ⁇ 1 (soil dumping operation completion angle ⁇ 1r).
  • the timing when the ground angle ⁇ of the bucket 10 reaches the earth-discharging operation completion angle ⁇ 1r and the timing when the rotating body 7 starts to rotate are approximately the same. This allows for a smooth transition from the earth-discharging operation to the return operation.
  • a hydraulic excavator (working machine) 1 includes a running body 5, a rotating body 7 that is rotatably provided with respect to the running body 5, and a working device 2 that is attached to the rotating body 7 and has a boom 8, an arm 9, and a bucket 10.
  • the hydraulic excavator 1 also includes an attitude detection device 53 that detects the attitude of the rotating body 7 and the attitude of the working device 2 including the ground angle ⁇ of the bucket 10, and an object detection device (vessel position detection device) 54 that detects the position of the loading platform (vessel) 201 of the loading machine 200 onto which the material excavated by the working device 2 is loaded.
  • the hydraulic excavator 1 also includes a control device 40 that performs automatic rotation control to automatically rotate at least the rotating body 7 to a rotation completion angle that is a target rotation angle, based on the detection results of the attitude detection device 53 and the object detection device 54.
  • the rotation start angle which is the rotation angle at which the automatic rotation control is started, is the rotation angle ⁇ sw at the transport start position CP1 in the transport operation, and is the rotation angle ⁇ sw at the return start position RP1 in the return operation.
  • the rotation completion angle which is the rotation angle at which the automatic rotation control is completed, is the rotation angle ⁇ sw at the transport completion position CP2 in the transport operation, and is the rotation angle ⁇ sw at the return completion position RP2 in the return operation.
  • the control device 40 determines whether or not a rotation start condition for starting the automatic rotation control of the rotating body 7 is satisfied based on the rotation operation state of the rotating body 7 and the operation state of the working device 2. When the control device 40 determines that the rotation start condition is satisfied, it outputs a rotation operation start command to start rotating the rotating body 7 toward the rotation completion angle at the timing when the rotation start condition is satisfied, regardless of whether the working device 2 is in an operating state.
  • the control device 40 When the rotation start condition is satisfied during the excavation operation, the control device 40 outputs a rotation start command to start transport control of the rotating body 7. As a result, the rotating body 7 actually starts to rotate at the same time as the work device 2 reaches the excavation operation completion posture, or immediately thereafter. Therefore, according to this embodiment, the transition from the excavation operation to the transport operation can be made smooth. Also, when the rotation start condition is satisfied during the soil dumping operation, the control device 40 outputs a rotation start command to start return control of the rotating body 7. As a result, the rotating body 7 actually starts to rotate at the same time as the work device 2 reaches the soil dumping operation completion posture, or immediately thereafter. Therefore, according to this embodiment, the transition from the soil dumping operation to the return operation can be made smooth. In other words, according to this embodiment, in the excavation and loading operation, the transition from the state in which the work device 2 is operating alone to the operation requiring the rotation operation can be made smoothly. As a result, the productivity (work efficiency) at the work site can be improved.
  • the control device 40 calculates the ground angle ⁇ of the bucket 10 based on the detection result of the posture detection device 53.
  • the control device 40 automatically operates the work device 2 during each of the excavation operation and the soil discharge operation until the ground angle ⁇ of the bucket 10 becomes the operation completion angle ⁇ 1.
  • the control device 40 determines whether the rotation start condition is met when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating automatically so that the ground angle ⁇ of the bucket 10 approaches the operation completion angle ⁇ 1. This configuration makes it possible to smoothly transition from the automatic excavation operation to the automatic transport operation, and from the automatic soil discharge operation to the automatic return operation.
  • the control device 40 calculates the first time t1 from when the rotation operation start command is output until the operation of the rotating body 7 starts.
  • the control device 40 calculates the second time t2 from the current time until the ground angle ⁇ of the bucket 10 reaches the operation completion angle ⁇ 1.
  • the control device 40 determines that the rotation start condition is met when the second time t2 is shorter than the first time t1. In other words, the control device 40 considers that the above prediction has been made.
  • the control device 40 determines that the rotation start condition is not met when the second time t2 is equal to or greater than the first time t1. In this configuration, the control device 40 repeatedly calculates the second time t2 based on the current attitude of the work device 2. This makes it possible to more appropriately prevent the rotating body 7 from actually starting to rotate before the ground angle ⁇ of the bucket 10 reaches the operation completion angle ⁇ 1.
  • FIG. 13 is a schematic plan view showing the hydraulic excavator 1 according to Modification 1 of the first embodiment transitioning from an earth-discharging operation to a return operation.
  • the control device 40 according to the first embodiment outputs a rotation start command during the earth-discharging operation so that the rotation of the rotating body 7 starts after the work device 2 reaches the earth-discharging operation completion posture.
  • the control device 40 according to Modification 1 outputs a rotation start command during the earth-discharging operation so that the rotation of the rotating body 7 starts before the work device 2 reaches the earth-discharging operation completion posture, and the bucket 10 starts to move out of the loading platform 201 after the work device 2 reaches the earth-discharging operation completion posture.
  • the work device 2 continues the earth dumping operation even while the rotating body 7 is rotating so that the bucket 10 reaches the rear end of the loading platform 201 from the return start position RP1. Then, just before the bucket 10 starts to move out of the loading platform 201, the earth dumping operation by the work device 2 is completed. After that, the rotating body 7 and the work device 2 are controlled so that the control point of the bucket 10 moves along the target route RPT connecting the position RP3 and the return completion position RP2.
  • FIG. 14 is a diagram similar to FIG. 11 and is a flowchart showing an example of processing executed by the control device 40 according to the first variation of the first embodiment, showing the flow of processing from the start of the soil discharge operation to the completion of the return operation.
  • processing of step S113B is executed instead of processing of step S113 in the flowchart of FIG. 11.
  • processing of step S111B is added between steps S110 and S112 in the flowchart of FIG. 11.
  • step S111B the rotation start determination unit 43 calculates the third time t3r based on the mathematical model of the hydraulic excavator 1 stored in the storage device, the attitude of the hydraulic excavator 1 calculated by the attitude calculation unit 41, and the position information of the loading platform 201 calculated by the object position calculation unit 42.
  • the third time t3r corresponds to the time from when the rotating body 7 actually starts to rotate until the bucket 10 starts to move out of the loading platform 201.
  • the third time t3r corresponds to the time until the rotating body 7 reaches the rear end of the loading platform 201.
  • the swing start determination unit 43 may calculate the third time t3r using a data table that specifies the relationship between the swing angle ⁇ sw1 from the return start position RP1 until the bucket 10 reaches the rear end of the platform 201 and the third time t3r.
  • FIG. 15 is a diagram showing a data table for the third time t3r.
  • the data table for the third time t3r is determined in advance through experiments or the like and stored in a storage device.
  • the swing start determination unit 43 calculates the swing angle ⁇ sw1 from the current position of the bucket 10 to the position where it reaches the rear end of the platform 201 based on the attitude of the hydraulic excavator 1 and the relative position of the platform 201 with respect to the hydraulic excavator 1.
  • the swing start determination unit 43 refers to the data table in FIG. 15 and calculates the third time t3r based on the calculated swing angle ⁇ sw1.
  • step S111B of FIG. 14 the process proceeds to step S112, where the second time t2r is calculated.
  • step S112 the second time t2r is calculated.
  • step S113B is a process for determining whether or not the rotation start condition is met.
  • the rotation start determination unit 43 compares the sum of the first time t1r and the third time t3r with the second time t2r. Through this comparison, the rotation start determination unit 43 determines whether, if a rotation operation start command is output at the current time, the rotation of the rotating body 7 will start before the ground angle ⁇ of the bucket 10 reaches the soil discharge operation completion angle ⁇ 1r, and whether the bucket 10 will start to go out of the loading platform 201 after the ground angle ⁇ of the bucket 10 reaches the soil discharge operation completion angle ⁇ 1r.
  • the turn start determination unit 43 determines that the turn start condition is not met and returns the process to step S112. If the sum of the first time t1r and the third time t3r is greater than the second time t2r, the turn start determination unit 43 determines that the turn start condition is met, sets the return turn flag to on, and proceeds to step S114.
  • step S114 if it is predicted that the bucket 10 will begin to pass the end of the platform 201 immediately after the ground angle ⁇ of the bucket 10 reaches the discharge operation completion angle ⁇ 1r (Yes in step S113B), return control of the rotating body 7 is started (step S114).
  • Figure 16 is a diagram similar to Figure 12, and shows the time series changes in the ground angle ⁇ of the bucket 10, the presence or absence of a swing operation command output (ON/OFF), and the swing angle ⁇ sw when the operation transitions from the soil dumping operation to the return operation in modified example 1 of the first embodiment.
  • the bucket 10 moves toward the rear end of the loading platform 201 while performing a dumping operation above the loading platform 201.
  • the rotation angle ⁇ sw increases to the predetermined rotation angle ⁇ sw1
  • the bucket 10 reaches the rear end of the loading platform 201 in state S21.
  • the position RP3 of the tip of the bucket 10 is preferably set at a position higher than the upper edge of the loading platform 201.
  • return control of the work device 2 begins.
  • the return operation is completed when the rotating body 7 and the work device 2 perform the return operation and the tip of the bucket 10 reaches the return completion position RP2 in state S22.
  • this variation 1 of the first embodiment provides the following effects.
  • the specified posture for outputting the rotation start command when the earth discharge operation is being performed is different from that of the above embodiment.
  • the specified posture in this modified example is a posture in which, if a rotation start command is output when the work device 2 is in that posture, the work device 2 will start to go out of the loading platform 201 immediately after the work device 2 reaches the earth discharge operation completion posture.
  • the rotating body 7 can actually be moved above the loading platform 201 before the soil release operation is completed, which improves productivity more than the above embodiment.
  • the control device 40 calculates the first time t1r from when the rotation operation start command is output until the operation of the rotating body 7 starts.
  • the control device 40 calculates the second time t2r from the current time until the ground angle ⁇ of the bucket 10 reaches the soil discharge operation completion angle ⁇ 1r.
  • the control device 40 calculates the third time t3r from when the operation of the rotating body 7 starts until the bucket 10 starts to go outside the loading platform 201.
  • the control device 40 determines that the rotation start condition is met when the second time t2r is shorter than the sum of the first time t1r and the third time t3r. In this configuration, the control device 40 repeatedly calculates the second time t2r based on the current posture of the work device 2. Therefore, it is possible to appropriately prevent the rotating body 7 from going outside the loading platform 201 before the work device 2 reaches the soil discharge operation completion posture.
  • the method of calculating the second time t2r is not limited to the above example.
  • the control device 40 may calculate the second time t2r using a data table (hereinafter also referred to as the second time characteristic table) that specifies the relationship between the ground angle ⁇ of the bucket 10 and the time (second time t2r) until the discharge of the excavated material in the bucket 10 is completed when the earth dumping operation is continued from the ground angle ⁇ .
  • the time until the discharge of the excavated material in the bucket 10 is completed is affected by the soil quality (viscosity, grain size) of the excavated material.
  • the control device 40 may correct the second time characteristic table based on the soil quality of the excavated material.
  • the soil quality of the excavated material is input to the control device 40 by the input device 57.
  • the control device 40 refers to the corrected second time characteristic table and calculates the second time t2r based on the ground angle ⁇ of the bucket 10.
  • control device 40 may calculate the time from the start to the completion of the earth-discharging operation (hereinafter, the required discharge time) based on the behavior of the transported material (excavated material) in the bucket 10 during the first earth-discharging operation of the excavation and loading cycle by the object detection device 54, and use this to control the transition from the second or subsequent earth-discharging operation to the return operation of the excavation and loading cycle.
  • the behavior of the transported material in the bucket 10 is, for example, a change in the area of the transported material in the bucket 10 in an image captured by a stereo camera serving as the object detection device 54.
  • the control device 40 determines that the earth-discharging operation is completed and calculates the required discharge time.
  • the timing for completing the soil discharge operation may be instructed to the control device 40 by the operator operating the input device 57.
  • the control device 40 stores the time from the start of the soil discharge operation to the time the operator operates the input device 57 as the required release time.
  • the control device 40 calculates the second time t2r by subtracting the time elapsed from the start time of the soil discharge operation from the required discharge time during the second and subsequent excavation/loading cycles.
  • the control device 40 calculates the required discharge time, which is the time from the start time to the completion time of the operation of discharging the excavated material in the bucket 10, during the first discharge operation.
  • the control device 40 calculates the second time t2r by subtracting the elapsed time from the start time of the operation of discharging the excavated material in the bucket 10 from the required discharge time.
  • the control device 240 acquires the weight of the transported material (excavated material such as soil and sand) in the bucket 10, and judges whether or not the swing start condition is satisfied based on the acquired weight.
  • the control device 240 judges that the swing start condition is satisfied when the weight of the excavated material in the bucket 10 reaches a predetermined weight.
  • the control device 240 judges that the swing start condition is not satisfied when the weight of the excavated material in the bucket 10 does not reach the predetermined weight.
  • the configuration of the hydraulic excavator 1 according to the second embodiment and the function of the control device 240 will be described in detail below.
  • the hydraulic excavator 1 according to the second embodiment is provided with a transported goods information acquisition device 258.
  • the transported goods information acquisition device 258 calculates the weight of the transported goods stored in the bucket 10.
  • the transported goods information acquisition device 258 includes, for example, a pressure sensor (not shown) that detects the pressure of the hydraulic cylinders (11 to 13) and a calculation device that calculates the weight of the transported goods based on the detection results of the pressure sensor and the detection results of the attitude detection device 53.
  • the configuration of the transported goods information acquisition device 258 is not limited to this.
  • the transported goods information acquisition device 258 may be a weight sensor that directly detects the weight of the transported goods in the bucket 10.
  • the calculation device of the transported goods information acquisition device 258 is provided separately from the control device 240, but the function of the calculation device of the transported goods information acquisition device 258 may be provided in the control device 240.
  • Figure 18 is a flowchart showing an example of the process by the control device 240 according to the second embodiment, showing the process flow from the start of the excavation operation to the completion of the transport operation.
  • Figure 19 is a flowchart showing an example of the process by the control device 240 according to the second embodiment, showing the process flow from the start of the soil discharge operation to the completion of the return operation.
  • step S201 is executed instead of the processes of steps S102 to S104 in the flowchart of FIG. 10.
  • step S202 is executed instead of the processes of steps S110 to S113 in the flowchart of FIG. 11.
  • excavation control is started in step S101.
  • the hydraulic excavator 1 is in a state where the rotation of the rotating body 7 is stopped and the work device 2 is operating to excavate the excavation material.
  • excavation control is performed so that the weight (excavation volume) W of the excavation material stored in the bucket 10 reaches the target excavation volume Wt.
  • the target excavation volume Wt is a target value for the weight of the excavation material to be stored in the bucket 10, which is determined in advance and stored in the storage device.
  • the next step S201 is a process for judging whether or not the turning start condition is satisfied.
  • the turning start judgment unit 43 judges whether or not a predetermined percentage P1 or more of the excavated material with respect to the target excavation volume Wt has been stored in the bucket 10 based on the weight W of the transported material acquired by the transported material information acquisition device 258.
  • the predetermined percentage P1 is determined in advance and stored in the storage device.
  • the predetermined percentage P1 is, for example, a value of 90% or more.
  • the predetermined percentage P1 may be changed by operating the input device 57. If it is judged that a predetermined percentage P1 or more of the excavated material with respect to the target excavation volume Wt has been stored in the bucket 10, the process proceeds to step S105.
  • the process of step S201 is repeatedly executed at a predetermined calculation cycle until a positive judgment is made.
  • the rotation start determination unit 43 acquires the weight W of the transported object from the transported object information acquisition device 258 at each predetermined calculation cycle. When an excavation operation is performed, the weight W of the transported object in the bucket 10 increases over time. When the weight W of the transported object becomes equal to or greater than a predetermined weight W1, the rotation start determination unit 43 determines that the rotation start condition is met and proceeds to step S105.
  • the predetermined weight W1 is the weight of the transported object equivalent to a predetermined ratio P1 of the target excavation amount Wt, and is calculated by the rotation start determination unit 43.
  • steps S105 to S108 in FIG. 18 is similar to that in the first embodiment (see FIG. 10), so a description thereof will be omitted.
  • step S109 soil discharge control is started in step S109.
  • the hydraulic excavator 1 enters a state in which the rotation of the rotating body 7 is stopped and the work device 2 is operating to release the excavated material.
  • the next step S202 is a process for determining whether or not the turning start condition has been met.
  • the turning start determination unit 43 determines whether or not the weight W of the transported object has decreased by a predetermined percentage P2 or more with respect to the weight W0 before the dumping operation, based on the weight W of the transported object acquired by the transported object information acquisition device 258.
  • the process of step S202 can also be said to be a process for determining whether or not the percentage Pd of the weight W of the transported object that has decreased with respect to the weight W0 before the dumping operation (hereinafter also referred to as the reduction percentage of the transported object) has reached a predetermined percentage P2 or more.
  • the predetermined percentage P2 is determined in advance and stored in the storage device.
  • the predetermined percentage P2 is, for example, a value of about 80 to 90%. Note that the predetermined percentage P2 may be changed by operating the input device 57.
  • the rotation start determination unit 43 stores the weight W of the transported object when the operation transition condition from the excavation operation to the transport operation is satisfied as the weight W0 before the soil dumping operation. If it is determined that the weight W of the transported object has decreased by a predetermined percentage P2 or more with respect to the weight W0 before the soil dumping operation, the process proceeds to step S114.
  • the process of step S202 is repeatedly executed at a predetermined calculation cycle until a positive determination is made.
  • the rotation start determination unit 43 acquires information on the weight W of the transported object from the transported object information acquisition device 258 at a predetermined calculation cycle.
  • the weight W of the transported object in the bucket 10 decreases over time.
  • the control device 240 determines that the rotation start condition is met and proceeds to step S114.
  • steps S114 to S117 in FIG. 19 is similar to that in the first embodiment (see FIG. 11), so a description thereof will be omitted.
  • Fig. 20 is a diagram showing the time series changes in the weight (excavation amount) W of the transported object in the bucket 10, the presence or absence (ON/OFF) of a swing operation command, and the swing angle ⁇ sw when the operation transitions from an excavation operation to a transport operation.
  • the horizontal axis in Figs. 20(a) to (c) indicates time.
  • the vertical axis in Fig. 20(a) indicates the weight (excavation amount) W of the transported object in the bucket 10.
  • the vertical axis in Fig. 20 is a diagram showing the time series changes in the weight (excavation amount) W of the transported object in the bucket 10.
  • the vertical axis in Fig. 20(a) indicates the weight (excavation amount) W of the transported object in the bucket 10.
  • FIG. 20(b) indicates the presence or absence of a swing operation command
  • the vertical axis in Fig. 20(c) indicates the swing angle ⁇ sw.
  • the swing angle ⁇ sw is shown as a graph in which the position where the excavation operation is started is set as a reference position, and increases in the positive direction from the reference position to the excavation operation completion angle.
  • FIG. 21 is a diagram showing the time series changes in the reduction rate Pd of the transported goods in the bucket 10, the presence or absence of a swing operation command being output (ON/OFF), and the swing angle ⁇ sw when transitioning from the dumping operation to the return operation.
  • the horizontal axis in FIG. 21(a) to (c) indicates time.
  • the vertical axis in FIG. 21(a) indicates the reduction rate Pd [%] of the transported goods.
  • the vertical axis in FIG. 21(b) indicates the presence or absence of a swing operation command being output, and the vertical axis in FIG. 21(c) indicates the swing angle ⁇ sw.
  • the swing angle ⁇ sw is shown as a graph in which the position where the dumping operation starts is set as the reference position, and increases in the positive direction from the reference position to the angle at which the dumping operation is completed.
  • the control device 240 acquires the weight W of the transported material (excavated material) in the bucket 10 from the transported material information acquisition device 258.
  • the control device 240 determines that the rotation start condition is met when the acquired weight W of the transported material in the bucket 10 reaches a predetermined weight.
  • the control device 240 determines whether the rotation start condition is met when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating to excavate the excavated material.
  • the control device 240 determines that the rotation start condition is met when the weight W of the excavated material in the bucket 10 has increased to a predetermined weight W1, and outputs a rotation operation start command (steps S201 and S105 in FIG. 18).
  • the control device 240 determines whether the rotation start condition is met when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating to release the excavated material.
  • the control device 240 determines that the swing start condition is met and outputs a swing operation start command (steps S202 and S114 in FIG. 19). According to the second embodiment, the same action and effect as the first embodiment is achieved.
  • the transported object information acquisition device 258 calculates the weight W of the transported object (excavated object) in the bucket 10, thereby reducing the calculation load on the control device 240.
  • the above-mentioned predetermined rate P2 may be changed by operating the input device 57.
  • the storage device stores a ground angle conversion table T (see FIG. 22), which is a data table that defines the relationship between the reduction rate Pd of the transported goods and the ground angle ⁇ of the bucket 10.
  • the turning start determination unit 43 acquires information on the new predetermined rate P2 from the input device 57, it refers to the ground angle conversion table T and calculates the ground angle (ground angle threshold) ⁇ 2 of the bucket 10 that corresponds to the new predetermined rate P2.
  • the hydraulic excavator 1 includes an input device 57 that can input the predetermined ratio P2.
  • the control device 240 according to this modification also includes a ground angle conversion table T, which is a data table that defines the relationship between the ratio of the weight of the excavated material released from the bucket 10 to the weight W0 of the excavated material before it is released from the bucket 10 (the reduction ratio of the transported material) Pd, and the ground angle ⁇ of the bucket 10.
  • the control device 240 refers to the ground angle conversion table T and determines the ground angle of the bucket 10 corresponding to the predetermined ratio P2 input by the input device 57 as the ground angle threshold value ⁇ 2.
  • the control device 240 determines that the swing start condition is met and outputs a swing operation start command. With this configuration, the operator can adjust the timing of the swing operation by operating the input device 57.
  • the control device 240 may further correct and use the ground angle conversion table T.
  • the control device 240 correcting the ground angle conversion table T it is possible to more appropriately set the ground angle ⁇ 2 of the bucket 10 corresponding to the predetermined ratio P2.
  • the swing start determination unit 43 may correct the ground angle conversion table T, which is a reference data table, based on the actual data of the hydraulic excavator 1.
  • FIG. 23 is a diagram showing the corrected ground angle conversion tables Tc1 and Tc2.
  • the ground angle conversion table T may be corrected based on time series data of the weight W of the transported object calculated by the transported object information acquisition device 258, the ground angle ⁇ of the bucket 10 calculated by the attitude calculation unit 41, and the weight W0 of the transported object before the earth dumping operation. In this way, for example, the corrected ground angle conversion table Tc1 is obtained.
  • the control device 240 refers to the corrected ground angle conversion table Tc1 and calculates the ground angle threshold value ⁇ c21 of the bucket 10 for the input predetermined ratio P2. When the ground angle ⁇ of the bucket 10 reaches the ground angle threshold value ⁇ c21 during the earth dumping operation, the control device 240 determines that the swing start condition is established and outputs a swing operation start command.
  • the control device 240 acquires actual machine data (weight W of the excavated material and ground angle ⁇ of the bucket) when the working device 2 is performing the soil discharge operation, and determines the ground angle threshold value that defines the swing start condition based on the acquired actual machine data.
  • the control device 240 it is possible to cause the control device 240 to output a swing operation start command at an appropriate timing, regardless of individual differences, etc., of the hydraulic excavator 1 performing the work.
  • the swing start determination unit 43 may correct the ground angle conversion table T based on the soil property of the transported material.
  • the hydraulic excavator 1 according to this modified example is equipped with an input device 57 that can input soil property such as the viscosity of the excavated material. The operator operates the input device 57 to input the predetermined ratio P2 and the viscosity of the excavated material to the control device 240.
  • the control device 240 corrects the ground angle conversion table T so that the rate of change of the reduction rate Pd relative to the ground angle ⁇ becomes smaller. This results in a corrected ground angle conversion table Tc2.
  • the control device 240 refers to the corrected ground angle conversion table Tc2 and calculates the ground angle threshold value ⁇ c22 of the bucket 10 for the input predetermined rate P2.
  • the soil quality of the excavated material is not limited to viscosity, and may also be grain size.
  • the control device 240 corrects the ground angle conversion table T based on the soil quality of the excavated object input by the input device 57.
  • the control device 240 can output a rotation operation start command at an appropriate timing.
  • the turning start determination unit 43 may correct the ground angle conversion table T based on the ground angular velocity of the bucket 10.
  • the angular velocity of the bucket 10 is calculated by the attitude calculation unit 41.
  • the control device 240 corrects the ground angle conversion table T so that the rate of change of the reduction rate Pd with respect to the ground angle ⁇ becomes smaller. As a result, a corrected ground angle conversion table Tc2 is obtained.
  • the control device 240 may calculate the reduction rate Pd of the transported material in the bucket 10 in the soil releasing operation (discharging operation) based on the behavior of the transported material (excavated material) in the bucket 10 detected by the object detection device 54.
  • the behavior of the transported material in the bucket 10 is, for example, a change in the area of the transported material in the bucket 10 in an image captured by a stereo camera as the object detection device 54.
  • the control device 240 may also calculate the reduction rate Pd of the transported material based on the shape of the transported material (excavated material) discharged to the loading platform 201 detected by the object detection device 54.
  • the control device 240 can estimate how much of the transported material has been discharged from the shape of the transported material detected by the object detection device 54.
  • the reduction rate Pd of the transported material reaches a predetermined rate P2
  • the control device 240 determines that a turning start condition is established and outputs a turning operation start command.
  • control device 240 determines whether the turning start condition is met based on the behavior of the excavated material in the bucket 10 detected by the object detection device 54, or the shape of the excavated material released onto the loading platform 201 detected by the object detection device 54.
  • the transported material information acquisition device 258 can be omitted.
  • FIG. 24 is a functional block diagram of the control device 340 according to the third embodiment.
  • the hydraulic excavator 1 according to this embodiment is configured to automatically perform a transport operation after an excavation operation performed manually by the operator.
  • the control device 340 outputs a command to start the rotation operation of the transport operation at a timing instructed by the operator.
  • the hydraulic excavator 1 according to this embodiment is also configured to automatically perform a return operation after an earth dumping operation performed manually by the operator.
  • the control device 340 outputs a command to start the rotation operation of the return operation at a timing instructed by the operator.
  • the control selection switch 324 has the function of the control selection switch 24 described in the first embodiment, as well as the function of allowing selection of semi-automatic mode.
  • the control device 340 controls the operation of the work device 2 in accordance with the operation device 20 during excavation and soil dumping operations. Furthermore, the control device 340 controls the operation of the work device 2 and the rotating body 7 in accordance with the target route set by the control device 340, regardless of the operation of the operation device 20, during transport and return operations.
  • the operation transition determination unit 349 sets the control mode to one of automatic mode, manual mode, and semi-automatic mode based on an operation command from the control selection switch 324. Furthermore, when the automatic mode is set, the operation transition determination unit 349 determines that the operation transition condition is met when the tip of the bucket 10 reaches the completion position of the target path, as in the first embodiment.
  • the operation transition determination unit 349 determines that the operation transition condition from the excavation operation to the transport operation is satisfied when the semi-automatic mode is set and the work operation device 29 is returned to the neutral position after the excavation operation by the work operation device 29 is performed.
  • the operation transition determination unit 349 also determines that the operation transition condition from the soil discharge operation to the return operation is satisfied when the semi-automatic mode is set and the work operation device 29 is returned to the neutral position after the soil discharge operation by the work operation device 29 is performed.
  • the operation transition determination unit 349 determines that the work operation device 29 is returned to the neutral position after the excavation operation or soil discharge operation by the work operation device 29 is performed when any of the arm operation amount, boom operation amount, and bucket operation amount detected by the operation amount sensors 52a, 52c, and 52d of the operation detection device 56 becomes equal to or greater than the operation determination threshold, and then the arm operation amount, boom operation amount, and bucket operation amount become equal to or less than the neutral determination threshold.
  • the turning start determination unit 343 determines whether the current operation state is an excavation operation, a transport operation, a soil dumping operation, or a return operation, based on the determination result of the operation transition determination unit 349. In addition, the turning start determination unit 343 determines that a turning operation has been performed when the amount of turning operation detected by the operation amount sensor 52b of the operation detection device 56 is equal to or greater than the operation determination threshold value.
  • the rotation start determination unit 343 determines that the rotation start condition is met if a rotation operation is performed while an excavation operation is being performed.
  • the rotation start determination unit 343 also determines that the rotation start condition is met if a rotation operation is performed while an earth discharge operation is being performed.
  • the rotation operation device 28 also functions as a rotation start operation device that instructs the start of rotation of the rotating body 7 by automatic operation during an excavation operation or an earth discharge operation.
  • Figure 25 is a flowchart showing an example of the process by the control device 340 according to the third embodiment, showing the process flow from the start of the excavation operation to the completion of the transport operation.
  • Figure 26 is a flowchart showing an example of the process by the control device 340 according to the third embodiment, showing the process flow from the start of the soil discharge operation to the completion of the return operation.
  • steps S301 and S302 are executed instead of steps S101 to S104 in the flowchart of FIG. 10. Also, in the flowchart of FIG. 25, step S303 is executed instead of step S106 in the flowchart of FIG. 10. In the flowchart of FIG. 26, steps S304 and S305 are executed instead of steps S109 to S113 in the flowchart of FIG. 11. Also, in the flowchart of FIG. 26, step S306 is executed instead of step S115 in the flowchart of FIG. 11.
  • step S301 when the control selection switch 24 is operated to change the control mode to the semi-automatic mode, the operation transition determination unit 349 sets the control mode to the semi-automatic mode.
  • the actuator command unit 48 starts an excavation operation by the work device 2 based on a target speed according to the amount of operation of the work operation device 29.
  • the next step S302 is a process for determining whether or not a turning start condition has been met.
  • the turning start determination unit 343 determines whether or not a turning operation has been performed. If a turning operation has been performed, the turning start determination unit 343 determines that the turning start condition has been met, and proceeds to step S105.
  • the process of step S302 is repeatedly executed at a predetermined calculation cycle until a positive determination is made. In other words, the control device 340 repeatedly executes the process of step S302 until a turning operation is performed.
  • step S105 the transport control unit 45 outputs a command to start a rotation operation for the transport operation of the rotating body 7.
  • the operation transition determination unit 49 determines whether the operation transition condition from the excavation operation to the transport operation is satisfied. If the work operation device 29 is returned to the neutral position (in this embodiment, both the work operation right lever 22a and the work operation left lever 22b are in the neutral position), the operation transition determination unit 49 determines that the operation transition condition from the excavation operation to the transport operation is satisfied, and proceeds to step S107.
  • step S303 determines that the operation transition condition from the excavation operation to the transport operation is not satisfied.
  • the process of step S303 is repeatedly executed at a predetermined calculation cycle until a positive determination is made.
  • steps S107 and S108 in FIG. 25 is similar to that in the first embodiment (see FIG. 10), so a description thereof will be omitted.
  • step S304 the actuator command unit 48 starts the soil release operation by the work device 2 based on a target speed according to the amount of operation of the work operation device 29.
  • step S305 is similar to step S302 in that it determines whether or not a turning start condition has been met.
  • the turning start determination unit 343 determines whether or not a turning operation has been performed. If a turning operation has been performed, the turning start determination unit 343 determines that the turning start condition has been met, and advances the process to step S114.
  • the process of step S305 is repeatedly executed at a predetermined calculation cycle until a positive determination is made. In other words, the control device 340 repeatedly executes the process of step S305 until a turning operation is performed.
  • step S114 the transport control unit 45 outputs a rotation operation start command for the return operation of the rotating body 7.
  • step S306 the operation transition determination unit 49 determines whether the operation transition condition from the soil release operation to the return operation is satisfied. If the work operation device 29 is returned to the neutral position (in this embodiment, both the work operation right lever 22a and the work operation left lever 22b are in the neutral position), the operation transition determination unit 49 determines that the operation transition condition from the soil release operation to the return operation is satisfied, and proceeds to step S116.
  • step S306 is repeatedly executed at a predetermined calculation cycle until a positive determination is made.
  • steps S116 and S117 in FIG. 26 is similar to that in the first embodiment (see FIG. 11), so a description thereof will be omitted.
  • the operator operates the work operation device 29, which causes the work device 2 to perform an excavation operation (step S301).
  • the operator operates the swing operation device 28, which causes the control device 340 to output a swing operation start command for a transport operation (steps S302, S105).
  • control device 340 determines that the excavation operation is complete and operates the work device 2 along the target path CPT (steps S303, S107, S108).
  • the operator After the automatic transport operation is completed, the operator operates the work operation device 29, causing the work device 2 to perform the soil dumping operation (step S304).
  • the operator operates the turning operation device 28, causing the control device 340 to output a turning operation start command for the return operation (steps S305, S114, S117).
  • control device 340 determines that the soil release operation is complete and operates the work device 2 along the target route RPT (steps S306, S116).
  • the third embodiment includes a rotation operation device (rotation start operation device) 28 that is operated by the operator to instruct the start of rotation of the rotating body 7, and a work operation device 29 that is operated by the operator to operate the work device 2.
  • the control device 340 operates the work device 2 in response to the operation of the work operation device 29.
  • the control device 340 determines whether or not the rotation start condition is met when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating in response to the operation of the work operation device 29.
  • the control device 340 determines that the rotation start condition is met when the rotation operation device 28 instructs the start of rotation of the rotating body 7.
  • a rotation operation start command for a transport operation or a return operation can be output from the control device 340 based on the operator's intention.
  • the hydraulic excavator 1 according to the third embodiment has been described as an example in which the excavation operation and the soil dumping operation are performed based on the manual operation of the operator, and the transport operation and the return operation are performed automatically.
  • the hydraulic excavator 1 may be configured to perform only the excavation operation based on the manual operation of the operator, and to perform the transport operation, soil dumping operation, and the return operation automatically.
  • the hydraulic excavator 1 may be configured to perform only the soil dumping operation based on the manual operation of the operator, and to perform the excavation operation, transport operation, and the return operation automatically.
  • the hydraulic excavator 1 may be configured to perform all of the excavation operation, transport operation, soil dumping operation, and return operation automatically. In this case, the hydraulic excavator 1 may be configured such that the operator instructs only the timing of outputting a swing operation start command for the transport operation and the return operation.
  • control device may execute the process of step S302 in FIG. 25 instead of the process of steps S102 to S104 in FIG. 10. Also, the control device may execute the process of step S305 in FIG. 26 instead of the process of steps S110 to S113 in FIG. 11.
  • the control device 340 in this modified example judges whether or not the rotation start condition is met when the rotation operation of the rotating body 7 has stopped and the work device 2 is operating.
  • the control device 340 judges that the rotation start condition is met when the rotation operation device 28 issues an instruction to start the rotation of the rotating body 7.
  • a rotation operation start command for a transport operation or a return operation can be output from the control device 340 based on the operator's intention while an excavation operation or an earth dumping operation is being performed by automatic operation of the control device 340, in addition to manual operation by the operator.
  • the rotation start operation device that instructs the start of rotation of the rotating body 7 is the rotation operation device 28.
  • the form of the rotation start operation device is not limited to this.
  • the rotation start operation device may be an operation device different from the operation devices 20 and 21, and may be an operation switch provided on the operation levers 22a and 22b.
  • ⁇ Modification 1> In the above embodiment, an example has been described in which the vessel into which the excavated material excavated by the working device 2 is loaded is the bed 201 of the transport vehicle, but the present invention is not limited to this. The present invention may also be applied to a case in which the excavated material is loaded into a vessel provided on a loading machine such as a belt conveyor.
  • a backhoe shovel with the bucket 10 attached to the tip of the arm 9 facing backward has been described as an example of a work machine, but the present invention is not limited to this.
  • the work machine may be a loading shovel with the bucket 10 attached to the tip of the arm 9 facing forward.
  • control selection switch 28... slewing operation device (slewing start operation device), 29... work operation device, 40... control device, 41... attitude calculation unit, 42... object position calculation unit, 43... slewing start determination unit, 44... excavation control unit, 45... transportation control unit, 46... soil discharge control unit, 47... return control unit, 48... actuator command unit, 49... operation transition determination unit, 50... hydraulic drive system, 51... solenoid proportional valve, 52... operation amount sensor, 53... attitude detection device, 54... object detection device (vessel position detection device), 55... hydraulic oil temperature sensor, 56... operation detection device, 57... input device, 200... loaded machine, 201... loading platform (tray, vessel), 240... control device, 258... transported object information acquisition device, 324... control selection switch, 340...
  • control device 343... turning start determination unit, 349... operation transition determination unit, 400... operation control unit, CP1... transportation start position, CP2... transportation completion position, CPT... target route, DP1... excavation start position, DP2... excavation completion position, DPT... target route, LP1... soil release start position, LP2... soil release completion position, LPT... target route, P1... predetermined ratio, P2...

Landscapes

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

Abstract

Un engin de chantier comprend : un corps mobile ; un corps rotatif ; un dispositif de travail ; un dispositif de détection de posture permettant de détecter la posture du corps rotatif et du dispositif de travail ; un dispositif de détection de position de récipient permettant de détecter la position d'un récipient d'une machine de chargement dans laquelle le matériau d'excavation excavé par le dispositif de travail est chargé ; et un dispositif de commande permettant d'effectuer une commande de rotation automatique afin de faire tourner automatiquement au moins le corps rotatif jusqu'à un angle de fin de rotation en fonction de résultats de détection provenant du dispositif de détection de posture et du dispositif de détection de position de récipient. Le dispositif de commande détermine si une condition de démarrage de rotation pour le démarrage de la commande de rotation automatique est satisfaite, en fonction de l'état d'opération de rotation du corps rotatif et de l'état d'opération du dispositif de travail. Lorsqu'il est déterminé que la condition de démarrage de rotation est satisfaite, le dispositif de commande émet en sortie une instruction de démarrage d'opération de rotation pour le démarrage de la rotation du corps rotatif vers l'angle de fin de rotation, que le dispositif de travail soit en fonctionnement ou non.
PCT/JP2024/031630 2023-09-27 2024-09-03 Engin de chantier Pending WO2025069961A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023-165863 2023-09-27
JP2023165863A JP2025056408A (ja) 2023-09-27 2023-09-27 作業機械

Publications (1)

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WO2025069961A1 true WO2025069961A1 (fr) 2025-04-03

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JP (1) JP2025056408A (fr)
WO (1) WO2025069961A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019132064A (ja) * 2018-01-31 2019-08-08 株式会社小松製作所 積込機械の制御装置および制御方法
JP2021055433A (ja) * 2019-09-30 2021-04-08 住友重機械工業株式会社 ショベル

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019132064A (ja) * 2018-01-31 2019-08-08 株式会社小松製作所 積込機械の制御装置および制御方法
JP2021055433A (ja) * 2019-09-30 2021-04-08 住友重機械工業株式会社 ショベル

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