Operating machinery

Abstract

A working machine is provided that can support loading operations without causing discomfort to the operator. The control device (40) of the working machine (1) includes: a permissible range calculation unit (46) that calculates the permissible range, which represents the range in which the front working device (2) can move in the height direction during rotational operation; an action judgment unit (45) that determines whether the working machine (1) is in the process of handling operation; and an action control unit (4) that, when it is determined that it is in the process of handling operation, controls the rotational operation of the boom (8) so that the position of the front working device (2) in the height direction remains within the permissible range. The permissible range calculation unit (46) calculates the range of the rotation angle of the boom (8) as the permissible range, which is defined by a lower limit value of the position of the front working device (2) in the height direction that can avoid interference with the loading machine during the handling operation, and an upper limit value of the position in the height direction calculated based on at least one of the size and capacity of the bucket (10), the type of loading object, and the specific gravity of the loading object.

Description

Technical Field

[0001] This invention relates to work machinery. Background Technology

[0002] Known are articulated work machines (e.g., hydraulic excavators) that have a front working device (e.g., boom, stick, and bucket attachments) driven by hydraulic actuators. These machines perform loading operations by moving excavated soil or sand towards a loading machine (e.g., a dump truck) and by releasing the moved material back to the loading machine (e.g., unloading).

[0003] When loading operations are performed, if the position of the front working device (e.g., the bucket position) is lower than the machine being loaded, there is a possibility of interference between the front working device and the machine during the handling process. On the other hand, if the position of the front working device is excessively higher than the machine being loaded, there is a possibility that the released object may damage the machine. For example, in a hydraulic excavator used in mining, sometimes 50 tons of soil and sand are released into a dump truck during a single unloading operation. If the bucket position is excessively higher than the dump truck, there is a concern that the unloaded soil and sand may cause significant damage to the dump truck. Operators of loading machinery need to simultaneously confirm the position of the machine being loaded and coordinate the rotation of the upper rotating body with the rotation of the front working device, requiring highly skilled operation.

[0004] Technology supporting such loading operations is disclosed, for example, in Patent Document 1. Patent Document 1 discloses a loading machinery control device having an interference avoidance position specific part, which is a position where the height is equal to the unloading position, the distance from the rotation center of the upper rotating body is equal to the distance from the rotation center to the unloading position, and the loaded machinery is not located below the bucket.

[0005] Existing technical documents

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-65661 Summary of the Invention

[0008] When the operator inputs an operation signal instructing the unloading of soil, the loading machinery control device of Patent Document 1 automatically moves the bucket from the excavation completion position to the interference avoidance position. After the bucket reaches the interference avoidance position, the loading machinery control device of Patent Document 1 stops the operation of the preceding working device, allowing only the rotation of the upper rotating body to continue, thus automatically moving the bucket to the unloading position. In other words, the loading machinery control device of Patent Document 1 causes the bucket to move along a trajectory passing from the interference avoidance position to the unloading position, thus creating the possibility that the operator may feel a sense of incongruity based on this trajectory.

[0009] The present invention was made in view of the above-mentioned problems, and its object is to provide a working machine that can support loading operations without causing discomfort to the operator.

[0010] To address the aforementioned issues, the present invention provides a working machine that performs a transporting action of moving an object toward a loading machine and a releasing action of releasing the object, transported by the transporting action, toward the loading machine, thereby transferring the object to the loading machine. The working machine is characterized by comprising: an upper rotating body that rotates relative to a lower traveling body; a working device mounted on the upper rotating body and including a boom, stick, and bucket; a posture detection device for detecting the rotation angle of the working device and the rotation angle of the upper rotating body; an object detection device for detecting the position of the loading machine; and a control device for controlling the actions of the working device and the upper rotating body. The control device includes: an allowable range calculation unit that calculates an allowable range based on the detection result of the object detection device, the allowable range indicating the allowable range of the working device during the rotation of the upper rotating body. The range of movement in the height direction; an action determination unit that determines whether the work device is in the process of the handling action based on the detection results of the posture detection device and the detection results of the object detection device; and an action control unit that, when it is determined that the work device is in the process of the handling action, controls the rotation of the boom so that the position of the work device in the height direction remains within the allowable range, wherein the allowable range calculation unit calculates the range of the boom rotation angle defined by the following lower limit value and upper limit value of the position, wherein the lower limit value of the position is the lower limit value of the position in the height direction that can prevent the work device from interfering with the loaded machinery during the handling action, and the upper limit value of the position is the upper limit value of the position in the height direction calculated based on at least one of the size and capacity of the bucket, the type of object, and the specific gravity of the object.

[0011] Invention Effects

[0012] According to the present invention, a work machine can be provided that supports loading operations without causing discomfort to the operator.

[0013] Other issues, components, and effects will become clear from the following description of the implementation method. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating the configuration of the working machinery in Embodiment 1.

[0015] Figure 2 It is a schematic representation Figure 1 The diagram shows the configuration of the hydraulic system mounted on the machine.

[0016] Figure 3 It means Figure 2 The diagram shows the functional structure of the control device.

[0017] Figure 4 It means Figure 3 The diagram shows the reference coordinate system set in the control device.

[0018] Figure 5 Observing from other directions Figure 4 The diagram shows the reference coordinate system.

[0019] Figure 6 This is an explanation of the reason. Figure 3 The diagram shows the allowed range of operations for the allowed range of operations.

[0020] Figure 7 It means by Figure 3 The flowchart shown illustrates the process executed by the control device regarding load support control.

[0021] Figure 8 It means Figure 6 The diagram shows an example of an updated related graph.

[0022] Figure 9 This is a diagram showing the functional configuration of the working machinery in Implementation Method 2.

[0023] Figure 10 It means by Figure 9 The flowchart shown illustrates the process executed by the control device regarding load support control.

[0024] Figure 11 This is a flowchart illustrating the loading support control process executed by the control device of Embodiment 3.

[0025] Figure 12 This is a diagram illustrating the screen displayed on the display device according to Embodiment 4. Detailed Implementation

[0026] Hereinafter, embodiments of the present invention will be described using the accompanying drawings. Furthermore, unless otherwise specified, configurations marked with the same reference numerals in each embodiment have the same function, and their descriptions will be omitted.

[0027] The working machine in this embodiment is a machine that performs a transporting action to move an object toward a loading machine and a releasing action to release the object moved by the transporting action toward the loading machine, thereby loading the object onto the loading machine. Hereinafter, a hydraulic excavator equipped with a bucket will be used as an example of the working machine. However, the working machine in this embodiment may also be a hydraulic excavator equipped with attachments other than a bucket, or it may be a working machine other than a hydraulic excavator that performs the aforementioned transporting and releasing actions to load the object.

[0028] [Implementation Method 1]

[0029] Figure 1 This is a diagram illustrating the configuration of the working machine 1 in Embodiment 1.

[0030] The working machine 1 performs excavation work on the ground or other excavation surfaces, and loading work on the excavated soil, sand, or other objects onto a loading machine such as a dump truck. During the loading work, the working machine 1 performs the aforementioned handling and releasing actions. The working machine 1 has a multi-joint type front working device 2 that holds the object and rotates it vertically or horizontally, and a main mechanical body 3 that houses the front working device 2. Furthermore, the front working device 2 is an example of the "working device" described in the technical solution.

[0031] The mechanical body 3 includes: a lower traveling body 5 that travels via a right traveling hydraulic motor 4a and a left traveling hydraulic motor 4b located on the right and left sides of the lower traveling body 5; and an upper rotating body 7 that is mounted on the upper part of the lower traveling body 5 via a rotating device and rotated by a rotating hydraulic motor 6 of the rotating device. Furthermore, in this embodiment, the right traveling hydraulic motor 4a and the left traveling hydraulic motor 4b are sometimes collectively referred to as "traveling hydraulic motors 4a and 4b".

[0032] The front working device 2 is a multi-joint type working device composed of multiple front components installed at the front of the upper rotating body 7. The upper rotating body 7 is used to mount and rotate the front working device 2. The front working device 2 includes: a boom 8 rotatably connected to the front of the upper rotating body 7; a stick 9 rotatably connected to the front end of the boom 8; and a bucket 10 rotatably connected to the front end of the stick 9.

[0033] The boom 8 is connected to the upper rotating body 7 via boom pin 8a and rotates by the extension and retraction of the boom hydraulic cylinder 11. The stick 9 is connected to the front end of the boom 8 via stick pin 9a and rotates by the extension and retraction of the stick hydraulic cylinder 12. The bucket 10 is connected to the front end of the stick 9 via bucket pin 10a and bucket connecting rod 16 and rotates by the extension and retraction of the bucket hydraulic cylinder 13.

[0034] A boom angle sensor 14 is installed on the boom pin 8a to detect the rotation angle of the boom 8. A stick angle sensor 15 is installed on the stick pin 9a to detect the rotation angle of the stick 9. A bucket angle sensor 17 is installed on the bucket link 16 to detect the rotation angle of the bucket 10.

[0035] Furthermore, the rotation angles of the boom 8, stick 9, and bucket 10 can also be obtained by detecting the angles of the boom 8, stick 9, and bucket 10 relative to a reference plane such as the horizontal plane using an inertial measurement device and converting them into rotation angles. Additionally, the rotation angles of the boom 8, stick 9, and bucket 10 can also be obtained by detecting the strokes of the boom hydraulic cylinder 11, stick hydraulic cylinder 12, and bucket hydraulic cylinder 13 using stroke sensors and converting them into rotation angles.

[0036] An inclination angle sensor 18 is installed on the upper rotating body 7 to detect the tilt angle of the main mechanical body 3 relative to a reference plane such as the horizontal plane. A rotation angle sensor 19 is installed on the rotation device between the lower traveling body 5 and the upper rotating body 7 to detect the relative angle, i.e., the rotation angle, of the upper rotating body 7 relative to the lower traveling body 5. An angular velocity sensor 20 is installed on the upper rotating body 7 to detect the angular velocity of the upper rotating body 7. In addition, in this embodiment, the boom angle sensor 14, stick angle sensor 15, bucket angle sensor 17, inclination angle sensor 18, and rotation angle sensor 19 can be collectively referred to as "posture detection device 53". The posture detection device 53 detects the rotation angles of the front working device 2 and the rotation angle of the upper rotating body 7, etc.

[0037] In the operator's cab located on the upper rotating body 7, an operating device is provided for operating multiple hydraulic actuators 4a, 4b, 6, 11, 12, and 13. Specifically, the operating device includes: a right travel lever 23a for operating the right travel hydraulic motor 4a; a left travel lever 23b for operating the left travel hydraulic motor 4b; a right operating lever 22a for operating the boom hydraulic cylinder 11 and the bucket hydraulic cylinder 13; and a left operating lever 22b for operating the stick hydraulic cylinder 12 and the rotary hydraulic motor 6. Furthermore, in this embodiment, the right travel lever 23a, left travel lever 23b, right operating lever 22a, and left operating lever 22b are sometimes collectively referred to as "operating levers 22 and 23". Operating levers 22 and 23 are electric levers.

[0038] Additionally, an object detection device 54 is installed on the upper rotating body 7 to detect the type and location of objects present around the working machine 1. The object detection device 54 can be, for example, a LiDAR (Light Detection and Ranging) or a stereo camera. The object detection device 54 can detect the position of the loaded machine that causes the working machine 1 to perform the loading operation. Multiple object detection devices 54 can be installed on the working machine 1.

[0039] Figure 2 It is a schematic representation Figure 1 The diagram shows the configuration of the hydraulic system mounted on the machine 1.

[0040] An engine 103, mounted on the upper rotating body 7, drives the hydraulic pump 102 and the pilot pump 104. The control device 40 controls the rotation of the front working device 2, the travel of the lower traveling body 5, and the rotation of the upper rotating body 7 in accordance with the operator's operating information (operation amount and direction) from the levers 22 and 23. Specifically, the control device 40 detects the operator's operating information (operation amount and direction) from the levers 22 and 23 using sensors 52a-52f such as rotary encoders or potentiometers, and outputs control commands corresponding to the detected operating information to the electromagnetic proportional valves 47a-47l. The electromagnetic proportional valves 47a-47l are located in the pilot line 100 and operate when a control command from the control device 40 is input, outputting pilot pressure to the flow control valve 101 to activate it. Furthermore, in this embodiment, the operator's operating information from the levers 22 and 23 is sometimes referred to as "operator's operation instruction." In this embodiment, the sensors 52a to 52f that detect the operation information are sometimes collectively referred to as "operation detection device 52".

[0041] The flow control valve 101 controls the hydraulic oil supplied from the hydraulic pump 102 to the rotary hydraulic motor 6, the stick hydraulic cylinder 12, the boom hydraulic cylinder 11, the bucket hydraulic cylinder 13, the right travel hydraulic motor 4a, and the left travel hydraulic motor 4b, respectively, in accordance with the pilot pressure from the solenoid proportional valves 47a to 47l. Furthermore, the solenoid proportional valves 47a and 47b output pilot pressure to the flow control valve 101 to control the hydraulic oil supplied to the rotary hydraulic motor 6. The solenoid proportional valves 47c and 47d output pilot pressure to the flow control valve 101 to control the hydraulic oil supplied to the stick hydraulic cylinder 12. The solenoid proportional valves 47e and 47f output pilot pressure to the flow control valve 101 to control the hydraulic oil supplied to the boom hydraulic cylinder 11. The solenoid proportional valves 47g and 47h output pilot pressure to the flow control valve 101 to control the hydraulic oil supplied to the bucket hydraulic cylinder 13. Electromagnetic proportional valves 47i and 47j output pilot pressure to flow control valve 101 to control the hydraulic oil supplied to the right travel hydraulic motor 4a. Electromagnetic proportional valves 47k and 47l output pilot pressure to flow control valve 101 to control the hydraulic oil supplied to the left travel hydraulic motor 4b.

[0042] The boom hydraulic cylinder 11, stick hydraulic cylinder 12, and bucket hydraulic cylinder 13 extend and retract via supplied hydraulic oil, causing the boom 8, stick 9, and bucket 10 to rotate. This changes the position and posture of the bucket 10. The rotary hydraulic motor 6 rotates via supplied hydraulic oil, causing the upper rotating body 7 to rotate. The right travel hydraulic motor 4a and the left travel hydraulic motor 4b rotate via supplied hydraulic oil, causing the lower traveling body 5 to travel. Furthermore, in this embodiment, the travel hydraulic motors 4a and 4b, the rotary hydraulic motor 6, the boom hydraulic cylinder 11, the stick hydraulic cylinder 12, and the bucket hydraulic cylinder 13 are sometimes collectively referred to as "hydraulic actuators."

[0043] Figure 3 It means Figure 2 The diagram shows the functional configuration of the control device 40. Figure 4 It means Figure 3 A diagram showing the reference coordinate system set in the control device 40. Figure 5 Observing from other directions Figure 4 The diagram shows the reference coordinate system. Figure 6 This is an explanation of the reason. Figure 3 The diagram shows the allowed range of operations of the allowed range arithmetic unit 46.

[0044] The control device 40 includes a posture calculation unit 41, a speed calculation unit 42, a speed vector calculation unit 43, a loaded machine position calculation unit 44, an action judgment unit 45, an allowable range calculation unit 46, and an action control unit 48.

[0045] For the control device 40, a specific reference coordinate system is pre-set to determine the position and posture of the components of the working machine 1. For example... Figure 4 as well as Figure 5 As shown, the reference coordinate system of this embodiment is defined as a right-handed coordinate system with the point where the lower traveling body 5 in the rotation center 120 contacts the ground G as the origin. The forward direction of the lower traveling body 5 is defined as the positive direction of the X-axis in this reference coordinate system. The direction extending upward from the rotation center 120 is defined as the positive direction of the Z-axis in this reference coordinate system. The direction orthogonal to the X-axis and Z-axis and pointing to the left is defined as the positive direction of the Y-axis in this reference coordinate system. In this reference coordinate system, the XY plane is fixed to the ground G.

[0046] Furthermore, in the reference coordinate system of this embodiment, the rotation angle of the upper rotating body 7 is defined as 0 degrees when the front working device 2 is parallel to the X-axis. When the rotation angle of the upper rotating body 7 is 0 degrees, the action plane of the front working device 2 is parallel to the XZ plane, the lifting direction of the boom 8 is the positive direction of the Z-axis, and the extension direction of the stick 9 and the bucket 10 is the positive direction of the X-axis.

[0047] The posture calculation unit 41 calculates the postures of the components of the working machine 1 in the reference coordinate system based on the detection signal from the posture detection device 53. Specifically, the posture calculation unit 41 calculates the rotation angle θ of the boom 8 relative to the X-axis based on the detection signal of the rotation angle of the boom 8 output from the boom angle sensor 14. bm The posture calculation unit 41 calculates the rotation angle θ of the stick 9 relative to the boom 8 based on the detection signal of the rotation angle of the stick 9 output from the stick angle sensor 15. am The posture calculation unit 41 calculates the rotation angle θ of the bucket 10 relative to the stick 9 based on the detection signal of the rotation angle of the bucket 10 output from the bucket angle sensor 17. bk The posture calculation unit 41 calculates the rotation angle θ of the upper rotating body 7 relative to the X-axis (lower traveling body 5) based on the detection signal of the rotation angle of the upper rotating body 7 output from the rotation angle sensor 19. sw .

[0048] Furthermore, the posture calculation unit 41 calculates each rotation angle θ of the front working device 2. bm θ am θ bk and the rotation angle θ of the upper rotating body 7 sw And the size L of boom 8 bm The dimensions L of the boom 9 am And the size L of the bucket 10 bk This is used to calculate the positions of the boom 8, stick 9, and bucket 10. Additionally, the dimension L of the boom 8... bmIt is the length from boom pin 8a to stick pin 9a. The dimension L of stick 9 is... am It is the length from boom pin 9a to bucket pin 10a. The dimension L of bucket 10 is... bk It is the length from the bucket pin 10a to the front end of the bucket 10 (e.g., the front end of the bucket teeth).

[0049] Furthermore, the posture calculation unit 41 calculates the tilt angle θ of the mechanical body 3 (lower traveling body 5) relative to the reference plane DP based on the detection signal of the tilt angle of the mechanical body 3 output from the tilt angle sensor 18. The reference plane DP is, for example, a horizontal plane orthogonal to the direction of gravity. The tilt angle θ includes the rotation angle about the Y-axis, i.e., the pitch angle, and the rotation angle about the X-axis, i.e., the roll angle. The posture calculation unit 41 calculates the tilt angle θ of the mechanical body 3 (lower traveling body 5) relative to the reference plane DP based on the rotation angle θ of the front working device 2. bm θ am θ bk The angle γ between the bucket 10 and the ground G is calculated. The angle γ between the bucket 10 and the ground G is the angle formed by the straight line passing through the front end of the bucket 10 and the bucket pin 10a relative to the ground G.

[0050] The speed calculation unit 42 calculates the speeds of hydraulic actuators 6, 11, 12, and 13 based on the detection signals from the operation detection device 52. Specifically, the control device 40 pre-stores a table showing the correspondence between the operation amounts of the operating levers 22 and 23 and the speeds of the hydraulic actuators 6, 11, 12, and 13. The speed calculation unit 42 calculates the speeds of the hydraulic actuators 6, 11, 12, and 13 by referring to this table and based on the operation amounts contained in the operation information of the operating levers 22 and 23 output from the operation detection device 52. The speed calculation unit 42 can convert the speed of the rotary hydraulic motor 6 into the rotational speed of the upper rotating body 7. The speed calculation unit 42 can convert the speed of the boom hydraulic cylinder 11 into the rotational speed of the boom 8. The speed calculation unit 42 can convert the speed of the stick hydraulic cylinder 12 into the rotational speed of the stick 9. The speed calculation unit 42 can convert the speed of the bucket hydraulic cylinder 13 into the rotational speed of the bucket 10.

[0051] Furthermore, the speed calculation unit 42 can also calculate the rotation angles θ of the front working device 2 calculated by the posture calculation unit 41. bm θ am θ bk The speed calculation unit 42 calculates the rotational speeds of the working device 2 before the change in time. The speed calculation unit 42 can calculate the rotation angle θ of the upper rotating body 7 calculated by the posture calculation unit 41. sw The rotational speed of the upper rotating body 7 is calculated based on the change in time.

[0052] The velocity vector calculation unit 43 calculates the velocity vector generated in the front working device 2 based on the calculation results of the posture calculation unit 41 and the velocity calculation unit 42. Specifically, the velocity vector calculation unit 43 calculates the velocity vector based on each rotation angle θ of the front working device 2. bm θ am θ bk and the rotation angle θ of the upper rotating body 7 sw The velocity vector generated at the front end of the boom 9 is calculated by combining the rotational speeds of the front working device 2 and the rotational speed of the upper rotating body 7.

[0053] The loaded machine position calculation unit 44 calculates the position of the loaded machine in the reference coordinate system based on the position detected by the object detection device 54. The object detection device 54 is mounted on the upper rotating body 7. Therefore, the loaded machine position calculation unit 44 can calculate the position of the loaded machine based on the rotation angle θ of the upper rotating body 7. sw The position of the loaded machinery in the reference coordinate system is calculated based on the installation position of the object detection device 54 relative to the reference coordinate system.

[0054] The motion determination unit 45 determines whether the working machine 1 is in the process of transporting based on the detection results of the object detection device 54 and the posture detection device 53. Specifically, the motion determination unit 45 obtains the ground angle γ of the bucket 10 calculated by the posture calculation unit 41 based on the detection results of the posture detection device 53, obtains the direction of the velocity vector calculated by the velocity vector calculation unit 43 based on the detection results of the posture detection device 53, and obtains the position of the loaded machine calculated by the loaded machine position calculation unit 44 based on the detection results of the object detection device 54. If the ground angle γ of the bucket 10 is above a predetermined value, the direction of the velocity vector generated at the front end of the boom 9 is towards the loaded machine, and the front working device 2 has not reached the position of the loaded machine, the motion determination unit 45 determines that the working machine 1 is in the process of transporting. If the ground angle γ of the bucket 10 is below a predetermined value, the direction of the velocity vector generated at the front end of the boom 9 is not towards the loaded machine, or the front working device 2 has reached the position of the loaded machine, the motion determination unit 45 determines that the working machine 1 is not in the process of transporting.

[0055] The permissible range calculation unit 46 calculates the permissible range, or permissible range, of the vertical movement of the front working device 2 during the rotation of the upper rotating body 7, based on the detection results of the object detection device 54. Specifically, the permissible range calculation unit 46 calculates the range of the boom 8's rotation angle, defined by a lower limit value of the position of the front working device 2 in the vertical direction that prevents interference with the loaded machinery during the handling process, and an upper limit value of the position of the front working device 2 in the vertical direction that prevents damage to the loaded machinery based on the object during the release process. In this embodiment, the permissible range calculation unit 46 calculates the boom 8's rotation angle θ corresponding to the lower limit value of the position of the front working device 2 in the vertical direction that prevents interference with the loaded machinery during the handling process. bm The lower limit of the allowable range is set. In this embodiment, the allowable range calculation unit 46 sets the rotation angle θ of the boom 8, which corresponds to the upper limit of the position of the front working device 2 in the height direction, which can avoid damage to the loaded machinery based on the object during the release operation. bm Set to the upper limit of the allowed range.

[0056] In this embodiment, the lower limit of the allowable range of the position of the front working device 2 in the height direction is sometimes also compared with the rotation angle θ of the front working device 2 until it reaches the position of the loaded machinery. sw The relationship between these parameters is referred to as "correlation diagram A". In this embodiment, the upper limit of the allowable range of the position of the front working device 2 in the height direction is sometimes also related to the rotation angle θ. sw The relationship between them is called "correlation diagram B". In this embodiment, the rotation angle θ of the boom 8 corresponding to the lower limit of the allowable range is... bm With this rotation angle θ sw The relationship between them is shown in correlation diagram A. In this embodiment, the rotation angle θ of the boom 8 corresponding to the upper limit of the allowable range is defined as... bm With this rotation angle θ sw The relationship between them is set as correlation graph B.

[0057] The following explains the specific calculation method of the allowable range calculation unit 46 when calculating the allowable range. The width dimension of the working machine 1 will be ignored in the following explanation. First, the height Z of the front end of the stick 9 above the ground in the reference coordinate system is... am The height Loz of the boom pin 8a above the ground G in the reference coordinate system is given as follows.

[0058]

Formula 1

[0059] Z am =L oz -L bmsinθ bm -L am sin(θ bm +θ am ...(1)

[0060] If we consider the size L of bucket 10 bk And the margin, and set the height in the reference coordinate system (the lower limit of the position of the front working device 2 in the height direction) that the front end of the boom 9 should reach in a way that does not interfere with the loaded machinery when the current working device 2 reaches the loaded machinery as Z. ll Then the rotation angle θ of boom 8 at this time bm The lower limit θ bmll As shown below.

[0061]

Formula 2

[0062]

[0063] In equation (2), a ll b ll α bmll These are coefficients involved in the synthesis of trigonometric functions.

[0064] Similarly, if the height G of the front end of the boom 9 above the ground (the upper limit of the position of the front working device 2 in the height direction) is set as Z, which is permissible in a manner that prevents the object from damaging the loaded machinery. ul Then the rotation angle θ of boom 8 at this time bm upper limit θ bmul As shown in the following formula. In this embodiment, the rotation angle θ bm upper limit θ bmul It can be a pre-defined fixed value.

[0065]

Formula 3

[0066]

[0067] In equation (3), a ul b ul α bmul These are coefficients involved in the synthesis of trigonometric functions.

[0068] In addition, height Z ul Capable of being based on the size L of the bucket 10 bk It is preset with respect to at least one or a combination of the following: capacity, type of excavated soil / sand, and specific gravity (weight) of the excavated soil / sand. In particular, height Z... ul Able to adjust according to the size L of bucket 10 bkThe capacity is predetermined based on its relationship (combination) with the type and specific gravity (weight) of the excavated soil and sand. For example, height Z... ul It can be that four times the size L of the bucket 10 is added to the height G above the ground at the front end of the boom 9. bk The obtained fixed value. Furthermore, because the greater the total weight of the objects loaded onto the loaded machinery in a single loading operation, the greater the damage to the loaded machinery during the release process, for example, the height Z... ul It can be set low. Specifically, for example, the height Z. ul It is possible to add four times the size L of the bucket 10 to the height G above the ground at the front end of the boom 9. bk The obtained value is used as the height Z. ul The baseline Z is set in a way that allows for adjustable adjustment of the damage. For example, the height Z. ul The higher the bucket capacity 10 is, the lower the setting should be; or the higher the specific gravity (weight) of the excavated soil, sand, or other material, the lower the setting should be. Additionally, for example, the height Z... ul The higher the average size of the object (e.g., the average particle size of soil or sand) and the greater the deviation in size, the lower the height Z should be. Height Z should take these factors into account. ul The settings can be summarized as shown in Table 1. Table 1 summarizes the capacity of the bucket 10, the type of object, and the specific gravity and height Z of the object. ul The relationship (combination) between the two. In this embodiment, the operating machine 1 has an input device 57 for the operator to input information about the capacity of the bucket 10, the type of object, and its specific gravity. Furthermore, the allowable range calculation unit 46 of the control device 40 is configured to perform height Z calculation based on the information input by the input device 57. ul The setting and adjustment of the bucket 10. Furthermore, the working machine 1 may also have a receiving device that receives information about the capacity of the bucket 10, the type of object, and its specific gravity from an external source (e.g., a control system). Moreover, the allowable range calculation unit 46 of the control device 40 may be configured to calculate the height Z based on the information received by the receiving device. ul The settings and adjustments are as follows. Additionally, the working machine 1 may have a camera device for photographing the object. Furthermore, the working machine 1 may also have a device for acquiring map information, the location information of the working machine 1, and terrain information of the work site (e.g., information about geological composition) associated with the map information. Moreover, the allowable range calculation unit 46 of the control device 40 may be configured to determine the type and specific gravity of the object based on the image of the object photographed by the camera device or the information acquired by the acquisition device, and based on this information, perform height Z-axis calculations. ul The settings and adjustments are as follows. Additionally, the operating machinery 1 can adjust the height Z without considering information about the capacity of the bucket 10, the type of object, or its specific gravity.ul The settings and adjustments are made by the operator directly inputting the height Z into the input device 57. ul To perform height Z ul Settings and adjustments.

[0069]

Table 1

[0070]

[0071]

[0072] Additionally, the position X of the front end of the boom 9 in the reference coordinate system along the X-axis. am Using the position L of boom pin 8a relative to the origin in the reference coordinate system along the X-axis... ox and the position L in the Y-axis direction oy And give it as follows.

[0073]

Formula 4

[0074] X am =(L ox +L bm cosθ bm +L am cos(θ bm +θ am cosθ sw -L oy sinθ sw ...(4)

[0075] The rotation angle θ when the front working device 2 reaches the loaded machinery swT Using the position X of the loaded machinery in the reference coordinate system along the X-axis. t And give it as follows.

[0076]

Formula 5

[0077]

[0078] In equation (5), a swT b swT α swT These are coefficients involved in the synthesis of trigonometric functions.

[0079] If the rotation angle of the boom 8 when the motion judgment unit 45 determines that it is in the process of carrying out the action is set as θ bmS Let the rotation angle of the upper rotating body 7 be θ. swS Then you can get Figure 6 The relevant figures A and B are shown. Furthermore, if the rotation angle θ of the boom 8 during the handling process... bm The rotation angle θ of the boom 9am If the change is such that the front end of the boom 9 should reach a height Z when the current working device 2 reaches the loaded machinery, then... ll and the rotation angle θ of boom 8 at this time. bm The lower limit θ bmll And the rotation angle θ required to reach the position Xt of the loaded machine. swT It will also change. Therefore, the range operation unit 46 is allowed to be updated sequentially. Figure 6 The relevant figure A is shown.

[0080] In other words, the correlation diagram A calculated by the allowable range calculation unit 46 represents the rotation angle θ corresponding to the lower limit of the allowable range. bm How does it relate to the rotation angle θ? sw The changes will occur accordingly. In this embodiment, for example... Figure 6 As shown, the rotation angle θ corresponds to the lower limit of the allowable range. bm With rotation angle θ sw The increase corresponds to a monotonically increasing value. Similarly, Figure B shows the rotation angle θ corresponding to the upper limit of the allowable range. bm How does it relate to the rotation angle θ? sw The changes will occur accordingly. In this embodiment, for example... Figure 6 As shown, the rotation angle θ corresponds to the upper limit of the allowable range. bm (that is, θ) bmul ) is a pre-defined fixed value, based on the rotation angle θ sw It becomes fixed as it increases.

[0081] When the motion determination unit 45 determines that a handling operation is in progress, the motion control unit 48 controls the rotation speed and rotation of the front working device 2 to keep its position in the height direction within the allowable range. Specifically, if the position of the front working device 2, which is moving according to the operator's operation instruction relative to the front working device 2, in the height direction is predicted to be below the lower limit or above the upper limit of the allowable range, the motion control unit 48 invalidates the operation instruction. Furthermore, the motion control unit 48 controls the rotation speed of the front working device 2 to keep its position in the height direction within the allowable range. In this embodiment, when the motion determination unit 45 determines that a handling operation is in progress, the motion control unit 48 controls the rotation speed of the boom 8 to keep its position in the height direction within the allowable range. Specifically, the motion control unit 48 controls the rotation angle θ of the boom 8... bm Stay Figure 6 The rotational speed (target rotational speed) of boom 8 is calculated within the allowable range between the relevant graphs A and B shown.

[0082] For example, in the operating machinery 1, it is sometimes predicted that the operator-based lifting operation of the boom 8 is not performed or the lifting amount of the boom 8 is insufficient, which will cause the rotation angle θ of the boom 8 to be reduced. bm Below the relevant figure A. In this case, the motion control unit 48 causes the operator to make a rotation angle θ. bm Operation instructions below the relevant diagram A are invalidated. To automatically execute the lifting action, the target rotation speed of boom 8 is calculated to achieve the desired rotation angle θ of boom 8. bm The value is higher than that in Figure A. Additionally, for example, in the operating machinery 1, it is sometimes predicted that the operator-based lifting operation of the boom 8 will be too large, resulting in an excessive rotation angle θ of the boom 8. bm Above the relevant figure B. In this case, the motion control unit 48 causes the operator to make a rotation angle θ. bm The operation instructions above the relevant diagram B are invalidated. In order to automatically execute the descent action, the target rotation speed of boom 8 is calculated to make the rotation angle θ of boom 8... bm Below the relevant figure B. Additionally, for example, in operating machinery 1, it is sometimes predicted that an operator-based lifting operation of the boom 9 will be performed, resulting in a rotation angle θ of the boom 8. bm Above the relevant figure B. In this case, the motion control unit 48 causes the operator to make a rotation angle θ. bm The operation instructions above the relevant diagram B are invalidated. In order to automatically execute the lowering action of boom 8, the target rotation speed of boom 8 is calculated to make the rotation angle θ of boom 8... bm Below the relevant figure B.

[0083] Furthermore, the motion control unit 48 calculates the target speed of the boom hydraulic cylinder 11 corresponding to the target rotation speed of the boom 8. The motion control unit 48 also outputs control commands to the electromagnetic proportional valves 47a-47l (specifically, electromagnetic proportional valves 47e and 47f) to make the boom hydraulic cylinder 11 operate in accordance with the target speed. The electromagnetic proportional valves 47a-47l (specifically, electromagnetic proportional valves 47e and 47f) generate pilot pressure to control the hydraulic oil supplied to the boom hydraulic cylinder 11 and output it to the flow control valve 101, causing the boom hydraulic cylinder 11 to operate in accordance with the target speed. The boom 8 rotates in accordance with the target rotation speed, and the rotation angle θ of the boom 8... bm Stay within the permitted range.

[0084] In addition, the motion control unit 48 sometimes predicts that the operator's operation will cause the boom 8 to rotate by an angle θ. bm The rotation remains within the allowable range between relevant diagrams A and B. In this case, the motion control unit 48 controls the rotation of the boom 8 according to the operator's instructions to make the boom 8 rotate.

[0085] Furthermore, when the control device 40 performs control intervention to invalidate the operator's operation instructions and support the loading operation, such as automatically performing the lifting or lowering action of the boom 8, it generates information indicating that control intervention has been performed. The control device 40 can then display the information indicating control intervention on the display device 55, emit sound from a speaker, or notify the operator. In this embodiment, the operation of invalidating the operator's operation instructions and supporting the loading operation is sometimes referred to as "loading support control."

[0086] Figure 7 It means by Figure 3 The flowchart shows the process performed by the control device 40 regarding load support control.

[0087] In step S101, the control device 40 determines whether the ground angle γ of the bucket 10 is above a predetermined value. The predetermined value is the lower limit of the ground angle γ of the bucket 10 when it is holding an object. If the ground angle γ of the bucket 10 is above the predetermined value, there is a possibility that the bucket 10 is holding an object and that the working machine 1 is in the process of transporting. If the ground angle γ of the bucket 10 is above the predetermined value, the control device 40 determines that there is a possibility that the working machine 1 is in the process of transporting and proceeds to step S102. On the other hand, if the ground angle γ of the bucket 10 is below the predetermined value, the control device 40 determines that the working machine 1 is not in the process of transporting and ends the process.

[0088] In step S102, the control device 40 determines whether the direction of the velocity vector generated at the front end of the boom 9 is towards the loaded machinery. If the direction of the velocity vector generated at the front end of the boom 9 is towards the loaded machinery, there is a possibility that the forward working device 2 is moving towards the loaded machinery and the working machine 1 is in the process of transporting. If the direction of the velocity vector generated at the front end of the boom 9 is towards the loaded machinery, the control device 40 determines that there is a possibility that the working machine 1 is in the process of transporting and proceeds to step S103. On the other hand, if the direction of the velocity vector generated at the front end of the boom 9 is not towards the loaded machinery, the control device 40 determines that the working machine 1 is not in the process of transporting and ends the process.

[0089] In step S103, the control device 40 determines whether the preceding working device 2 has reached the position of the machine being loaded. If the preceding working device 2 has reached the position of the machine being loaded, there is a possibility that the transport operation has ended. If the preceding working device 2 has not reached the position of the machine being loaded, the control device 40 determines that there is a possibility that the machine being transported is in the process of transporting, and proceeds to step S104. On the other hand, if the preceding working device 2 has reached the position of the machine being loaded, the control device 40 determines that the machine being transported is not in the process of transporting, and ends the process.

[0090] In step S104, the control device 40 calculates related diagrams A and B. That is, the control device 40 calculates the rotation angle θ of the boom 8. bm The lower and upper limits of the allowed range.

[0091] In step S105, the control device 40 determines whether the operator's operation will cause the boom 8 to rotate by an angle θ. bm Below the relevant figure A. Control device 40 at rotation angle θ bm If the value is lower than that in the relevant diagram A, the process proceeds to step S108. On the other hand, the control device 40 rotates at an angle θ. bm If the value does not fall below the relevant figure A, proceed to step S106.

[0092] In step S106, the control device 40 determines whether the operator's operation will cause the boom 8 to rotate by an angle θ. bm Above the relevant figure B. Control device 40 at rotation angle θ bm If the value is higher than that in Figure B, proceed to step S109. On the other hand, the control device 40 rotates at angle θ. bm If the value is not higher than the relevant graph B, proceed to step S107.

[0093] In step S107, the control device 40 controls the rotation of the boom 8 according to the operator's instructions to make the boom 8 rotate. Then, the control device 40 ends the process.

[0094] In step S108, the control device 40 causes the operator to make a rotation angle θ. bm Operational instructions below the level shown in Figure A are invalidated. Furthermore, the control device 40 automatically performs a lifting action on the boom 8 to achieve a rotation angle θ for the boom 8. bm The result is higher than the relevant figure A. Then, the control device 40 terminates this process.

[0095] In step S109, the control device 40 causes the operator to make a rotation angle θ. bmThe operation instructions above the relevant diagram B are invalidated. Furthermore, the control device 40 automatically executes the lowering action of the boom 8 to achieve a rotation angle θ of the boom 8. bm Below the relevant figure B. Then, the control device 40 ends this process. Furthermore, in step S109, as long as the rotation angle θ of the boom 8... bm If the height is not higher than the relevant figure B, then the control device 40 can also be configured to not automatically execute the lowering action of the boom 8, and automatically stop the rotation action of the boom 8.

[0096] Thus, the control device 40 of Embodiment 1 includes an allowable range calculation unit 46, which calculates an allowable range based on the detection results of the object detection device 54. This allowable range represents the range of the position of the front working device 2 in the height direction that is allowed during the rotation of the upper rotating body 7. The control device 40 includes an action determination unit 45, which determines whether a transport operation is in progress based on the detection results of the posture detection device 53 and the object detection device 54. The control device 40 includes an action control unit 48, which controls the rotation of the boom 8 to keep the position of the front working device 2 in the height direction within the allowable range when it is determined that a transport operation is in progress. The allowable range calculation unit 46 calculates the range of the boom 8 rotation angle defined by the lower limit of the position of the front working device 2 in the height direction that can avoid interference with the loaded machinery during the transport operation, and the upper limit of the position of the front working device 2 in the height direction that is determined based on the capacity of the bucket 10 and the type or specific gravity of the object.

[0097] Therefore, the loading machine 1 of Embodiment 1 can not only move the front loading device 2 along a specific trajectory, but also, if the position of the front loading device 2 in the height direction remains within the allowable range, can move the front loading device 2 along multiple trajectories reflecting the operator's intention. Furthermore, this allowable range is the range of the front loading device 2's position in the height direction that avoids interference with the loaded machinery and prevents damage to the loaded machinery from the object. Thus, the loading machine 1 of Embodiment 1 can suppress interference with the loaded machinery and damage to the loaded machinery, while simultaneously supporting the loading operation without causing discomfort to the operator.

[0098] In particular, in Embodiment 1, if the position of the front working device 2, which moves according to the operator's operation instructions, is lower than the lower limit or higher than the upper limit in the height direction, the motion control unit 48 invalidates the operator's operation instructions. Furthermore, the motion control unit 48 controls the rotation speed of the boom 8 to keep the position of the front working device 2 in the height direction within the allowable range.

[0099] Therefore, even if the position of the front working device 2 in the height direction is about to deviate from the allowable range due to the operator's operation, the working machine 1 of Embodiment 1 can reliably keep the position of the front working device 2 in the height direction within the allowable range through control intervention. Thus, the working machine 1 of Embodiment 1 can reliably suppress interference with the loaded machine and damage to the loaded machine, while actively supporting the loading operation without causing discomfort to the operator.

[0100] Figure 8 It means Figure 6 The updated example of related graph A is shown.

[0101] In the operating machine 1, when the current operating device 2 moves within the allowable range according to the operator's operating instructions, sometimes the operator may interrupt the operation or the operating instructions may become undetectable by the operation detection device 52. In this case, the allowable range calculation unit 46 updates the allowable range by using the position of the previous operating device 2 in the height direction when the operating instructions are undetectable as a new lower limit value.

[0102] Figure 8 In the example, after the allowable range calculation performed by the allowable range calculation unit 46, the boom 8 moves according to the operator's operation instructions to remain within the allowable range during the rotational movement, but the rotation angle θ is assumed. bm Relative to rotation angle θ sw The rate of increase is greater than that in related graph A. In this situation, Figure 8 The single-dotted arrow indicates the operator's rotation angle θ. swS1 The lifting operation of boom 8 is interrupted. This situation occurs when boom 8 rotates within the permissible range according to the operator's instructions, but those instructions become undetectable by the operation detection device 52. In this case, the permissible range calculation unit 46 uses the rotation angle θ at which the operation instruction becomes undetectable. swS1 The corresponding rotation angle θ bmS1 The relevant diagram A1 is recalculated. That is, the allowable range calculation unit 46 updates the allowable range by taking the position of the front working device 2 in the height direction when the operation instruction becomes undetectable. Figure 8 In this context, the rotation angle θ corresponds to the lower limit of the updated allowable range. bm And representing the rotation angle θ bmS1 .

[0103] Therefore, in the working machine 1 of Embodiment 1, even if the position of the front working device 2 in the height direction is about to fall below the lower limit of the allowable range due to the operator's operation, it can not only reflect the operator's intention, but also reliably keep the position of the front working device 2 in the height direction within the allowable range. Thus, the working machine 1 of Embodiment 1 can reliably suppress interference with the loaded machine and damage to the loaded machine, while supporting the loading operation as unobtrusively as possible for the operator.

[0104] in addition, Figure 8 The dashed arrow indicates that, in the above situation, the operator continuously performs the lifting operation of boom 8, rotating by an angle θ. bm It will be higher than the relevant figure B. In this case, the motion control unit 48 causes the operator to make a rotation angle θ. bm Operation instructions above the relevant diagram B are invalidated. Furthermore, the motion control unit 48 automatically executes the lowering action of the boom 8 or automatically stops the rotation action of the boom 8 to control the rotation speed of the boom 8 to achieve the desired rotation angle θ. bm It will not be higher than the relevant figure B.

[0105] Therefore, in the working machine 1 of Embodiment 1, even if the position of the front working device 2 in the height direction is about to exceed the upper limit of the allowable range due to the operator's operation, it can not only reflect the operator's intention, but also reliably keep the position of the front working device 2 in the height direction within the allowable range. Thus, the working machine 1 of Embodiment 1 can reliably suppress interference with the loaded machine and damage to the loaded machine, while supporting the loading operation as unobtrusively as possible for the operator.

[0106] [Implementation Method 2]

[0107] use Figure 9 as well as Figure 10 The following describes the working machine 1 according to Embodiment 2. In the working machine 1 of Embodiment 2, the same configuration and operation as in Embodiment 1 are omitted.

[0108] Figure 9 This is a diagram showing the functional configuration of the working machine 1 in embodiment 2.

[0109] The working machine 1 in Embodiment 2 includes an object information acquisition device 56 for acquiring information about the object held by the preceding working device 2, i.e., the object held by the bucket 10. The object information acquisition device 56 is, for example, a weight detection device that detects the weight of the bucket 10 or the weight of the object held by the bucket 10. In Embodiment 2, the action determination unit 45, as a determination condition for determining whether the working machine 1 is in a transport operation, adds the acquisition result of the object information acquisition device 56 to the determination condition of Embodiment 1 to perform this determination.

[0110] Figure 10 It means by Figure 9 The flowchart shows the process performed by the control device 40 regarding load support control.

[0111] Figure 10 In steps S101 to S103 shown, the control device 40 performs... Figure 7 The same process is applied to steps S101 to S103 of Embodiment 1 shown. However, in step S103, if the preceding working device 2 has not reached the position of the loaded machinery, the control device 40 determines that there is a possibility that the working machinery 1 is in the process of being transported, and moves to step S201.

[0112] In step S201, the control device 40 determines, based on the result obtained by the object information acquisition device 56, whether there is a sufficient quantity of object in the bucket 10 for performing a transport operation. For example, the control device 40 determines whether the weight of the bucket 10 obtained by the object information acquisition device 56 is greater than the weight in the state where there is no sufficient quantity of object in the bucket 10 (hereinafter also referred to as the "prescribed weight"). If the weight of the bucket 10 obtained by the object information acquisition device 56 is greater than the prescribed weight, the control device 40 determines that there is a sufficient quantity of object in the bucket 10. In this case, the control device 40 determines that there is a possibility that the working machine 1 is in the process of transport operation and proceeds to step S104. On the other hand, if the weight of the bucket 10 obtained by the object information acquisition device 56 is less than or equal to the prescribed weight, the control device 40 determines that there is no sufficient quantity of object in the bucket 10. In this case, the control device 40 determines that the working machine 1 is not in the process of transport operation and ends the process.

[0113] Figure 10 In steps S104 to S109 shown, the control device 40 performs... Figure 7 The same process is applied to steps S104 to S109 of Embodiment 1 shown.

[0114] Furthermore, step S201 only needs to be executed before step S104, and does not need to be executed between steps S103 and S104. For example, step S201 can also be executed before step S101.

[0115] In this way, the action determination unit 45 of embodiment 2 determines whether the bucket 10 is holding the object based on the acquisition result of the object information acquisition device 56, and determines whether it is in the process of transporting based on the determination result.

[0116] Therefore, the action determination unit 45 of Embodiment 2 can determine more accurately whether the working machine 1 is in the process of handling operations than that of Embodiment 1. As a result, the working machine 1 of Embodiment 2 can more accurately grasp the operator's intention to perform handling operations than that of Embodiment 1, and thus can support loading operations without causing the operator any sense of inconvenience than that of Embodiment 1.

[0117] [Implementation Method 3]

[0118] use Figure 11 The working machine 1 of Embodiment 3 is described below. In the working machine 1 of Embodiment 3, the same configuration and operation as in Embodiment 1 or Embodiment 2 are omitted.

[0119] Figure 11 This is a flowchart illustrating the loading support control process executed by the control device 40 of Embodiment 3. Furthermore, Figure 11 In this embodiment, steps S101 to S104, which are performed before step S105, are the same as in embodiment 1 or embodiment 2, and therefore their illustrations are omitted.

[0120] In order to make the rotation angle θ of boom 8 bm During the rotation process, higher Figure 6 The relevant figure A shown needs to be correlated with the rotation angle θ. sw The increase in the amount correspondingly increases the rotation angle θ of boom 8. bm At this point, if the rotation angle θ sw If the increase is too large, the rotation angle θ of boom 8 may sometimes be affected. bm The increase will not keep up. In other words, if the rotational speed of the upper rotating body 7 is too fast, sometimes the rotational speed of the lifting action of the boom 8 will not be able to keep up.

[0121] As a countermeasure, the control device 40 in embodiment 3 directs... Figure 7 In the steps S101 to S109 of the embodiment 1 shown, steps S301 to S303 are added to perform processing on loading support control.

[0122] Figure 11 In step S105 shown, the control device 40 rotates at an angle θbm If the value is lower than that in Figure A, the process proceeds to step S301. On the other hand, the control device 40 rotates at an angle θ. bm If the value is not lower than that of the relevant figure A, proceed to step S106.

[0123] In step S301, the control device 40 determines that even at the current rotational speed, the rotational speed of the boom 8 is controlled to the maximum rotational speed to perform the lifting action of the boom 8, and the rotation angle θ bm Will it be lower than the relevant figure A?

[0124] Specifically, the control device 40 uses the rotational speed of the boom 8 and the rotational speed of the upper rotating body 7, as shown in Figure A below. The control device 40 converts the rotational speed of the boom 8 in the following formula into the speed of the boom hydraulic cylinder 11. Furthermore, the control device 40 determines whether the converted speed of the boom hydraulic cylinder 11 is greater than the pre-stored maximum value of the speed of the boom hydraulic cylinder 11.

[0125]

Formula 6

[0126]

[0127] In equation (6), α is a coefficient representing the tilt of the correlation graph A.

[0128] The converted case where the speed of the boom hydraulic cylinder 11 is greater than the maximum value means that even if the rotation speed of the boom 8 is controlled to the maximum rotation speed to perform the lifting action of the boom 8, the rotation angle θ bm The situation is lower than that shown in Figure A. In other words, the situation where the converted speed of the boom hydraulic cylinder 11 is greater than the maximum value means that even if the boom 8's rotation speed is controlled to its maximum speed at the current rotation speed to perform the boom 8 lifting action, the position of the front working device 2 in the height direction will still be lower than the lower limit of the allowable range. In this case, the control device 40 proceeds to step S302. On the other hand, the situation where the converted speed of the boom hydraulic cylinder 11 is lower than the maximum value means that if the boom 8's rotation speed is controlled to its maximum speed at the current rotation speed to perform the boom 8 lifting action, the rotation angle θ... bm The position will not fall below the relevant Figure A. In other words, the situation where the converted speed of the boom hydraulic cylinder 11 is below its maximum value means that if the boom 8's rotation speed is controlled to its maximum speed at the current rotation speed to perform the boom 8 lifting action, the position of the front working device 2 in the height direction will not fall below the lower limit of the allowable range. In this case, the control device 40 proceeds to step S108.

[0129] In step S302, the control device 40 calculates a rotational speed that satisfies the relationship in equation (6) based on the maximum speed of the boom hydraulic cylinder 11. The control device 40 automatically slows down the rotational movement of the upper rotating body 7 so that the upper rotating body 7 rotates at the calculated rotational speed. That is, the action control unit 48 of the control device 40 controls the rotational speed of the upper rotating body 7 so that if the lifting action of the boom 8 is performed at least at the maximum rotational speed, the position of the front working device 2 in the height direction is higher than the lower limit of the allowable range.

[0130] In step S303, the control device 40 automatically executes the lifting action of the boom 8 according to the rotational speed corresponding to the decelerated rotational speed. Then, the control device 40 ends this process.

[0131] Figure 11 In steps S106 to S109 shown, the control device 40 performs the operation of... Figure 7 The illustrated implementation method 1 or Figure 10 The same process is applied to steps S106 to S109 of Embodiment 2 shown.

[0132] Thus, in Embodiment 3, if the position of the front working device 2 in the height direction is lower than the lower limit of the allowable range when it moves according to the operator's operation instructions, and even if the rotation speed of the boom 8 is controlled to the maximum rotation speed, it will still cause the position of the front working device 2 in the height direction to be lower than the lower limit of the allowable range, the motion control unit 48 controls the rotation speed of the upper rotating body 7 to make the position of the front working device 2 in the height direction higher than the lower limit.

[0133] Therefore, even if the position of the front working device 2 in the height direction is about to fall below the lower limit of the allowable range due to excessive rotation of the operator's upper rotating body 7, the working machine 1 of Embodiment 3 can reliably keep the position of the front working device 2 in the height direction within the allowable range. Thus, the working machine 1 of Embodiment 3 can reliably suppress interference with the loaded machine and damage to the loaded machine, while supporting the loading operation without causing discomfort to the operator.

[0134] [Implementation Method 4]

[0135] use Figure 12 The working machine 1 of Embodiment 4 is described below. In the working machine 1 of Embodiment 4, the same configuration and operation as in Embodiments 1 to 3 are omitted.

[0136] Figure 12 This is a diagram illustrating the screen displayed in the display device 55 of Embodiment 4.

[0137] The display device 55 in embodiment 4 not only displays information indicating that control intervention to support the loading operation has been executed, such as... Figure 12 As shown, the display device 55 can also display related diagrams A and B. At this time, the display device 55 can overlay the icon C, which represents the current position of the front working device 2 in the height direction and the rotation speed of the upper rotating body 7, with related diagrams A and B. Figure 12 In the figure, θ represents the rotation angle of the boom 8 corresponding to the current position of the front working device 2 in the height direction. bm and rotation angle θ sw The example shows icon C overlapping with related graphs A and B.

[0138] Therefore, the working machine 1 of Embodiment 4 can not only report to the operator the intention of control intervention to support the loading operation, but also visualize the specific content of the control intervention so that the operator can intuitively understand it. Thus, the working machine 1 of Embodiment 4 can suppress interference with the loaded machine and damage to the loaded machine, and can support the loading operation more without causing discomfort to the operator.

[0139] [other]

[0140] Furthermore, the present invention is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above have been detailed to facilitate understanding of the present invention, and are not limited to having all the described configurations. In addition, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Furthermore, for a part of the configuration of each embodiment, other configurations can be added, deleted, or replaced.

[0141] Furthermore, the aforementioned components, functions, processing units, and processing mechanisms can be partially or entirely implemented in hardware, such as through integrated circuit design. Alternatively, the aforementioned components and functions can be implemented in software by a processor interpreting and executing programs that implement each function. The programs implementing these functions, magnetic tapes, files, and other information can be stored in memory and storage devices such as hard disks, SSDs (solid-state drives), or storage media such as IC cards, SD cards, and DVDs.

[0142] Furthermore, the control lines and information lines represent the parts deemed necessary for explanation, and do not represent all control lines and information lines on the product. In fact, it can be considered that almost all components are interconnected.

[0143] Explanation of reference numerals in the attached figures

[0144] 1…operating machinery, 2…front working device (working device), 5…lower traveling body, 7…upper rotating body, 8…boom, 9…stick, 10…bucket, 40…control device, 45…motion judgment unit, 46…allowable range calculation unit, 48…motion control unit, 52…operation detection device, 53…posture detection device, 54…object detection device, 55…display device, 56…object information acquisition device.

Claims

1. A working machine that performs a conveying action of moving an object toward a loading machine and a releasing action of releasing the object, moved by the conveying action, toward the loading machine, thereby loading the object onto the loading machine, the working machine being characterized by having: The upper rotating body that rotates relative to the lower traveling body; An operating device installed on the upper rotating body and including a boom, stick, and bucket; An attitude detection device for detecting the rotation angle of the working device and the rotation angle of the upper rotating body; An object detection device for detecting the position of the loaded machinery; and A control device for controlling the movement of the working device and the upper rotating body. The control device includes: The allowable range calculation unit calculates the allowable range based on the detection results of the object detection device. The allowable range represents the range in which the working device is allowed to move in the height direction during the rotation of the upper rotating body. The motion determination unit determines whether the object is in the process of the handling motion based on the detection results of the posture detection device and the object detection device; and The motion control unit, upon determining that the conveying action is in progress, controls the rotation of the boom to keep the position of the working device within the allowable range in the height direction. The allowable range calculation unit calculates the range of the boom rotation angle defined by the following lower and upper position values: the lower position value is the lower limit of the position in the height direction that can prevent the working device from interfering with the loaded machinery during the handling operation; the upper position value is the upper limit of the position in the height direction calculated based on at least one of the bucket size, capacity, type of object, and specific gravity of the object.

2. The operating machinery according to claim 1, characterized in that, It also includes an operation detection device for detecting operator instructions on the operating device. If the position of the working device in the height direction, which is moved according to the operation instruction, is lower than the lower limit or higher than the upper limit, the motion control unit invalidates the operation instruction and controls the rotation speed of the boom to keep the position of the working device in the height direction within the allowable range.

3. The operating machinery according to claim 2, characterized in that, When the position of the working device in the height direction, which is moving according to the operation instruction, is lower than the lower limit, and when even if the rotation speed of the boom is controlled to the maximum rotation speed, the position of the working device in the height direction will still be lower than the lower limit, the motion control unit controls the rotation speed of the upper rotating body to make the position of the working device in the height direction higher than the lower limit.

4. The operating machinery according to claim 2, characterized in that, When the operating device moves within the allowable range according to the operating instruction and the operating instruction becomes undetectable, the allowable range calculation unit updates the allowable range by using the position of the operating device in the vertical direction when the operating instruction becomes undetectable as the new lower limit value.

5. The operating machinery according to claim 1, characterized in that, It also includes an object information acquisition device, which acquires information about the object held by the bucket. The action judgment unit determines whether the bucket is holding the object based on the result obtained by the object information acquisition device, and determines whether it is in the process of the handling action based on the judgment result.

6. The operating machinery according to claim 1, characterized in that, It also includes a display device for displaying a correlation diagram showing the relationship between the rotation angle of the upper rotating body and the lower and upper limits. The display device will overlay icons representing the current position of the working device in the height direction and the rotation angle of the upper rotating body on the related diagram.

Images