Work machine

Abstract

This work machine is provided with: a traveling body; a revolving body; a working device; a posture detection device that detects the posture of the rotating body and the work device; a bucket position detection device that detects the position of a bucket of a machine to be loaded on which the excavated object excavated by the work device is loaded; and a control device that, on the basis of the detection results of the posture detection device and the bucket position detection device, performs at least automatic rotation control for automatically rotating the rotating body to a target rotation angle, i.e., a rotation completion angle. The control device determines whether or not a turning start condition for starting the automatic turning control is satisfied on the basis of the turning operation state of the turning body and the operation state of the work device. When the control device determines that the rotation start condition is satisfied, the control device outputs a rotation operation start command to start rotation of the rotating body toward a rotation completion angle regardless of whether or not the work device is in an operating state.

Description

Technical Field

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

[0002] Hydraulic excavators and other similar construction machinery are known. These hydraulic excavators have a slewing body rotatably mounted on a traveling body, and a multi-joint type working device mounted on the slewing body. The working device mounted on the hydraulic excavator includes a boom rotatably mounted on the slewing body, a stick rotatably mounted on the boom, and a bucket rotatably mounted on the stick.

[0003] Hydraulic excavators perform the following actions: excavating soil, sand, or other excavated materials; transporting the excavated materials to the cargo box of a dump truck or other loading machinery; releasing the excavated materials into the cargo box of the loading machinery; and moving the working device back to the excavation position, thereby carrying out the excavation and loading operations.

[0004] Patent Document 1 discloses a control device and control method for an automated return-to-work machine (loading machine). This patent document describes a control device for a loading machine that includes a rotating body that rotates around a rotation center and a work machine with a bucket mounted on the rotating body. The control device includes: a loading object specifying part, which specifies the position and shape of the loading object; an avoidance position specifying part, which specifies an interference avoidance position at a predetermined distance outside the loading object based on the position and shape of the loading object; and a movement processing part, which outputs an operation signal that drives the rotating body to move the bucket towards the interference avoidance position before the bucket reaches the interference avoidance position from the loading position on the loading object, and outputs an operation signal that drives the rotating body and the work machine to move the bucket towards the digging position on the digging object after the bucket reaches the interference avoidance position. Existing technical documents Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-41352 Summary of the Invention

[0006] Patent Document 1 also describes that "when continuously executing automatic excavation and loading control, the no-load slewing start position P01 coincides with the loading position P07," "when the position P at the front end of the boom 132 reaches the loading position P07, the rotation of the slewing body 120 stops," and "when the bucket 133 reaches the loading position P07, the movement processing unit 1112 generates a dumping operation signal for rotating the bucket 133 in the dumping direction." That is, in the technology described in Patent Document 1, the slewing body is stopped during the period when the bucket rotates and dumps soil onto the loaded machinery. Therefore, in order to perform the return operation, a slewing operation command for rotating the slewing body needs to be output after the soil dumping is completed.

[0007] However, there is a time required from the output of the slewing action command to the actual start of the slewing action. Therefore, in the technology described in Patent Document 1, there is a concern that the deviation between the timing of the completion of the soil-releasing action and the actual start timing of the slewing may lead to a decrease in productivity (operational efficiency).

[0008] The purpose of this invention is to improve productivity by making the transition from a state where the working device is operating alone (e.g., digging or releasing in progress) to an action that requires rotation (e.g., handling or returning).

[0009] One aspect of the present invention provides a working machine comprising: a traveling body; a rotatable body disposed relative to the traveling body; a working device mounted on the rotatable body and having a boom, stick, and bucket; a posture detection device for detecting the posture of the rotatable body and the posture of the working device; a bucket position detection device for detecting the position of the bucket of a loaded machine loaded with excavated material by the working device; and a control device for automatically controlling the rotatable body to automatically rotate to a target rotation angle, i.e., a rotation completion angle, based on the detection results of the posture detection device and the bucket position detection device. The control device determines whether a rotation start condition for initiating the automatic rotation control of the rotatable body is met based on the rotation operation state of the rotatable body and the operation state of the working device. If the rotation start condition is met, regardless of whether the working device is currently operating, at the time when the rotation start condition is met, a rotation operation start command is output to cause the rotatable body to begin rotating towards the rotation completion angle. Invention Effects

[0010] According to the present invention, productivity is improved by making the transition from a state of independent operation of the working device to an operation requiring rotation smooth. Attached Figure Description

[0011] Figure 1This is a side view of the hydraulic excavator 1 according to the first embodiment. Figure 2 This is a diagram showing a hydraulic excavator 1 and a loaded machine 200. Figure 3 This is a schematic diagram of the hydraulic drive system 50 of the hydraulic excavator 1. Figure 4 This is a functional block diagram of the control device 40 in the first embodiment. Figure 5 This is a diagram showing the excavator's reference coordinate system as viewed from the Y-axis direction. Figure 6 This is a diagram showing the excavator's reference coordinate system as viewed from the Z-axis direction. Figure 7 This is an explanatory diagram of the excavation process. Figure 8 It is an explanatory diagram of the moving and placing of soil actions. Figure 9 This is an illustration of the return action. Figure 10 This is a flowchart illustrating an example of processing performed by the control device 40 according to the first embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 11 This is a flowchart illustrating an example of processing performed by the control device 40 based on the first embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Figure 12 This is a diagram showing the timing changes of the bucket 10's ground angle γ, the presence or absence (ON / OFF) of the slewing command output, and the slewing angle θsw when the action shifts from digging to transporting or from dumping to returning in the first embodiment. Figure 13 This is a top view schematic diagram showing the hydraulic excavator 1 of the first embodiment, in a modified example 1, transitioning from the soil-discharging action to the return action. Figure 14 This is a flowchart illustrating an example of the processing performed by the control device 40 based on a variation of the first embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Figure 15 This is a graph representing the data table at time t3r. Figure 16 This is a diagram showing the timing changes of the bucket 10's ground angle γ, the presence or absence (ON / OFF) of the slewing command output, and the slewing angle θsw in the case where the action shifts from the soil-discharging action to the return action in Modification 1 of the first embodiment. Figure 17This is a functional block diagram of the control device 240 in the second embodiment. Figure 18 This is a flowchart illustrating an example of processing performed by the control device 240 according to the second embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 19 This is a flowchart illustrating an example of processing performed by the control device 240 according to the second embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Figure 20 It is a graph showing the weight (digging amount) W of the material being transported in the bucket 10, the presence or absence of the slewing command output (ON / OFF), and the timing changes of the slewing angle θsw when the action shifts from digging to transporting. Figure 21 This is a graph showing the reduction ratio Pd of the transported material in the bucket 10, the presence or absence of the slewing command output (ON / OFF), and the timing changes of the slewing angle θsw when the action shifts from the dumping action to the return action. Figure 22 This is a graph showing the relationship between the reduction rate Pd of the transported material and the ground angle γ of the bucket 10. Figure 23 This is a diagram representing the corrected geodesic conversion tables Tc1 and Tc2. Figure 24 This is a functional block diagram of the control device 340 according to the third embodiment. Figure 25 This is a flowchart illustrating an example of processing performed by the control device 340 according to the third embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 26 This is a flowchart illustrating an example of processing performed by the control device 340 according to the third embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Detailed Implementation

[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, an example of a hydraulic excavator as the working machine will be described below. In the following description, when multiple identical constituent elements exist, a lowercase letter may be used at the end of the reference numerals. Additionally, sometimes the lowercase letter is omitted and the multiple constituent elements are referred to as a whole. For example, when two identical travel hydraulic motors 4a and 4b exist, they may sometimes be referred to collectively as travel hydraulic motor 4.

[0013] <First Embodiment> Figure 1 This is a side view of the hydraulic excavator 1 according to the first embodiment of the present invention. Figure 2This is a diagram showing a hydraulic excavator 1 and the loaded machinery 200. (See diagram below.) Figure 1 as well as Figure 2 As shown, the hydraulic excavator 1, as a working machine, performs excavation operations such as excavating the ground surface and loading operations such as loading the excavated soil and sand onto the loading machinery 200, such as dump trucks.

[0014] In excavation and loading operations, the hydraulic excavator 1 performs the following actions: excavating objects such as soil and sand using the bucket 10; transporting the excavated material from the bucket 10 to above the loaded machine 200 by rotating the slewing body 7; releasing the excavated material into the cargo box (container, bucket) 201 of the loaded machine 200 by moving the bucket 10 in the unloading direction; and returning the bucket 10 from above the loaded machine 200 to a position for subsequent excavation operations. This excavation and loading cycle is performed multiple times for one loaded machine 200.

[0015] Figure 1 The hydraulic excavator 1 shown has a body (mechanical body) 3 and a multi-joint type working device 2 mounted on the body 3. The body 3 has a traveling body 5 and a slewing body 7 that is rotatable relative to the traveling body 5. The traveling body 5 is driven by a right track drive hydraulic motor 4a (see reference) for driving the right track. Figure 3 ), and the left track drive hydraulic motor 4b for driving the left track (see reference) Figure 3 The rotating body 7 is mounted on the upper part of the traveling body 5 via a rotating device, and is driven by a rotating hydraulic motor 6 (see reference). Figure 3 It rotates. In addition, in this embodiment, the travel hydraulic motor 4a for driving the right track and the travel hydraulic motor 4b for driving the left track are collectively referred to as travel hydraulic motor 4.

[0016] The working device 2 mounted on the rotating body 7 has multiple drive components (8, 9, 10) that are rotatably connected, and multiple hydraulic cylinders (11, 12, 13) that drive the drive components. In this embodiment, the three drive components driven by the multiple hydraulic cylinders (11, 12, 13), namely the boom 8, the stick 9, and the bucket 10, are connected in series.

[0017] The base end of boom 8 is connected to boom pin 8a (see reference). Figure 5 The boom pin 8a, boom pin 9a, and bucket pin 10a are rotatably connected to the front of the boom 8 via boom pin 9a. The base end of the boom 9 is rotatably connected to the front end of the boom 8 via boom pin 9a. The bucket 10 is rotatably connected to the front end of the boom 9 via bucket pin 10a. The boom pin 8a, boom pin 9a, and bucket pin 10a are arranged parallel to each other, and each driven component (8, 9, 10) can rotate relative to each other in the same plane.

[0018] The boom 8 rotates vertically via the extension and retraction of the boom cylinder 11. The stick 9 rotates horizontally (both in the dumping and retraction directions) via the extension and retraction of the stick cylinder 12. The bucket 10 rotates horizontally (both in the dumping and loading directions) via 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 slewing body 7. One end of the stick cylinder 12 is connected to the stick 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 the bucket connecting rod 16, and the other end is connected to the stick 9.

[0019] Figure 3 This is a schematic diagram of the hydraulic drive system 50 of the hydraulic excavator 1. Figure 3 As shown, the hydraulic drive system 50 includes a prime mover, i.e., an engine 103, mounted on the rotating body 7, and a hydraulic pump, i.e., a main pump 102 and a pilot pump 104, driven by the engine 103. The main pump 102 and the pilot pump 104 are driven by the engine 103 to discharge working oil.

[0020] The hydraulic drive system 50 includes a flow control valve 101 that controls the flow rate and direction of the working oil discharged from the main pump 102; multiple solenoid proportional valves 51 that output operating pressure as an operating signal to the flow control valves 101; a control device 40 that outputs control signals to the solenoid proportional valves 51; operating devices 20 and 21 operated by the operator and outputting signals corresponding to the operating amount and 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 and manual control through operator operation. The operating devices 20 and 21 and the control selection switch 24 are located in the operator's cab 71 (see reference 71) of the rotating body 7. Figure 1 )Inside.

[0021] The operating device 20 for operation includes a right operating lever 22a for operating the boom 8 and bucket 10, and a left operating lever 22b for operating the stick 9 and slewing body 7. That is, the operating device 20 functions as a boom operating device, bucket operating device, stick operating device, and slewing operating device 28. The boom operating device, bucket operating device, and stick operating device are collectively referred to as the operating device 29. The operating device 21 for travel includes a right travel operating lever 23a for operating the right track and a left travel operating lever 23b for operating the left track. Furthermore, in this embodiment, the right operating lever 22a and left operating lever 22b are collectively referred to as operating levers 22, and the right travel operating lever 23a and left travel operating lever 23b are collectively referred to as operating levers 23.

[0022] The control selection switch 24 is located on any one of the operating levers 22a, 22b, 23a, and 23b. Alternatively, the control selection switch 24 can be a touch sensor located on a touch panel within the operator's cab 71. The control selection switch 24 is used to switch between manual and automatic modes. In manual mode, the operation of the hydraulic excavator 1 is controlled according to the operation of the operating device 20. In automatic mode, the operation of the hydraulic excavator 1 is controlled according to a target path set by the control device 40. Using the control selection switch 24, the operator can select either manual or automatic mode at any given time.

[0023] The operating system of this embodiment is an operating system that inputs electrical signals representing the operating quantity and operating direction from the operating device 20 to the control device 40, outputs control signals from the control device 40 to the electromagnetic proportional valve 51, and outputs operating pressure from the electromagnetic proportional valve 51 to the flow control valve 101 via an electric lever.

[0024] The hydraulic excavator 1 has an operation detection device 56 that detects the operation amount and direction of the operating levers 22 and 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 stick operation amount (stick retraction operation amount and stick extension operation amount) based on the left operating lever 22b, an operation amount sensor 52b that detects the swing operation amount (right swing operation amount and left swing operation amount) based on the left operating lever 22b, an operation amount sensor 52c that detects the boom operation amount (boom raising operation amount and boom lowering operation amount) based on the right operating lever 22a, an operation amount sensor 52d that detects the bucket operation amount (bucket loading operation amount and bucket unloading operation amount) based on the right operating lever 22a, an operation amount sensor 52e that detects the right track forward operation amount and right track backward operation amount based on the right travel operating lever 23a, and an operation amount sensor 52f that detects the left track forward operation amount and left track backward operation amount based on the left travel operating lever 23b. In addition, the amount of stick operation, boom operation, and bucket operation are collectively referred to as the amount of work operation.

[0025] Multiple operation amount sensors 52 (52a to 52f) are, for example, rotary encoders or potentiometers capable of detecting the operation amount and direction of the operating levers 22 and 23.

[0026] In this embodiment, the control device 40 controls the rotation of the working device 2, the travel of the traveling body 5, and the rotation of the rotating body 7 in accordance with the operation information (operation amount and operation direction) of the operator's levers 22 and 23.

[0027] Specifically, the control device 40 outputs control signals corresponding to the amount and direction of operation of the operator's levers 22 and 23 to the electromagnetic proportional valves 51 (51a-51l). The electromagnetic proportional valves 51 are located on the pilot line 100, which supplies hydraulic oil from the pilot pump 104. When a control signal from the control device 40 is input, the electromagnetic proportional valves 51 operate, depressuring the primary pressure of the pilot line 100 to generate a secondary pressure, which is then output as the operating pressure to the flow control valve 101. The flow control valve 101 has multiple spool valves on each of the multiple hydraulic actuators (slewing hydraulic motor 6, boom cylinder 12, boom cylinder 11, bucket cylinder 13, travel hydraulic motor 4a, and travel hydraulic motor 4b). The operating pressure output from the electromagnetic proportional valves 51 is directed to the pressure chamber of the spool valves, causing them to actuate. As a result, working oil discharged from the main pump 102 is supplied from the spool valves to the corresponding hydraulic actuators, causing those actuators to actuate.

[0028] Electromagnetic proportional valves 51a and 51b output pressure from the spool valve driving the spool hydraulic motor 6 to the pressure chamber of the flow control valve 101, which controls the operation of the hydraulic oil supplied to the boom cylinder 12. Electromagnetic proportional valves 51c and 51d output pressure from the spool valve driving the boom cylinder 12 to the pressure chamber of the flow control valve 101. Electromagnetic proportional valves 51e and 51f output pressure from the spool valve driving the boom cylinder 11 to the pressure chamber of the flow control valve 101, which controls the operation of the hydraulic oil supplied to the boom cylinder 11. Electromagnetic proportional valves 51g and 51h output pressure from the spool valve driving the bucket cylinder 13 to the pressure chamber of the flow control valve 101. Electromagnetic proportional valves 51i and 51j output pressure from the spool valve driving the travel hydraulic motor 4a to the pressure chamber of the flow control valve 101. The electromagnetic proportional valves 51k and 51l output the operating pressure of the hydraulic oil supplied to the travel hydraulic motor 4b to the pressure chamber of the spool valve used to drive the travel hydraulic motor 4b in the flow control valve 101.

[0029] The boom cylinder 11, stick cylinder 12, and bucket cylinder 13 extend and retract according to the supplied hydraulic oil, causing the boom 8, stick 9, and bucket 10 to rotate. This changes the position of the bucket 10 and the posture of the working device 2. The slewing hydraulic motor 6 rotates according to the supplied hydraulic oil, causing the slewing body 7 to rotate. The travel hydraulic motors 4a and 4b rotate according to the supplied hydraulic oil, causing the travel body 5 to travel. Furthermore, even without operation based on the operator's levers 22 and 23, control signals from the control device 40 can activate the electromagnetic proportional valves 51a-51l, thereby activating the flow control valve 101 and driving the hydraulic actuators (4a, 4b, 6, 11, 12, 13).

[0030] The hydraulic excavator 1 includes a posture detection device 53 that detects the posture of the excavator body 3 (swing body 7) and the posture of the working device 2, including the bucket 10, relative to the ground angle. The posture detection device 53 comprises multiple posture sensors, including a boom angle sensor 14, a stick 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 mounted on the boom pin 8a, detects the rotation angle of the boom 8 relative to the swing body 7, and outputs a signal indicating the detection result to the control device 40. The stick angle sensor 15 is mounted on the stick pin 9a, detects the rotation angle of the stick 9 relative to the boom 8, and outputs a signal indicating the detection result to the control device 40. The bucket angle sensor 17 is mounted on the bucket link 16, detects the rotation angle of the bucket 10 relative to the stick 9, and outputs a signal indicating the detection result to the control device 40. The control device 40 acquires the rotation angles of the boom 8, stick 9, and bucket 10 through the angle sensors 14, 15, and 17.

[0031] Furthermore, the method for obtaining the rotation angles of the boom 8, stick 9, and bucket 10 is not limited to this. The control device 40 may also detect the angles of the boom 8, stick 9, and bucket 10 relative to a reference plane such as a horizontal plane using an inertial measurement unit (IMU), and convert these angles into rotation angles of the boom 8, stick 9, and bucket 10, thereby obtaining the rotation angles. Alternatively, the control device 40 may detect the strokes of the boom cylinder 11, stick cylinder 12, and bucket cylinder 13 using stroke sensors, and convert these strokes into rotation angles of the boom 8, stick 9, and bucket 10, thereby obtaining the rotation angles.

[0032] Tilt angle sensor 18 is installed on the rotating body 7 to detect the tilt angle of the rotating body 7 (body 3) relative to the horizontal plane and other reference planes, and outputs a signal indicating the detection result to the control device 40. Rotation angle sensor 19 is installed on the rotation device between the driving body 5 and the rotating body 7 to detect the rotation angle of the rotating body 7 relative to the driving body 5, and outputs a signal indicating the detection result to the control device 40.

[0033] Here, the rotation angles of the boom 8, stick 9, and bucket 10 are parameters representing the posture of the working device 2. That is, the boom angle sensor 14, stick angle sensor 15, and bucket angle sensor 17 function as posture sensors for detecting the posture of the working device 2. Furthermore, the tilt angle of the slewing body 7 and the rotation angle of the slewing body 7 relative to the traveling body 5 are parameters representing the posture of the slewing body 7 (vehicle body 3). That is, the tilt angle sensor 18 and rotation angle sensor 19 function as posture sensors for detecting the posture of the slewing body 7 (vehicle body 3).

[0034] The hydraulic excavator 1 has an object detection device 54 that detects objects present within a detection range set around the hydraulic excavator 1. Furthermore, the object detection device 54 detects the shape, type (excavated material, cargo box 201, etc.), and position of the objects. The object detection device 54 may be, for example, a LiDAR (Light Detection and Ranging) and stereo camera, and is mounted on the upper part of the cab 71 (see reference). Figure 1 ).

[0035] The object detection device 54, for example, detects the cargo box 201 of the loaded machinery 200, which is loaded with excavated material from the working device 2, and detects the position information (relative position) of the cargo box 201 relative to the object detection device 54. That is, the object detection device 54 functions as a cargo box position detection device for detecting the position of the cargo box (hopper) 201. Additionally, the object detection device 54 also detects the terrain 210 that is the object of excavation (see reference). Figure 2 The shape of the object detection device 54 is shown. Furthermore, multiple object detection devices 54 can be installed on the hydraulic excavator 1.

[0036] The hydraulic excavator 1 has a working oil temperature sensor 55 for detecting the temperature of the working oil discharged from the main pump 102. The working oil temperature sensor 55 is located, for example, in the working oil tank and piping.

[0037] The control unit 40 is a computer that interconnects processing units such as 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 external I / F (Interface) devices via a bus. The external I / F of the control unit 40 is connected to an operation detection device 56, an attitude detection device 53, an object detection device 54, a control selection switch 24, an oil temperature sensor 55, an input device 57, and external storage devices such as hard disk drives and high-capacity flash memory.

[0038] The ROM stores programs capable of performing various operations. In other words, the ROM is a storage medium capable of reading programs that implement the functions of this embodiment. The processing device is an arithmetic device that expands the programs stored in the ROM into RAM and performs operations and executions, performing prescribed operations and processing according to the programs in relation to signals fetched from external I / F and storage devices (internal storage devices and external storage devices).

[0039] The input section of the external I / F converts signals input from various devices (operation detection device 56, posture detection device 53, object detection device 54, working oil temperature sensor 55, control selection switch 24, input device 57, etc.) into data that can be processed by the processing device. Furthermore, the output section of the external I / F generates an output signal corresponding to the calculation result made by the processing device and outputs this signal to various devices (electromagnetic proportional valve 51, etc.).

[0040] The posture detection device 53 is composed of posture sensors (14, 15, 17) for detecting the posture of the above-mentioned work device 2, and posture sensors (18, 19) for detecting the posture of the rotating body 7 (vehicle body 3).

[0041] When the control device 40 is set to manual mode, it controls the movement of the rotating body 7 and the working device 2 based on the operation information detected by the operation detection device 56. When the control device 40 is set to automatic mode, it controls the movement of the rotating body 7 and the working device 2 based on the posture of the rotating body 7 and the working device 2, and the position information of the cargo box 201.

[0042] When the control device 40 automatically performs excavation and soil release operations, it causes the working device 2 to automatically move from the start position to the finish position based on the detection results of the posture detection device 53 and the object detection device 54. Furthermore, when the control device 40 automatically performs transport and return operations, it causes the rotating body 7 to automatically rotate from the start angle to the finish angle (performing automatic rotation control) based on the detection results of the posture detection device 53 and the object detection device 54, and causes the working device 2 to automatically move from the start position to the finish position.

[0043] Figure 4 This is a functional block diagram of the control device 40. (For example...) Figure 4 As shown, the control device 40 executes the program stored in the ROM and functions as a posture calculation unit 41, an object position calculation unit 42, an action transfer judgment unit 49, a rotation start judgment unit 43, an excavation control unit 44, a transport control unit 45, a soil release control unit 46, a return control unit 47, and an actuator command unit 48.

[0044] The ROM of the control device 40 contains pre-stored data such as the excavator reference coordinate system for determining the position and posture of the components of the hydraulic excavator 1, the dimensions of the components of the hydraulic excavator 1, and the installation position of the object detection device 54. For example... Figure 5 as well as Figure 6As shown, the excavator reference coordinate system in this embodiment is defined as a right-handed coordinate system with the origin O at the point where the rotation center axis intersects the ground G. The forward direction of the traveling body 5 is defined as the positive X-axis in the excavator reference coordinate system. The direction extending upwards from the origin O, parallel to the rotation center axis, is defined as the positive Z-axis in the excavator reference coordinate system. The direction to the left of the traveling body 5, orthogonal to both the X-axis and Z-axis, is defined as the positive Y-axis. Thus, the excavator reference coordinate system in this embodiment is a coordinate system established with the traveling body 5 as the reference, and the XY plane is fixed at the ground surface (traveling surface) G that the traveling body 5 contacts.

[0045] In the excavator reference coordinate system of this embodiment, when the hydraulic excavator 1 is in the reference posture, that is, when the working device 2 is parallel to the X-axis, the rotation angle θsw of the slewing body 7 is 0 degrees. With the rotation angle θsw of the slewing body 7 at 0 degrees, the action plane of the working device 2 is parallel to the XZ plane, the lifting direction of the boom 8 is in the positive direction of the Z-axis, and the unloading directions of the stick 9 and bucket 10 are in the positive direction of the X-axis.

[0046] The posture calculation unit 41 calculates the posture of the components of the hydraulic excavator 1 in the excavator reference coordinate system based on the detection signal from the posture detection device 53. Specifically, the posture calculation unit 41 calculates the rotation angle θbm of the boom 8 relative to the X-axis (hereinafter also referred to as the boom angle) based on the detection signal of the rotation angle of the boom 8 output from the boom angle sensor 14. The posture calculation unit 41 calculates the rotation angle θam 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. The posture calculation unit 41 calculates the rotation angle θbk 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. The posture calculation unit 41 calculates the rotation angle θsw of the slewing body 7 relative to the X-axis (traveling body 5) based on the detection signal of the rotation angle of the slewing body 7 output from the slewing angle sensor 19.

[0047] The posture calculation unit 41 calculates the positions of the boom 8, stick 9, and bucket 10 in the excavator reference coordinate system based on the calculated rotation angles θbm, θam, and θbk of the working device 2, the rotation angle θsw of the rotating body 7, and the boom length Lbm, stick length Lam, and bucket length Lbk. That is, the planar positions determined by the X and Y coordinates and the height above the ground G determined by the Z coordinate. Furthermore, the boom length Lbm is the length from the boom pin 8a to the stick pin 9a. The stick length Lam is the length from the stick pin 9a to the bucket pin 10a. The bucket length Lbk is the length from the bucket pin 10a to the front end (claw tip) of the bucket 10. Additionally, the boom pin 8a is positioned at a position offset Lox from the rotation center axis (Z-axis) in the X-axis direction when the rotation angle is set to 0 degrees.

[0048] Additionally, although not illustrated, the posture calculation unit 41 calculates the tilt angle (pitch angle and roll angle) of the vehicle body 3 (driving body 5) relative to a reference plane based on the detection signal of the tilt angle of the vehicle body 3 output from the tilt angle sensor 18. The reference plane is, for example, a horizontal plane orthogonal to the direction of gravity. The posture calculation unit 41 calculates the angle of the bucket 10 relative to the horizontal plane (ground G) orthogonal to the direction of gravity, i.e., the ground angle γ, based on the tilt angle of the vehicle body 3 and the rotation angles θbm, θam, and θbk of the working device 2. The ground angle γ of the bucket 10 is the angle formed by the straight line SL passing through the front end of the bucket 10 and the bucket pin 10a relative to the horizontal plane (ground G). The ground angle γ of the bucket 10 is 0 degrees when the opening of the bucket 10 is facing upward and the straight line SL is parallel to the horizontal plane (ground G), and increases as the bucket unloading operation progresses. The ground angle γ of the bucket 10 is 180 degrees when the opening of the bucket 10 faces downward and the straight line SL is parallel to the horizontal plane (ground surface G).

[0049] Figure 4 The object position calculation unit 42, as shown, calculates the position of the cargo box 201 of the loaded machinery 200 in the excavator reference coordinate system (the planar position determined by the X and Y coordinates, and the height G above the ground determined by the Z coordinate) based on the position information of the cargo box 201 detected by the object detection device 54, the rotation angle θsw of the rotating body 7 calculated by the posture calculation unit 41, and the installation position of the object detection device 54 within the excavator reference coordinate system. The position information of the cargo box 201 refers to the information on the relative position of the cargo box 201 of the loaded machinery 200 relative to the object detection device 54. Thus, the control device 40 of this embodiment uses the object detection device 54 to obtain the relative position of the cargo box 201 relative to the hydraulic excavator 1 (X, Y, and Z coordinates within the excavator reference coordinate system).

[0050] The position information of the cargo box 201 acquired by the control device 40 is, for example, the position coordinates of the four corners of the upper surface of the rectangular cargo box 201 viewed from above. That is, the position coordinates of the front and rear ends of the upper edge of the left side (left end) and the front and rear ends of the upper edge of the right side (right end) of the cargo box 201. In other words, it can be said that the position information of the cargo box 201 acquired by the control device 40 includes information on the relative position and relative angle of the cargo box 201 relative to the rotating body 7. In other words, in this embodiment, the control device 40 uses the object detection device 54 to acquire various information related to the relative position of the cargo box 201 of the loaded machinery 200 loaded with excavated material excavated by the working device 2 as relative position information.

[0051] In addition, the object position calculation unit 42 calculates the position information of feature points (such as the top of the slope, the bottom of the slope, etc.) of the terrain 210 of the excavation object in the same way as the position information of the cargo box 201.

[0052] The excavation control unit 44, transport control unit 45, dumping control unit 46, and return control unit 47 calculate the target path for automatically performing excavation, transport, dumping, and return operations based on the hydraulic excavator 1, and the target speed of each hydraulic actuator along the target path. The excavation control unit 44 calculates the target path for excavating soil and sand using the bucket 10, and the target speed of each hydraulic actuator along the target path. The transport control unit 45 calculates the target path for moving the bucket 10, which is loaded with excavated material (transported material), on the cargo box 201 of the loaded machinery 200, and the target speed of each hydraulic actuator along the target path. The dumping control unit 46 calculates the target path for releasing the excavated material held in the bucket 10 onto the cargo box 201 of the loaded machinery 200, and the target speed of each hydraulic actuator along the target path. The control unit 47 calculates the target path for moving the bucket 10 from the cargo box 201 of the loaded machinery 200 to the subsequent digging start position, and the target speed of each hydraulic actuator along the target path. Furthermore, the target speed along the target path can be considered the target speed for each calculation cycle (control cycle).

[0053] Although the excavation control unit 44, transport control unit 45, dumping control unit 46, and return control unit 47 perform various calculations in different work scenarios, they have the same function; therefore, they will be collectively referred to as motion control unit 400 below. Motion control unit 400 generates a target path for the control point of the working device 2 (e.g., the front end of the bucket 10). Furthermore, motion control unit 400 calculates the target value γt of the angle of repose of the bucket 10 on the target path. Motion control unit 400 calculates the target speeds of each hydraulic actuator used to make the front end of the bucket 10 follow the target path and to make the actual angle of repose γ of the bucket 10 follow the target value γt.

[0054] Reference Figures 7-9 This describes the digging, transporting, dumping, and returning actions during automatic operation. Figure 7 This is an explanatory diagram of the excavation process. (For example...) Figure 7 As shown, the excavation control unit 44 generates an excavation start position DP1, an excavation completion position DP2, and a target path DPT connecting the excavation start position DP1 and the excavation completion position DP2. Furthermore, the excavation control unit 44 sets a target value γt for the angle of the bucket 10 relative to the ground in the target path DPT. Thus, the excavation control unit 44 sets target values ​​for both the position and angle of the bucket 10 for moving control points such as the front end of the bucket 10 along the target path DPT.

[0055] Figure 8 These are diagrams illustrating the actions of moving and placing soil. For example... Figure 8 As shown, the transport control unit 45 generates a transport start position CP1, a transport completion position CP2, and a path connecting the transport start position CP1 and the transport completion position CP2, which is the target path CPT of the transport action. The transport start position CP1 and the transport completion position CP2 can be defined by the rotation angle θsw and the posture of the working device 2. The rotation angle θsw at the transport start position CP1 is the angle at which the rotation for the transport action begins, and is also referred to as the rotation start angle of the transport action below. Similarly, the rotation angle θsw at the transport completion position CP2 is the angle at which the rotation for the transport action is completed, and is also referred to as the rotation completion angle of the transport action below. Furthermore, the soil release control unit 46 generates a soil release start position LP1, a soil release completion position LP2, and a path connecting the soil release start position LP1 and the soil release completion position LP2, which is the target path LPT of the soil release action.

[0056] like Figure 9 As shown, the return control unit 47 generates a return start position RP1, a return completion position RP2, and a path connecting the return start position RP1 and the return completion position RP2, i.e., the target path RPT of the return action. The return start position RP1 and the return completion position RP2 can be defined by the rotation angle θsw and the posture of the working device 2. The rotation angle θsw at the return start position RP1 is the angle at which the rotation for the return action begins, and is also referred to below as the rotation start angle of the return action. Similarly, the rotation angle θsw at the return completion position RP2 is the angle at which the rotation for the return action is completed, and is also referred to below as the rotation completion angle of the return action.

[0057] The transport control unit 45, the soil dumping 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 front end of the bucket 10 along the target path CPT, LPT, RPT.

[0058] Figure 4 Each motion control unit 400 shown (digging control unit 44, transport control unit 45, dumping control unit 46, and return control unit 47) calculates the target speed of each hydraulic actuator based on the target values ​​of the position and angle of the bucket 10.

[0059] The motion transfer determination unit 49 determines whether the motion transfer conditions for each action—from digging to transporting, from transporting to dumping, from dumping to returning, and from returning to digging—are met. If the motion transfer conditions are met, the motion transfer determination unit 49 generates a start command to begin the subsequent action. The motion transfer conditions are met if the front end of the bucket 10 reaches the completion position of the target path, and are not met if the front end of the bucket 10 has not reached the completion position of the target path.

[0060] For example, when the bucket 10 reaches the end of the target path DPT of the excavation action, i.e., the excavation completion position DP2, while the excavation action is in progress, the action transfer judgment unit 49 determines that the action transfer condition from the excavation action to the transportation action is met, and outputs the start command of the transportation action to the transportation control unit 45.

[0061] In addition, the motion transfer judgment unit 49 sets the control mode to either automatic mode or manual mode based on the operation command from the control selection switch 24.

[0062] When manual mode is set, the actuator command unit 48 calculates a target speed corresponding to the amount of operation of the control lever 22 detected by the operation detection device 56. Furthermore, the actuator command unit 48 calculates a control current value for the electromagnetic proportional valve 51 based on the calculated target speed, and outputs a control current corresponding to the calculation result to the electromagnetic proportional valve 51. That is, the actuator command unit 48 outputs a control signal to the electromagnetic proportional valve 51 to cause the boom cylinder 11, stick cylinder 12, bucket cylinder 13, and swing hydraulic motor 6 to operate at the target speed corresponding to the amount of operation detected by the operation detection device 56.

[0063] When the automatic mode is set, the actuator command unit 48 calculates the control current value to the electromagnetic proportional valve 51 based on the target speed calculated by the motion control unit 400, and outputs the control current corresponding to the calculation result to the electromagnetic proportional valve 51. That is, the actuator command unit 48 outputs a control signal (action command) to the electromagnetic proportional valve 51 to make the boom cylinder 11, stick cylinder 12, bucket cylinder 13, and slewing hydraulic motor 6 operate at the target speed calculated by the motion control unit 400. In addition, the control signal output from the actuator command unit 48 to the electromagnetic proportional valves 51a and 51b to make the slewing hydraulic motor 6 operate is recorded as "slewing action command". In particular, the slewing action command that starts the slewing of the slewing body 7 when the slewing action of the slewing body 7 is stopped is recorded as "slewing action start command".

[0064] Here, typically, from the output of the slewing start command to the supply of working oil to the slewing hydraulic motor 6 and the actual start of the slewing body 7, a time of about 0.1 to 1 second is required. Therefore, in this embodiment, when the digging operation is in progress, before the operation transition condition from digging to transporting is met, the control device 40 outputs the slewing start command for the transporting operation, thereby causing the slewing body 7 to rotate immediately after the digging operation is completed. Similarly, when the soil-releasing operation is in progress, before the operation transition condition from soil-releasing to returning is met, the control device 40 outputs the slewing start command for the returning operation, thereby causing the slewing body 7 to rotate immediately after the soil-releasing operation is completed.

[0065] The slewing start determination unit 43 determines whether to output a slewing start command to instruct the slewing action (transportation action and return action) to be executed without waiting for the completion of the preceding operations (excavation action and soil dumping action). That is, the slewing start determination unit 43 has the function of determining the timing of outputting the slewing start command.

[0066] If the ground angle γ of the bucket 10 reaches the digging action completion angle γ1c and the front end of the bucket 10 reaches the digging completion position DP2, then the digging action based on the working device 2 is completed. The digging action completion angle γ1c is the completion angle of the working device 2's action of digging the object. The posture of the working device 2 when the ground angle γ of the bucket 10 reaches the digging action completion angle γ1c is recorded as the digging action completion posture. If the ground angle γ of the bucket 10 reaches the soil release action completion angle γ1r and the front end of the bucket 10 reaches the soil release completion position LP2, then the soil release action based on the working device 2 is completed. The soil release action completion angle γ1r is the completion angle of the working device 2's action of releasing the excavated material from the bucket 10 above the cargo box 201. The posture of the working device 2 when the ground angle γ of the bucket 10 reaches the soil release action completion angle γ1r is recorded as the soil release action completion posture. Hereinafter, the digging action completion posture and the soil release action completion posture will be collectively referred to as the action completion posture. In addition, the excavation action completion angle γ1c and the soil release action completion angle γ1r are collectively referred to as the action completion angle γ1.

[0067] When the slewing motion of the slewing body 7 has stopped and the working device 2 is in operation, the slewing start determination unit 43 determines whether the slewing start condition for starting the automatic slewing control of the slewing body 7 is met. If it is predicted that the slewing motion start command will be output at the current time point, and the slewing of the slewing body 7 will begin after the ground angle γ of the bucket 10 reaches the motion completion angle γ1, then the slewing start condition is met.

[0068] When the working device 2 is in the state of moving towards the action completion posture, and it is in a predetermined posture before the action completion posture, the rotation start condition is met. Here, the predetermined posture means that if a rotation start command is output while in this posture, the rotation of the rotating body 7 will actually start immediately after the working device 2 reaches the action completion posture.

[0069] The determination of whether the rotation start condition is met is as described below. It involves calculating the first time t1 and the second time t2, comparing the calculated first time t1 and second time t2, and so on. The rotation start determination unit 43 calculates the first time t1 from the output of the rotation start command to the actual start of the rotation body 7's movement. Hereinafter, the first time t1 during the digging operation will be denoted as first time t1c, and the first time t1 during the soil-releasing operation will be denoted as first time t1r.

[0070] The first time t1 can be obtained by calculation using the mathematical model of the hydraulic excavator 1, or by experimentally measuring and storing the time from the issuance of the start command for the slewing action to the start of the action. The mathematical model of the hydraulic excavator 1 is expressed, for example, by using the equation of motion of a four-bar linkage system that acts according to the driving torque, with the slewing body 7 and the three drive components (boom 8, stick 9, and bucket 10) constituting the working device 2 as rigid bodies. Furthermore, the driving torque used in the equation of motion can be converted from the pressure acting on each hydraulic actuator. Additionally, the mathematical model of the hydraulic excavator 1 can also employ a transfer function for the speed command issued to each hydraulic actuator.

[0071] Here, the greater the moment of inertia of the working device 2, the longer the first time t1. Therefore, it is preferable to determine the first time t1 by taking into account the posture of the working device 2. In addition, the first time t1 also varies depending on the temperature of the working oil (that is, the viscosity of the working oil). Therefore, it is preferable to determine the first time t1 by taking into account the temperature of the working oil.

[0072] For example, the slewing start determination unit 43 calculates the first time t1 using characteristic data of the first time t1 corresponding to the posture of the working device 2 (boom angle, stick angle, bucket angle) and the temperature of the working oil. The characteristic data of the first time t1 can be a data table of the first time t1 that varies according to the posture of the working device 2 and the temperature of the working oil, or it can be function data. Furthermore, the characteristic data of the first time t1c can be the same as or different from the characteristic data of the first time t1r. The slewing 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 working device 2 calculated by the posture calculation unit 41 and the temperature of the working oil detected by the working oil temperature sensor 55.

[0073] The slewing start determination unit 43 calculates the second time t2 from the current time point until the working device 2 reaches the action completion posture. Furthermore, the second time t2 can also be described as the time from the current time point until the bucket 10's ground angle γ reaches the action completion angle γ1. Hereinafter, the second time t2 during the digging operation will be denoted as second time t2c, and the second time t2 during the soil dumping operation will be denoted as second time t2r.

[0074] The second time t2c is equivalent to the predicted time from the current time point until the front end of the bucket 10 reaches the excavation completion position DP2. The second time t2r is equivalent to the predicted time from the current time point until the front end of the bucket 10 reaches the soil discharge completion position LP2.

[0075] The slewing start determination unit 43 calculates the second time t2c based on the current posture of the working device 2 calculated by the posture calculation unit 41, the target path DPT calculated by the excavation control unit 44, and the target speed of each hydraulic actuator up to the excavation operation completion posture. Similarly, the slewing start determination unit 43 calculates the second time t2r based on the current posture of the working device 2 calculated by the posture calculation unit 41, the target path LPT calculated by the soil release control unit 46, and the target speed of each hydraulic actuator up to the soil release operation completion posture.

[0076] Furthermore, the second time t2 is not limited to the case calculated by the rotation start determination unit 43. The excavation control unit 44 or the soil release control unit 46 can also calculate the second time t2 and output the calculated second time t2 to the rotation start determination unit 43.

[0077] When the rotation start determination unit 43 determines that the rotation start condition is met when the second time t2 is shorter than the first time t1, that is, when the second time t2 changes from a state longer than the first time t1 to a state shorter than the first time t1, the rotation start determination unit 43 sets the rotation flag indicating the determination result to be on.

[0078] When the slewing start determination unit 43 is in the process of digging and the control point of the bucket 10 reaches the digging completion position DP2, it determines that the slewing body 7 has started to rotate and sets the transport slewing indicator to "on". Similarly, when the slewing start determination unit 43 is in the process of dumping soil and the control point of the bucket 10 reaches the dumping completion position LP2, it determines that the slewing body 7 has started to rotate and sets the return slewing indicator to "on".

[0079] Thus, 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, based on the operation of the working device 2, which performs digging and soil-releasing operations. In other words, the rotation start determination unit 43 determines whether the rotation start condition is met based on the operating state of the working device 2. Furthermore, the rotation start condition presupposes that the rotation operation has stopped. Therefore, the rotation start determination unit 43 determines whether the rotation start condition is met not only based on the operating state of the working device 2 but also based on the rotation operation state of the rotating body 7.

[0080] If the transport rotation indicator is enabled during excavation, the transport control unit 45 starts automatic rotation control of the rotating body 7 while continuing the excavation operation. As a result, a rotation start command for the rotating body 7, indicating its movement from the transport start position CP1 towards the transport completion position CP2, is output from the actuator command unit 48 to the solenoid proportional valve 51. If the return rotation indicator is enabled during soil discharge, the return control unit 47 starts automatic rotation control of the rotating body 7 during the return operation while continuing the soil discharge operation. As a result, a rotation start command for the rotating body 7, indicating its movement from the return start position RP1 towards the return completion position RP2, is output from the actuator command unit 48 to the solenoid proportional valve 51.

[0081] Reference Figure 10 as well as Figure 11 This describes an example of a processing flow executed by the control device 40 of the first embodiment. Figure 10 This is a flowchart illustrating an example of processing performed by the control device 40 according to the first embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 11 This is a flowchart illustrating an example of processing performed by the control device 40 based on the first embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Figure 10 as well as Figure 11 The flowchart illustrates the process by taking the case where the excavation, transport, soil placement, and return actions are each performed only once. However, this series of actions can be performed multiple times. Furthermore, it is not necessary to start with the excavation action.

[0082] like Figure 10 As shown, in step S101, if the operation to set the control mode to automatic mode is performed via the control selection switch 24, the action transfer determination unit 49 sets the control mode to automatic mode. If automatic mode is set, the actuator command unit 48 starts the digging action based on the target speed of each hydraulic actuator calculated by the digging control unit 44. That is, digging control based on the digging control unit 44 begins. During digging control, the digging control unit 44 causes the working device 2 to operate automatically until the ground angle γ of the bucket 10 reaches the digging action completion angle γ1c.

[0083] In the subsequent step S102, the slewing start determination unit 43 calculates the time (first time) t1c from the output of the slewing start command of the transporting action to the start of the slewing body 7. In the subsequent step S103, the slewing start determination unit 43 calculates the time (second time) from the current time point to the time from when the bucket 10 reaches the digging completion position DP2.

[0084] In the subsequent step S104, the slewing start determination unit 43 compares the first time t1c and the second time t2c. Through this comparison, the slewing start determination unit 43 determines whether the movement of the slewing body 7 in the specified direction will begin after the working device 2 reaches the completed digging posture, given that a slewing start command has been output at the current time. In other words, step S104 is the process of determining whether the slewing start condition is met.

[0085] If the first time t1c is less than or equal to the second time t2c, the rotation start determination unit 43 determines that the rotation 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 rotation start determination unit 43 determines that the rotation start condition is met, sets the transport rotation flag to on, and advances the process to step S105.

[0086] In step S105, the transport control unit 45 begins controlling the rotating body 7 during the transport operation. That is, in step S105, the transport control unit 45 outputs a start command for the rotation operation used in the transport operation. In the subsequent step S106, the action transfer determination unit 49 determines whether the action transfer condition from the digging action to the transport action is met. If the ground angle γ of the bucket 10 reaches the digging action completion angle γ1c and the front end of the bucket 10 reaches the digging completion position DP2, the action transfer determination unit 49 determines that the action transfer condition from the digging action to the transport action is met, and the process proceeds to step S107. If the ground angle γ of the bucket 10 does not reach the digging action completion angle γ1c, or if the front end of the bucket 10 does not reach the digging completion position DP2, the action transfer determination unit 49 determines that the action transfer condition from the digging action to the transport action is not met. The process in step S106 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained.

[0087] In step S107, the transport control unit 45 begins controlling the working device 2 during the transport operation. Furthermore, as described above, the control of the rotating body 7 during the transport operation begins before the operation transfer conditions are met (step S105).

[0088] In the subsequent step S108, if the action transfer condition from the transport action to the soil release action is met, the transport action is completed. If the transport action is completed, the transport control unit 45 sets the transport rotation indicator to off. If the transport action is completed, the processing... Figure 11 As shown in step S109, the action transfer judgment unit 49 transfers the action to the soil-releasing action. Thus, soil-releasing control based on the soil-releasing control unit 46 begins. During soil-releasing control, the soil-releasing control unit 46 automatically operates the working device 2 until the ground angle γ of the bucket 10 reaches the soil-releasing action completion angle γ1r.

[0089] In the subsequent step S110, the slewing start determination unit 43 calculates the time (first time) t1r from the time after the slewing command of the return action until the slewing body 7 begins to move. In the subsequent step S112, the slewing start determination unit 43 calculates the time (second time) from the current time point until the bucket 10 reaches the soil discharge completion position LP2.

[0090] In the subsequent step S113, the slewing start determination unit 43 compares the first time t1r and the second time t2r. Through this comparison, the slewing start determination unit 43 determines whether the movement of the slewing body 7 in the specified direction will begin after the working device 2 reaches the soil-releasing action completion posture, given that a slewing action start command has been output at the current time. In other words, step S113 is the process of determining whether the slewing start condition is met.

[0091] If the first time t1r is less than or equal to the second time t2r, the rotation start determination unit 43 determines that the rotation 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 rotation start determination unit 43 determines that the rotation start condition is met, sets the return rotation flag to on, and proceeds the process to step S114.

[0092] In step S114, the return control unit 47 begins controlling the rotating body 7 during the return motion. That is, in step S114, the return control unit 47 outputs a rotation start command for the return motion. In the subsequent step S115, the motion transfer determination unit 49 determines whether the motion transfer condition from the dumping motion to the return motion is met. If the ground angle γ of the bucket 10 reaches the dumping motion completion angle γ1r and the front end of the bucket 10 reaches the dumping completion position LP2, the motion transfer determination unit 49 determines that the motion transfer condition from the dumping motion to the return motion is met, and the process proceeds to step S116. If the ground angle γ of the bucket 10 does not reach the dumping motion completion angle γ1r, or if the front end of the bucket 10 does not reach the dumping completion position LP2, the motion transfer determination unit 49 determines that the motion transfer condition from the dumping motion to the return motion is not met. The process in step S115 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained.

[0093] In step S116, the return control unit 47 begins control of the working device 2 in the return operation. Furthermore, as described above, control of the rotating body 7 in the return operation begins before the operation transfer conditions are met (step S114).

[0094] In the subsequent step S108, if the front end of the bucket 10 reaches the return completion position RP2, the return action is completed. If the return action is completed, the return control unit 47 sets the return rotation indicator to off. If the return action is completed, Figure 11 The process shown in the flowchart has ended.

[0095] The following is for reference Figures 7-9 as well as Figure 12 This describes the main operations of the hydraulic excavator 1 in this embodiment. Figure 12 This is a diagram showing the timing changes of the bucket 10's ground angle γ, the presence or absence of the slewing command output (ON / OFF), and the slewing angle θsw when the action shifts from digging to transporting, or from dumping to returning. Figure 12 The horizontal axis of (a) to (c) represents time. Figure 12 The vertical axis of (a) represents the ground angle γ of the bucket 10. Figure 12 The vertical axis of (b) indicates the presence or absence of the rotation motion command output. Figure 12 The vertical axis of (c) represents the rotation angle θsw. Furthermore, the rotation angle θsw is recorded graphically as a reference position, increasing positively upwards from that position until the angle at which the action is completed. Figure 12 For ease of explanation, the temporal changes of the parameters for the transition from excavation to transport and from dumping to return are represented by general graphs. However, the temporal changes of the parameters for the transition from excavation to transport and from dumping to return are actually different.

[0096] First, use Figure 7 as well as Figure 12 This describes the actions taken when the digging action is transferred to the transport action. When the slewing action of the rotating body 7 has stopped and the working device 2 automatically operates to bring the ground angle γ of the bucket 10 close to the digging action completion angle γ1c, the control device 40 determines whether the slewing start condition is met. Figure 10 Steps S101 to S104).

[0097] If the condition for starting the slewing operation is met at time T2 after a fixed time has elapsed since the start of the excavation action in state S10 (where the excavation action has begun). Figure 10 If step S104 is "yes", then the automatic rotation control of the rotating body 7 begins (state S11). On the other hand, since the rotation start condition was not met at time T1 compared to time T2 ( Figure 10In step S104, if the condition is not met, the automatic rotation control of the slewing body 7 is not initiated. Instead, the automatic rotation control of the slewing body 7 is initiated in the period preceding the digging action completion time T3 (time T2) (outputting a rotation start command). Thus, at the timing when the rotation start condition is met (time T2), the control device 40 outputs a rotation start command that causes the slewing body 7 to begin rotating towards the rotation completion angle. Consequently, immediately after the bucket 10's ground angle γ reaches the action completion angle γ1 (digging action completion angle γ1c), the slewing body 7 actually begins to rotate (state S12). That is, the timing of the bucket 10's ground angle γ reaching the digging action completion angle γ1c is approximately the same as the timing of the slewing body 7 beginning to rotate. Therefore, the transfer from digging action to transport action proceeds smoothly.

[0098] Furthermore, based on the information about the terrain 61 of the excavation object obtained by the object detection device 54, the excavation control unit 44 sets the excavation completion position DP2 at a location where there is no soil or sand around the bucket 10. Therefore, even if the rotation operation begins immediately after reaching the excavation completion position DP2, damage to the working device 2 can be prevented because there is no soil or sand in lateral contact with the bucket 10.

[0099] At time T3, if the ground angle γ of the bucket 10 reaches the digging action completion angle γ1c, the transport control of the working device 2 begins. The rotating body 7 and the working device 2 perform transport actions. If the front end of the bucket 10 reaches the transport completion position CP2 (refer to...), the transport control is initiated. Figure 8 If the movement is completed, then the transport action is finished.

[0100] Next, use Figure 9 as well as Figure 12 This describes the actions during the transition from the soil-discharging action to the return action. When the rotation of the slewing body 7 has stopped and the working device 2 automatically operates to bring the ground angle γ of the bucket 10 close to the soil-discharging action completion angle γ1r, the control device 40 determines whether the rotation start condition is met. Figure 11 Steps S109 to S113).

[0101] At time T2, after a fixed time has elapsed since the start of the soil-laying action in state S20, if the condition for the start of rotation is met ( Figure 11 If step S113 is "yes", then the automatic rotation control of the rotating body 7 begins. On the other hand, since the rotation start condition was not met at time T1 compared to time T2 ( Figure 11In step S113, if the value is "no", then the automatic slewing control of the slewing body 7 does not begin. In the period preceding the completion time T3 of the soil-discharging action (time T2), the automatic slewing control of the slewing body 7 begins (outputting a slewing action start command). Thus, at the timing when the slewing start condition is met (time T2), the control device 40 outputs a slewing action start command that causes the slewing body 7 to begin slewing towards the slewing completion angle. Therefore, immediately after the ground angle γ of the bucket 10 reaches the action completion angle γ1 (soil-discharging action completion angle γ1r), the slewing body 7 actually begins to slew. That is, the timing of the bucket 10 reaching the ground angle γ1r of the soil-discharging action completion angle γ1r is approximately the same as the timing of the slewing body 7 beginning to slew. Therefore, the transition from the soil-discharging action to the return action proceeds smoothly.

[0102] At time T3, if the ground angle γ of the bucket 10 reaches the state of soil-releasing action completion angle γ1r, the return control of the working device 2 begins. The slewing body 7 and the working device 2 perform a return action. If the front end of the bucket 10 reaches the return completion position RP2 state S22, the return action is completed.

[0103] According to the first embodiment described above, the following effects are achieved.

[0104] (1) The hydraulic excavator (operating machinery) 1 includes: a traveling body 5; a slewing body 7 rotatably disposed relative to the traveling body 5; and an operating device 2 mounted on the slewing body 7 and having a boom 8, a stick 9, and a bucket 10. Furthermore, the hydraulic excavator 1 includes a posture detection device 53 for detecting the posture of the slewing body 7 and the posture of the operating device 2, including the ground angle γ of the bucket 10, and an object detection device (bucket position detection device) 54 for detecting the position of the cargo box (bucket) 201 of the loaded machinery 200 loaded with excavated material from the operating device 2. Moreover, the hydraulic excavator 1 includes a control device 40 that, based on the detection results of the posture detection device 53 and the object detection device 54, performs automatic slewing control to at least automatically slewing the slewing body 7 to a target slewing angle, i.e., a slewing completion angle. Furthermore, the rotation angle at which automatic rotation control begins, i.e., the rotation start angle, is the rotation angle θsw at the transport start position CP1 during the transport operation, and the rotation angle θsw at the return start position RP1 during the return operation. Conversely, the rotation angle at which automatic rotation control is completed, i.e., the rotation completion angle, is the rotation angle θsw at the transport completion position CP2 during the transport operation, and the rotation angle θsw at the return completion position RP2 during the return operation. The control device 40 determines whether the rotation start condition for initiating automatic rotation control of the rotating body 7 is met based on the rotation operation state of the rotating body 7 and the operation state of the working device 2. If the control device 40 determines that the rotation start condition is met, regardless of whether the working device 2 is currently operating, it outputs a rotation start command at the specified timing when the rotation start condition is met, causing the rotating body 7 to rotate towards the rotation completion angle.

[0105] When the slewing start condition is met during the excavation operation, the control device 40 outputs a slewing start command and begins the transport control of the rotating body 7. As a result, the rotating body 7 actually begins to rotate simultaneously with or immediately after the working device 2 reaches the excavation completion posture. Therefore, according to this embodiment, the transition from excavation to transport can be made smooth. Furthermore, when the slewing start condition is met during the soil-releasing operation, the control device 40 outputs a slewing start command and begins the return control of the rotating body 7. As a result, the rotating body 7 actually begins to rotate simultaneously with or immediately after the working device 2 reaches the soil-releasing completion posture. Therefore, according to this embodiment, the transition from soil-releasing to return can be made smooth. That is, according to this embodiment, during excavation and loading operations, the transition from a state where the working device 2 operates alone to an operation requiring slewing can be performed smoothly. This results in improved productivity (operational efficiency) at the work site.

[0106] (2) The control device 40 calculates the ground angle γ of the bucket 10 based on the detection result of the posture detection device 53. During both the digging and dumping actions, the control device 40 automatically operates the working device 2 until the ground angle γ of the bucket 10 reaches the action completion angle γ1. When the rotation of the rotating body 7 stops and the working device 2 automatically operates to bring the ground angle γ of the bucket 10 closer to the action completion angle γ1, the control device 40 determines whether the rotation start condition is met. According to this configuration, the transition from automatic digging to automatic transport and from automatic dumping to automatic return can be made smooth.

[0107] (3) If the control device 40 predicts that the rotation of the slewing body 7 will begin after the ground angle γ of the bucket 10 reaches the completion angle γ1 when the slewing start command is output at the current time, then the control device 40 determines that the slewing start condition is met. If the control device 40 determines that the slewing start condition is not met before the above prediction is obtained, then the control device 40 determines that the slewing start condition is not met. According to this configuration, the slewing body 7 actually begins to rotate after the ground angle γ of the bucket 10 reaches the completion angle γ1. That is, according to this configuration, it is possible to properly prevent the slewing body 7 from actually starting to rotate before the ground angle γ of the bucket 10 reaches the completion angle γ1.

[0108] (4) The control device 40 calculates the first time t1 from the output of the slewing start command to the start of the movement of the slewing body 7. The control device 40 calculates the second time t2 from the current time point until the ground angle γ of the bucket 10 reaches the completion angle γ1 of the movement. If the second time t2 becomes shorter than the first time t1, the control device 40 determines that the slewing start condition is met. That is, the control device 40 considers that the above prediction has been obtained. If the second time t2 is longer than the first time t1, the control device 40 determines that the slewing start condition is not met. In this configuration, the control device 40 repeatedly calculates the second time t2 based on the posture of the working device 2 at the current time point. Therefore, it is possible to more appropriately prevent the slewing body 7 from actually starting to rotate before the ground angle γ of the bucket 10 reaches the completion angle γ1 of the movement.

[0109] <Modification 1 of the first embodiment> In the first embodiment, an example was described where the control content for the transition from excavation to transport is the same as the control content for the transition from dumping to returning. However, the present invention is not limited thereto. Hereinafter, reference will be made to... Figures 13-16 This illustrates a variation of the control content when the soil-releasing action transitions to the return action.

[0110] Figure 13This is a top view schematic diagram showing the hydraulic excavator 1 of Modified Example 1 of the first embodiment transitioning from the dumping action to the return action. In the first embodiment, the control device 40 outputs a rotation start command during the dumping action such that the rotation of the slewing body 7 begins after the working device 2 has reached the dumping action completion position. In contrast, in this Modified Example 1, the control device 40 outputs a rotation start command during the dumping action such that the rotation of the slewing body 7 begins before the working device 2 has reached the dumping action completion position, and that the bucket 10 begins to exit the cargo box 201 after the working device 2 has reached the dumping action completion position.

[0111] Therefore, in this modified example 1, as Figure 13 As shown, even during the period when the slewing body 7 rotates to bring the bucket 10 from the return start position RP1 to the rear end of the cargo box 201, the working device 2 continues to perform the soil-discharging operation. Furthermore, the soil-discharging operation based on the working device 2 is completed just before the bucket 10 begins to exit the cargo box 201. Then, the slewing body 7 and the working device 2 are controlled to move the control point of the bucket 10 along the target path RPT connecting position RP3 and the return completion position RP2.

[0112] Figure 14 Is with Figure 11 The same figure shows a flowchart of an example of the processing performed by the control device 40 of the first embodiment of the modified example 1, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation. Figure 14 In the flowchart, instead Figure 11 The process of step S113 in the flowchart is executed, followed by the process of step S113B. Additionally, Figure 14 In the flowchart, Figure 11 The process of step S111B is added between steps S110 and S112 in the flowchart.

[0113] like Figure 14 As shown, in this modified example, if the calculation of the first time t1r in step S110 is completed, the process proceeds to step S111B. In 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 posture of the hydraulic excavator 1 calculated by the posture calculation unit 41, and the position information of the cargo box 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 rotating until the bucket 10 begins to move out of the cargo box 201. In other words, the third time t3r corresponds to the time until the rotating body 7 reaches the rear end of the cargo box 201.

[0114] The slewing start determination unit 43 can also use a data table that specifies the relationship between the slewing angle θsw1 of the bucket 10 from the return start position RP1 to the rear end of the cargo box 201 and the third time t3r to calculate the third time t3r. Figure 15 This is a diagram showing the data table for the third time interval t3r. The data table for the third time interval t3r is determined in advance through experiments, etc., and stored in a storage device. The slewing start determination unit 43 calculates the slewing angle θsw1 from the current position of the bucket 10 to the position of the rear end of the cargo box 201 relative to the hydraulic excavator 1, based on the posture of the hydraulic excavator 1 and the relative position of the cargo box 201 with respect to the hydraulic excavator 1. The slewing start determination unit 43 refers to Figure 15 The data table is used to calculate the rotation angle θsw1 and the third time t3r.

[0115] like Figure 14 If the calculation of the third time t3r in step S111B is completed, the process proceeds to step S112 to calculate the second time t2r. If the calculation of the second time t2r in step S112 is completed, the process proceeds to step S113B.

[0116] Step S113B involves determining whether the slewing start condition is met. In step S113B, the slewing 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 slewing start determination unit 43 determines whether, if a slewing start command is output at the current time, the slewing of the slewing body 7 will begin before the ground angle γ of the bucket 10 reaches the soil-discharging action completion angle γ1r, and whether the bucket 10 will begin to exit the cargo box 201 after the ground angle γ of the bucket 10 reaches the soil-discharging action completion angle γ1r.

[0117] If the sum of the first time t1r and the third time t3r is less than or equal to the second time t2r, the rotation start determination unit 43 determines that the rotation 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 rotation start determination unit 43 determines that the rotation start condition is met, sets the return rotation flag to on, and proceeds the process to step S114.

[0118] That is, in this modified example, when it is predicted that the bucket 10 will start to pass through the end of the cargo box 201 immediately after the ground angle γ of the bucket 10 becomes the soil-releasing action completion angle γ1r (yes in step S113B), the return control of the rotating body 7 is started (step S114).

[0119] use Figure 13 as well as Figure 16 This illustrates the action taken when transitioning from the soil-releasing action to the return action in this modified example. Figure 16 Is with Figure 12 The same figure shows the timing changes of the ground angle γ of the bucket 10, the presence or absence (ON / OFF) of the slewing command output, and the slewing angle θsw in the case of the transition from the soil-discharging action to the return action in the first embodiment of the modified example 1.

[0120] In this variation, at time Tr2, after a fixed time has elapsed from state S20 where the soil-releasing action has begun, the condition for the start of rotation is met. Figure 14 In step S113B, the automatic rotation control of the rotating body 7 begins. On the other hand, since the rotation start condition was not met in time Tr1 compared to time Tr2 ( Figure 14 (If step S113B is not specified), then the automatic rotation control of the slewing body 7 does not begin. In this modified example, at time Tr4, compared to time Tr4 when the ground angle γ of the bucket 10 reaches the soil-discharging action completion angle γ1r, the slewing body 7 actually begins to rotate. Therefore, through the rotation of the slewing body 7, the bucket 10 moves towards the rear end of the cargo box 201 while performing the dumping action above the cargo box 201. If the rotation angle θsw increases to the specified rotation angle θsw1, then the state S21 is reached when the bucket 10 reaches the rear end of the cargo box 201. At this time, the position RP3 of the front end of the bucket 10 is preferably set to a position higher than the upper edge of the cargo box 201.

[0121] In this modified example, the timing of the bucket 10 reaching the soil-discharging action completion angle γ1r at its ground angle γ coincides with the timing of the bucket 10 reaching the rear end of the cargo box 201. At time Tr4, if the state S21 occurs where the bucket 10 reaches the soil-discharging action completion angle γ1r at its ground angle γ, then the return control of the working device 2 begins. If the rotating body 7 and the working device 2 perform a return action, and the front end of the bucket 10 reaches the return completion position RP2 at state S22, then the return action is completed.

[0122] According to this variation of the first embodiment, in addition to having the same effects as the first embodiment, the following effects are achieved.

[0123] (5) When the working device 2 is performing a soil-releasing action (releasing action) to release the excavated material from the bucket 10 above the cargo box 201, if the control device 40 predicts that if a slewing action start command is output at the current time, the slewing of the slewing body 7 will begin before the ground angle γ of the bucket 10 reaches the soil-releasing action completion angle γ1r, and the bucket 10 will begin to exit the cargo box 201 after the ground angle γ of the bucket 10 reaches the soil-releasing action completion angle γ1r, then the slewing start condition is determined to be met. The control device 40 determines that the slewing start condition is not met before receiving the above prediction. In this modified example, the prescribed posture for outputting the slewing action start command while the soil-releasing action is in progress is different from the above embodiment. The prescribed posture in this modified example is that if the slewing action start command is output while in this posture, the working device 2 will begin to exit the cargo box 201 immediately after the working device 2 reaches the soil-releasing action completion posture. In this modified example, the rotating body 7 can actually move above the cargo box 201 before the soil-releasing action is completed, thereby improving productivity compared to the above-described embodiment.

[0124] (6) The control device 40 calculates the first time t1r from the output of the slewing action start command to the start of the movement of the slewing body 7. The control device 40 calculates the second time t2r from the current time point to the point where the ground angle γ of the bucket 10 reaches the soil-discharging action completion angle γ1r. The control device 40 calculates the third time t3r from the start of the movement of the slewing body 7 to the point where the bucket 10 begins to exit the cargo box 201. If the second time t2r becomes shorter than the sum of the first time t1r and the third time t3r, the control device 40 determines that the slewing start condition is met. In this configuration, the control device 40 repeatedly calculates the second time t2r based on the posture of the working device 2 at the current time point. Therefore, it is possible to properly prevent the slewing body 7 from exiting the cargo box 201 before the working device 2 reaches the soil-discharging action completion posture.

[0125] <Modification 2 of the first embodiment> The calculation method for the second time t2r is not limited to the example above.

[0126] <Modification 2-1 of the first embodiment> For example, the control device 40 may also use a data table (hereinafter referred to as the second time characteristic table) that defines the relationship between the ground angle γ of the bucket 10 and the time until the excavated material in the bucket 10 is completely discharged while the soil discharge operation continues from that ground angle γ, to calculate the second time t2r. The time until the excavated material in the bucket 10 is completely discharged is affected by the soil properties (cohesiveness, particle size) of the excavated material. Therefore, the control device 40 can modify the second time characteristic table based on the soil properties of the excavated material. The soil properties of the excavated material are input to the control device 40 by the input device 57. The control device 40 refers to the modified second time characteristic table and calculates the second time t2r based on the ground angle γ of the bucket 10.

[0127] <Modification 2-2 of the first embodiment> Alternatively, the control device 40 may calculate the time from the start to the completion of the dumping action (hereinafter, the dumping time) based on the movement of the transported material (excavated material) in the bucket 10 during the first dumping action of the excavation and loading cycle using the object detection device 54, and apply this time to the control of the transition from the dumping action to the return action in the second and subsequent excavation and loading cycles. The movement of the transported material in the bucket 10 refers to, for example, changes in the area of ​​the transported material in the bucket 10 as seen in images captured by the stereo camera, which is the object detection device 54. During the first dumping action of the excavation and loading cycle, if the area of ​​the transported material in the bucket 10 detected by the object detection device 54 is below a predetermined value, the control device 40 determines that the dumping action has been completed and calculates the dumping time.

[0128] Furthermore, the timing of the soil release operation can also be guided relative to the control device 40 by the operator operating the input device 57. For example, in the first soil release operation of an excavation and loading cycle, the control device 40 stores the time required for release from the start time of the soil release operation to the time when the operator operates the input device 57.

[0129] After the second excavation and loading cycle, the control device 40 subtracts the elapsed time from the start of the soil release action from the release time required, thereby calculating the second time t2r.

[0130] In this modified example, during the first soil-discharging operation, the control device 40 calculates the time required for discharging, i.e., the time from the start to the completion of the action of discharging the excavated material from the bucket 10. During subsequent soil-discharging operations, the control device 40 subtracts the elapsed time from the start of the action of discharging the excavated material from the bucket 10 from the required discharging time, thereby calculating the second time t2r. Based on this configuration, regardless of individual differences in the hydraulic excavator 1 performing the operation, the control device 40 can output a slewing start command at an appropriate timing.

[0131] <Second Implementation> Reference Figures 17-21 This section describes the hydraulic excavator 1 according to the second embodiment of the present invention. Furthermore, for reference numerals that are identical or equivalent to those used in the first embodiment, the main differences will be explained. The control device 240 of the second embodiment acquires the weight of the material being transported (excavated material such as soil or sand) within the bucket 10 and determines whether a slewing start condition is met based on the acquired weight. If the weight of the excavated material within the bucket 10 reaches a predetermined weight, the control device 240 determines that the slewing start condition is met. If the weight of the excavated material within the bucket 10 does not reach the predetermined weight, the control device 240 determines that the slewing start condition is not met. Hereinafter, 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.

[0132] Figure 17 This is a functional block diagram of the control device 240 according to the second embodiment. The hydraulic excavator 1 of the second embodiment has a transported object information acquisition device 258. The transported object information acquisition device 258 calculates the weight of the transported object loaded in the bucket 10. The transported object information acquisition device 258 includes, for example, a pressure sensor (not shown) that detects the pressure of the hydraulic cylinders (11-13), and a calculation device that calculates the weight of the transported object based on the detection results of the pressure sensor and the detection results of the posture detection device 53. However, the configuration of the transported object information acquisition device 258 is not limited to this. The transported object information acquisition device 258 may also be a weight sensor that directly detects the weight of the transported object in the bucket 10. In addition, in this embodiment, an example in which the calculation device of the transported object information acquisition device 258 is set separately from the control device 240 has been described, but the function of the calculation device of the transported object information acquisition device 258 may also be provided by the control device 240.

[0133] Reference Figure 18 as well as Figure 19 This describes an example of a processing flow executed by the control device 240 of the second embodiment. Figure 18 This is a flowchart illustrating an example of processing performed by the control device 240 according to the second embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 19 This is a flowchart illustrating an example of processing performed by the control device 240 according to the second embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation.

[0134] Figure 18 In the flowchart, instead Figure 10 The process of steps S102 to S104 in the flowchart is followed by the process of step S201. Figure 19 In the flowchart, instead Figure 11 The process of steps S110 to S113 in the flowchart is followed by the process of step S202.

[0135] like Figure 18 As shown, digging control begins in step S101. Thus, the hydraulic excavator 1 is in a state where the rotation of the slewing body 7 stops and the working device 2 is operating to dig the excavated material. The digging control in this second embodiment is performed to ensure that the weight (digging amount) W of the excavated material loaded in the bucket 10 reaches the target digging amount Wt. The target digging amount Wt is a target value for the weight of the excavated material loaded in the bucket 10, predetermined and stored in a storage device.

[0136] The subsequent step S201 involves determining whether the slewing start condition is met. In step S201, the slewing start determination unit 43 determines, based on the weight W of the transported object obtained by the transported object information acquisition device 258, whether the excavated object is loaded into the bucket 10 at a predetermined ratio P1 or more relative to the target excavation volume Wt. The predetermined ratio P1 is predetermined and stored in a storage device. The predetermined ratio P1 is, for example, a value of 90% or more. Furthermore, the predetermined ratio P1 can also be changed via the operation input device 57. If it is determined that the excavated object is loaded into the bucket 10 at a predetermined ratio P1 or more relative to the target excavation volume Wt, the process proceeds to step S105. The process of step S201 is repeatedly executed at predetermined calculation cycles until a positive determination is obtained.

[0137] Specifically, the slewing start determination unit 43 acquires the weight W of the transported object from the transported object information acquisition device 258 in each predetermined calculation cycle. If digging is performed, the weight W of the transported object in the bucket 10 increases over time. When the weight W of the transported object is greater than or equal to a predetermined weight W1, the slewing start determination unit 43 determines that the slewing start condition has been met and proceeds to step S105. Furthermore, the predetermined weight W1 is the weight of the transported object equivalent to a predetermined proportion P1 relative to the target digging amount Wt, calculated by the slewing start determination unit 43.

[0138] Figure 18 The processing of steps S105 to S108 is the same as in the first embodiment (refer to...). Figure 10 Similarly, the explanation is omitted.

[0139] like Figure 19 As shown, soil release control begins in step S109. Thus, the hydraulic excavator 1 is in a state where the rotation of the slewing body 7 has stopped and the working device 2 is operating to release the excavated material.

[0140] The subsequent step S202 involves determining whether the slewing start condition is met. In step S202, the slewing start determination unit 43 determines, based on the weight W of the transported object acquired by the transported object information acquisition device 258, whether the weight W of the transported object has decreased by a predetermined proportion P2 or more relative to the weight W0 before the earth-releasing operation. Furthermore, step S202 can be described as determining whether the proportion (hereinafter also referred to as the reduction proportion of the transported object) Pd of the reduced weight W of the transported object relative to the weight W0 before the earth-releasing operation is a predetermined proportion P2 or more.

[0141] The predetermined ratio P2 is stored in the storage device. The predetermined ratio P2 is, for example, a value of 80% to 90%. Furthermore, the predetermined ratio P2 can also be changed by operating the input device 57.

[0142] The rotation start determination unit 43 stores the weight W of the transported object when the action transfer condition from excavation to transport is met as the weight W0 before the soil release action. If it is determined that the weight W of the transported object has decreased by a predetermined proportion P2 or more compared to the weight W0 before the soil release action, the process proceeds to step S114. The process of step S202 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained.

[0143] Specifically, the slewing start determination unit 43 acquires information about the weight W of the transported object from the transported object information acquisition device 258 in each predetermined calculation cycle. If a dumping operation is performed, the weight W of the transported object in the bucket 10 decreases over time. When the weight W of the transported object becomes below a predetermined weight W2, the control device 240 determines that the slewing start condition has been met and proceeds the process to step S114. Furthermore, the predetermined weight W2 is the value obtained by subtracting the released weight (i.e., the weight portion that is a predetermined ratio P2 relative to the weight W0 before the dumping operation) from the weight W0 before the dumping operation (W0×P2), which is calculated by the slewing start determination unit 43.

[0144] Figure 19 The processing of steps S114 to S117 is the same as in the first embodiment (see Figure 11 Similarly, the explanation is omitted.

[0145] The following is for reference Figure 20 as well as Figure 21 This section explains the main operations of the hydraulic excavator 1 according to the second embodiment. First, using... Figure 20 This describes the actions taken when transitioning from excavation to transportation. Figure 20 It is a graph showing the weight (digging amount) W of the material being transported in the bucket 10, the presence or absence of the slewing command output (ON / OFF), and the timing changes of the slewing angle θsw when the action shifts from digging to transporting. Figure 20 The horizontal axis of (a) to (c) represents time. Figure 20 The vertical axis of (a) represents the weight (digging volume) W of the material transported in the bucket 10. Figure 20 The vertical axis of (b) indicates the presence or absence of the rotation motion command output. Figure 20 The vertical axis of (c) represents the rotation angle θsw. Furthermore, the rotation angle θsw is recorded as a graph with the starting position of the digging operation as the reference position and increasing positively upwards from that reference position to the angle at which the digging operation is completed.

[0146] like Figure 20 As shown, at time Tc22, after a fixed time has elapsed since the start of the excavation, the condition for the start of rotation is met. Figure 18 In step S201, the automatic rotation control of the rotating body 7 begins. On the other hand, since the rotation start condition was not met in time Tc21 compared to time Tc22 (…),… Figure 18 In step S201, if the value is "no", then the automatic slewing control of the slewing body 7 does not begin. The automatic slewing control of the slewing body 7 begins in the stage preceding (time Tc22) when the weight W of the material transported in the bucket 10 reaches the target excavation volume Wt (outputting a slewing start command). Therefore, immediately after the weight W of the material transported in the bucket 10 reaches the target excavation volume Wt, the slewing body 7 actually begins to slew. That is, the timing of the weight W of the material transported in the bucket 10 reaching the target excavation volume Wt is approximately the same as the timing of the slewing body 7 starting to slew. Thus, the transition from excavation to transport is smooth.

[0147] Next, use Figure 21 This describes the action when transitioning from the action of releasing soil to the action of returning. Figure 21 This is a graph showing the reduction ratio Pd of the transported material in the bucket 10, the presence or absence of the slewing command output (ON / OFF), and the timing changes of the slewing angle θsw when the action shifts from the dumping action to the return action. Figure 21 The horizontal axis of (a) to (c) represents time. Figure 21 The vertical axis of (a) represents the reduction rate of transported goods, Pd [%). Figure 21 The vertical axis of (b) indicates the presence or absence of the rotation motion command output. Figure 21 The vertical axis of (c) represents the rotation angle θsw. Furthermore, the rotation angle θsw is recorded as a graph with the starting position of the soil-laying operation as the reference position and increasing positively upwards from that reference position to the angle at which the soil-laying operation is completed.

[0148] like Figure 21 As shown, at time Tr22, after a fixed time has elapsed since the start of the soil-releasing action, the condition for the start of rotation is met ( Figure 19In step S202, the automatic rotation control of the rotating body 7 begins. On the other hand, since the rotation start condition was not met in time Tr21, which is before time Tr22 (…),… Figure 19 In step S202, if the setting is "no", then the automatic rotation control of the rotating body 7 does not begin. The automatic rotation control of the rotating body 7 begins in the stage preceding the time Tr23 when the reduction ratio Pd of the transported material reaches 100% (time Tr22) (outputting a rotation start command). Thus, immediately after the reduction ratio Pd of the transported material reaches 100%, the rotating body 7 actually begins to rotate. That is, the timing of the reduction ratio Pd reaching 100% is approximately the same as the timing of the rotating body 7 starting to rotate. Therefore, the transition from the soil-releasing action to the return action proceeds smoothly.

[0149] Thus, in this second embodiment, the control device 240 obtains the weight W of the transported object (excavated object) in the bucket 10 from the transported object information acquisition device 258. When the obtained weight W of the transported object in the bucket 10 reaches a predetermined weight, the control device 240 determines that the rotation start condition is met. When the rotation of the rotating body 7 has stopped and the working device 2 is operating to excavate the excavated object, the control device 240 determines whether the rotation start condition is met. When the weight W of the excavated object in the bucket 10 increases to a predetermined weight W1, the control device 240 determines that the rotation start condition is met and outputs a rotation start command. Figure 18 Steps S201 and S105). When the slewing motion of the rotating body 7 has stopped and the working device 2 is operating to release the excavated material, the control device 240 determines whether the slewing start condition is met. If the weight W of the excavated material in the bucket 10 has decreased to a predetermined weight W2 due to the release of a predetermined proportion P2 of the weight before the release action, the control device 240 determines that the slewing start condition is met and outputs a slewing start command. Figure 19 (Steps S202 and S114). According to this second embodiment, it achieves the same effect as the first embodiment.

[0150] Furthermore, according to this second embodiment, the transport information acquisition device 258 calculates the weight W of the transported object (excavated object) in the bucket 10, thereby reducing the computational burden on the control device 240.

[0151] <Modification 1 of the second embodiment> like Figure 22As shown, there is a correlation between the reduction ratio Pd of the transported material and the ground angle γ of the bucket 10. As the ground angle γ of the bucket 10 approaches the soil discharge completion angle, the reduction ratio Pd of the transported material increases. Therefore, the slewing start determination unit 43 can also determine that the slewing start condition is met and output a slewing action start command when the ground angle γ of the bucket 10 reaches the ground angle (ground angle threshold) γ2 corresponding to the specified ratio P2.

[0152] Furthermore, in this modified example, the aforementioned specified ratio P2 can also be changed by operating the input device 57. In this case, a data table specifying the relationship between the reduction ratio Pd of the transported material and the ground angle γ of the bucket 10 is stored in the storage device, namely the ground angle conversion table T (see reference). Figure 22 When the slewing start determination unit 43 obtains information about a new specified ratio P2 from the input device 57, it refers to the ground angle conversion table T and calculates the ground angle (ground angle threshold) γ2 of the bucket 10 corresponding to the new specified ratio P2.

[0153] As described above, the hydraulic excavator 1 of this modified example has an input device 57 capable of inputting a predetermined ratio P2. Furthermore, the control device 240 of this modified example has a data table, namely a ground angle conversion table T, that defines the relationship between the ratio (reduction ratio of transported material) Pd of the weight of the excavated material released from the bucket 10 relative to the weight W0 of the excavated material before being released from the bucket 10, and the ground angle γ of the bucket 10. Referring to the ground angle conversion table T, the control device 240 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 γ2. When the ground angle γ of the bucket 10 reaches the ground angle threshold γ2, the control device 240 determines that the slewing start condition is met and outputs a slewing start command. Based on this configuration, the operator can operate the input device 57 to adjust the timing of the slewing operation.

[0154] <Modification 2 of the second embodiment> In the configuration of Modification 1 of the second embodiment, the control device 240 can also be used to further modify the ground angle conversion table T. By modifying the ground angle conversion table T with the control device 240, the ground angle γ2 of the bucket 10 corresponding to the specified ratio P2 can be set more appropriately.

[0155] <Modification 2-1 of the second embodiment> For example, the slewing start determination unit 43 can also be based on the actual equipment data of the hydraulic excavator 1 and modified into a reference data table, namely the ground angle conversion table T. Figure 23This is a diagram showing the corrected ground angle conversion tables Tc1 and Tc2. For example, it can be that, while the earth-discharging operation is in progress, the ground angle conversion table T is corrected based on the timing data of the weight W of the transported object calculated by the transported object information acquisition device 258, the ground angle γ of the bucket 10 calculated by the posture calculation unit 41, and the weight W0 of the transported object before the earth-discharging operation. Thus, 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 γc21 of the bucket 10 relative to the input predetermined ratio P2. If the ground angle γ of the bucket 10 reaches the ground angle threshold γc21 during the earth-discharging operation, the control device 240 determines that the slewing start condition is met and outputs a slewing start command.

[0156] In this modified example, the control device 240 acquires actual equipment data (weight W of the excavated material and the bucket's angle to the ground γ) when the working device 2 performs the soil-discharging action. Based on the acquired actual equipment data, it determines the angle to the ground threshold that specifies the slewing start condition. According to this configuration, regardless of individual differences in the hydraulic excavator 1 performing the operation, the control device 240 can output a slewing start command at an appropriate timing.

[0157] <Modification 2-2 of the second embodiment> Furthermore, the higher the viscosity of the excavated soil, the more difficult it is to release the transported material from the bucket 10. Therefore, the slewing start determination unit 43 can also correct the ground angle conversion table T based on the soil quality of the transported material. The hydraulic excavator 1 of this modified example has an input device 57 capable of inputting soil quality such as the viscosity of the excavated material. The operator operates the input device 57 to input a predetermined ratio P2 and the viscosity of the excavated material to the control device 240.

[0158] When the input viscosity is greater than the reference viscosity value stored in the storage device, the control device 240 corrects the angle conversion table T to reduce the rate of change of the reduction ratio Pd relative to the angle γ. This yields a corrected angle conversion table Tc2. Referring to the corrected angle conversion table Tc2, the control device 240 calculates the angle threshold γc22 of the bucket 10 relative to the input specified ratio P2. Furthermore, the soil composition of the excavated material is not limited to viscosity; it can also be particle size.

[0159] In this modified example, the control device 240 corrects the geodesic table T based on the soil quality of the excavated object input by the input device 57. According to this configuration, even if the soil quality of the excavated object changes due to a change in the excavation site, a rotation start command can be output from the control device 240 at an appropriate timing.

[0160] <Modifications 2-3 of the second embodiment> Furthermore, if the angular velocity of the bucket 10 is large, the reduction ratio Pd of the transported material at a certain ground angle γ will be smaller than expected. Therefore, the swing start determination unit 43 can also 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 posture calculation unit 41. When the angular velocity of the bucket 10 is larger than the reference value, the control device 240 corrects the ground angle conversion table T in a way that reduces the rate of change of the reduction ratio Pd relative to the ground angle γ. Thus, the corrected ground angle conversion table Tc2 is obtained.

[0161] <Modification 3 of the second embodiment> The control device 240 can also calculate the reduction ratio Pd of the transported material (excavated material) in the bucket 10 during the soil release operation (release operation) based on the movement of the transported material (excavated material) detected by the object detection device 54. The movement of the transported material in the bucket 10 refers to, for example, changes in the area of ​​the transported material in the bucket 10 as captured by the stereo camera, which is the object detection device 54. Alternatively, the control device 240 can calculate the reduction ratio Pd of the transported material based on the shape of the transported material (excavated material) released into the cargo box 201, as detected by the object detection device 54. If the transported material is released into the cargo box 201, a mound of soil containing the transported material is formed within the cargo box 201 corresponding to the release. Therefore, the control device 240 can infer the extent to which the transported material is released from the shape detected by the object detection device 54. When the reduction ratio Pd of the transported material reaches a predetermined ratio P2, the control device 240 determines that the slewing start condition is met and outputs a slewing start command.

[0162] Thus, in this modified example, the control device 240 determines whether the slewing start condition is met based on the movement of the excavated object in the bucket 10 detected by the object detection device 54, or the shape of the excavated object released into the cargo box 201 detected by the object detection device 54. With this configuration, the transported object information acquisition device 258 can be omitted.

[0163] <Third Implementation> Reference Figures 24-26 This section describes a hydraulic excavator 1 according to a third embodiment of the present invention. Furthermore, for configurations identical or equivalent to those described in the first embodiment, the same reference numerals are used, and the main differences are explained. In the first embodiment, an example was described where digging, transporting, dumping, and returning operations were performed automatically. In contrast, in the third embodiment, an example was described where digging and dumping operations were performed manually, while transporting and returning operations were performed automatically.

[0164] Figure 24This is a functional block diagram of the control device 340 according to the third embodiment. The hydraulic excavator 1 of this embodiment is configured to automatically perform a transporting action after a digging action based on manual operation by the operator. The control device 340 outputs a slewing start command for the transporting action at a timed interval indicated by the operator. Furthermore, the hydraulic excavator 1 of this embodiment is configured to automatically perform a returning action after a soil-releasing action based on manual operation by the operator. The control device 340 outputs a slewing start command for the returning action at a timed interval indicated by the operator.

[0165] The control selection switch 324, based on the function of the control selection switch 24 described in the first embodiment, also has the function of selecting a semi-automatic mode. When the semi-automatic mode is set, the control device 340 controls the operation of the working device 2 according to the operating device 20 during excavation and soil dumping operations. Furthermore, during transport and return operations, regardless of the operation of the operating device 20, the control device 340 controls the operation of the working device 2 and the rotating body 7 according to the target path set by the control device 340.

[0166] The motion transfer determination unit 349 of the third embodiment sets the control mode to one of automatic mode, manual mode, and semi-automatic mode based on the operation command from the control selection switch 324. Furthermore, when automatic mode is set, the motion transfer determination unit 349, similar to the first embodiment, determines that the motion transfer condition is met when the front end of the bucket 10 reaches the completion position of the target path.

[0167] When the operation transfer determination unit 349 sets up semi-automatic mode and performs a digging action based on the operation device 29, and the operation device 29 returns to the neutral position, it determines that the operation transfer condition from digging to transporting action has been met. Similarly, when the operation transfer determination unit 349 sets up semi-automatic mode and performs a soil-releasing action based on the operation device 29, and the operation device 29 returns to the neutral position, it determines that the operation transfer condition from soil-releasing action to return action has been met. Furthermore, when any one of the stick 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 reaches or exceeds the operation determination threshold, and any one of the stick operation amount, boom operation amount, and bucket operation amount falls below the neutrality determination threshold, it determines that the operation device 29 has returned to the neutral position after performing a digging or soil-releasing action based on the operation device 29.

[0168] The rotation start determination unit 343 in the third embodiment determines, based on the determination result of the action transfer determination unit 349, which of the following actions is currently in progress: excavation, transportation, soil placement, or return. Furthermore, the rotation start determination unit 343 determines that a rotation operation has been performed if the rotation operation amount detected by the operation amount sensor 52b of the operation detection device 56 is above the operation determination threshold.

[0169] When the rotation start determination unit 343 performs a rotation operation during excavation, it determines that the rotation start condition is met. Similarly, when the rotation start determination unit 343 performs a rotation operation during soil dumping, it also determines that the rotation start condition is met. Thus, in this third embodiment, the rotation operation device 28 also functions as a rotation start operation device that instructs the start of rotation of the automatically operating rotating body 7 during excavation or soil dumping.

[0170] Reference Figure 25 as well as Figure 26 This describes an example of the processing flow executed by the control device 340 of the third embodiment. Figure 25 This is a flowchart illustrating an example of the processing performed by the control device 340 based on the third embodiment, showing the processing flow from the start of the excavation operation to the completion of the transport operation. Figure 26 This is a flowchart illustrating an example of processing performed by the control device 340 according to the third embodiment, showing the processing flow from the start of the soil-releasing operation to the completion of the return operation.

[0171] Figure 25 In the flowchart, instead Figure 10 The processing of steps S101 to S104 in the flowchart is followed by the processing of steps S301 and S302. Additionally, Figure 25 In the flowchart, instead Figure 10 The process of step S106 in the flowchart is followed by the process of step S303. Figure 26 In the flowchart, instead Figure 11 The processing of steps S109 to S113 in the flowchart is followed by the processing of steps S304 and S305. Additionally, Figure 26 In the flowchart, instead Figure 11 The process of step S115 in the flowchart is followed by the process of step S306.

[0172] like Figure 25As shown, in step S301, if the control mode is set to semi-automatic mode via the control selection switch 24, the action transfer determination unit 349 sets the control mode to semi-automatic mode. If semi-automatic mode is set, the actuator command unit 48 starts the digging action based on the work device 2 based on the target speed corresponding to the operation amount of the work operation device 29.

[0173] The subsequent step S302 involves determining whether the rotation start condition is met. In step S302, the rotation start determination unit 343 determines whether a rotation operation has been performed. If the rotation start determination unit 343 determines that a rotation operation has been performed, it determines that the rotation start condition is met and proceeds to step S105. The process of step S302 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained. That is, the control device 340 repeatedly executes the process of step S302 until a rotation operation is performed.

[0174] In step S105, the transport control unit 45 outputs a rotation start command for the transport action of the rotating body 7. In the subsequent step S303, the action transfer determination unit 49 determines whether the action transfer condition from the digging action to the transport action is met. If the operating device 29 returns to the neutral position (in this embodiment, both the right operating lever 22a and the left operating lever 22b are in the neutral position), the action transfer determination unit 49 determines that the action transfer condition from the digging action to the transport action is met, and the process proceeds to step S107. If the operating device 29 does not return to the neutral position (in this embodiment, at least one of the right operating lever 22a and the left operating lever 22b is not in the neutral position), the action transfer determination unit 49 determines that the action transfer condition from the digging action to the transport action is not met. The process in step S303 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained.

[0175] Figure 25 The processing of steps S107 and S108 is the same as in the first embodiment (refer to...). Figure 10 Similarly, the explanation is omitted.

[0176] If the moving action is completed ( Figure 25 Step S108), then to Figure 26 The process proceeds to step S304. In step S304, the actuator command unit 48 starts the soil-releasing action based on the working device 2, according to the target speed corresponding to the operating amount of the working device 29.

[0177] The subsequent step S305 is the same as the step S302, which involves determining whether the rotation start condition is met. In step S305, the rotation start determination unit 343 determines whether a rotation operation has been performed. If a rotation operation has been performed, the rotation start determination unit 343 determines that the rotation start condition is met and proceeds to step S114. The process of step S305 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained. That is, the control device 340 repeatedly executes the process of step S305 until a rotation operation is performed.

[0178] In step S114, the transport control unit 45 outputs a rotation start command for the return motion of the rotating body 7. In the subsequent step S306, the motion transfer determination unit 49 determines whether the motion transfer condition from the soil-releasing motion to the return motion is met. If the operating device 29 returns to the neutral position (in this embodiment, both the right operating lever 22a and the left operating lever 22b are in the neutral position), the motion transfer determination unit 49 determines that the motion transfer condition from the soil-releasing motion to the return motion is met, and the process proceeds to step S116. If the operating device 29 does not return to the neutral position (in this embodiment, at least one of the right operating lever 22a and the left operating lever 22b is not in the neutral position), the motion transfer determination unit 49 determines that the motion transfer condition from the soil-releasing motion to the return motion is not met. The process in step S306 is repeatedly executed at a predetermined calculation cycle until a positive determination is obtained.

[0179] Figure 26 The processing of steps S116 and S117 is the same as in the first embodiment (refer to...). Figure 11 Similarly, the explanation is omitted.

[0180] The main operations of the hydraulic excavator 1 according to this third embodiment will be explained. The operator operates the work operation device 29 to perform the digging operation based on the work device 2 (step S301). When the digging operation is progressing to a certain extent, the operator operates the slewing operation device 28, and the control device 340 outputs a slewing operation start command for the handling operation (steps S302, S105).

[0181] If the operator returns the operating device 29 to the neutral position, the control device 340 determines that the excavation action has been completed and causes the operating device 2 to move along the target path CPT (steps S303, S107, S108).

[0182] After the automatic transport action is completed, the operator operates the work operation device 29 to perform the soil release action based on the work device 2 (step S304). During the stage where the soil release action is progressing to a certain extent, the operator operates the slewing operation device 28, and the control device 340 outputs a slewing action start command for the return action (steps S305, S114, S117).

[0183] If the operator returns the working device 29 to the neutral position, the control device 340 determines that the soil-releasing action has been completed, and causes the working device 2 to move along the target path RPT (steps S306, S116).

[0184] Thus, in this third embodiment, there is a rotation operation device (rotation start operation device) 28, which is operated by an operator to indicate the start of rotation of the rotating body 7, and a work operation device 29, which is operated by an operator to activate the work device 2. The control device 340 activates the work device 2 according to the operation of the work operation device 29. When the rotation of the rotating body 7 has stopped and the work device 2 is operating according to the operation of the work operation device 29, the control device 340 determines whether the rotation start condition is met. If the rotation operation device 28 indicates the start of rotation of the rotating body 7, the control device 340 determines that the rotation start condition is met.

[0185] According to this third embodiment, during the process of the operator manually performing digging and soil-releasing actions based on the working device 2, the control device 340 can output a slewing action start command for the transport and return actions based on the operator's intention.

[0186] <Modification 1 of the third embodiment> The hydraulic excavator 1 of the third embodiment describes a configuration in which digging and dumping actions are performed based on operator manual operation, and transporting and returning actions are performed automatically. However, the hydraulic excavator 1 can also be configured to perform only digging actions based on operator manual operation, while automatically performing transporting, dumping, and returning actions. Alternatively, the hydraulic excavator 1 can be configured to perform only dumping actions based on operator manual operation, while automatically performing digging, transporting, and returning actions. Furthermore, the hydraulic excavator 1 can be configured to automatically perform any one of the following actions: digging, transporting, dumping, or returning. In this case, the hydraulic excavator 1 can be configured such that the operator only gives the instruction at the timing of outputting the slewing start command for the transporting and returning actions.

[0187] For example, a control device can replace Figure 10 The processing steps S102 to S104 are executed. Figure 25The processing in step S302. Alternatively, a control device can also replace... Figure 11 The processing steps S110 to S113 are executed. Figure 26 The processing of step S305.

[0188] In this modified example, the control device 340 determines whether the rotation start condition is met when the rotation of the rotating body 7 has stopped and the working device 2 is in operation. The control device 340 determines that the rotation start condition is met when the rotation of the rotating body 7 is instructed to begin by the rotation operation device 28. According to this configuration, not only during manual operation by the operator, but also during excavation and soil-releasing operations performed automatically based on the control device 340, the control device 340 can output rotation start commands for transport and return operations based on the operator's intention.

[0189] <Modification 2 of the third embodiment> In the third embodiment, the rotary start operation device for indicative of the start of rotation of the rotary body 7 is described as an example of rotary operation device 28. However, the rotary start operation device is not limited to this. For example, the rotary start operation device may also be an operation device different from the operation devices 20 and 21, such as an operation switch provided on the operation levers 22a and 22b.

[0190] The following variations are also within the scope of the present invention. It is also possible to combine the configuration shown in the variations with the configuration described in the above embodiments, or to combine the configurations described in the different embodiments described above with each other, or to combine the configurations described in the different variations below.

[0191] <Variation Example 1> The above embodiments illustrate an example where the container for loading excavated material from the working device 2 is the cargo box 201 of a transport vehicle, but the present invention is not limited thereto. The present invention can also be applied to cases where excavated material is loaded into a container mounted on a conveyor belt or other loading machinery.

[0192] <Variation Example 2> The above embodiment describes a backhoe excavator with the bucket 10 mounted rearward at the front end of the boom 9 as an example of the working machine, but the present invention is not limited thereto. The working machine may also be a loader excavator with the bucket 10 mounted forward at the front end of the boom 9.

[0193] The above describes the embodiments of the present invention. However, the above embodiments are merely examples of applicable examples of the present invention and are not intended to limit the scope of the present invention to the specific configurations of the above embodiments. Explanation of reference numerals in the attached figures

[0194] 1…Hydraulic excavator (operating machinery), 2…Working device, 3…Body, 5…Travel body, 6…Swing hydraulic motor (hydraulic actuator), 7…Swing body, 8…Boom (driving object component), 9…Stick (driving object component), 10…Bucket (driving object component), 11…Boom cylinder (hydraulic cylinder, hydraulic actuator), 12…Stick cylinder (hydraulic cylinder, hydraulic actuator), 13…Bucket cylinder (hydraulic cylinder, hydraulic actuator), 14…Boom angle sensor (attitude sensor), 15…Stick angle sensor (attitude sensor), 17…Bucket angle sensor (attitude sensor), 18…Tilt angle sensor (attitude sensor), 19…Swing angle sensor (… 20, 21…Operating device, 24…Control selection switch, 28…Rotation operating device (rotation start operating device), 29…Working operating device, 40…Control device, 41…Posture calculation unit, 42…Object position calculation unit, 43…Rotation start judgment unit, 44…Excavation control unit, 45…Transportation control unit, 46…Soil release control unit, 47…Return control unit, 48…Actuator command unit, 49…Motion transfer judgment unit, 50…Hydraulic drive system, 51…Solenoid proportional valve, 52…Operating quantity sensor, 53…Posture detection device, 54…Object detection device (hopper position detection device), 55…Operating oil temperature sensor, 56…Operating detection… 57…Input device, 200…Loaded machinery, 201…Cargo box (container, hopper), 240…Control device, 258…Transported material information acquisition device, 324…Control selection switch, 340…Control device, 343…Slewing start judgment unit, 349…Motion transfer judgment unit, 400…Motion control unit, CP1…Transportation start position, CP2…Transportation completion position, CPT…Target path, DP1…Excavation start position, DP2…Excavation completion position, DPT…Target path, LP1…Soil release start position, LP2…Soil release completion position, LPT…Target path, P1…Specified ratio, P2…Specified ratio, Pd…Reduction of transported material Ratio, RP1…Return to start position, RP2…Return to finish position, RPT…Target path, T…Ground angle conversion table (data table), t1, t1c, t1r…Time 1, t2, t2c, t2r…Time 2, t3r…Time 3, Tc1, Tc2…Modified ground angle conversion table, W…Weight, W0…Weight before soil placement, W1, W2…Specified weight, Wt…Target excavation volume, γ…Ground angle, γ1c…Excavation completion angle (action completion angle), γ1r…Soil placement completion angle (action completion angle), γ2, γc21, γc22…Ground angle threshold, γt…Target value of ground angle, θsw…Rotation angle.

Claims

1. A type of operating machinery, comprising: Vehicle; A rotating body that is rotatable relative to the traveling body; An operating device installed on the rotating body and having a boom, stick, and bucket; An attitude detection device for detecting the attitude of the rotating body and the attitude of the working device; A bucket position detection device for detecting the position of the bucket of a loaded machine loaded with excavated material from the working device; and Based on the detection results of the posture detection device and the cargo bin position detection device, a control device is established to automatically rotate the rotating body to the target rotation angle, i.e., the rotation completion angle. The operating machinery is characterized in that... The control device determines, based on the rotational motion state of the rotating body and the operational state of the working device, whether the conditions for initiating the automatic rotation control of the rotating body are met. When the control device determines that the slewing start condition is met, regardless of whether the working device is in operation, it outputs a slewing start command at the time when the slewing start condition is met, causing the slewing body to start slewing towards the slewing completion angle.

2. The operating machinery according to claim 1, characterized in that, The control device calculates the angle of the bucket relative to the ground based on the detection results of the posture detection device. The control device causes the working device to operate automatically until the angle of the bucket relative to the ground reaches the angle at which the operation is completed. The control device determines whether the slewing start condition is met when the slewing action of the slewing body stops and the working device automatically moves in a manner that makes the angle of the bucket relative to the ground approach the angle at which the action is completed.

3. The operating machinery according to claim 2, characterized in that, If the control device predicts that the slewing start command will be output at the current time point, and the slewing of the slewing body will begin after the angle of the bucket relative to the ground reaches the completion angle of the action, then it determines that the slewing start condition is met.

4. The operating machinery according to claim 2, characterized in that, The control device calculates the first time from the output of the start command for the rotational motion to the start of the rotational motion of the rotating body. The control device calculates the second time from the current time point until the angle of the bucket relative to the ground reaches the angle at which the action is completed. If the second time is shorter than the first time, the control device determines that the rotation start condition is met.

5. The operating machinery according to claim 2, characterized in that, The angle at which the action is completed is the angle at which the working device releases the excavated material from the bucket above the cargo hopper. If the control device predicts that if the slewing start command is output at the current time, the slewing of the slewing body will begin before the angle of the bucket relative to the ground reaches the completion angle of the action, and the bucket will begin to exit the cargo bucket after the angle of the bucket relative to the ground reaches the completion angle of the action, then the slewing start condition is determined to be met.

6. The operating machinery according to claim 5, characterized in that, The control device calculates the first time from the output of the start command for the rotational motion to the start of the rotational motion of the rotating body. The control device calculates the second time from the current time point until the angle of the bucket relative to the ground reaches the angle at which the action is completed. The control device calculates the third time from the start of the rotation of the slewing body until the bucket begins to exit the cargo bin. If the second time is shorter than the sum of the first time and the third time, the control device determines that the slewing start condition is met.

7. The operating machinery according to claim 1, characterized in that, The control device determines that the slewing start condition is met when the weight of the excavated material in the bucket reaches a predetermined weight.

8. The operating machinery according to claim 1, characterized in that, The control device obtains the weight of the excavated material inside the bucket. If the weight of the excavated material in the bucket reaches a predetermined weight, the control device determines that the slewing start condition has been met.

9. The operating machinery according to claim 7, characterized in that, When the rotation of the rotating body has stopped and the working device is operating to excavate the object, the control device determines whether the rotation start condition is met. When the weight of the excavated material in the bucket increases to the predetermined weight, the control device determines that the slewing start condition has been met.

10. The operating machinery according to claim 7, characterized in that, When the slewing motion of the rotating body stops and the working device is in operation to release the excavated material, the control device determines whether the slewing start condition is met. When the weight of the excavated material in the bucket is reduced to the predetermined weight due to the release of a predetermined proportion of the weight before the release action, the control device determines that the slewing start condition has been met.

11. The operating machinery according to claim 10, characterized in that, It has an input device capable of inputting the specified ratio. The control device has a data table that specifies the relationship between the ratio of the weight of the excavated material released from the bucket to the weight of the excavated material before it was released from the bucket and the angle of the bucket to the ground. The control device, referring to the data table, determines the ground angle of the bucket corresponding to the predetermined ratio input by the input device as the ground angle threshold. When the angle of the bucket to the ground reaches the ground angle threshold, the control device determines that the slewing start condition is met.

12. The operating machinery according to claim 11, characterized in that, The input device can input the soil type of the excavated material. The control device modifies the data table based on the soil properties of the excavated material input by the input device.

13. The operating machinery according to claim 10, characterized in that, The cargo bin position detection device is an object detection device for detecting objects. The control device determines whether the slewing start condition is met based on the movement of the excavated object in the bucket detected by the object detection device, or the shape of the excavated object released into the bucket detected by the object detection device.

14. The operating machinery according to claim 1, characterized in that, It has a slewing start operation device that is operated by an operator and indicates the start of slewing of the rotating body. When the rotation of the rotating body has stopped and the working device is in operation, the control device determines whether the rotation start condition is met. When the rotation of the rotating body is initiated by the rotation start operation device, the control device determines that the rotation start condition is met.

15. The operating machinery according to claim 14, characterized in that, It has a work operation device that is operated by an operator to actuate the work device. The control device determines whether the rotation start condition is met when the rotation of the rotating body has stopped and the working device is operating according to the operation of the working device. When the rotation of the rotating body is initiated by the rotation start operation device, the control device determines that the rotation start condition is met.

16. The operating machinery according to claim 6, characterized in that, The control device calculates the time required for release, from the start to the completion of the action of releasing the excavated material from the bucket. The control device calculates the second time by subtracting the elapsed time from the start of the action of releasing the excavated material from the bucket from the time required for release.

Images