Control device, construction machine, and program

Abstract

To provide a control device and the like capable of suppressing influence of a warm-up operation with respect to an operation of an actuator.SOLUTION: A control device which controls a construction machine that includes one or more actuators capable of operating based on a hydraulic pressure of a hydraulic oil flowing in an oil passage includes: a warm-up control unit for performing warm-up control by enhancing a hydraulic load of the hydraulic oil; an actuator control unit for operating at least one first actuator among the one or more actuators, based on an operation instruction; and a detection prediction unit for detecting or predicting the operation instruction. The warm-up control unit restricts warm-up control in the case where the operation instruction is detected or predicted by the detection prediction unit during the warm-up control. The actuator control unit restricts the operation of the first actuator according to the operation instruction until a predetermined restriction cancel condition is held, in the case where the warm-up control is restricted by the warm-up control unit based on the detection or prediction result by the detection prediction unit.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control device, a construction machine, and a program. [Background technology]

[0002] Cited Document 1 discloses a warm-up device that starts a warm-up operation when the hydraulic oil temperature or the engine coolant temperature is lower than a predetermined value in order to warm up the engine at low temperatures. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-074011 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional technology, when the lever operation is detected, the hydraulic load is cut off and the warm-up operation is cancelled, and at the same time, the operation according to the lever operation is permitted. Therefore, even after the warm-up operation is cancelled, the effect of the warm-up operation remains temporarily, which may reduce the accuracy of the work.

[0005] Therefore, in one aspect, an object of the present invention is to provide a control device and the like that can suppress the effect of a warm-up operation on the operation of an actuator. [Means for solving the problem]

[0006] On one side, A control device for controlling a construction machine having one or more actuators operable based on the hydraulic pressure of hydraulic oil flowing through an oil passage, A warm-up control unit that performs warm-up control by increasing a hydraulic load of the hydraulic oil; an actuator control unit that operates at least one first actuator among the one or more actuators based on an operation instruction; A detection prediction unit that detects or predicts the operation instruction, The warm-up control unit limits the warm-up control when the operation instruction is detected or predicted by the detection prediction unit during the warm-up control, A control device is provided in which, when the warm-up control is restricted by the warm-up control unit based on the detection or prediction result by the detection prediction unit, the actuator control unit restricts the operation of the first actuator in response to the operation instruction until a predetermined restriction release condition is met. Effect of the Invention

[0007] According to the present disclosure, the effect of warm-up operation on the operation of the actuator can be suppressed. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of the configuration of a construction machine equipped with a control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram functionally illustrating the configuration of a control device according to the present embodiment. [Diagram 3] 11 is a flowchart illustrating an example of a permission flag setting process in a detection prediction unit. [Figure 4] 4 is a flowchart illustrating a warm-up control process in a warm-up control unit. [Diagram 5] 11A and 11B are diagrams illustrating an example of operation when a machine control mode is selected. [Figure 6] 10 is a flowchart illustrating an example of an operation restriction flag setting process in an actuator control unit. [Figure 7] 10 is a flowchart illustrating an example of an operation limiting process in an actuator control unit. [Figure 8] 11A and 11B are diagrams illustrating a method for limiting an increase in the output level of an actuator by correcting an operation amount of a lever. [Figure 9] 11 is a diagram illustrating a method for limiting the increase speed of the actuator output level by correcting the lever operation amount. FIG. [Figure 10]7 is a flowchart showing an operation restriction flag setting process which replaces the process shown in FIG. 6. [Figure 11] 8 is a flowchart showing an operation restriction process which is an alternative to the process shown in FIG. 7. [Figure 12] FIG. 13 is a diagram illustrating a method for correcting the lever operation amount in step S406A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Each embodiment will be described below with reference to the accompanying drawings.

[0010] FIG. 1 is a diagram illustrating the configuration of a construction machine equipped with a control device of this embodiment, and FIG. 2 is a diagram functionally illustrating the configuration of the control device of this embodiment.

[0011] 1, a construction machine equipped with the control device 10 of this embodiment includes a hydraulic oil tank 21, an engine 22, a hydraulic pump 23 driven by the engine 22, a tilt proportional valve 24 that controls the tilt of the hydraulic pump 23, a control valve 25 having a proportional valve 25a and an unloading valve 25b, and a cooler 27. The hydraulic oil circulates from the hydraulic oil tank 21 through the hydraulic pump 23, the control valve 25, and the cooler 27 in this order, returning to the hydraulic oil tank 21. A temperature sensor 31 is attached to the hydraulic oil tank 21, and outputs the temperature of the hydraulic oil in the hydraulic oil tank 21 as a detected temperature.

[0012] The control device according to the present disclosure may be applied to an electric shovel as a construction machine to perform a warm-up operation. In this case, the output may be limited not only by the hydraulic oil temperature but also by the temperature of the battery cells. Therefore, the temperature of the battery cells may be detected by a temperature sensor, and this detected temperature may be managed together with the temperature of the hydraulic oil, etc.

[0013] The control device 10 controls the engine 22, the tilt proportional valve 24, the proportional valve 25a and the unloading valve 25b based on the detected temperature from the temperature sensor 31, the lever lock signal, the lever operation signal from the operating lever 32, the operation mode signal from the mode switching unit 33, and other signals.

[0014] The lever lock signal is a signal related to a lock mechanism that locks the operation of the operating lever 32 corresponding to the lever operation signal, and the lock mechanism is provided with a view to safety, that is, to reliably stopping the operation of the work machine. Specifically, there is a method of mechanically disabling the operation of the operating lever 32 itself, and a method of cutting off the pressure source of the operating pilot valve. In the latter case, the operating lever 32 can be moved, but since the pressure source of the operating pilot valve is cut off (the hydraulic circuit is shut off), the operation command cannot be transmitted.

[0015] 1 shows only the control valve 25, in reality, a plurality of control valves may be provided according to the type of construction machine. The present disclosure is applicable to any construction machine.

[0016] As shown in FIG. 2, the control device 10 includes a warm-up control unit 11 that performs warm-up control by increasing the hydraulic load of the hydraulic oil, an actuator control unit 12 that operates actuators related to the operation of the construction machine (including a first actuator and a second actuator) based on operation instructions, and a detection and prediction unit 13 that detects or predicts the operation instructions.

[0017] FIG. 3 is a flowchart illustrating an example of a permission flag setting process in the detection prediction unit.

[0018] In step S102 in FIG. 3, the detection prediction unit 13 resets the count time of the operation timer to zero, and starts counting by the operation timer.

[0019] In step S104, the detection prediction unit 13 determines whether or not a specified operation has been performed based on the lever operation signal, the lever lock signal, and other signals, and if the determination is positive, the process proceeds to step S106, and if the determination is negative, the process proceeds to step S108.

[0020] Here, the above-mentioned predetermined operation includes an operation corresponding to an operation instruction for the construction machine or an operation for which an operation instruction for the construction machine is predicted. An operation for which an operation instruction is predicted is an operation for which there is a probability that an operation instruction for the construction machine will be issued by the operator.

[0021] For example, if the lever lock signal indicates an unlocking operation for an operation on the operating lever 32, that operation can be treated as an operation for which an operation instruction using the operating lever 32 is predicted. Also, operations corresponding to an operation instruction for the construction machine or operations for which an operation instruction is predicted can include operations on various operating levers, operations on the travel pedal (or operating lever), operations on various levers and pedals for operating the end attachment, remote operation of the construction machine, etc. Furthermore, an operation on a horn switch, which is usually performed before starting work, may be included in the operations for which an operation instruction is predicted.

[0022] Furthermore, the operations corresponding to operation instructions for the construction machine, or operations for which operation instructions for the construction machine are predicted, are not limited to manual operations, and may include automatic operations.

[0023] In step S106, the detection prediction unit 13 turns off the permission flag, and the process proceeds to step S102.

[0024] In step S108, the detection prediction unit 13 determines whether the count time of the operation timer has exceeded a predetermined value T. If the determination is affirmative, the process proceeds to step S110, and if the determination is negative, the process proceeds to step S104.

[0025] In step S110, the detection prediction unit 13 turns on the permission flag, and the process proceeds to step S104.

[0026] FIG. 4 is a flowchart illustrating a warm-up control process in the warm-up control unit.

[0027] In step S202 of FIG. 4, the warm-up control unit 11 determines, based on the operation mode signal, whether or not the machine control mode (semi-automatic or automatic mode) has been selected as the operation mode, and if the determination is affirmative, the process proceeds to step S204, whereas if the determination is negative, the process proceeds to step S230.

[0028] FIG. 5 is a diagram showing an example of operation when the machine control mode is selected.

[0029] 5 illustrates an example of the operation of a hydraulic excavator. This hydraulic excavator includes a lower traveling body 41 capable of traveling on the ground G, an upper rotating body 42 mounted on the lower traveling body 41, and a working device 50 mounted on the upper rotating body 42.

[0030] The upper rotating body 42 has a rotating frame 42a and a plurality of elements mounted thereon, including an engine room 42b that houses the engine 22 (FIG. 1) and a cab 42c that is a driver's room.

[0031] The working device 50 is capable of performing operations for excavation work and other necessary work, and includes a boom 51, an arm 52, and a bucket 53. The boom 51 is supported at the front end of the revolving frame 42a so that it can be raised and lowered, i.e., so that it can rotate about a horizontal axis. The arm 52 is attached to the tip of the boom 51 so that it can rotate about a horizontal axis. The bucket 53 is attached to the tip of the arm 52 so that it can rotate. In addition, a plurality of hydraulic cylinders serving as extendable and retractable actuators, specifically at least one boom cylinder 61, arm cylinder 62, and bucket cylinder 63, are provided corresponding to the boom 51, arm 52, and bucket 53, respectively.

[0032] The boom cylinder 61, the arm cylinder 62, and the bucket cylinder 63 are contracted to raise the boom, pull the arm, and open the bucket, respectively. On the other hand, the boom cylinder 61, the arm cylinder 62, and the bucket cylinder 63 are extended to lower the boom, push the arm, and close the bucket, respectively.

[0033] When the machine control mode is selected, for example, automatic control corresponding to the target construction surface G1 is executed by simple manual operation. For example, when the arm is pulled by manual lever operation, the boom raising and lowering operation and the bucket opening and closing operation are automatically controlled. That is, the boom cylinder 61 (second actuator) and the bucket cylinder 63 (second actuator) are controlled to expand and contract in response to the expansion and contraction operation of the arm cylinder 62 (first actuator) following the manual operation. As a result, for example, automatic control (semi-automatic control) is executed in which the tip (lower end) of the bucket 53 excavates the ground G along the target construction surface G1 by simply performing a manual operation to pull the arm 52.

[0034] The content of the automatic control (semi-automatic control) is arbitrary, and the type of construction machine to which the automatic control (semi-automatic control) is applied is also arbitrary. One example of automatic control (semi-automatic control) is control in which excavation operations are taught in advance and the movements according to the teaching are performed a specified number of times or for a specified period of time.

[0035] Next, in step S204 in FIG. 4, the warm-up control unit 11 determines whether or not the permission flag is on. If the determination is affirmative, the process proceeds to step S206, and if the determination is negative, the process proceeds to step S202.

[0036] In step S206, the warm-up control unit 11 acquires the detected temperature from the temperature sensor 31.

[0037] In step S208, the warm-up control unit 11 determines whether the detected temperature is less than a predetermined value Th1 (for example, 30° C.), and if the determination is affirmative, the process proceeds to step S208A, whereas if the determination is negative, the process proceeds to step S210.

[0038] In step S208A, the warm-up control unit 11 sets the warm-up target horsepower for the warm-up operation to horsepower F1, and proceeds to step S220. Here, the warm-up operation is performed by increasing the flow rate of the hydraulic oil or increasing the pressure of the hydraulic oil. The flow rate of the hydraulic oil can be increased by increasing the tilt of the hydraulic pump 23 or increasing the rotation speed of the engine 22. The pressure of the hydraulic oil can be increased by throttling an unloading valve (unloading valve 25b, etc.) and flowing the hydraulic oil to a portion where the spool opening is narrowed. In addition to increasing the hydraulic load during the warm-up operation, warm-up may be performed by controlling the cooling fan to reduce or stop the rotation speed. In this way, the effect of warm-up can be improved compared to the case where only the hydraulic load is controlled.

[0039] In step S210, the warm-up control unit 11 determines whether the detected temperature is less than a predetermined value Th2 (for example, 60° C.), and if the determination is affirmative, the process proceeds to step S210A, whereas if the determination is negative, the process proceeds to step S230. Here, the predetermined value Th2 is a value (temperature) higher than the predetermined value Th1.

[0040] In step S210A, the warm-up control unit 11 sets the warm-up target horsepower for the warm-up operation to horsepower F2, and the process proceeds to step S220. Here, the horsepower F2 is a value (horsepower) lower than the horsepower F1.

[0041] In step S220, the warm-up control unit 11 turns on a warm-up flag, and the process proceeds to step S202.

[0042] In step S230, the warm-up control unit 11 limits the warm-up operation. For example, the warm-up operation can be stopped here.

[0043] Furthermore, if it is necessary to continue the warm-up operation, in step S230, instead of stopping the warm-up operation, the warm-up target horsepower can be suppressed to a value smaller than the horsepower F2. In this embodiment, the limitation of the warm-up operation is aimed at operating the actuators appropriately in the machine control mode. Therefore, the limitation of the warm-up operation in step S230 corresponds to a condition that can obtain a state in which the actuators can operate appropriately in accordance with the machine control mode.

[0044] In step S232, the warm-up control unit 11 turns off the warm-up flag, and the process proceeds to step S202.

[0045] In this manner, in this embodiment, when an operation command is detected or predicted during warm-up control, the warm-up control is restricted. Therefore, it is possible to automatically control the presence or absence and intensity of warm-up operation. For example, it is possible to perform warm-up operation regardless of whether a specific operation is prohibited by a lock mechanism.

[0046] In addition, in this embodiment, when the machine control mode, which requires accurate operation, is selected, a warm-up operation is performed. Here, when the machine control mode is selected, it is necessary to move the attachment according to the expected trajectory. For example, when the proportional valve is at a low temperature, the dynamic characteristics of the proportional valve change from those at normal temperature, and the response to the controller's instruction is fast / slow, and the behavior of the attachment when it starts moving is not as intended. For example, the viscosity of the hydraulic oil increases at low temperatures, and the response may be fast. In this embodiment, the operation can be stabilized by controlling the hydraulic oil temperature to a predetermined value or higher through warm-up control. Therefore, the accuracy of the work in the machine control mode can be improved.

[0047] Furthermore, when the machine control mode is not selected, the warm-up operation is stopped or suppressed, thereby making it possible to suppress energy consumption (fuel consumption).

[0048] In addition, in this embodiment, when the machine control mode is selected, a plurality of stages of warm-up target horsepower are set according to the detected temperature. This makes it possible to stabilize the temperature of the hydraulic oil. For example, in the example of FIG. 4, the temperature of the hydraulic oil can be stabilized between 30 and 60°C. Also, while the warm-up target horsepower is set to horsepower F2, the temperature of the hydraulic oil is kept warm, for example, between 30 and 60°C, so that the hydraulic load does not fluctuate greatly depending on whether the warm-up operation is on or off, and the hydraulic load can be applied continuously. In the example of FIG. 4, the temperature of the hydraulic oil is detected, but control may be performed based on the temperature of an object that can receive heat from the hydraulic oil flowing through the oil passage. For example, as shown in FIG. 1, similar control may be performed based on the detected temperatures of temperature sensor 31A attached to hydraulic pump 23, temperature sensor 31B attached to engine 22, and temperature sensor 31C attached to proportional valve 25a. In particular, proportional valves (proportional valve 25a, etc.) are prone to differ in how easily they warm up depending on their layout, and the temperature difference affects their responsiveness. For example, when the viscosity (temperature dependent) of the hydraulic oil increases, the spool is less likely to move, but the hydraulic pressure is more likely to rise. There is also an effect of the electromagnetic force (temperature dependent of the conductor) of the proportional valve body. As a result, if the boom-raising proportional valve is at an appropriate temperature but the boom-lowering proportional valve remains at a low temperature, a phenomenon may occur in which the dynamic behavior of the raising and lowering is significantly different. Therefore, in such a case, for example, by performing control based on the detected temperatures of all proportional valves, problems caused by the temperature difference of the proportional valves can be avoided.

[0049] 6 is a flow chart illustrating an example of an operation restriction flag setting process in the actuator control section. In this embodiment, the transition of the operation restriction flag from on to off corresponds to the establishment of the restriction release condition.

[0050] In step S302 in FIG. 6, the actuator control section 12 resets the count time of the elapsed time counter to zero, and starts counting by the elapsed time counter.

[0051] In step S304, actuator control section 12 determines whether or not the warm-up flag is on, and if the determination is affirmative, proceeds to step S306, whereas if the determination is negative, proceeds to step S308.

[0052] In step S306, the actuator control section 12 turns on the operation restriction flag, and the process proceeds to step S302.

[0053] In step S308, actuator control section 12 determines whether or not the count time of the elapsed time counter has exceeded a predetermined time T0, and if the determination is affirmative, proceeds to step S310, whereas if the determination is negative, proceeds to step S304.

[0054] In step S310, the actuator control section 12 turns off the operation restriction flag, and the process proceeds to step S302.

[0055] 6, when the warm-up flag is on, the operation restriction flag is turned on (step S306). Also, when the operation restriction flag is off and a predetermined time T0 has elapsed since the operation restriction flag was switched from on to off, the operation restriction flag is turned off (step S310).

[0056] FIG. 7 is a flowchart illustrating an operation restriction process in the actuator control section.

[0057] 7, the actuator control section 12 judges whether or not the lever has been operated based on the lever operation signal, and when the judgment is affirmative, the process proceeds to step S404. If the judgment is negative, step S402 is repeated.

[0058] In step S404, the actuator control section 12 judges whether or not the operation restriction flag is on, and if the judgement is affirmative, the process proceeds to step S406, whereas if the judgement is negative, the process proceeds to step S408.

[0059] In step S406, the actuator control section 12 corrects the operation amount indicated by the lever operation signal.

[0060] In step S408, the actuator control section 12 executes an operation of the actuator corresponding to the amount of operation, and the process proceeds to step S402.

[0061] In this manner, in the operation restriction process shown in FIG. 7, when the operation restriction flag is on, the operation amount indicated by the lever operation signal is corrected (step S406), thereby restricting the operation of the actuator (step S408). For example, as illustrated with reference to FIG. 5, even if the lever operation is performed to attract the arm 52, when the operation restriction flag is on, the operation amount indicated by the lever operation signal is corrected. This makes it possible to avoid the occurrence of a sudden operation unintended by the operator. That is, if the lever operation is performed before the hydraulic pressure increased by the warm-up control (warm-up operation) drops to the pressure in the normal state where the warm-up operation is not performed, a movement larger than normal may occur. However, according to this embodiment, the operation is restricted until the predetermined time T0 has elapsed after the operation restriction flag is switched from on to off. Therefore, a sudden operation against the operator's intention before the hydraulic pressure drops to the pressure in the normal state is effectively suppressed.

[0062] On the other hand, if the operation restriction flag is off, the operation of the actuator follows the lever operation signal without correcting the operation amount indicated by the lever operation signal (step S408), that is, the operation of the actuator is not restricted.

[0063] Fig. 8 is a diagram illustrating a method for limiting the increase in the actuator output level by correcting the lever operation amount. In Fig. 8, the horizontal axis shows the lever operation amount indicating the width (amount) of the actual manual movement of the lever, and the vertical axis shows the corrected operation amount after the lever operation amount is corrected (step S406).

[0064] 8, when the operation restriction flag is off and therefore the lever operation amount is not corrected (step S406), the corrected operation amount coincides with the lever operation amount, as shown by a straight line 70. For example, if the lever operation amount is 100%, the corrected operation amount is also 100%.

[0065] On the other hand, when the operation limit flag is on, as shown by the broken line 71 in FIG. 8, the operation can be limited by setting an upper limit value 71a for the amount of operation after correction. In this embodiment, if the amount of operation of the lever is equal to or less than the upper limit value 71a, the amount of operation after correction matches the amount of operation of the lever. However, if the amount of operation of the lever exceeds the upper limit value 71a, the amount of operation after correction is maintained at the upper limit value 71a. In this case, for example, even if the amount of operation of the lever is 100%, the amount of operation after correction will be less than 100%.

[0066] Furthermore, when the operation restriction flag is on, the operation may be restricted by suppressing the ratio (operation sensitivity) of the corrected operation amount to the lever operation amount, as shown by the straight line 72 in Fig. 8. In this case as well, even if the lever operation amount is 100%, for example, the corrected operation amount will be less than 100%.

[0067] Furthermore, when the operation restriction flag is on, as shown by a straight line 73 in FIG. 8, the lever operation may be invalidated and the corrected operation amount may be set to zero regardless of the lever operation amount.

[0068] After the operation restriction flag is turned off, the degree of operation restriction may be gradually or continuously weakened to transition to a state in which the corrected operation amount coincides with the lever operation amount. For example, in FIG. 8, the operation sensitivity may be transitioned from the value indicated by line 73 to the state indicated by line 72 and the value indicated by line 72A, in order, and then to the value indicated by line 70. By gradually or continuously transitioning the degree of operation restriction, it is possible to improve operability. The same effect can be obtained when the upper limit value 71a is increased gradually or continuously.

[0069] 9 is a diagram illustrating a method for limiting the increase speed of the actuator output level by correcting the lever operation amount, in which the horizontal axis represents the elapsed time, and the vertical axis represents the lever operation amount and the corrected lever operation amount.

[0070] In FIG. 9, a curve 80 indicates the lever operation amount, and a straight line 81 and a broken line 82 indicate the corrected operation amount.

[0071] When a sudden lever operation is performed as shown by curve 80 in Fig. 9, the increase rate of the actuator output level can be limited by suppressing the increase rate of the corrected manipulated variable to a certain value or less, as shown by straight line 81. Furthermore, as shown by broken line 82, in addition to suppressing the increase rate of the corrected manipulated variable to a certain value or less, an upper limit value 82a may be set for the corrected manipulated variable.

[0072] In this way, by suppressing the rate of increase in the corrected manipulated variable, it is possible to limit the rate of increase in the output level of the actuator.

[0073] Fig. 10 is a flow chart showing an operation restriction flag setting process which replaces the process shown in Fig. 6. Below, the parts which differ from the process in Fig. 6 will be described.

[0074] 10, it is determined whether the hydraulic pressure on the output port side of the hydraulic pump 23 is smaller than a predetermined pressure value P0, and if the determination is affirmative, the process proceeds to step S310, and if the determination is negative, the process proceeds to step S304. The hydraulic pressure on the output port side of the hydraulic pump 23 can be obtained by attaching a pressure sensor to the output port side of the hydraulic pump 23.

[0075] Here, the pressure value P0 corresponds to the upper limit of the hydraulic pressure that allows proper operation of the actuator in accordance with the machine control mode.

[0076] In the operation restriction flag setting process shown in Fig. 6, the operation restriction flag is turned off on the condition that the time elapsed since the warm-up flag was switched from on to off exceeds a predetermined time T0 (step S308 in Fig. 6). In contrast, in the operation restriction flag setting process shown in Fig. 10, the operation restriction flag is turned off on the condition that the hydraulic pressure on the output port side of the hydraulic pump 23 decreases (the hydraulic pressure decreases to a pressure value P0) (step S308A in Fig. 10). As a result, in the operation restriction flag setting process shown in Fig. 10, the operation restriction flag can be turned off at a more appropriate timing than the process in Fig. 6.

[0077] Fig. 11 is a flowchart showing an operation restriction process replacing the process shown in Fig. 7. The operation restriction process shown in Fig. 11 is effective when combined with the operation restriction flag setting process shown in Fig. 10, but it can also be combined with the operation restriction flag setting process shown in Fig. 6.

[0078] The operational restriction process in FIG. 11 that differs from the process in FIG. 7 will be described below.

[0079] In step S406A in FIG. 11, the actuator control section 12 corrects the operation amount indicated by the lever operation signal based on the hydraulic pressure on the output port side of the hydraulic pump 23.

[0080] Fig. 12 is a diagram illustrating a method for correcting the lever operation amount in step S406A. In Fig. 12, the horizontal axis shows the lever operation amount indicating the width (amount) of the actual manual movement of the lever, and the vertical axis shows the corrected operation amount after the lever operation amount is corrected (step S406A).

[0081] 12, when the operation restriction flag is off and therefore the lever operation amount is not corrected (step S406), the corrected operation amount coincides with the lever operation amount, as shown by a straight line 70. For example, if the lever operation amount is 100%, the corrected operation amount is also 100%.

[0082] On the other hand, when the operation restriction flag is on, for example, one of the straight lines 74, 75, 76 with different slopes (operation sensitivity) in the graph of FIG. 12 is selected depending on the hydraulic pressure on the output port side of the hydraulic pump 23.

[0083] In this example, for example, when the hydraulic pressure on the output port side of the hydraulic pump 23 is equal to or greater than pressure value P1, a correction is made according to line 74. Here, pressure value P1>pressure value P0. Also, when the hydraulic pressure on the output port side of the hydraulic pump 23 is equal to or greater than pressure value P2, a correction is made according to line 75. Here, pressure value P2>pressure value P1. Also, when the hydraulic pressure on the output port side of the hydraulic pump 23 is equal to or greater than pressure value P3, a correction is made according to line 76. Here, pressure value P3>pressure value P2.

[0084] In this way, the higher the hydraulic pressure on the output port side of the hydraulic pump 23, the lower the operation sensitivity, i.e., the stronger the degree of restriction on the operation of the actuator. Therefore, an appropriate corrected operation amount according to the hydraulic pressure on the output port side of the hydraulic pump 23 can be obtained, so that the output level of the actuator can be optimized.

[0085] Instead of varying the degree of restriction on the actuator operation according to the actual measured value of the hydraulic pressure on the output port side of the hydraulic pump 23, the degree of restriction on the actuator operation may be varied according to the immediately preceding warm-up target horsepower. For example, in the warm-up control process shown in Fig. 4, when the warm-up target horsepower is set to horsepower F1 (step S208A), the degree of restriction on the actuator operation can be made stronger than when the warm-up target horsepower is set to horsepower F2 (step S210A). This makes it possible to optimize the degree of restriction on the actuator operation.

[0086] As described above, in this embodiment, when an operation instruction is detected or predicted during warm-up control, the warm-up control is restricted. Therefore, it is possible to automatically control the presence or absence and intensity of warm-up operation. For example, it is possible to perform warm-up operation regardless of whether a specific operation is prohibited by a lock mechanism. Furthermore, in this embodiment, when the warm-up control is restricted, the operation of the first actuator in response to the operation instruction is restricted until a predetermined restriction release condition is met. Therefore, it is possible to effectively suppress the influence of the warm-up operation on the operation of the first actuator.

[0087] In the present invention, the type (function) of the first actuator whose operation is limited and the type (function) of the actuator whose operation is not limited may be combined arbitrarily. For example, the operation of each actuator that controls the angle of the boom, arm, and bucket as the first actuator may be limited, while the operation of the actuator (third actuator) related to the traveling of the construction machine (i.e., the operation of the lower traveling body 41) may be controlled so as not to be limited. In this case, by limiting the operation of the first actuator related to the angle of the boom, arm, and bucket, it is possible to ensure the accuracy required for the work while suppressing the operator's discomfort with the traveling operation. In addition, as described above, the first actuator is not limited to one.

[0088] Although each embodiment has been described above in detail, the present invention is not limited to the specific embodiment, and various modifications and changes are possible within the scope of the claims. In addition, it is also possible to combine all or a plurality of the components of the above-described embodiments. [Explanation of symbols]

[0089] 10 Control device 11 Warm-up control section 12 Actuator control section 13 Detection prediction section 61 Boom cylinder 62 Arm Cylinder 63 Bucket Cylinder

Claims

1. A control device for controlling a construction machine having one or more actuators operable based on hydraulic pressure of hydraulic oil flowing through an oil passage, A warm-up control unit that performs warm-up control by increasing the hydraulic load of the hydraulic oil; an actuator control unit that operates at least one first actuator among the one or more actuators based on an operation instruction; A detection prediction unit that detects or predicts the operation instruction, The warm-up control unit limits the warm-up control when the operation instruction is detected or predicted by the detection prediction unit during the warm-up control, A control device in which, when the warm-up control unit restricts the warm-up control based on the detection or prediction result by the detection prediction unit, the actuator control unit restricts the operation of the first actuator in response to the operation instruction until a predetermined restriction release condition is met.

2. The control device according to claim 1 , wherein the restriction on the operation of the first actuator includes prohibiting the operation of the first actuator, or restricting an increase amount or an increase speed of an output level of the first actuator in response to the operation instruction.

3. The control device according to claim 1 , wherein the actuator control section changes a degree of restriction on the operation of the first actuator in a manner that the degree of restriction becomes stronger as the hydraulic pressure of the hydraulic oil at the time when the warm-up control is restricted becomes higher.

4. 2. The control device according to claim 1, wherein the predetermined restriction release condition is related to at least one of the elapse of time since the warm-up control is restricted and a decrease in hydraulic pressure of the hydraulic oil after the warm-up control is restricted.

5. The control device according to claim 1, wherein the warm-up control unit executes the warm-up control based on at least one of temperature information of the hydraulic oil and temperature information of an object to be heated that can receive heat from the hydraulic oil flowing through the oil passage, so that the temperature of at least one of the hydraulic oil and the object to be heated is maintained within a predetermined range.

6. 2. The control device according to claim 1, wherein the warm-up control unit executes the warm-up control based on two or more stages of warm-up target values ​​using at least one of a hydraulic pump, an engine, and a proportional valve provided in the oil passage provided in the construction machine.

7. The control device according to claim 6 , wherein the actuator control section changes a degree of restriction on the operation of the first actuator in a manner that the degree of restriction becomes stronger as the warm-up target value immediately prior to the time when the warm-up control is restricted is higher.

8. an automatic control unit that semi-automatically or automatically operates at least one second actuator, which is different from the first actuator, among the one or more actuators in conjunction with the first actuator; and a mode switching unit that forms a semi-automatic or automatic mode in which the automatic control unit can operate based on a mode input from a user, The control device according to claim 1 , wherein the warm-up control unit executes the warm-up control during the semi-automatic or automatic mode.

9. The operation instruction is generated in response to an operation of an operating member provided on the construction machine, The control device according to claim 8 , wherein the warm-up control unit executes the warm-up control during the semi-automatic or automatic mode, regardless of a state of a lock mechanism that locks the operating member inoperable.

10. The control device according to claim 8 , wherein the warm-up control unit stops the warm-up control when the semi-automatic or automatic mode is cancelled.

11. the one or more actuators include a third actuator different from the first actuator and related to travel of the construction machine, The control device according to claim 1 , wherein the actuator control section limits the operation of only the first actuator out of the first actuator and the third actuator.

12. a construction machine body including one or more actuators operable based on hydraulic pressure of hydraulic oil flowing through an oil passage; A control device for controlling the construction machine body, The control device includes: A warm-up control unit that performs warm-up control by increasing the hydraulic load of the hydraulic oil; an actuator control unit that operates at least one first actuator among the one or more actuators based on an operation instruction; A detection prediction unit that detects or predicts the operation instruction, The warm-up control unit limits the warm-up control when the operation instruction is detected or predicted by the detection prediction unit during the warm-up control, When the warm-up control by the warm-up control unit is restricted based on the detection or prediction result by the detection prediction unit, the actuator control unit restricts the operation of the first actuator in response to the operation instruction until a specified restriction release condition is met.

13. A control program for controlling a construction machine having one or more actuators operable based on hydraulic pressure of hydraulic oil flowing through an oil passage, a warm-up control process for performing warm-up control by increasing a hydraulic load of the hydraulic oil; an actuator control process for operating at least one first actuator among the one or more actuators based on an operation instruction; a detection and prediction process for detecting or predicting the operation instruction; The warm-up control process limits the warm-up control when the operation instruction is detected or predicted by the detection and prediction process during the warm-up control; The actuator control processing is a program that, when the warm-up control is restricted by the warm-up control processing based on the detection or prediction results by the detection prediction processing, restricts the operation of the first actuator in response to the operation instruction until a predetermined restriction release condition is met.

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