Control system and work machine

Abstract

To perform appropriate divide / combine control in automatic control.SOLUTION: A control device includes a plurality of phases related to automatic control of a main body and a working machine, and switching of a divide / combine valve is included in at least one of the switchovers of the plurality of phases.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to a control system and a working machine.

Background Art

[0002] Patent Document 1 describes a hydraulic control device having a merge-split valve that switches between a merged state in which the hydraulic oil discharged from a first hydraulic pump and the hydraulic oil discharged from a second hydraulic pump merge and a split state in which they do not merge. The hydraulic control device described in Patent Document 1 switches between the merged state and the split state according to the operation pattern of an operation lever.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, technologies for automating the movement of a working machine between an excavation position and a loading position in a working machine have been studied. In such automatic control, there is a possibility that the control of the merge-split valve may not work properly. An object of the present disclosure is to provide a control system and a working machine capable of appropriately performing merge-split control in automatic control of a working machine.

Means for Solving the Problems

[0005] According to a first aspect of the present disclosure, a control system of a working machine includes a main body, a working implement driven with respect to the main body, a plurality of actuators for driving the main body or the working implement, a plurality of fluid pumps for supplying fluid to the plurality of actuators, a plurality of flow paths connecting each of the plurality of fluid pumps and an actuator corresponding to each fluid pump among the plurality of actuators, and a fluid circuit configured to include a diverter valve for selectively connecting the plurality of flow paths. The control system is configured to adjust the flow rates of the diverter valve and the fluid pumps based on an operation signal of the main body or the working implement, and includes a plurality of phases related to automatic control for executing a predetermined operation of the main body and the working implement, and switching of the diverter valve is included in switching of at least one of the plurality of phases.

[0006] According to a second aspect of the present disclosure, a control system of a working machine includes a main body, a working implement driven with respect to the main body, a plurality of actuators for driving the main body or the working implement, a plurality of fluid pumps for supplying fluid to the plurality of actuators, a plurality of flow paths connecting each of the plurality of fluid pumps and an actuator corresponding to each fluid pump among the plurality of actuators, and a fluid circuit configured to include a diverter valve for selectively connecting the plurality of flow paths. The control system is configured to adjust the flow rates of the diverter valve and the fluid pumps based on an operation signal of the main body or the working implement, and outputs a control signal for closing the diverter valve at switching of at least one of a plurality of phases related to automatic control of the main body and the working implement.

Advantages of the Invention

[0007] The working machine according to the above aspect can appropriately perform diverter control in automatic control.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0009] 〈First Embodiment〉 Hereinafter, embodiments will be described in detail with reference to the drawings.

[0010] 《Configuration of Working Machine 100》 FIG. 1 is a schematic diagram showing the configuration of a working machine 100 according to the first embodiment. The working machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads it onto a loading platform such as the bed of a loading target T such as a dump truck. Examples of the working machine 100 include a face shovel, a backhoe shovel, a rope shovel, etc. Further, the working machine 100 may be electrically driven or hydraulically driven. The working machine 100 according to the first embodiment is a backhoe shovel. The working machine 100 includes a traveling body 110, a revolving body 120, a working machine 130, and a driver's cab 140. Examples of the loading target T include a dump truck, a hopper, etc.

[0011] The traveling body 110 supports the working machine 100 so as to be capable of traveling. The traveling body 110 includes two endless tracks 111 provided on the left and right, and two traveling motors 112 for driving each endless track 111. Hereinafter, the traveling motor 112 for driving the left endless track 111 is referred to as the first traveling motor 112A, and the traveling motor 112 for driving the right endless track 111 is referred to as the second traveling motor 112B. The traveling body 110 is an example of a support portion. The traveling body 110 is an example of a first main body. The slewing body 120 is supported by the traveling body 110 so as to be slewed around a slewing center. The slewing body 120 is an example of a second main body. The traveling body 110 and the slewing body 120 form the main body of the working machine 100. The working implement 130 is driven by hydraulic pressure. The working implement 130 is supported by the front portion of the slewing body 120 so as to be vertically drivable. The cab 140 is a space where an operator boards and operates the working machine 100. The cab 140 is provided at the left front portion of the slewing body 120. Here, the portion of the slewing body 120 to which the working implement 130 is attached is referred to as the front portion. Also, with respect to the slewing body 120, the portion on the opposite side with reference to the front portion is referred to as the rear portion, the portion on the left side is referred to as the left portion, and the portion on the right side is referred to as the right portion.

[0012] 《Configuration of the Working Implement 130》 The working implement 130 includes a boom 131, an arm 132, a bucket 133 as a working tool, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the working tool include tip attachments such as a clam bucket, a tilt bucket, a tilt-rotate bucket, a grapple, and a lifting magnet.

[0013] The base end portion of the boom 131 is rotatably attached to the revolving body 120 via a boom pin. In the construction machine 100 shown in FIG. 1, the boom 131 is provided at the front center portion of the revolving body 120. However, the present invention is not limited to this, and the boom 131 may be attached with an offset in the left - right direction. In this case, the turning center of the revolving body 120 is not located on the operation plane of the working machine 130. The boom 131 may be a two - piece boom that can be bent or an offset boom that can be extended and retracted. The arm 132 connects the boom 131 and the bucket 133. The base end portion of the arm 132 is rotatably attached to the tip end portion of the boom 131 via an arm pin. The bucket 133 is rotatably attached to the tip end portion of the arm 132 via a pin. As members for supporting the bucket 133, there are the boom 131 and the arm 132. The bucket 133 functions as a container for storing the excavated earth and sand. The bucket 133 is attached so that the opening faces the revolving body 120 side (rear).

[0014] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. The base end portion of the boom cylinder 131C is attached to the revolving body 120. The tip end portion of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end portion of the arm cylinder 132C is attached to the boom 131. The tip end portion of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end portion of the bucket cylinder 133C is attached to the arm 132. The tip end portion of the bucket cylinder 133C is attached to a link mechanism for rotating the bucket 133.

[0015] 《Configuration of the hydraulic system》 FIG. 2 is a block diagram showing the configuration of the hydraulic system according to the first embodiment. The revolving body 120 has a hydraulic system for driving the working machine 100. The hydraulic system includes an engine 121, a first hydraulic pump 122A, a second hydraulic pump 122B, a first oil passage 123A, a second oil passage 123B, a bypass oil passage 124, a merge-split valve 125, a first control valve 126A, a second control valve 126B, a slewing motor 127, a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a first travel motor 112A, and a second travel motor 112B. Hereinafter, the first hydraulic pump 122A and the second hydraulic pump 122B are also collectively referred to as the hydraulic pump 122. Also, hereinafter, the first control valve 126A and the second control valve 126B are also collectively referred to as the control valve 126.

[0016] The engine 121 is a prime mover that drives the hydraulic pump 122. The first hydraulic pump 122A and the second hydraulic pump 122B are variable displacement pumps driven by the engine 121. The first hydraulic pump 122A supplies hydraulic oil to the first oil passage 123A. The second hydraulic pump 122B supplies hydraulic oil to the second oil passage 123B. The bypass oil passage 124 connects the first oil passage 123A and the second oil passage 123B. The merge-split valve 125 is an electromagnetic valve provided on the bypass oil passage 124. The merge-split valve 125 controls the opening and closing of the bypass oil passage 124. Thereby, the merge-split valve 125 can switch whether to merge or split the hydraulic oil flowing in the first oil passage 123A and the hydraulic oil flowing in the second oil passage 123B.

[0017] The first control valve 126A is connected to the first oil passage 123A. The first control valve 126A distributes the hydraulic oil supplied from the first oil passage 123A to the slewing motor 127, the arm cylinder 132C, and the first travel motor 112A. The second control valve 126B is connected to the second oil passage 123B. The second control valve 126B distributes the hydraulic oil supplied from the second oil passage 123B to the boom cylinder 131C, the bucket cylinder 133C, and the second travel motor 112B.

[0018] The slewing motor 127 is driven by the hydraulic oil supplied from the first control valve 126A to slew the slewing body 120.

[0019] 《Configuration of the cab 140》 FIG. 3 is a diagram showing the internal configuration of the cab 140 according to the first embodiment. Inside the cab 140, a driver's seat 141, an operation terminal 142, and an operating device 143 are provided. The operation terminal 142 is provided near the driver's seat 141 and is a user interface with a control device 160 described later. The operation terminal 142 is, for example, a display device configured by a touch panel, and may have an operation unit operated by an operator and an input reception unit that receives the operation. Further, measurement data such as an engine water temperature gauge and a fuel gauge is displayed on the display device. Further, the operation terminal 142 may include a display unit such as an LCD.

[0020] The operating device 143 is a device for driving the traveling body 110, the slewing body 120, and the work implement 130 by manual operation of the operator. The operating device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left traveling lever 143LT, a right traveling lever 143RT, a teaching switch 143TS, and a start switch 143SW.

[0021] The left operation lever 143LO is provided on the left side of the driver's seat 141. The right operation lever 143RO is provided on the right side of the driver's seat 141.

[0022] The left operation lever 143LO is an operation mechanism for the turning operation of the revolving body 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the work machine 100 tilts the left operation lever 143LO forward, the arm 132 performs a dumping operation. When the operator of the work machine 100 tilts the left operation lever 143LO backward, the arm 132 performs an excavation operation. When the operator of the work machine 100 tilts the left operation lever 143LO to the right, the revolving body 120 turns right. When the operator of the work machine 100 tilts the left operation lever 143LO to the left, the revolving body 120 turns left. In other embodiments, when the left operation lever 143LO is tilted in the front-rear direction, the revolving body 120 may turn right or left, and when the left operation lever 143LO is tilted in the left-right direction, the arm 132 may perform an excavation operation or a dumping operation.

[0023] The right operation lever 143RO is an operation mechanism for the excavation / dumping operation of the bucket 133 and the raising / lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operation lever 143RO forward, the lowering operation of the boom 131 is executed. When the operator of the work machine 100 tilts the right operation lever 143RO backward, the raising operation of the boom 131 is executed. When the operator of the work machine 100 tilts the right operation lever 143RO to the right, the dumping operation of the bucket 133 is performed. When the operator of the work machine 100 tilts the right operation lever 143RO to the left, the excavation operation of the bucket 133 is performed. In other embodiments, when the right operation lever 143RO is tilted in the front-rear direction, the bucket 133 may perform a dumping operation or an excavation operation, and when the right operation lever 143RO is tilted in the left-right direction, the boom 131 may perform a raising operation or a lowering operation.

[0024] The left foot pedal 143LF is arranged on the left side of the floor surface in front of the driver's seat 141. The right foot pedal 143RF is arranged on the right side of the floor surface in front of the driver's seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF and is configured such that the inclination of the left travel lever 143LT and the depression of the left foot pedal 143LF are interlocked. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF and is configured such that the inclination of the right travel lever 143RT and the depression of the right foot pedal 143RF are interlocked.

[0025] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left crawler of the traveling body 110. Specifically, when the operator of the work machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler rotates in the forward direction. Also, when the operator of the work machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT backward, the left crawler rotates in the reverse direction.

[0026] The right foot pedal 143RF and the right travel lever 143RT correspond to the rotational drive of the right crawler of the traveling body 110. Specifically, when the operator of the work machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT forward, the right crawler rotates in the forward direction. Also, when the operator of the work machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT backward, the right crawler rotates in the reverse direction.

[0027] The teaching switch 143TS is provided, for example, on the handle portion of the right operation lever 143RO. Note that the teaching switch 143TS may be arranged so as to be located near the operator seated in the driver's seat 141. When the teaching switch 143TS is pressed, the control device 160 stores the posture of the work machine 100 at the time of pressing as a reference for automatic control.

[0028] The start switch 143SW is provided, for example, on the handle portion of the right operation lever 143RO. Note that the start switch 143SW may be arranged so as to be located near the operator seated in the driver's seat 141. When the start switch 143SW is pressed, an automatic control instruction signal is output to the control device 160. When receiving the input of the automatic control instruction signal, the control device 160 starts automatic control.

[0029] Automatic control is that the work machine 100 autonomously controls the driving of the working machine 130 and the slewing body 120 in order to realize a predetermined operation. The automatic control in the first embodiment is a first slewing which is a series of operations of slewing from a state where the bucket 133 is positioned on the side of the loading target T by excavation of the excavation target to the azimuth facing the loading target T while raising the boom 131, and a second slewing which is a series of operations of slewing to a predetermined azimuth while lowering the boom 131 from a state where the bucket 133 is positioned on the loading target T by loading. The work machine 100 autonomously performs control. The side of the loading target T refers to the outside of the loading platform such as the bed for loading the load. Note that the automatic control according to other embodiments may perform only the second slewing. In the first embodiment, the target azimuth of the slewing body 120 and the target posture of the bucket 133 in the first slewing and the second slewing are respectively the previously specified azimuth and posture. Usually, the excavation target is at a position lower than the height of the loading target T. Therefore, the work machine 100 controls the driving of the working machine 130 so that the loading target T and the working machine 130 do not come into contact in the first slewing and the second slewing. The details of the automatic control will be described later. The automatic control executed each time the start switch 143SW is pressed switches between the first slewing and the second slewing. Also, in other embodiments, the operating device 143 may include two start switches 143SW, and the first slewing and the second slewing may be assigned to each of them.

[0030] 《Configuration of the measurement system》 As shown in FIG. 1, the work machine 100 includes a position and azimuth calculator 151, an inclinometer 152, a boom stroke sensor 153, an arm stroke sensor 154, and a bucket stroke sensor 155.

[0031] The position and orientation calculator 151 calculates the position of the revolving body 120 and the orientation of the direction in which the revolving body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting GNSS. The two receivers are installed at different positions of the revolving body 120 respectively. The position and orientation calculator 151 detects the position of the representative point (the origin of the excavator coordinate system) of the revolving body 120 in the field coordinate system based on the positioning signals received by the receivers. The position and orientation calculator 151 calculates the orientation of the revolving body 120 as the relationship between the installation positions of the two receivers with respect to the installation position of one receiver using the positioning signals received by the two receivers. The orientation of the direction in which the revolving body 120 faces is the direction orthogonal to the front of the revolving body 120. The position and orientation calculator 151 is an example of a sensor that acquires measurement data of GNSS.

[0032] The inclination meter 152 measures the acceleration and angular velocity of the revolving body 120, and detects the attitude (roll angle, pitch angle) and the turning speed of the revolving body 120 based on the measurement results. The inclination meter 152 is installed on, for example, the lower surface of the revolving body 120. The inclination meter 152 can use, for example, an inertial measurement unit (IMU).

[0033] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into the relative angle of the boom 131 with respect to the revolving body 120. The arm stroke sensor 154 is attached to the arm cylinder 132C and detects the cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into the relative angle of the arm 132 with respect to the boom 131. The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into the relative angle of the bucket 133 with respect to the arm 132. The work machine 100 according to the first embodiment identifies the angles of the respective link components of the work implement 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but is not limited to this in other embodiments. For example, in other embodiments, instead of the stroke sensor, a potentiometer that detects the relative rotation angle of the link component may be provided, or an inclination sensor that detects the angle of each link component with respect to the ground may be provided.

[0034] 《Configuration of the control device 160》 FIG. 4 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The work machine 100 includes a control device 160. The control device 160 may be mounted on the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input / output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 drives the work implement 130, the slewing body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for automatic control to the control valve 126. Hereinafter, the operation signal received from the operation device 143 is also referred to as a manual operation signal, and the operation signal generated for automatic control is also referred to as an automatic operation signal. Note that the automatic operation signal consists of operation signals for driving the slewing body 120 and the work implement 130 and does not include an operation signal for driving the traveling body 110. When a manual operation signal from the operator is received during automatic control, the control device 160 may stop the automatic control.

[0035] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores programs. The processor 610 reads a program from the storage 650, expands it in the main memory 630, and executes processing according to the program.

[0036] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, etc. The storage 650 may be an internal medium directly connected to the common communication line of the control device 160, or may be an external medium connected to the control device 160 via the interface 670. The main memory 630 and the storage 650 are non-temporary tangible storage media.

[0037] When the processor 610 executes a program, it includes a measurement data acquisition unit 611, an operation signal input unit 612, a work implement position identification unit 613, a reference identification unit 614, an angle identification unit 615, a movement control unit 616, an operation signal output unit 617, and a merging / splitting control unit 618.

[0038] The measurement data acquisition unit 611 acquires measurement data from the measurement system of the work machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the inclination meter 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155.

[0039] The operation signal input unit 612 receives the input of an operation signal manually operated by the operator from the operation device 143. The operation signal includes a drive signal for raising or lowering the boom 131, a drive signal for raising or lowering the arm 132, a drive signal for dumping or excavating the bucket 133, a drive signal for right or left turning of the slewing body 120, a drive signal for traveling the traveling body 110, and an automatic control instruction signal for the work machine 100.

[0040] Based on the measurement data acquired by the measurement data acquisition unit 611, the work implement position identification unit 613 identifies the position of the tip P of the arm 132 (FIG. 5) and the position of the lowest point Q of the bucket 133 (FIG. 5) in the vehicle body coordinate system with the slewing body 120 as a reference. The lowest point Q of the bucket 133 refers to the point on the outer shape of the bucket 133 where the distance from the ground surface is the shortest.

[0041] The work implement position specifying unit 613 obtains the vertical component and the horizontal component of the length of the boom 131 based on the tilt angle of the boom 131 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip end). Similarly, the work implement position specifying unit 613 obtains the vertical component and the horizontal component of the length of the arm 132. The work implement position specifying unit 613 specifies, as the position of the tip P of the arm 132, a position that is separated from the position of the work machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132 in the direction specified from the azimuth and the attitude of the work machine 100. Further, the work implement position specifying unit 613 specifies the position of the lowest point Q of the bucket 133 based on the tilt angle of the bucket 133 and the known shape of the bucket 133. For example, the work implement position specifying unit 613 calculates the position of each of a plurality of points on the outer shell of the bucket 133 based on the tilt angle of the bucket 133, and specifies the point with the lowest height among the plurality of points as the lowest point Q. Further, for example, the work implement position specifying unit 613 may specify, as the lowest point Q, a point obtained by offsetting the distance between the point farthest from the bucket pin in the bucket 133 and the bucket pin downward in the height direction. Further, for example, the work implement position specifying unit 613 may specify, as the lowest point Q, a point obtained by offsetting the maximum amount of the bucket movable range downward in the height direction from the bucket pin. Further, the work implement position specifying unit 613 may specify, as the lowest point Q, a point obtained by offsetting a height with a margin from the height specified above in consideration of a control error and a measurement error of GNSS.

[0042] Before executing the automatic control, the reference specifying unit 614 receives, as reference points for the automatic control, teaching of the excavation preparation position, the interference avoidance position, and the loading position of the bucket 133 from the operator. The teaching is performed, for example, according to the following procedure.

[0043] The reference specifying unit 614 causes the operation terminal 142 to display an instruction to move the bucket 133 to the excavation preparation position. The operator operates the operating device 143 to move the bucket 133 to the excavation preparation position and presses the teaching switch 143TS. When the teaching switch 143TS is pressed, the reference specifying unit 614 sets the posture of the working machine 130 specified by the working machine position specifying unit 613 as the target posture of the second swing, the position of the tip P of the arm 132 as the target position of the second swing, and the azimuth in which the revolving body 120 faces as the target azimuth of the second swing, and records them in the storage 650.

[0044] Next, the reference specifying unit 614 causes the operation terminal 142 to display an instruction to move the cutting edge of the bucket 133 to an interference avoidance position, which has the height of the upper end of the wall of the vessel of the loading target T and at which the working machine 130 and the loading target T do not overlap in a plan view from above. Note that the wall of the vessel used for teaching may be any of the side wall, front wall, and rear wall of the vessel. The operator operates the operating device 143 to move the cutting edge of the bucket 133 to the interference avoidance position and presses the teaching switch 143TS. The interference avoidance position is input for both the right end and the left end of the loading target T. Thereby, the reference specifying unit 614 can specify the range of the loading platform of the loading target T. Note that the height of the interference avoidance position may be offset upward by a height with a margin in consideration of control errors and measurement errors. Note that the interference avoidance position is information for specifying a phase of automatic control described later.

[0045] When the teaching switch 143TS is pressed, the reference specifying unit 614 sets the height of the lowest point Q of the bucket 133 specified by the working machine position specifying unit 613 as the wall height Ht of the loading target T, and the azimuth in which the revolving body 120 faces as the interference avoidance azimuth, and records them in the storage 650. The wall height Ht is an example of the height of the loading target T.

[0046] Next, the reference specifying unit 614 causes the operation terminal 142 to display an instruction to move the bucket 133 to a loading position above the loading target T. The operator operates the operating device 143 to move the bucket 133 to the loading position and presses the teaching switch 143TS. When the teaching switch 143TS is pressed, the reference specifying unit 614 sets the posture of the working machine 130 at that time as the target posture of the first turning, the position of the tip P of the arm 132 as the target position of the first turning, and the azimuth in which the slewing body 120 specified by the working machine position specifying unit 613 faces as the target azimuth of the first turning, and records them in the storage 650. Also, the height of the lowest point Q of the bucket 133 specified at the loading position may be set as the wall height Ht. In other embodiments, the height of the loading target T does not necessarily have to be the wall height Ht, which is the height of the side wall of the loading platform, and may be the height of the highest point among the entire loading target T.

[0047] When an automatic control instruction signal is input to the operation signal input unit 612, the angle specifying unit 615 specifies the angle between the initial azimuth in which the slewing body 120 faces and the target azimuth recorded in the storage 650 as the target turning angle. When an automatic control instruction signal is input to the operation signal input unit 612, the angle specifying unit 615 specifies the angle between the initial azimuth in which the slewing body 120 faces and the interference avoidance azimuth recorded in the storage 650 as the interference avoidance angle. The interference avoidance angle is the turning angle when the working machine 130 and the loading target T do not overlap in a plan view from above.

[0048] When the operation signal input unit 612 receives an input of an automatic control instruction signal, the movement control unit 616 generates an automatic operation signal for realizing automatic control. When an automatic control instruction signal is input, it executes automatic control for realizing a first turning for moving the bucket 133 to the loading position or automatic control for realizing a second turning for moving the bucket 133 to the excavation preparation position. The movement control unit 616 determines whether to execute the first turning or the second turning in the automatic control based on whether the bucket 133 is within the range of the loading target T in a plan view from above at the time of input of the automatic control instruction signal. When the bucket 133 is not within the range of the loading platform of the loading target T, the movement control unit 616 executes the first turning, and when the bucket 133 is within the range of the loading platform of the loading target T, the movement control unit 616 executes the second turning. At this time, the movement control unit 616 controls the swing body 120 and the working machine 130 so that the loading target T and the working machine 130 do not come into contact based on the wall height Ht and the interference avoidance angle stored in the storage 650.

[0049] The operation signal output unit 617 outputs the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616 to the control valve 126.

[0050] The branch / combination flow control unit 618 performs control to switch the branch and combination of the first oil passage 123A and the second oil passage 123B in the branch / combination valve 125.

[0051] When controlling the working machine 100 by manual control by the operation of the operation device 143, the branch / combination flow control unit 618 generates a control signal for the branch / combination valve 125 based on the operation pattern of the operation device 143. FIG. 7 is an example of a table showing the relationship between the operation pattern according to the first embodiment and the branch / combination flow control.

[0052] For example, according to the example shown in FIG. 7, when the turning operation signal and the operation signal for raising the boom 131 are ON, the merge-split control unit 618 opens the merge-split valve 125 to merge the first oil passage 123A and the second oil passage 123B. Since the flow rate of the hydraulic oil required for raising the boom 131 is larger than the flow rate of the hydraulic oil required for the turning operation, if the first oil passage 123A and the second oil passage 123B are split, the required flow rate for driving the boom 131 may not be obtained. Therefore, the merge-split control unit 618 increases the flow rate of the second oil passage 123B that supplies hydraulic oil to the boom cylinder 131C by merging the first oil passage 123A and the second oil passage 123B, so as to supply sufficient hydraulic oil for driving the boom 131.

[0053] Also, according to the example shown in FIG. 7, when the turning operation signal is ON and the operation signal of the work implement 130 is OFF, the merge-split control unit 618 closes the merge-split valve 125 to split the first oil passage 123A and the second oil passage 123B. In the single operation of the revolving body 120, in order to meet the required flow rate with the discharge amount of one pump, the assistance of the plurality of hydraulic pumps 122 is not required. Therefore, the merge-split control unit 618 can prevent pressure loss from occurring in the second oil passage 123B connected to the actuator that is not driven by splitting the first oil passage 123A and the second oil passage 123B, and can improve the energy efficiency.

[0054] When the merge-split control unit 618 controls the working machine 100 in automatic control, it generates a control signal for the merge-split valve 125 based on the phase of the automatic control.

[0055] 《Operation during Automatic Control》 Here, with reference to the drawings, the movement of the working machine 100 during automatic control according to the first embodiment will be described. FIG. 5 is a diagram showing an example of the movement of the working machine 100 in the first turning according to the first embodiment. FIG. 6 is a diagram showing an example of the movement of the working machine 100 in the second turning according to the first embodiment.

[0056] When the automatic control related to the first turn is started, as shown in FIG. 5, the control device 160 first starts driving the work implement 130 (boom 131, arm 132, and bucket 133), and moves the bucket 133 upward by raising the boom 131 (first phase P1). The target position of the bucket 133 related to the first turn is the loading position above the loading target T. Subsequently, the control device 160 starts turning the slewing body 120 (second phase P2). The control device 160 adjusts the timing of switching between the first phase P1 and the second phase P2 so that the posture of the work implement 130 becomes the target posture related to the first turn before the turning angle of the slewing body 120 coincides with the first interference avoidance angle θ1. When the posture of the work implement 130 becomes the target posture in the first turn before the turning angle of the slewing body 120 coincides with the first interference avoidance angle θ1, that is, when the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, the work implement 130 does not contact the loading target T due to the turning of the slewing body 120. When the work implement 130 is driven simultaneously with the turning and the posture of the work implement 130 becomes the target posture in the first turn before the turning angle coincides with the first interference avoidance angle θ1, the control device 160 may skip the first phase P1 and start driving and turning the work implement 130 simultaneously. After the turning angle reaches the first interference avoidance angle θ1, the control device 160 does not operate the work implement 130 and only operates the slewing body 120 (third phase P3). Then, when the bucket 133 reaches the loading position, the automatic control ends. In the present embodiment, the first phase P1, the second phase P2, and the third phase P3 are continuous in time, but in other embodiments, each phase may not have temporal continuity.

[0057] Thereafter, the operator performs a dumping operation of manually rotating the bucket 133 in the dumping direction. In the manual dumping operation, the operator may load the load at a low position in order to suppress the impact applied to the loading target T. Further, the operator may operate the work machine 100 to level the load loaded on a loading platform such as a vessel. At this time, the lowest point Q of the bucket 133 may be lower than the wall of the loading target T. Therefore, if the control device 160 rotates the work machine 100 as it is, the bucket 133 will contact the inner wall of the loading target T.

[0058] When the automatic control related to the second turning is started, the control device 160 determines whether the lowest point of the bucket 133 is higher than the wall of the loading target T. As shown in FIG. 6, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the boom 131 is raised (fourth phase P4). When the lowest point Q of the bucket 133 becomes higher than the wall height Ht, the control device 160 starts the turning of the slewing body 120 without operating the work implement 130. The control device 160 turns the slewing body 120 without moving the work implement 130 until the turning angle of the slewing body 120 exceeds the second interference avoidance angle θ2, and maintains the height of the lowest point of the bucket 133 (fifth phase P5).

[0059] When the turning angle of the slewing body 120 exceeds the second interference avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133 in addition to the slewing body 120 (sixth phase). At this time, the control device 160 may drive all of the boom 131, the arm 132, and the bucket 133, or may drive a part of the boom 131, the arm 132, and the bucket 133, based on the relationship between the posture at the start of turning and the target posture. When the turning angle of the slewing body 120 reaches the target turning angle θ0, the control device 160 ends the driving of the slewing body 120. Further, when the posture of the work implement 130 becomes the target posture at the start of excavation, the control device 160 ends the driving of the work implement 130. In the present embodiment, the fourth phase P4, the fifth phase P5, and the sixth phase P6 are continuous in time, but in other embodiments, each phase may not have temporal continuity.

[0060] Note that FIGS. 5 and 6 show an example in which the positional relationship between the excavation position and the loading target T is about 90 degrees centered on the revolving body 120, but other embodiments are not limited to this. For example, in other embodiments, the positional relationship between the excavation position and the loading target T may be at other swivel angle positions, such as about 180 degrees centered on the revolving body 120.

[0061] When the combined flow control unit 618 controls the work machine 100 by automatic control, it generates a control signal for the combined flow valve 125 based on the phase of the automatic control. Specifically, when the phase of the automatic control is the third phase P3 or the fifth phase P5 that causes the revolving body 120 to perform a single operation, the combined flow control unit 618 closes the combined flow valve 125 and diverts the first oil passage 123A and the second oil passage 123B. In the third phase P3 or the fifth phase P5, since the revolving body 120 performs a single operation, the combined flow control unit 618 diverts the first oil passage 123A and the second oil passage 123B to prevent a pressure loss from occurring in the second oil passage 123B connected to the actuator that is not driven, and the energy efficiency can be improved.

[0062] On the other hand, when the phase of the automatic control is the first phase P1, the second phase P2, the fourth phase P4, or the sixth phase P6 involving the operation of the work machine 130, the combined flow control unit 618 opens the combined flow valve 125 and combines the first oil passage 123A and the second oil passage 123B. In the first phase P1, the second phase P2, the fourth phase P4, and the sixth phase P6, at least two of the revolving body 120, the boom 131, the arm 132, and the bucket 133 are controlled simultaneously. Therefore, the combined flow control unit 618 combines the first oil passage 123A and the second oil passage 123B to supply sufficient hydraulic oil for driving each actuator.

[0063] FIG. 8 is a flowchart showing the automatic control by the control device 160 according to the first embodiment. When the start switch 143SW is pressed by the operator, the operation signal input unit 612 of the control device 160 receives the input of the automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to execute the first turning or the second turning based on whether the bucket 133 is within the range on the loading platform of the object to be loaded T in a plan view from above (step S1). When executing the first turning, the control device 160 performs automatic control based on the first interference avoidance angle θ1 and the target turning angle θ0. When executing the second turning, the control device 160 performs automatic control based on the second interference avoidance angle θ2 and the target turning angle θ0.

[0064] When executing the first turning (step S1: YES), the movement control unit 616 executes the control of the first phase P1 in which only the working machine 130 is raised without turning the slewing body 120 until the height of the lowest point of the bucket 133 reaches a predetermined height (step S2). Since the phase of the automatic control is the first phase P1, the merge / split control unit 618 outputs a control signal to open the merge / split valve 125 (step S3). Thereby, the merge / split control unit 618 merges the first oil passage 123A and the second oil passage 123B. At this time, the merge / split control unit 618 may split the first oil passage 123A and the second oil passage 123B when the pump discharge pressure is high as shown in FIG. 7.

[0065] When the height of the lowest point of the bucket 133 exceeds the predetermined height, the movement control unit 616 executes the control of the second phase P2 in which the slewing body 120 and the working machine 130 are operated simultaneously (step S4). Since the phase of the automatic control is the second phase P2, the merge / split control unit 618 continues to output a control signal to open the merge / split valve 125 (step S5). At this time, the merge / split control unit 618 may split the first oil passage 123A and the second oil passage 123B depending on the relationship between the pump discharge pressure and the actuator to be driven as shown in FIG. 7.

[0066] When the turning angle of the swivel body 120 exceeds the first interference avoidance angle θ1, the movement control unit 616 executes the control of the third phase P3 in which the swivel body 120 is operated alone until the turning angle of the swivel body 120 reaches the target turning angle θ0 (step S6). Since the phase of the automatic control is the third phase P3, the merging / splitting control unit 618 outputs a control signal for closing the merging / splitting valve 125 (step S7). Thereby, the merging / splitting control unit 618 splits the first oil passage 123A and the second oil passage 123B. When the turning angle of the swivel body 120 reaches the target turning angle θ0, the control device 160 ends the automatic control of the first turn.

[0067] When performing the second turn (step S1: NO), the movement control unit 616 executes the control of the fourth phase P4 in which only the working machine 130 is raised without turning the swivel body 120 until the height of the lowest point of the bucket 133 reaches the wall height Ht (step S8). Since the phase of the automatic control is the fourth phase P4, the merging / splitting control unit 618 outputs a control signal for opening the merging / splitting valve 125 (step S9). Thereby, the merging / splitting control unit 618 merges the first oil passage 123A and the second oil passage 123B. At this time, when the pump discharge pressure is high as shown in FIG. 7, the merging / splitting control unit 618 may split the first oil passage 123A and the second oil passage 123B.

[0068] When the height of the lowest point of the bucket 133 exceeds the wall height Ht, the movement control unit 616 executes the control of the fifth phase P5 in which the swivel body 120 is operated alone (step S10). Since the phase of the automatic control is the fifth phase P5, the merging / splitting control unit 618 outputs a control signal for closing the merging / splitting valve 125 (step S11).

[0069] When the turning angle of the revolving body 120 exceeds the second interference avoidance angle θ2, the movement control unit 616 executes the control of the sixth phase P6 in which the revolving body 120 and the working machine 130 are simultaneously operated until the turning angle of the revolving body 120 reaches the target turning angle θ0 (step S12). Since the phase of the automatic control is the sixth phase P6, the merging / splitting control unit 618 outputs a control signal to open the merging / splitting valve 125 (step S13). At this time, depending on the relationship between the pump discharge pressure and the actuator to be driven as shown in FIG. 7, the merging / splitting control unit 618 may split the first oil passage 123A and the second oil passage 123B. Thereby, the merging / splitting control unit 618 merges the first oil passage 123A and the second oil passage 123B. When the turning angle of the revolving body 120 reaches the target turning angle θ0, the control device 160 ends the automatic control of the second turn.

[0070] <Second Embodiment> The control device 160 according to the first embodiment controls the opening and closing of the merging / splitting valve 125 according to the phase. By the way, the raising speed of the working machine 130 varies depending on the weight of the load. Therefore, in the second phase P2 of the first turn, before the turning angle reaches the second interference avoidance angle θ2, the height of the lowest point of the bucket 133 may reach the height of the loading position. Since the merging / splitting valve 125 is open in the second phase P2, the first oil passage 123A and the second oil passage 123B merge until the turning angle reaches the second interference avoidance angle θ2.

[0071] When the lowest point of the bucket 133 reaches the height of the loading position in the second phase P2, the control device 160 according to the second embodiment closes the merging / splitting valve 125 without waiting for the third phase P3, thereby improving the energy efficiency.

[0072] FIG. 9 is a flowchart showing the operation of the control device 160 according to the second embodiment. The control device 160 according to the second embodiment executes the following processes of step S21 and step S22 in the second phase P2. In the second phase P2, the merge-split control unit 618 determines whether or not the height of the lowest point of the bucket 133 has reached the height of the loading position (step S21). When the height of the lowest point of the bucket 133 is less than the height of the loading position (step S21: NO), the merge-split valve 125 is kept open. On the other hand, when the height of the lowest point of the bucket 133 has reached the height of the loading position (step S21: YES), the merge-split control unit 618 outputs a control signal to close the merge-split valve 125 without waiting for the third phase P3 (step S22).

[0073] As described above, the control device 160 according to the second embodiment determines whether or not to close the merge-split valve 125 based on the posture of the work implement 130 in the second phase P2. Thereby, when it becomes unnecessary to drive the work implement 130, the control device 160 can prevent energy loss due to pressure loss.

[0074] Note that the control device 160 may close the merge-split valve 125 when the posture of the work implement 130 reaches the target posture of the second turning before the turning angle reaches the target turning angle in the sixth phase P6 of the second turning.

[0075] <Other Embodiments> Although one embodiment has been described in detail with reference to the drawings above, the specific configuration is not limited to the above, and various design changes and the like are possible. That is, in other embodiments, the order of the above-described processes may be appropriately changed. Also, some processes may be executed in parallel. The control device 160 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged among a plurality of computers, and the plurality of computers may function as the control device 160 by cooperating with each other. At this time, some of the computers constituting the control device 160 may be mounted inside the working machine, and other computers may be provided outside the working machine. For example, the working machine 100 according to the above-described embodiment is operated by a boarding operator, but is not limited thereto, and may be remotely operated. That is, the manual control of the operating device 143 includes the manual control of the operating device 143 provided remotely. In this case, the computer mounted inside the working machine 100 and the remote computer may jointly function as the control device 160.

[0076] The control device 160 according to the above-described embodiment specifies the point of switching of the automatic control phase by teaching the reference point, but is not limited thereto. For example, the control device 160 according to another embodiment may teach the trajectory of the bucket 133 during automatic control and specify a plurality of phases by analyzing the trajectory. For example, the control device 160 according to another embodiment can specify a section in which the horizontal position changes without the height changing in the trajectory as a phase in which the revolving body 120 operates independently.

[0077] Further, the control device 160 according to another embodiment may specify the position of the loading target T by a depth sensor or the like, or receive position information from the loading target T, and determine an interference avoidance angle based on the position of the loading target T.

[0078] Further, the control device 160 according to another embodiment may specify the automatic control phase based on the control signal output by the operation signal output unit 617. Examples of the control signal output by the operation signal output unit 617 may include a target speed command, a target angular velocity command, a target spool stroke amount, a current command, and the like. In the case of the work machine 100 of the pilot hydraulic system in which each lever of the operation device 143 is connected to a pilot valve of the pilot hydraulic circuit and the control valve is driven by the hydraulic pressure supplied from the pilot valve, the control signal may be specified by the measured value of the pressure sensor provided in each pilot valve of the control valve 126. In this case, the flow combining / splitting control unit 618 may perform flow combining / splitting control without distinguishing between manual control and automatic control.

[0079] Further, the control device 160 according to the above-described embodiment automatically controls the revolving body 120 and the work implement 130 during the first swing and the second swing, but is not limited thereto. For example, the control device 160 according to another embodiment may accept a manual operation of the revolving body 120 during the first swing and the second swing and automatically control the work implement 130 according to the swing angle. Also in this case, the flow combining / splitting control unit 618 controls the flow combining / splitting valve 125 according to the automatic control phase of the work implement 130.

[0080] Further, in another embodiment, the automatic control phase may include a phase in which the traveling body 110 travels. In this case, the flow combining / splitting control unit 618 outputs a control instruction for splitting the first oil passage 123A and the second oil passage 123B to the flow combining / splitting valve 125 during the phase in which the traveling body 110 travels. Thereby, the flow rate of the hydraulic oil supplied to the first traveling motor 112A can be controlled by the first hydraulic pump 122A, and the flow rate of the hydraulic oil supplied to the second traveling motor 112B can be controlled by the second hydraulic pump 122B. Further, the work implement of the work implement 130 according to another embodiment is not limited to the bucket 133. For example, the work implement 130 according to another embodiment may include other work implements (attachments) such as a tilt bucket, a tilt-rotator bucket, a grapple, a lift magnet, and a breaker. In this case, the automatic control phase may include a phase in which an actuator provided in the work implement is driven.

Description of Symbols

[0081] 100... Construction machine 110... Traveling body 111... Infinite track 112... Traveling motor 112A... First traveling motor 112B... Second traveling motor 120... Slewing body 121... Engine 122... Hydraulic pump 122A... First hydraulic pump 122B... Second hydraulic pump 123A... First oil passage 123B... Second oil passage 124... Bypass oil passage 125... Merge-split valve 126... Control valve 126A... First control valve 126B... Second control valve 127... Slewing motor 130... Working machine 131... Boom 131C... Boom cylinder 132... Arm 132C... Arm cylinder 133... Bucket 133C... Bucket cylinder 140... Cab 141... Driver's seat 142... Operation terminal 143... Operating device 143LF... Left foot pedal 143LO... Left operation lever 143LT... Left traveling lever 143RF... Right foot pedal 143RO... Right operation lever 143RT... Right traveling lever 143SW... Start switch 143TS... Teaching switch 151... Position and orientation calculator 152... Inclinometer 153... Boom stroke sensor 154... Arm stroke sensor 155... Bucket stroke sensor 160... Control device 610... Processor 611... Measurement data acquisition unit 612... Operation signal input unit 613... Working machine position specifying unit 614... Reference specifying unit 615... Angle specifying unit 616... Movement control unit 617... Operation signal output unit 618... Merge-split control unit 630... Main memory 650... Storage 670... Interface T... Loading target

Claims

1. A main body, A working machine that drives with respect to the main body, A plurality of actuators that drive the main body or the working machine, A plurality of fluid pumps that supply fluid to the plurality of actuators, A fluid circuit including a plurality of flow paths that connect each of the plurality of fluid pumps and the actuators corresponding to each of the fluid pumps among the plurality of actuators, and a diverter valve that selectively connects the plurality of flow paths, A control system for a working machine comprising: Based on the operation signal of the main body or the working machine, adjusting the flow rate of the diverter valve and the fluid pump, A plurality of phases related to automatic control for executing a predetermined operation of the main body and the working machine, and switching of the diverter valve is included in switching of at least one of the plurality of phases Control system.

2. Outputting control signals for the plurality of actuators and the diverter valve based on a phase specified from the detected operation of the working machine The control system according to claim 1.

3. The plurality of phases include at least a first phase for driving the working machine and a second phase for driving the main body without driving the working machine, Outputting a control signal for switching the diverter valve when switching from the first phase to the second phase The control system according to claim 2.

4. The main body includes a lower traveling body and an upper slewing body, The plurality of actuators include a slewing motor that drives the upper slewing body with respect to the lower traveling body The control system according to claim 1.

5. The main body includes a lower traveling body, The plurality of actuators include a traveling motor that drives the lower traveling body The control system according to claim 1.

6. The plurality of phases include a third phase for driving the traveling motor, Separating the plurality of flow paths in the diverter valve in the third phase The control system according to claim 5.

7. A main body, A working machine that drives with respect to the main body, A plurality of actuators that drive the main body or the working machine, A plurality of fluid pumps that supply fluid to the plurality of actuators, A fluid circuit including a plurality of flow paths that connect each of the plurality of fluid pumps and the actuators corresponding to each of the fluid pumps among the plurality of actuators, and a diverter valve that selectively connects the plurality of flow paths, A control system for a working machine, comprising: adjusting the flow rates of the flow combining / splitting valve and the fluid pump based on the operation signals of the main body or the working machine; outputting a control signal for closing the flow combining / splitting valve at the switching of at least one of a plurality of phases related to the automatic control of the main body and the working machine; a control system.

8. The plurality of phases include at least a first phase for driving the working machine and a second phase for driving the main body without driving the working machine, outputting a control signal for closing the flow combining / splitting valve when switching from the first phase to the second phase; The control system according to claim 7.

9. In the first phase, determining whether to close the flow combining / splitting valve based on the posture of the working machine; The control system according to claim 8.

10. a main body; a working machine driven with respect to the main body; a plurality of actuators for driving the main body or the working machine; a plurality of fluid pumps for supplying fluid to the plurality of actuators; a fluid circuit including a plurality of flow paths connecting each of the plurality of fluid pumps and the actuator corresponding to each fluid pump among the plurality of actuators, and a flow combining / splitting valve for selectively connecting the plurality of flow paths; The control system according to any one of claims 1 to 8; a working machine comprising the same.

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