Working machinery

Abstract

To provide a work machine that allows for optimal operation settings tailored to the specific work site and operator combination, while minimizing the burden on the operator caused by switching the machine's operating settings. [Solution] Based on the calculation method set in the calculation method setting device, parameters for calculating the operation command value are set, and each time a parameter is set, the state quantities associated with the work machine are stored in the memory device in advance. The current state quantities of the work machine are compared with the state quantities associated with the parameters stored in the memory device, and if a parameter with a state quantity similar to the state quantities of the work machine is stored in the memory unit, that parameter is applied to calculate the operation command value.

Description

Technical Field

[0001] The present invention relates to a working machine.

Background Art

[0002] As a working machine used in road construction, building construction, civil engineering, dredging work, etc., a multi-joint working front is swingably attached in the vertical direction to a working machine body in which a revolving body is rotatably attached to the upper part of a traveling body driven by a power system, and each front member constituting the working front is driven by a cylinder. As an example of such a working machine, there is a so-called hydraulic excavator having a working front composed of a boom, an arm, a bucket, etc.

[0003] In addition, some of this type of hydraulic excavator perform so-called machine control in which a construction target surface to be excavated is set in advance and the boom operation etc. is automatically controlled according to the operation amount of the operator's arm movement so that the bucket can excavate along the construction target surface.

[0004] In such a hydraulic excavator, it is often used for long-term work, and elements such as whether it is easy for the operator to operate and work or whether it is not easy to get tired are often noted. As a prior art related to the above elements, for example, the one described in Patent Document 1 is known. Patent Document 1 discloses a control system having a configuration in which control for adjusting the operating speed of a hydraulic actuator according to the operation amount of an operation member and control for adjusting the operating acceleration of the hydraulic actuator according to the operation amount of the operation member can be arbitrarily changed, and the operating characteristics of the hydraulic actuator can be easily changed according to the preference of the operator.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] Machine control is a semi-automatic control function in which the controller controls the front operation while the operator manually operates the machine. Therefore, in addition to control accuracy, operator operability is also important, just as with manually operated hydraulic excavators. Consequently, although the above-mentioned conventional technology is mainly intended for manually operated hydraulic excavators, it is believed to have similar effects on hydraulic excavators to which machine control is applied.

[0007] In the conventional technology described above, the operator changes the operating characteristics of the hydraulic actuator by operating a selection switch. However, for example, when multiple operators share a single piece of machinery, each operator needs to check the setting of the selection switch before starting work and re-select their preferred setting depending on the situation. This is also true when working under similar working conditions after a period of time, and the operators themselves need to check and adjust the setting of the selection switch each time.

[0008] Furthermore, it is conceivable that the same operator may be forced to frequently operate the selection switch during work. For example, if an operator prefers to use one control mode when excavating on a horizontal surface and the other control mode when excavating on an inclined surface, then when working on terrain that combines horizontal and inclined surfaces, they will need to frequently switch between control modes by operating the selection switch.

[0009] Thus, while switching control modes using a selection switch has the advantage of allowing communication with the operator each time, even under the same working conditions, the switch must be operated every time the operator changes or the working conditions change, which can be burdensome for the operator.

[0010] The present invention has been made in view of the above, and aims to provide a work machine that can perform optimal operation settings tailored to the combination of the work site and the operator, while suppressing the burden on the operator that arises from switching the operation settings of the work machine. [Means for solving the problem]

[0011] The present invention includes multiple means for solving the above problems, but to give one example, a traveling body, an upper rotating body rotatably mounted on the traveling body, a working device having a bucket attached to the upper rotating body and capable of swinging at least vertically, actuators for driving the upper rotating body and the working device respectively, an operating device for operating the actuators, a posture measuring device for measuring posture information of the upper rotating body and the working device, a construction target surface setting device for setting a construction target surface that is the target of excavation by the bucket, and a device that calculates a required operating direction for the bucket based on the amount of operation of the operating device, and calculates the operating command value of the actuator so that the bucket does not exceed the construction target surface based on the required operating direction. A work machine having a control device for performing calculations and a drive device for driving the actuator based on the operation command value of the control device, further having a calculation method setting device for setting the calculation method of the operation command value, wherein the control device sets parameters for calculating the operation command value based on the calculation method set in the calculation method setting device, stores the set parameters in advance in a storage device together with state quantities associated with the work machine, compares the current state quantities of the work machine with the state quantities associated with the parameters stored in the storage device, and if a parameter with a state quantity similar to the state quantities of the work machine is stored in the storage unit, applies that parameter to calculate the operation command value. [Effects of the Invention]

[0012] According to the present invention, when working in similar working conditions that have been corrected in the past, the stored parameters are automatically referenced, eliminating the need for the operator to select or readjust parameters. Furthermore, when requested by the operator, the shovel operation can be corrected on the spot by the operator selecting or readjusting parameters. This reduces the burden on the operator that arises from switching the operating settings of the work machine, while enabling optimal operating settings that are tailored to the combination of the work site and the operator. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic side view showing the overall configuration of a hydraulic excavator, which is an example of a work machine. [Figure 2] This diagram shows the main controller along with its related components. [Figure 3] This is a functional block diagram showing the processing steps of the main controller. [Figure 4] This diagram shows the relationship between the construction target surface and the movement of the bucket claws in machine control. [Figure 5] This figure shows an example of the parameters stored in the main controller. [Figure 6] This figure shows an example of the relationship between state variables and the applied parameters. [Figure 7] This figure shows an example of an estimated work vector used to determine the similarity of operating conditions. [Figure 8] This figure shows an example of an estimated work vector used to determine the similarity of operating conditions. [Figure 9] This figure shows an example of an estimated work vector used to determine the similarity of operating conditions. [Figure 10] This is a flowchart showing the parameter setting process in the main controller. [Figure 11] This is a flowchart showing the details of the parameter adjustment process. [Figure 12] This is a flowchart showing the details of the vehicle body operation process.

Best Mode for Carrying Out the Invention

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] <Schematic> In this embodiment, for example, a case where a work machine 1 such as a hydraulic excavator performs work based on a preset construction target surface will be described. The construction target surface has so-called three-dimensional information having information not only in the front-rear direction of the work machine 1 but also in the left-right direction. Note that the construction target surface may be set relative to the work machine 1 or may be set in a global coordinate system based on the construction site or the earth. Further, the work machine 1 is not limited to a hydraulic excavator, and the present invention can also be applied to other work machines that perform work based on the construction target surface by a multi-articulated front work device.

[0016] <Work machine 1: Hydraulic excavator> FIG. 1 is a side view schematically showing the overall configuration of a hydraulic excavator which is an example of the work machine of this embodiment.

[0017] As shown in FIG. 1, the work machine 1 is, for example, a hydraulic excavator, and includes a work front 2 (working device), a revolving body 3 (upper revolving body), and a traveling body 4. Note that the revolving body 3 (upper revolving body) and the traveling body 4 constitute the work machine main body.

[0018] The work front 2 is configured to rotate about a connecting portion with respect to the revolving body 3, and the revolving body 3 is configured to rotate about a connecting portion with respect to the traveling body 4.

[0019] The work front 2 comprises a boom 20 with one end connected to the slewing body 3, an arm 21 with one end connected to the boom 20, a bucket 22 with one end connected to the arm 21, a boom cylinder 20A with both ends connected to the boom 20 and the slewing body 3 respectively, an arm cylinder 21A with both ends connected to the arm 21 and the boom 20 respectively, a link A 22B, a link B 22C, and a bucket cylinder 22A with both link B 22C and the arm 21. Each of these components is configured to rotate vertically around its connecting part. The running body 4 comprises a running motor 41 and tracks 45.

[0020] The boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A are each hydraulically operated and extendable, allowing the boom 20, arm 21, and bucket 22 to rotate as well. The bucket 22 can be replaced with any attachment (not shown), such as a grapple, breaker, ripper, magnet, or rotary tilt bucket.

[0021] The boom 20 and arm 21 are each equipped with an IMU (Inertial Measurement Unit) 20S (boom) and IMU (arm) 21S, respectively, for detecting the attitude of the boom 20 and arm 21. Link A22B is equipped with an IMU (bucket) 22S for detecting the attitude of the bucket 22. The IMU (boom) 20S, IMU (arm) 21S, and IMU (bucket) 22S each consist of an angular velocity sensor and an acceleration sensor.

[0022] The boom cylinder 20A is equipped with a pressure sensor (boom rod) 20RP and a pressure sensor (boom bottom) 20BP for detecting the load. The arm cylinder 21A is equipped with a pressure sensor (arm rod) 21RP and a pressure sensor (arm bottom) 21BP for detecting the load. The bucket cylinder 22A is equipped with a pressure sensor (bucket rod) 22RP and a pressure sensor (bucket bottom) 22BP for detecting the load.

[0023] The rotating body 3 is equipped with a rotating angle sensor 2S, an IMU (rotating body) 30S, a main frame 31, a driver's cab 32, a main controller 34, a drive unit 35, a driving unit 36, a rotating load measuring device 37, and a position measuring device 250.

[0024] The rotation angle sensor 2S is mounted in such a way that it can detect the relative angle between the traveling body 4 and the rotating body 3.

[0025] The IMU (rotating unit) 30S is equipped with an acceleration sensor and an angular velocity sensor and is mounted to detect the tilt angle of the rotating unit 3.

[0026] The driver's cab 32 is equipped with an operating device 33, a setting input / display device 100, and a construction target surface management device 2000.

[0027] The operating device 33 outputs an operating signal corresponding to the operator's operation amount, and consists of an operating lever operated by the operator and an operating amount detection device that detects the amount of operation (tilt) of the operating lever. The operating amount detection device is an angle sensor or the like (operating amount detection sensor) that detects the tilt angle of the operating lever, and by detecting the amount of tilt of the operating lever by the operator, it converts the target operation of each movable part requested by the operator into an electrical signal and outputs it as an operating signal.

[0028] The construction target surface management device 2000 is connected to the setting input / display device 100 and is installed to manage and store the construction target surface that the work front 2 will excavate.

[0029] The setting input / display device 100 consists of a display monitor and a touch panel, and is installed to display the posture of the work machine 1, information on the construction target surface, the positional relationship and distance between the construction target surface and the work front 2, and to allow setting of various dimensions and mass of the work front 2.

[0030] Figure 2 is a diagram showing the main controller along with its related components.

[0031] As shown in Figure 2, the drive unit 35 is connected to the driving unit 36 ​​and the actuator 2ACT. The drive unit 35 consists of an electromagnetic control valve and a directional control valve, and is installed to operate the boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A, slewing hydraulic motor, travel hydraulic motor, etc., collectively referred to as actuator 2ACT, by driving the electromagnetic control valve and the directional control valve according to the operation command value instructed from the main controller 34.

[0032] The power source, the driving unit 36, consists of an engine 36a and a hydraulic pump 36b connected to the output shaft of the engine 36a, and is connected to the actuator 2ACT via a drive unit 35. More specifically, the hydraulic pump 36b is driven by the power of the engine 36a, and the pressurized oil discharged by the hydraulic pump 36b is supplied to the actuator 2ACT via the drive unit 35, thereby generating the power necessary to operate the work machine 1.

[0033] The rotational load measuring device 37 consists of a pressure sensor and is installed to measure the load on the rotational body 3 in the rotational direction.

[0034] The vehicle 4 is equipped with tracks, and the operator can move the work machine 1 by operating the control device 33. The vehicle 4 is not limited to being equipped with tracks, but may also be equipped with wheels made of tires or the like. In this embodiment, a work machine equipped with a vehicle 4 that is movable has been described as an example, but it is not limited to this, and for example, it may be fixed at the construction site.

[0035] Figure 3 is a functional block diagram showing the processing steps of the main controller.

[0036] As shown in Figure 3, the main controller 34 provided in the work machine 1 is connected to an operating device 33, a posture measuring device 200, a load measuring device 210, a position measuring device 250, a drive device 35, a construction target surface management device 2000, and a setting input / display device 100.

[0037] The construction target surface management device 2000 is connected to the setting input / display device 100.

[0038] <Detailed configuration and functions of the device> <Operating device 33> The operating device 33 outputs an operating signal corresponding to the operator's operation amount, and consists of an operating lever operated by the operator and an operating amount detection device that detects the amount of operation (tilt) of the operating lever. The operating amount detection device is an angle sensor or the like (operating amount detection sensor) that detects the tilt angle of the operating lever, and by detecting the amount of tilt of the operating lever by the operator, it converts the target operation of each movable part requested by the operator into an electrical signal and outputs it as an operating signal.

[0039] <Posture measurement device 200> The posture measurement device 200 is equipped with angular velocity sensors and acceleration sensors in the IMU (slewing body) 30S, IMU (boom) 20S, IMU (arm) 21S, and IMU (bucket) 22S, respectively, and is further equipped with a slewing angle sensor 2S. Posture information of the work machine 1 is acquired from these IMUs and angle sensors. The boom 20, arm 21, bucket 22, boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A, link A22B, link B22C, and slewing body 3 are each mounted so as to be able to swing, and the posture of the boom 20, arm 21, bucket 22, and slewing body 3 is estimated from the mechanical linkage. Note that the posture detection method shown here is just one example, and the posture of each part of the work machine 1 may also be calculated by directly measuring the relative angles of each part of the work front 2, or by detecting the stroke of the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A.

[0040] <Position measuring device 250> The position measurement device 250 may include GNSS (Global Navigation Satellite System), laser positioning meter, or total station. Other position measurement devices are also acceptable, as long as they can pinpoint the position of the work machine 1.

[0041] <Drive unit 35> The drive unit 35 consists of an electromagnetic control valve and a directional control valve, and controls the amount of pressurized oil supplied to the cylinders and hydraulic motors that drive each part of the work machine 1 according to the operation command value commanded from the main controller 34. The operation command value output from the main controller 34 is converted into pilot pressure by the electromagnetic control valve, and the directional control valve, which controls the amount of actuator movement, is driven by the pilot pressure. The hydraulic oil, whose flow rate has been adjusted by the directional control valve, is supplied to the cylinders and hydraulic motors that drive each part of the work machine 1, driving each movable part. In addition, by adding or changing the configuration, attachments and equipment not included above can be driven.

[0042] <Driving mechanism 36> The driving unit 36 ​​is the power source for the work machine 1 and consists of an engine 36a and a hydraulic pump 36b connected to the output shaft of the engine 36a, generating the hydraulic pressure necessary for operating the work machine 1 as power. In addition to the above, the hydraulic pressure may also be obtained by an electrically driven motor.

[0043] <Actuator 2ACT> Actuator 2ACT is a collective term for actuators, including the boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A, slewing hydraulic motor, and travel hydraulic motor.

[0044] <Construction target surface management device 2000> The construction target surface management device 2000 is equipped with a setting input / display device 100, which allows for the setting and management of the construction target surface for the work machine 1. The construction target surface can be configured to have a single plane or multiple planes, allowing for the setting of the area that the work front 2 can excavate. The construction target surface may be set relative to the work machine 1, or it may be set in a coordinate system based on the construction site or the Earth.

[0045] <Setting Input / Display Device 100> The setting input / display device 100 is designed to display to the operator the posture of the work machine 1, area information of the construction target surface set by the construction target surface management device 2000, and the distance between the work front 2 and the construction target surface. The setting input / display device 100 also functions as a construction target surface setting device for setting the target construction surface for excavation by the bucket 22, and as a calculation method setting device for setting the calculation method for operation command values.

[0046] <Main Controller 34> As shown in Figure 3, the main controller 34 is connected to the operating device 33, the construction target surface management device 2000, the setting input / display device 100, the attitude measurement device 200, the position measurement device 250, and the drive device 35, and consists of an attitude calculation unit 310, a state quantity calculation unit 320, a parameter adjustment method setting unit 330, a parameter provisional setting unit 340, a parameter evaluation unit 350, a parameter related information storage unit 360, a target velocity calculation unit 400, and an operation command value calculation unit 430.

[0047] The posture calculation unit 310 calculates the posture of the work machine 1 based on information from the posture measuring device 200 and the position measuring device 250.

[0048] The state quantity calculation unit 320 calculates state quantities based on the posture information of the work machine 1, the operating device 33, and the construction target surface management device 2000.

[0049] The parameter adjustment method setting unit 330 sets the information regarding the parameter adjustment method input from the setting input / display device 100 and displays the information on the setting input / display device 100.

[0050] The parameter temporary setting unit 340 temporarily sets parameters based on state quantity information, parameter adjustment method, and input information from the setting input / display device 100.

[0051] The parameter evaluation unit 350 evaluates the parameters based on the state quantity information, the provisionally set parameter information, and the approval information input from the setting input / display device 100.

[0052] The parameter-related information storage unit 360 stores parameters and information related to those parameters based on state quantity information, parameter adjustment methods, parameter evaluation information, and various request information input from the setting input / display device 100.

[0053] The target speed calculation unit 400 calculates the target speed of the actuator 2ACT according to the posture information of the work machine 1, parameters and information related to those parameters, target surface information, and information from the operating device 33.

[0054] The operation command value calculation unit 430 generates operation command values ​​for controlling the drive device 35 based on the target speed of the actuator 2ACT calculated by the target speed calculation unit 400.

[0055] <Device operation and calculation method> <Machine control operation> In machine control, the controller controls the movement of the work front 2 so that the work tool of the work machine 1, which is driven based on the operator's input, does not submerge itself into the construction target surface. For example, when operating the front towards the construction target surface to perform excavation with the bucket, the front speed is reduced from the stage when approaching the construction target surface to prevent the bucket tip position from deviating from the construction target surface. If the tip is on the construction target surface, the front movement is restricted so that it does not move any further below the construction target surface. This control is performed by calculating the operator's requested speed, which quantitatively provides the operation requested by the operator, and calculating a target speed based on the positional relationship between the construction target surface and the tip.

[0056] For example, if the operator inputs an arm lever operation while the tip of the bucket 22 is on the target surface, a target speed is calculated that will move the tip of the bucket 22 along the target surface at a speed corresponding to the amount of the operation. Specifically, when attempting to perform excavation by tilting the operating lever to move the arm near the target surface, the front movement is restricted so that the boom also moves simultaneously with the tilt of the operating lever, preventing the tip of the bucket 22 from moving further below the target surface, and the bucket tip moves along the target surface in accordance with the operator's lever operation.

[0057] <Machine control accuracy> Figure 4 shows the relationship between the construction target surface and the movement of the bucket claws in machine control.

[0058] In a situation like the one shown in Figure 4, in order to prevent the claw from penetrating below the target surface, it is necessary to appropriately calculate the target speed of the arm and the target speed of the boom, and for the actual speed to accurately follow these target speeds. However, in reality, it is difficult to achieve stable and highly accurate behavior under various operating conditions of the work machine due to the influence of external disturbances such as variations in parts during the manufacturing of the work machine, play in the front member, and the working environment. Furthermore, since these are different external disturbances for each work machine, even if a high-performance controller is manufactured for one work machine, it is difficult to use that controller for other work machines. Therefore, it is desirable to continuously verify the operating accuracy of each work machine under various operating conditions and update the controller to improve operating accuracy.

[0059] <Machine control operability and selection of operating patterns> In addition to operational precision, machine control also requires "operability," which includes factors such as being able to operate the machine without fatigue during long periods of use and being able to perform operations to one's liking. Operability is based on subjective evaluations that differ from those of operational precision, which can be evaluated quantitatively, and therefore its metrics are different. Consequently, some operators may demand a high level of operability even if it means slightly lower operational precision, while others may demand a high level of operational precision even if it means slightly lower operability.

[0060] Thus, different operators have different preferences for machine control operation patterns. Generally, since work machines are often shared by multiple operators rather than being dedicated equipment for a single operator, it is desirable that work machines be designed so that the machine control operation patterns can be switched by the operator.

[0061] In order to implement the aforementioned switching of machine control operation patterns, the controller must at least have the functionality to pre-store information about the operator and machine control operation patterns, and then, based on the selected operator information, recall the appropriate pre-stored operation pattern and apply it to the calculation of the target speed. Here, operator information could include, for example, the operator's name or a unique alphanumeric string.

[0062] The monitor of the present invention has a setting screen that allows the user to select either an accuracy-focused mode, which is selected when operational accuracy is important, or an operability-focused mode, which is selected when operability is important. In this embodiment, a configuration that allows selection of either of the two modes described above is described as a specific example of a calculation method setting device. However, the calculation method setting device may be configured, for example, by using a slider bar that allows adjustment of the ratio for prioritizing both operational accuracy and operability, such as a ratio of 7 for operational accuracy and a ratio of 3 for operability.

[0063] The calculation method set by the calculation method setting device is described below as an internal process by the controller. When either the accuracy-focused mode, selected when operational accuracy is desired, or the operability-focused mode, selected when operability is desired, is selected by touch operation on the setting screen mentioned above, the calculation method is set according to the selected mode. When the accuracy-focused mode is selected, a calculation method is applied that calculates a correction value so that the average or maximum value of the absolute distance between the target surface and the bucket's working point is minimized. On the other hand, when the operability-focused mode is selected, a calculation method is applied that only sets the control gain value and threshold, and does not evaluate the distance between the target surface and the bucket's working point. For example, if you want the toe to be slightly lifted, you select the operability-focused mode mentioned above, and then further select the "toe lift-focused mode" provided in the lower-level setting screen on the setting screen by touch operation. This applies a calculation method that sets the control gain so that the acceleration of the boom raising speed is increased and the boom lowering speed is decreased. Furthermore, in situations where the soil at the construction site is partially hard, and it is desired to temporarily increase the digging force but not to allow the bucket tip to penetrate the target surface, the "Digging Force Enhancement Mode," located at the same level as the aforementioned "Toe Lift Emphasis Mode," can be selected via touch operation. This applies a calculation method that sets a larger threshold for the upper limit of the target speed of the boom and arm so that the amount the bucket tip penetrates the target surface due to the reaction of increased digging force remains below a predetermined value. If the system is configured to allow setting the ratio using the aforementioned slider bar, the system calculates or sets the upper limit k of the average or maximum absolute value of the distance between the target surface and the bucket's working point according to the set ratio. A calculation method is then applied to set the respective control gains and thresholds so that a correction value exists, i.e., a correction value can be calculated, so that the absolute value of the distance is always below the upper limit k.

[0064] <Identification of parameters that constitute the operating patterns of machine control> Next, we will explain the "operation patterns" that can be selected.

[0065] An "operation pattern" distinguishes whether or not the controller outputs an operation command value when performing a certain identical routine operation by changing the parameters used to calculate the operation command value. In other words, the operation command value is not changed by switching the control logic included in the target speed calculation unit, but rather by changing the input signal to the control logic using parameters. Here, parameters refer to numerical information that causes changes in the operation command value, such as the ratio set by the slider bar, correction value, control gain, and threshold mentioned above. Furthermore, parameters may be determined not only by constants, but also by physical quantities related to the operation of the work machine, such as information about the construction target surface and actuator speed. That is, the numerical format of the parameters is defined in numerical format such as scalar quantity, vector quantity, or table. Therefore, storing operation patterns in the controller means storing parameters, and in order for the operation pattern to be appropriate for the operator, operations such as preparing and identifying appropriate parameters are necessary.

[0066] The following provides a concrete example of parameter identification. Consider identifying a parameter using toe movement relative to a horizontal target surface as the operating condition, as shown in Figure 4. Before the identification process, assume that the parameter possesses some numerical information.

[0067] First, to evaluate how appropriate the parameters themselves are, we will check the operation of the work machine when the parameters are applied. In other words, we will actually perform the toe movement relative to a horizontal target surface. Next, the appropriateness of the operation is evaluated. The evaluation method differs depending on whether the focus is on operational accuracy or operability. When focusing on operational accuracy, the evaluation is quantitative, based on absolute numerical data such as the distance between the target surface and the toe. While it is time-efficient for the evaluation to be performed automatically by the controller, it may be beneficial to have a function that allows for manual evaluation depending on the situation. On the other hand, when focusing on operability, the operator actually performing the operation makes a subjective evaluation and provides feedback to the controller via a monitor or similar device.

[0068] Once the parameters are deemed appropriate in each of the above evaluations, parameter identification is complete. On the other hand, if they are deemed inappropriate, new parameters are set manually or automatically, and the operation of the work machine is repeated.

[0069] <Storage and application order of parameter information> The parameters identified through the above procedure, along with the operating conditions at that time, must be stored in the controller and made accessible at any time. Therefore, taking into account the differences in evaluation methods during operation, parameters based on operational accuracy will be called "parameters common to all operators," and parameters based on operability will be called "individual operator parameters."

[0070] Since the operator-common parameters are evaluated based on quantitative indicators, there may be differences in how each operator perceives them, but in this embodiment, the benefit of "high-precision operation" can be specifically enjoyed regardless of the operator. Therefore, the operator-common parameters are stored in the controller as information that is applied to the calculation of operation command values ​​regardless of the operator.

[0071] On the other hand, individual operator parameters are subjectively evaluated, meaning only the operator who performed the evaluation benefits, and are generally not useful to other operators. Therefore, individual operator parameters are stored in the controller as information that is applied to the calculation of operation command values ​​only when a specific operator operates the work machine.

[0072] Figure 5 shows an example of the parameters stored in the main controller 34.

[0073] As shown in Figure 5, the parameters are stored in a manner linked to the operating conditions, and as mentioned above, the parameters are broadly divided into the area of ​​"parameters common to all operators" and the area of ​​"parameters specific to each operator".

[0074] First, the "parameters common to all operators" have default parameters pre-set for all basic operating conditions (operating condition 3), and these default parameters are applied even if no parameter adjustment work has been performed. When parameter adjustments related to operating accuracy are made, the parameter information is stored along with the evaluation results (operating conditions 1 and 2).

[0075] Next, for "operator-specific parameters," a memory area is provided for each operator (operator X, operator Y), and parameters are stored in each memory area according to the operating conditions. In addition, each operator-specific parameter stored in each memory area is assigned identification information linked to the corresponding operator.

[0076] Unlike common parameters for all operators, operator-specific parameters do not need to be defined for all operating conditions. Since parameters are stored on an operator-by-operator basis, for example, the parameter information stored for operator X and operator Y may differ for operating condition 1 (operating patterns α and β). Also, there may be cases where operator-specific parameters are not stored for a given operating condition (e.g., operating condition 2 for operator X). In such cases, the parameters defined in the common parameters area for all operators for the same operating condition are applied. Furthermore, if both operator-specific parameters belonging to the currently selected operator information (i.e., those with the operator's identification number) and common parameters for all operators exist for the same operating condition, the operator-specific parameters are applied, taking into account the operator's track record of sensory evaluation.

[0077] <Image of applying parameter information based on actual operating conditions> To determine which of the parameters shown in Figure 5 to apply, it is necessary to compare the current operating conditions measured from the work machine (hereinafter referred to as "actual operating conditions") with the operating conditions stored in the controller (hereinafter referred to as "default operating conditions").

[0078] Figure 6 shows an example of the relationship between state variables and the applied parameters.

[0079] As shown in Figure 6, the main controller 34 stores parameter information 1 and parameter information 2, each storing the angle of the construction target surface relative to the horizontal (hereinafter referred to as the target surface angle) as a state variable indicating the operating conditions. Here, the target surface angle in parameter information 1 is assumed to be 0 degrees, and the target surface angle in parameter information 2 is assumed to be 30 degrees. Furthermore, it is assumed that different parameters are stored in the two. In this case, for example, if the target surface angle is measured to be 10 degrees as the actual operating condition (state variable), parameter information 1, which has a relatively similar state variable, will be applied.

[0080] <Setting new parameter information based on stored parameter information> As shown in Figure 6, parameter information 1 and 2 are stored in the controller, and the target plane angle is given as a state variable in two levels (0 degrees, 30 degrees). In this case, if a target plane angle different from the two levels (10 degrees) is given as an actual operating condition, the parameters for the new state variable (target plane angle = 10 degrees) may be newly calculated and set by, for example, using linear interpolation between the two levels. In this case as well, the system may be configured to calculate and set the new parameters using only the operator-specific parameters belonging to the currently selected operator information (i.e., those assigned the operator's identification number). Furthermore, if it is not possible to calculate and set the new parameters using only the operator-specific parameters, the system may be configured to calculate the operation command value based on predetermined parameters that are stored in advance.

[0081] <Determination of similarity between actual operating conditions and default operating conditions> Figures 7 to 9 show examples of estimated work vectors used to determine the similarity of operating conditions.

[0082] In the example shown in Figure 6, the target surface angle was simply compared to determine the similarity of the operating conditions. However, in reality, it is necessary to consider factors such as the toe tip's operating speed, direction of movement, and target surface position. Therefore, as shown in Figures 7 to 9, an "estimated work vector" is defined, which represents these factors as a single vector quantity. The similarity of the operating conditions is then determined by comparing these estimated work vectors. The estimated work vector includes the direction along the target surface and its magnitude corresponding to the toe tip speed. One method involves determining the applicable parameters based on the relationship between this vector and the work machine. Specifically, this includes the angles between the estimated work vectors, the distance between the estimated work vectors, and the difference in lever operation amounts, and the determination is based on operations that compare these factors.

[0083] Below, we will describe in more detail how to define estimated work vectors for both default operating conditions (see Figure 7) and actual operating conditions (see Figure 8), and how to determine similarity by comparing the two vectors (see Figure 9).

[0084] The estimated work vector refers to a vector with magnitude L and angle θ, starting from the position coordinate (x,z), when, for example, the pivot point of the boom 20 is defined as the vehicle body reference point as a feature point of the slewing body 3, the direction in which the work front 2 is visible from the slewing body 3 is positive, the distance from the vehicle body reference point parallel to the ground plane is x, and the direction from the slewing body 3 toward the traveling body 4 is positive, and the distance in the direction perpendicular to the ground plane is z.

[0085] The estimated work vector is defined as follows for the default operating conditions and the actual operating conditions. In this example method, the estimated work vector under the default operating conditions is a vector with magnitude L and angle θ, starting from the position coordinate (X,Z), and the estimated work vector under the actual operating conditions is a vector with magnitude L' and angle θ', starting from the position coordinate (x',z').

[0086] The two estimated work vectors are compared based on three indicators: the distance D from the starting point, the difference in angle θ-θ', and the difference in magnitude L-L'. Below is an example of the conditions for determining similarity between the default operating conditions and the actual operating conditions.

[0087] Operators often require different operating sensations and control accuracy for operating conditions that result in significantly different vehicle postures. Conversely, operating conditions that require similar operating sensations from the operator and result in equivalent control accuracy are considered to have similarities. Therefore, it is appropriate to express the conditions for which similarity is judged using thresholds for three indicators: the distance D from the starting point, the difference in angle θ-θ', and the difference in magnitude L-L'. Methods for identifying thresholds include, for example, testing vehicle operation under various operating conditions during the design phase and setting the thresholds within the range where the operating sensation and accuracy are judged to be equivalent, or setting the thresholds within the range where the distance between the estimated toe positions after a predetermined time is less than or equal to a predetermined value.

[0088] Alternatively, the difference in magnitude L-L' may be directly evaluated, but it is preferable to evaluate the difference in lever operation amount, as this directly relates to the operator's operability.

[0089] In the example above, we demonstrated a method for determining the similarity of estimated work vectors defined in a two-dimensional plane. However, in three-dimensional space, estimated work vectors can also be defined similarly, and the system can be configured to determine similarity based on the angles between the estimated work vectors, the distance between them, and the lever operation amount.

[0090] <Control Procedure> Figures 10 to 12 are flowcharts showing the parameter setting process in the main controller. The main controller 34 repeats the processes shown in Figures 10 to 12 at predetermined control intervals.

[0091] As shown in Figure 10, first, when the operator inputs settings to the setting input / display device 100 (step S100), the main controller 34 acquires various sensor values ​​of the work machine 1 (step S110), calculates the current body posture of the work machine (step S120), and acquires and calculates information on the construction target surface (step S130).

[0092] Here, it is determined whether or not existing operator information is stored in the parameter-related information storage unit 360 (step S140).

[0093] If the result of the determination in step S140 is YES, then it is determined whether or not a request to "use existing operator information" has been entered via the setting input / display device 100 (step S150).

[0094] If the result of the determination in step S150 is YES, then the operator information selected by the setting input / display device 100 is selected from the parameter-related information storage unit 360 (step S160), and two types of parameters are read from the parameter-related information storage unit 360: operator-specific parameters associated with the selected operator information and common parameters for all operators that apply regardless of the conditions (step S170).

[0095] Furthermore, if at least one of the determination results in steps S140 and S150 is NO, it is determined whether or not a request to "create and use new operator information" has been input from the setting input / display device 100 (step S151).

[0096] If the result of the determination in step S151 is YES, then new operator information is created in the parameter-related information storage unit 360 (step S152).

[0097] Furthermore, if the result of the determination in step S151 is NO, or if the processing in step S152 is completed, then one type of common parameter for all operators that is applied regardless of the conditions is read from the parameter-related information storage unit 360 (step S153).

[0098] After the processing in step S170 or step S153 is completed, it is determined whether or not a request to "set parameters" has been received from the setting input / display device 100 (step S180).

[0099] If the result of the determination in step S180 is YES, the parameter adjustment process is performed (step S200), and the process is terminated.

[0100] Furthermore, if the result of the judgment in step S180 is NO, the vehicle body operation process is performed (step S400), and the process is terminated.

[0101] Figure 11 is a flowchart showing the details of the parameter adjustment process.

[0102] As shown in Figure 11, in the parameter adjustment process (step S200 in Figure 10), first, setting information regarding the parameter adjustment method is received from the setting input / display device 100 and reflected in the parameter adjustment method setting unit 330 (step S210).

[0103] Next, the starting posture of the operation to be adjusted is recognized (step S220).

[0104] Next, approval information indicating that parameter adjustment will begin is received from the setting input / display device 100 (step S230).

[0105] Next, numerical information from various sensors related to the operation being adjusted is acquired (step S240).

[0106] Next, the state quantity calculation unit 320 calculates state quantities from the numerical information acquired from various sensors (step S250).

[0107] Next, the target velocity calculation unit 400 calculates the target velocity relative to the construction target surface based on the target surface information, attitude information, and operator input (step S260).

[0108] Next, the operation command value calculation unit 430 calculates the operation command value (step S270).

[0109] Next, the operation command value is transmitted to the drive unit 35 (step S280).

[0110] Here, it is determined whether or not the parameter adjustment operation is continuing (step S290).

[0111] If the result of the determination in step S290 is YES, the process returns to step S240.

[0112] Furthermore, if the result of the determination in step S290 is NO, the next step is to determine whether the parameter adjustment method is "preferential for accuracy" (step S300).

[0113] If the result of the determination in step S290 is YES, the parameter evaluation unit 350 evaluates the parameters based on the operating accuracy and displays the evaluation result on the setting input / display device 100 (step S310).

[0114] If the process in step S310 is completed, or if the result of the determination in step S300 is NO, then it is determined whether or not approval information for the parameter has been obtained (step S320).

[0115] If the result of the determination in step S320 is NO, the parameter is changed, the parameter is set in the parameter temporary setting unit 340 (step S330), and the process returns to step S220.

[0116] Furthermore, if the result of the determination in step S320 is YES, the next step is to determine whether the parameter adjustment method is "preferential for accuracy" (step S340).

[0117] If the result of the determination in step S340 is YES, the parameter is changed or a new parameter is added to the parameter-related information storage unit 360 as a parameter common to all operators, linked to the operating conditions corresponding to the state quantity during the adjustment operation (step S350), and the parameter adjustment process is terminated.

[0118] Furthermore, if the result of the determination in step S340 is NO, the parameter is changed or newly added to the parameter-related information storage unit 360 as an individual operator parameter, linked to the operating conditions corresponding to the state quantity during the adjustment operation and the operator information (step S351), and the parameter adjustment process is terminated.

[0119] Figure 12 is a flowchart showing the contents of the vehicle body operation process.

[0120] As shown in Figure 12, in the vehicle body motion processing (step S400 in Figure 10), first, the state quantity calculation unit 320 calculates state quantities from the numerical information of various sensors that have been acquired (step S410).

[0121] Next, the state quantity calculation unit 320 calculates a state quantity (for example, the actual operating conditions in Figure 5), and the parameter stored in the parameter-related information storage unit 360 (for example, parameter information 1 and parameter information 2 in Figure 5) is selected to be the parameter (in this case, parameter information 1) that is closest to the state quantity (actual operating conditions). It is then determined whether or not that parameter belongs to the individual operator parameters (step S420).

[0122] If the result of the determination in step S420 is YES, the operator-specific parameters corresponding to the state variables are applied to the target velocity calculation (step S430).

[0123] Furthermore, if the result of the determination in step S420 is NO, the common parameters for all operators corresponding to the state variables are applied to the target velocity calculation (step S431).

[0124] Once steps S430 and S431 are completed, the target velocity calculation unit 400 then calculates the target velocity relative to the construction target surface based on the target surface information, attitude information, and operator input (step S440).

[0125] Next, the operation command value calculation unit 430 calculates the operation command value (step S450).

[0126] Next, the operation command value is transmitted to the drive unit 35 (step S450), and the vehicle body operation process is terminated.

[0127] <Effects of this embodiment> According to this embodiment configured as described above, when working in similar work conditions that have been corrected in the past, the stored parameters are automatically referenced, eliminating the need for the operator to select or readjust parameters. Furthermore, when requested by the operator, the shovel operation can be corrected on the spot by the operator selecting or readjusting parameters. This reduces the burden on the operator that arises from switching the operation settings of the work machine, while enabling optimal operation settings that are tailored to the combination of the work site and the operator.

[0128] <Other> Furthermore, the present invention is not limited to the embodiments described above, and includes various modifications that do not depart from the spirit of the invention. Also, for example, the present invention is not limited to having all the configurations described in the embodiments described above, but also includes configurations in which some of the configurations are omitted. In addition, some of the configurations according to one embodiment may be added to or replaced with the configurations according to another embodiment. Furthermore, some or all of the configurations of the control device described above, as well as the functions and execution processes of each of those configurations, may be implemented in hardware (for example, by designing the logic that executes each function using an integrated circuit). Furthermore, the configurations of the control device described above may be a program (software) that is read and executed by an arithmetic processing unit (for example, a CPU) to realize each of the functions of the configuration of the control device. The information related to the program may be stored in, for example, semiconductor memory (flash memory, SSD, etc.), magnetic storage device (hard disk drive, etc.), and recording medium (magnetic disk, optical disk, etc.). [Explanation of Symbols]

[0129] 1...Working machine, 2...Working front, 2ACT...Actuator, 2S...Slewing angle sensor, 3...Slewing body, 4...Traveling body, 20...Boom, 20A...Boom cylinder, 20BP...Pressure sensor (boom bottom), 20RP...Pressure sensor (boom rod), 20S, 21S, 22S, 30S...IMU (Inertial Measurement Unit), 21...Arm, 21A...Arm cylinder, 21BP...Pressure sensor (arm bottom), 21RP...Pressure sensor (arm rod), 22...Bucket, A22B, B22C...Link, 22A...Bucket cylinder, 22BP...Pressure sensor (bucket bottom), 22RP...Pressure sensor (bucket rod), 31…Main frame, 32…Driver's cab, 33…Operating device, 34…Main controller, 35…Drive unit, 36…Priming unit, 36a…Engine, 36b…Hydraulic pump, 37…Slewing load measurement device, 41…Traction motor, 45…Tracks, 100…Setting input / display device, 200…Attitude measurement device, 210…Load measurement device, 250…Position measurement device, 310…Attitude calculation unit, 320…State quantity calculation unit, 330…Parameter adjustment method setting unit, 340…Temporary parameter setting unit, 350…Parameter evaluation unit, 360…Parameter related information storage unit, 400…Target speed calculation unit, 430…Operation command value calculation unit, 2000…Construction target surface management device

Claims

1. The vehicle and An upper slewing body is provided so as to be rotatable relative to the aforementioned traveling body, A working device having a bucket attached to the upper rotating body and capable of swinging at least vertically, Actuators that drive the upper rotating body and the work device, respectively, An operating device for operating the actuator, A posture measuring device for measuring posture information of the upper rotating body and the work device, A construction target surface setting device for setting the target construction surface for excavation by the aforementioned bucket, A control device that calculates the required operating direction for the bucket based on the amount of operation of the operating device, and calculates the operating command value of the actuator so that the bucket does not exceed the construction target surface based on the required operating direction, A work machine having a drive device that drives the actuator based on the operation command value of the control device, The system further includes a calculation method setting device for setting the calculation method for the aforementioned operation command value, The control device is Based on the calculation method set in the calculation method setting device, parameters for calculating the operation command value are set, and the set parameters are stored in a storage device in advance along with the state quantities associated with the work machine. A work machine characterized by comparing the current state quantity of the work machine with the state quantity associated with the parameter stored in the storage device, and if a parameter with a state quantity similar to the state quantity of the work machine is stored in the storage unit, applying that parameter to calculate the operation command value.

2. In the work machine described in claim 1, The control device has multiple calculation methods, The calculation method setting device is a work machine characterized by selectively determining a calculation method from the plurality of calculation methods.

3. In the work machine described in claim 1, The aforementioned state variables are An estimated work vector having a direction at least along the construction target surface, Setting information for whether or not to control the angle of the bucket with respect to the construction target surface, The amount of operation of the aforementioned operating device and, A work machine characterized by including at least the aforementioned posture information.

4. In the work machine described in claim 3, The control device is A work machine characterized in that, when comparing the current state quantities of the work machine with the state quantities associated with the parameters stored in the memory device, it is determined that the state quantities are similar if the angle of the estimated work vector, the distance of the estimated work vector, and the difference in the operating amount of the operating device, all included in the state quantities, are within a predetermined range, and the setting information for whether or not to control the angle of the bucket with respect to the construction target surface matches.

5. In the work machine described in claim 1, The calculation method setting device sets the parameters for each operator and stores them in the storage device along with an identification number that identifies the corresponding operator. The control device is characterized in that it calculates the operation command value based only on the parameters that are assigned an identification number of the operator selected by the calculation method setting device.

6. In the work machine described in claim 1, The calculation method setting device sets the parameters for each operator and stores them in the storage device along with an identification number that identifies the corresponding operator. The control device determines whether it is possible to newly set the parameter in the current state quantity based on one or more of the parameters associated with the identification number. A work machine characterized by setting the parameter in the current state quantity based on at least one or more of the parameters having the identification number, if it is determined that it is possible to set it.

7. In the work machine described in claim 1, The calculation method setting device sets the parameters for each operator and stores them in the storage device along with an identification number that identifies the corresponding operator. The current state quantity of the work machine is compared with the state quantity associated with the parameter having the identification number stored in the storage device, and it is determined whether or not the parameter in the current state quantity can be newly set based on the parameter associated with the identification number. If the two state variables being compared are not similar to each other, and it is determined that it is impossible to set new parameters for the current state variables based on one or more of the aforementioned parameters having the aforementioned identification numbers, A work machine characterized by calculating the operation command value based on predetermined parameters stored in the memory device.

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