Work machine control device

Abstract

To provide a control device which can perform rolling work with stable rolling pressure.SOLUTION: A control device includes a speed detection unit for detecting actual speed of a rolling work part of a work machine, a relation information storage unit for storing relation information, and a control unit. The relation information is information on a relation between a physical amount relating to rolling pressure and the moving speed. The control unit determines target speed of a rolling work part on the basis of the target value of the given rolling pressure and the relation information, and performs control so that the actual speed becomes close to the target speed in the rolling work operation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a device for controlling the rolling operation of a work machine capable of performing rolling work. [Background technology]

[0002] A device for controlling the pressing force of an attachment of a work machine such as a hydraulic excavator while the work machine is working is known. The pressing force is the force with which a tip portion of the attachment, such as the bottom surface of a bucket, is pressed against a work surface.

[0003] For example, Patent Document 1 discloses a work machine control device including a calculation means, a target value setting means, and a drive control means. The calculation means calculates and outputs a component of the load acting on an attachment in a direction perpendicular to the work surface. The target value setting means sets a target value of the pressing force appropriate for the work. The drive control means automatically controls the drive of multiple actuators so that the calculation output by the calculation means matches the target value set by the target value setting means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-219727 Summary of the Invention [Problem to be solved by the invention]

[0005] The control described in Patent Document 1 is easily unstable because it is performed based on the comparison between the load actually applied to the attachment from the work surface and a target value of the pushing force. Specifically, the load is likely to fluctuate significantly due to unevenness of the ground and changes in soil quality, and control based on the comparison between the load and the target value is prone to hunting and other phenomena. If such a device is applied to compaction work, i.e., work to solidify the ground by moving a specific part of the working member along a construction surface while pressing it against the construction surface, there is a risk of destabilizing the shape of the construction surface.

[0006] The present invention aims to provide a control device for controlling a work machine capable of performing rolling work, which enables the rolling work to be performed with a stable rolling force. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the inventors focused on the relationship between the rolling pressure, which is the force with which the rolling work part is pressed against the construction surface, and the speed of the rolling work part. Generally, in rolling work performed by an expert who is proficient in operating a construction machine, not only is the rolling pressure stable, but the moving speed at which the rolling work part moves along the construction surface is also stable, and there is a significant correlation between the rolling pressure and the moving speed. Therefore, by preparing information on this correlation in advance, setting a target speed based on a given target value of the rolling pressure, and controlling the drive of the work device so that the actual moving speed approaches the target speed, it is possible to achieve stable rolling work without being affected by the unevenness or soil quality of the construction surface.

[0008] What is provided is a control device that controls operations for compaction work performed by a work machine. The work machine comprises a work device including a compaction work portion, and a work drive device capable of driving the work device so that the work device performs a compaction work operation. The compaction work operation is an operation in which the compaction work portion moves along the work surface while being pressed against the work surface. The control device comprises a speed detection unit that detects the actual speed of the compaction work portion, a relationship information storage unit that stores relationship information, and a control unit. The relationship information is information about the relationship between the moving speed and a physical quantity related to the rolling force, which is the force that presses the compaction work portion against the work surface. The control unit determines a target speed, which is a target value for the moving speed, based on target values ​​given for the physical quantity and the relationship information, and controls the work drive device to drive the work device so that the actual speed approaches the target speed during the compaction work operation.

[0009] The physical quantity related to the rolling force may be the rolling force itself, or may be a thrust applied to the compaction work portion by the work drive device. In this case, it is preferable that the control device further includes a thrust detection unit that detects the thrust, the relationship information storage unit stores information on the relationship between the thrust and the moving speed as the relationship information, and the control unit is configured to determine the target speed based on the thrust detected by the thrust detection unit and the relationship information at the start of the compaction work operation. The detection of the thrust by the thrust detection unit at the start of the compaction work operation enables the target speed to be automatically determined based on the thrust and the relationship information.

[0010] In this aspect, the relationship information storage unit is preferably, for example, a speed data storage unit that stores multiple pieces of speed data. Each of the multiple pieces of speed data includes a combination of the thrust and the moving speed, and the multiple pieces of speed data include pieces of speed data with different moving speeds. The control unit selects, from the multiple pieces of speed data, speed data that corresponds to the thrust detected by the thrust detection unit at the start of the compaction work operation, and can easily determine the target speed based on the moving speed corresponding to the selected speed data. The multiple pieces of speed data can be constructed, for example, by collecting data on thrust and moving speed multiple times when a skilled worker actually performs good compaction work (at least one of the rolling force and moving speed is stable).

[0011] Preferably, the thrust force detection unit is further configured to detect a thrust angle, which is the angle of the thrust with respect to the construction surface, the relationship information storage unit stores information on the relationship between the thrust and the thrust angle and the moving speed as the relationship information, and the control unit is configured to determine the target speed based on the thrust and the thrust angle detected by the thrust force detection unit at the start of the compaction work operation and the relationship information. Since the rolling force can be specified by the thrust and the thrust angle, the control unit can determine a more appropriate target speed based on the combination of the thrust and the thrust angle and the relationship information.

[0012] In this aspect, when the relationship information storage unit is a speed data storage unit that stores a plurality of speed data, each of the plurality of speed data includes a combination of the thrust and the thrust angle and the moving speed, and it is preferable that the control unit selects, from the plurality of speed data, speed data that corresponds to the thrust and the thrust angle detected by the thrust detection unit at the start of the compaction work operation, and determines the target speed based on the moving speed that corresponds to the selected speed data.

[0013] The control unit is preferably configured to store, for example, a rolling work determination condition set for the state of the work device in order to determine the start of the rolling work operation, and to determine the target speed based on the thrust (or the thrust and thrust angle) detected by the thrust detection unit when the rolling work determination condition is satisfied. This enables the control unit to automatically determine the start of the rolling work operation and determine the target speed based on the determination.

[0014] The control performed by the control unit may be fully automatic control that eliminates the need for operation by an operator, or may assist operation by an operator. For example, the control device may further include a work operation device into which a work operation for specifying the operating speed of the work device is input, and the control unit may be configured to control the work device based on both a specified operation amount corresponding to the work operation and an assist operation amount for bringing the actual speed closer to the target speed.

[0015] The work machine is preferably, for example, a hydraulic excavator. The hydraulic excavator further includes a machine body, and the work device includes a boom connected to the machine body so as to be able to be raised and lowered relative to the machine body, an arm connected to the boom so as to be able to rotate vertically relative to the boom, and a bucket connected to the tip of the arm, the bucket having a bottom surface that constitutes the compaction work area. The work drive device includes a boom driver that raises and lowers the boom, and an arm driver that rotates the arm relative to the boom. In this work machine, it is preferable that the control unit is configured to control at least the boom driver of the work drive device. Because the raising and lowering operation of the boom has a significant effect on the rolling force, control of the boom driver by the control unit is effective.

[0016] In this aspect, if the work operation device includes a boom manipulator to which a boom operation for specifying a boom hoisting speed is input, it is preferable that the control unit be configured to control driving of the boom by the boom driver based on both a boom specified operation amount corresponding to the boom operation and a boom assist operation amount calculated to bring the actual speed closer to the target speed. In this case, the work operation device may further include an arm manipulator to which an arm operation for specifying a rotation speed of the arm is input, or the control unit may be configured to control the boom driver so as to bring the actual speed closer to the target speed while rotating the arm at a constant speed using the arm driver. [Effects of the Invention]

[0017] As described above, according to the present invention, there is provided a control device for controlling a work machine capable of performing compaction work, which enables the compaction work to be performed with a stable rolling force. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a side view showing a hydraulic excavator as an example of a work machine according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing a hydraulic circuit and a controller mounted on the hydraulic excavator. [Figure 3] FIG. 2 is a block diagram showing the main functions of the controller. [Figure 4] 5 is a flowchart showing a calculation control operation executed by the controller for driving the boom cylinder. [Figure 5] FIG. 10 is a side view showing an arm top thrust and a thrust angle during a rolling compaction work operation by the hydraulic excavator. [Figure 6] 4 is a side view showing an example of the posture of a working device when a rolling compaction operation by the hydraulic excavator is started. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] A preferred embodiment of the present invention will now be described with reference to the drawings.

[0020] 1 shows a hydraulic excavator, which is a work machine equipped with a control device according to an embodiment of the present invention. The hydraulic excavator includes a lower traveling body 10 capable of traveling on the ground G, an upper rotating body 12 mounted on the lower traveling body 10, a work device 14 mounted on the upper rotating body 12, and a work drive device.

[0021] The undercarriage 10 and the upper rotating body 12 constitute a machine body that supports the working device 14. The upper rotating body 12 has a rotating frame 16 and a plurality of elements mounted thereon. The plurality of elements include an engine room 17 that houses an engine and a cab 18 that is an operator's room.

[0022] The working device 14 is capable of performing an excavation operation, which is an operation for excavation work, and a compaction operation, which is an operation for compaction work. The excavation operation is an operation for excavating the ground, and the compaction operation is an operation for compacting the ground by pressing a compaction work part included in the working device 14 against a construction surface (here, the ground G) - in other words, by applying a rolling force to the construction surface - and moving the compaction work part along the construction surface.

[0023] The working device 14 includes a boom 21, an arm 22, and a bucket 24. The boom 21 has a boom foot, which is a base end, and a boom top, which is the tip end on the opposite side. The boom foot is connected to the front end of the revolving frame 16 via a boom foot pin 23B so that the boom 21 can be raised and lowered relative to the machine body, i.e., can rotate up and down. The arm 22 has an arm foot, which is a base end, and an arm top, which is the tip end on the opposite side. The arm foot is connected to the tip end of the boom 21 via an arm foot pin 23A so that the arm 22 can rotate up and down relative to the boom 21. The bucket 24 is rotatably attached to the arm top via a bucket pin 23C so that it can rotate up and down relative to the arm 22.

[0024] The work drive device includes a boom cylinder 26, an arm cylinder 27, and a bucket cylinder 28 shown in Figures 1 and 2. The boom cylinder 26 is a boom driver that is interposed between the upper rotating body 12 and the boom 21 and extends and retracts to rotate the boom 21 in the hoisting direction relative to the upper rotating body 12. The arm cylinder 27 is an arm driver that is interposed between the boom 21 and the arm 22 and extends and retracts to rotate the arm 22 relative to the boom 21. The bucket cylinder 28 is a bucket driver that extends and retracts to rotate the bucket 24 in the up and down direction relative to the arm 22.

[0025] The boom cylinder 26, the arm cylinder 27, and the bucket cylinder 28 are all extendable and retractable hydraulic cylinders and have similar configurations. Describing the arm cylinder 27 as a representative example, the arm cylinder 27 has a head side chamber 27h and a rod side chamber 27r on the opposite side thereof, as shown in FIG. 5. When hydraulic oil is supplied to the head side chamber 27h, the arm cylinder 27 extends, moving the arm 22 in the arm-pushing direction (the direction in which the arm top approaches the boom 21) and discharging hydraulic oil from the rod side chamber 27r. On the other hand, when hydraulic oil is supplied to the rod side chamber 27r, the arm cylinder 27 contracts, moving the arm 22 in the arm-pushing direction (the direction in which the arm top moves away from the boom 21) and discharging hydraulic oil from the head side chamber 27h.

[0026] 2 shows the hydraulic circuit 30, work operation device 40, speed database 90, multiple sensors, and controller 80 electrically connected to these, which are mounted on the hydraulic excavator, and these comprise the elements that make up the control device. The controller 80 is formed, for example, by a microcomputer, and controls the operation of each element included in the hydraulic circuit 30.

[0027] In addition to the boom cylinder 26, the arm cylinder 27, and the bucket cylinder 28, the hydraulic circuit 30 includes a pump unit 32, a boom control valve 36, an arm control valve 37, a bucket control valve 38, a boom flow control valve 76, an arm flow control valve 77, and a bucket flow control valve 78.

[0028] The pump unit 32 includes a plurality of hydraulic pumps, including at least one main pump and a pilot pump. The plurality of hydraulic pumps are connected to an engine (not shown) that serves as a drive source, and are driven by the power output by the engine to discharge hydraulic oil.

[0029] The boom control valve 36 is interposed between the pump unit 32 and the boom cylinder 26, and opens and closes to change the direction and flow rate (boom flow rate) of hydraulic oil supplied from the pump unit 32 to the boom cylinder 26. The boom control valve 36 is configured as a pilot-operated directional control valve including a boom-raising pilot port and a boom-lowering pilot port, and when pilot pressure is input to the boom-raising pilot port, opens to allow hydraulic oil to be supplied to the head-side chamber of the boom cylinder 26 at a flow rate (boom-raising flow rate) corresponding to the magnitude of the pilot pressure, and when pilot pressure is input to the boom-lowering pilot port, opens to allow hydraulic oil to be supplied to the rod-side chamber of the boom cylinder 26 at a flow rate (boom-lowering flow rate) corresponding to the magnitude of the pilot pressure.

[0030] The arm control valve 37 is interposed between the pump unit 32 and the arm cylinder 27, and opens and closes to change the direction and flow rate (arm flow rate) of hydraulic oil supplied from the pump unit 32 to the arm cylinder 27. The arm control valve 37 is configured as a pilot-operated directional control valve including an arm-pull pilot port and an arm-push pilot port, and when pilot pressure is input to the arm-pull pilot port, opens to allow hydraulic oil to be supplied to the head side chamber 27h of the arm cylinder 27 at a flow rate (arm-pull flow rate) corresponding to the magnitude of the pilot pressure, and when pilot pressure is input to the arm-push pilot port, opens to allow hydraulic oil to be supplied to the rod side chamber 27r of the arm cylinder 27 at a flow rate (arm-push flow rate) corresponding to the magnitude of the pilot pressure.

[0031] The bucket control valve 38 is interposed between the pump unit 32 and the bucket cylinder 28, and opens and closes to change the direction and flow rate (bucket flow rate) of hydraulic oil supplied from the pump unit 32 to the bucket cylinder 28. The bucket control valve 38 is configured as a pilot-operated directional control valve including a bucket excavation pilot port and a bucket-opening pilot port, and when pilot pressure is input to the bucket excavation pilot port, opens to allow hydraulic oil to be supplied to the head-side chamber of the bucket cylinder 28 at a flow rate corresponding to the magnitude of the pilot pressure, and when pilot pressure is input to the bucket-opening pilot port, opens to allow hydraulic oil to be supplied to the rod-side chamber of the bucket cylinder 28 at a flow rate corresponding to the magnitude of the pilot pressure.

[0032] The boom flow control valve 76 includes a boom-raising flow control valve 76A shown in FIG. 3 and a boom-lowering flow control valve (not shown), each of which is configured as a solenoid valve (e.g., an electromagnetic proportional pressure reducing valve or an electromagnetic inverse proportional pressure reducing valve). The boom-raising flow control valve 76A is interposed between the pilot pump and the boom-raising pilot port of the boom control valve 36, and opens to allow a pilot pressure of a magnitude corresponding to a boom-raising command signal input from the controller 80 to the boom-raising pilot port to be input to the boom-raising pilot port. Similarly, the boom-lowering flow control valve is interposed between the pilot pump and the boom-lowering pilot port of the boom control valve 36, and opens to allow a pilot pressure of a magnitude corresponding to a boom-lowering command signal input from the controller 80 to the boom-lowering pilot port to be input to the boom-lowering pilot port.

[0033] The arm flow control valve 77 has an arm pull flow control valve and an arm push flow control valve (not shown), each of which is configured by a solenoid valve (for example, an electromagnetic proportional pressure reducing valve or an electromagnetic inverse proportional pressure reducing valve). The arm pull flow control valve is interposed between the pilot pump and the arm pull pilot port of the arm control valve 37, and opens to allow a pilot pressure of a magnitude corresponding to an arm pull command signal input from the controller 80 to the arm pull flow control valve to be input to the arm pull pilot port. Similarly, the arm push flow control valve is interposed between the pilot pump and the arm push pilot port of the arm control valve 37, and opens to allow a pilot pressure of a magnitude corresponding to an arm push command signal input from the controller 80 to the arm push flow control valve to be input to the arm push pilot port.

[0034] The bucket flow rate control valve 78 has a bucket excavation flow rate control valve and a bucket opening flow rate control valve (not shown), each of which is configured as a solenoid valve (for example, an electromagnetic proportional pressure reducing valve or an electromagnetic inverse proportional pressure reducing valve). The bucket excavation flow rate control valve is interposed between the pilot pump and the bucket excavation pilot port of the bucket control valve 38, and opens to allow pilot pressure of a magnitude corresponding to a bucket excavation command signal input from the controller 80 to the bucket excavation pilot port to be input to the bucket excavation pilot port. Similarly, the bucket opening flow rate control valve is interposed between the pilot pump and the bucket open pilot port of the bucket control valve 38, and opens to allow pilot pressure of a magnitude corresponding to a bucket opening command signal input from the controller 80 to the bucket opening flow rate control valve to be input to the bucket open pilot port.

[0035] The work operating device 40 receives a work operation input for specifying the operating speed of the work device 14, and inputs a speed command signal corresponding to the work operation to the controller 80. The work operating device 40 according to this embodiment includes a boom manipulator 46, an arm manipulator 47, and a bucket manipulator 48 shown in FIG.

[0036] The boom operator 46 includes a boom lever, and generates a boom-raising operation signal or a boom-lowering operation signal corresponding to a boom operation applied to the boom lever, specifically, a boom-raising operation and a boom-lowering operation for moving the boom 21 in the boom-raising direction and the boom-lowering direction, respectively, and inputs the generated signal to the controller 80.

[0037] The arm operating device 47 includes an arm lever, and generates an arm pull operation signal or an arm push operation signal corresponding to the arm operation applied to the arm lever, specifically, an arm pull operation and an arm push operation for moving the arm 22 in the arm pull direction and arm push direction, respectively, and inputs the generated signal to the controller 80.

[0038] The bucket operator 48 includes a bucket lever, and generates a bucket digging operation signal or a bucket opening operation signal corresponding to the bucket operation applied to the bucket lever, specifically, a bucket digging operation and a bucket opening operation for moving the bucket 24 in the bucket digging direction and the bucket opening direction, respectively, and inputs the signals to the controller 80.

[0039] The plurality of sensors includes a plurality of stroke sensors 66 to 68, an arm cylinder head pressure sensor 64H, and an arm cylinder rod pressure sensor 64R shown in FIG.

[0040] The multiple stroke sensors 66 to 68 are attached to the working device 14 to detect the attitude of the working device 14, and more specifically, are a boom cylinder stroke sensor 66, an arm cylinder stroke sensor 67, and a bucket cylinder stroke sensor 68. These detect the stroke lengths of the boom cylinder 26, the arm cylinder 27, and the bucket cylinder 28, respectively, in other words, detect the relative position of the cylinder rod in the stroke direction with respect to the cylinder tube.

[0041] The arm cylinder head pressure sensor 64H detects the head pressure Ph of the arm cylinder 27, i.e., the pressure of the hydraulic oil in the head-side chamber 27h. Similarly, the arm cylinder rod pressure sensor 64R detects the rod pressure Pr of the arm cylinder 27, i.e., the pressure of the hydraulic oil in the rod-side chamber 27r.

[0042] Each of the plurality of sensors generates a detection signal corresponding to the detected physical quantity, and inputs the detection signal to the controller 80 .

[0043] The controller 80 performs basic control based on operation command signals input from the boom operator 46, the arm operator 47, and the bucket operator 48. The basic control includes generating a boom-raising command signal or a boom-lowering command signal for extending and retracting the boom cylinder 26 at a speed corresponding to the boom-raising operation command signal or the boom-lowering operation command signal (i.e., causing the boom 21 to perform a hoisting operation), and inputting the generated signal to the boom flow control valve 76, generating an arm-pushing command signal or an arm-pushing command signal for extending and retracting the arm cylinder 27 at a speed corresponding to the arm-pushing operation command signal or the arm-pushing operation command signal (i.e., causing the arm 22 to perform a pivoting operation), and inputting the generated signal to the arm flow control valve 77, and generating a bucket digging command signal or a bucket-opening command signal for extending and retracting the bucket cylinder 28 at a speed corresponding to the bucket digging operation command signal or the bucket-opening operation command signal (i.e., causing the bucket 24 to perform a pivoting operation), and inputting the generated signal to the bucket flow control valve 78.

[0044] The controller 80 further executes compaction assist control to assist the boom raising operation (a speed designation operation for moving the boom 21 in the boom-raising direction) so that compaction work can be performed with a stable rolling force when compaction work is performed by the working implement 14. In order to execute the compaction assist control, the controller 80 has a plurality of functions as shown in Fig. 3, which include a working implement attitude calculation unit 81, a thrust and thrust angle calculation unit 82, a compaction work determination unit 83, a target speed calculation unit 84, an actual speed calculation unit 85, a speed deviation calculation unit 86, a boom-raising operation calculation unit 87, a boom-raising command calculation unit 88, and an assist rate setting unit 89. These functions are realized, for example, by a CPU included in the controller 80 executing a program stored in advance in a memory included in the controller 80.

[0045] The working device attitude calculation unit 81 calculates the attitude of the working device 14 based on the cylinder strokes detected by the stroke sensors 66 to 68. That is, the working device attitude calculation unit 81, together with the stroke sensors 66 to 68, constitutes an attitude detection unit that detects the attitude of the working device 14. Detection of the attitude of the working device 14 in this way makes it possible to identify the position of any part of the working device 14, and further makes it possible to identify the movement speed of the any part by differentiating the position with respect to time.

[0046] The sensor for detecting the attitude of the working device 14, i.e., the attitude detection sensor, is not limited to the stroke sensors 66 to 68. The attitude detection sensor may include, for example, angle sensors that respectively detect the boom angle (the relative angle of the boom 21 with respect to the upper rotating body 12), the arm angle (the relative angle of the arm 22 with respect to the boom 21), and the bucket angle (the relative angle of the bucket 24 with respect to the arm 22), and a calculation unit that calculates the attitude of the working device 14 based on the detected angles.

[0047] The thrust and thrust angle calculation unit 82 calculates the arm top thrust Fm and arm top thrust angle θf shown in Fig. 5. The arm top thrust Fm is a thrust applied from the arm cylinder 27 to the arm top, which in this embodiment is a portion of the arm 22 where the bucket pin 23C is attached. The direction of the thrust vector corresponding to the arm top thrust Fm is the rotation tangent direction of the arm top, for example, in Fig. 5, a direction parallel to a tangent to an arc Aar at the arm top whose center is the arm foot. The arm top thrust angle θf is the angle that the vector of the arm top thrust Fm forms with respect to the construction surface, which in this embodiment is the horizontal plane, that is, the ground G shown in Fig. 5.

[0048] As will be described in detail later, the thrust and thrust angle calculation unit 82 is capable of calculating the arm top thrust Fm and the arm top thrust angle θf based on the working device attitude calculated by the working device attitude calculation unit 81 and the head pressure Ph and the rod pressure Pr of the arm cylinder 27 detected by the arm cylinder head pressure sensor 64H and the arm cylinder rod pressure sensor 64R, respectively. In other words, the working device attitude calculation unit 81, the stroke sensors 66 to 68, and the arm cylinder head pressure and rod pressure sensors 64H, 64R configure a thrust detection unit that detects the arm top thrust Fm and the arm top thrust angle θf.

[0049] The rolling force can be determined from the arm top thrust force Fm and the arm top thrust angle θf. The rolling force is the force with which the rolling work portion of the working device 14 is pressed against the construction surface (ground surface G in this embodiment), and in this embodiment, the rolling work portion is the bottom surface 24a of the bucket 24 as described above.

[0050] The rolling work determination unit 83 determines the start of rolling work by the working device 14. The rolling work determination unit 83 in this embodiment stores preset rolling work start conditions for the state of the working device 14, and determines whether the attitude of the working device 14 calculated by the working device attitude calculation unit 81 and the arm top thrust Fm calculated by the thrust and thrust angle calculation unit 82 satisfy the rolling work start conditions.

[0051] The compaction work determination unit 83 according to this embodiment further determines the end of the compaction work. The determination of the end can be made based on whether or not a preset compaction work end condition is satisfied, similar to the determination of the start of the compaction work.

[0052] The target speed calculation unit 84 calculates a target speed Vat. The target speed Vat is a target value of the movement speed of the compaction work area in order to perform the compaction work while stabilizing the rolling force. In this embodiment, an arm top speed Va, which is the movement speed of the arm top, is considered to be equivalent to the movement speed of the compaction work area, and the target value of the arm top speed Va is calculated as the target speed Vat.

[0053] The calculation of the target speed Vat is performed based on the arm top thrust Fm and the arm top thrust angle θf calculated by the thrust and thrust angle calculation unit 82 at the time when the start of the compaction work is determined by the compaction work determination unit 83, and on a plurality of speed data stored in the speed database 90.

[0054] The speed database 90 is a speed data storage unit that stores the plurality of speed data, and each of the plurality of speed data is a combination of the arm top thrust force Fm, the arm top thrust angle θf, and the arm top velocity Va, as will be described in detail later. The plurality of speed data includes data in which the arm top velocities Va are different from one another. The plurality of speed data corresponds to relationship information that is information about the relationship between the rolling force specified by the arm top thrust force Fm and the arm top thrust angle θf and the arm top velocity Va.

[0055] The target speed calculation unit 84 selects, from the plurality of speed data, speed data corresponding to the arm top thrust Fm and the arm top thrust angle θf calculated by the thrust and thrust angle calculation unit 82 (i.e., detected by the thrust detection unit) at the start of the compaction work operation, and calculates the target speed Vat based on the arm top speed Va corresponding to the selected speed data. The plurality of speed data, a method for collecting the speed data, and a method for calculating the target speed Vat based on the speed data will be described later.

[0056] In this embodiment, the arm top speed Va is regarded as the movement speed of the compaction work area, and therefore each of the plurality of speed data includes a combination of the arm top thrust Fm, the arm top thrust angle θf, and the arm top speed Va, but when the movement speed of the compaction work area (in this embodiment, the bottom surface 24a of the bucket 24) is treated as the control object as it is, it is preferable that each of the plurality of speed data includes the movement speed itself instead of the arm top speed Va.

[0057] The speed data storage unit according to the present invention is not limited to a unit configured independently of the controller 80, such as the speed database 90, but may be configured by a large-capacity memory included in the controller 80, for example.

[0058] The actual speed calculation unit 85 calculates the actual speed Var. The actual speed Var is the actual movement speed of the compaction work area, and in this embodiment, the actual value of the arm top speed Va is calculated. The actual speed Var can be calculated by the time differentiation of the arm top position calculated by the work device attitude calculation unit 81. Therefore, the actual speed calculation unit 85, together with the attitude detection unit, constitutes a speed detection unit.

[0059] The speed deviation calculation unit 86 calculates a speed deviation ΔVa, which is the deviation of the actual speed Var from the target speed Vat (=Vat−Var).

[0060] The boom-raising operation calculation unit 87 calculates a boom-raising operation command Sbo. The boom-raising operation command Sbo is a boom-raising speed command that corresponds to a signal input from the boom operator 46 to the controller 80 when a boom-raising operation (an operation for causing the boom 21 to perform a boom-raising motion) is applied to the boom lever of the boom operator 46, i.e., the boom-raising operation signal. The boom-raising operation command Sbo therefore corresponds to the amount of operation of the boom lever (the magnitude of the boom-raising operation).

[0061] The boom-raising command calculation unit 88 calculates a final boom-raising command Sbf and inputs it to the boom-raising flow control valve 76A, thereby adjusting the actual boom-raising speed of the boom 21. Specifically, based on the speed deviation ΔVa calculated by the speed deviation calculation unit 86, the boom-raising command calculation unit 88 calculates an assist boom-raising command Sba for bringing the speed deviation ΔVa closer to zero, and further calculates the final boom-raising command Sbf based on the assist boom-raising command Sba, the boom-raising operation command Sbo calculated by the boom-raising operation calculation unit 87, and an assist rate Ra. The assist rate Ra is the ratio of the assist boom-raising command Sba to the final boom-raising command Sbf (=Sba / Sbf), and indicates the proportion to which the assist boom-raising command Sba is taken into account when determining the speed of the boom-raising operation.

[0062] The assist rate setting unit 89 sets the assist rate Ra. The assist rate setting unit 89 may store a preset constant value as the assist rate Ra, or may receive an assist setting operation by an operator or the like and set a value corresponding to the assist setting operation to the assist rate Ra. Alternatively, the assist rate setting unit 89 may automatically set the assist rate Ra based on the state of the construction surface detected by LiDAR (Light Detection and Ranging) or the like.

[0063] Next, the calculation and control operations actually performed by the controller 80 for the rolling compaction work will be described in more detail with reference to the flowchart of FIG.

[0064] 1. Calculation of arm top thrust Fm and arm top thrust angle θf (Step S1) The thrust and thrust angle calculation unit 82 of the controller 80 calculates the arm top thrust Fm and the arm top thrust angle θf (step S1).

[0065] Although a specific method for calculating the arm top thrust Fm is not limited, it is possible to easily calculate the arm top thrust Fm by focusing on the balance of moments around the arm foot (around the arm foot pin 23A in the example shown in Fig. 5). Specifically, the balance of the moments just before the bottom surface 24a of the bucket 24 is pressed against the construction surface (ground surface G in Fig. 5) and moves (i.e., in a stationary state) can be expressed as in the following formula (1) using an arm cylinder thrust Fa which is the cylinder thrust of the arm cylinder 27, a cylinder thrust radius La, gravity m·g acting on the center of gravity 22G of the arm 22, a gravity radius Lg, the arm top thrust Fm, and an arm top thrust radius Lm.

[0066] Fm Lm = Fa La + M g Lg …(1) By modifying this equation (1), the following equation (2) can be obtained to find the arm top thrust Fm.

[0067] Fm=(Fa·La+M·g·Lg) / Lm …(2) In the formulas (1) and (2), the arm cylinder thrust Fa is a thrust given by the arm cylinder 27 to the arm 22 in the extension direction of the arm cylinder 27. The arm cylinder thrust Fa can be calculated by the following formula (3) based on the head side pressure receiving area Ah and rod side pressure receiving area Ar of the piston in the arm cylinder 27, and the head pressure Ph and rod pressure Pr detected by the arm cylinder head pressure sensor 64H and the arm cylinder rod pressure sensor 64R, respectively.

[0068] Fa = Ah + Ph - Ar + Pr … (3) Furthermore, the cylinder thrust radius La is the moment radius of the arm cylinder thrust Fa (the distance from the center of the arm foot pin 23A to the arm cylinder thrust Fa in a direction perpendicular to the arm cylinder thrust Fa), the gravity radius Lg is the moment radius of the gravity m·g (the distance from the center of the arm foot pin 23A to the gravity m·g in the horizontal direction), and the arm top thrust radius Lm is the moment radius of the arm top thrust Fm (the distance from the center of the arm foot pin 23A to the arm top thrust Fm in a direction perpendicular to the arm top thrust Fm), and each of these can be calculated based on the attitude of the working device 14.

[0069] 2. Determine whether to start compaction work (Step S2) Meanwhile, the rolling compaction work determination unit 83 of the controller 80 determines whether or not the working device 14 has started rolling compaction work (step S2). Specifically, it determines whether or not the state of the working device 14 satisfies a preset rolling compaction work start condition.

[0070] The compaction work start conditions include at least one of a thrust condition and a posture condition, and preferably both. The thrust condition is a condition regarding the arm top thrust Fm, for example, that the arm top thrust Fm is equal to or greater than a preset thrust threshold Fmo (Fm≧Fmo). The posture condition is a condition regarding the posture of the working device 14, for example, that all of the following three conditions (a) to (c) are satisfied. (a) The horizontal distance Lx from the rotation center of the boom 21 (in this embodiment, the center of the boom foot pin 23B) to the position of the arm top (in this embodiment, the center of the bucket pin 23C) is equal to or greater than a predetermined horizontal distance threshold Lxo (Lx≧Lxo). (b) The vertical distance Ly from the rotation center of the boom 21 to the position of the arm top is equal to or less than a preset vertical distance threshold Lyo (Ly≦Lyo). (c) The bucket angle θc is equal to or less than a preset bucket angle threshold θco (Lx≧Lxo and Ly≦Lyo and θc≦θco). The bucket angle θc is the angle formed by the bucket 24 with respect to the arm 22, more specifically, the angle between an arm reference line LB and a bucket reference line LC, the arm reference line LB being a straight line connecting the rotation center of the bucket 24 (the center of the bucket pin 23C in this embodiment) and the rotation center of the arm 22 (the arm foot pin 23A in this embodiment), and the bucket reference line LC being a straight line connecting the rotation center of the bucket 24 and the tip 25 of the bucket 24.

[0071] FIG. 6 shows a typical example of a posture that the working device 14 can assume when the compaction operation begins. Generally, at the start of the compaction operation, the bucket 24 is positioned far forward from the boom foot, and the entire working device 14 is extended far forward so that the bottom surface 24a, which is the compaction portion of the bucket 24, is in surface contact with the work surface. From this posture, the boom 21 is raised and the arm 22 is pulled, simultaneously, to perform the compaction operation of pressing the bottom surface 24a against the work surface and pulling the bucket 24 toward the boom foot along the work surface. Therefore, by setting the above-described conditions for the horizontal distance Lx, the vertical distance Ly, and the bucket angle θc, it is possible to accurately determine whether the working device 14 is in the posture for starting the compaction operation. However, for the purpose of simplifying the determination, at least one of the conditions for the vertical distance Ly (Ly≦Lyo) and the bucket angle θc (θc≦θco) may be omitted. Alternatively, the thrust condition (Fm≧Fmo) may be omitted.

[0072] 3. Calculation of target speed Vat (steps S3 and S4) The thrust and thrust angle calculation unit 82 continues to calculate the arm top thrust force Fm and the arm top thrust angle θf (step S1) until the rolling compaction work determination unit 83 determines that the rolling compaction work has started (NO in step S2). Then, at the point in time when the rolling compaction work determination unit 83 determines that the rolling compaction work has started, that is, when it determines that the rolling compaction work start condition has been satisfied (YES in step S2), the target speed calculation unit 84 stores the arm top thrust Fm and the arm top thrust angle θf calculated at that point in time (step S3), and calculates a target speed Vat based on the stored arm top thrust force Fm and arm top thrust angle θf (step S4).

[0073] The target speed Vat is calculated using the plurality of speed data stored in the speed database 90. As described above, the plurality of speed data is a combination of the arm top thrust Fm, the arm top thrust angle θf, and the arm top speed Va, and Table 1 below shows some of the plurality of speed data.

[0074] [Table 1]

[0075] The speed data exemplified in Table 1 was collected during compaction work performed by a plurality of skilled workers (Worker A and Worker B in Table 1) who actually operated the hydraulic excavator, and the arm top speed Va is an average speed, i.e., an average value of speeds collected at regular time intervals during the compaction work. Generally, in compaction work performed by skilled workers, the stability of the rolling force and the stability of the arm top speed Va corresponding to the arm top thrust force Fm and the arm top thrust angle θf are high, and a significant correlation is observed between the two. Generally, the greater the rolling force, the smaller the arm top speed Va. Therefore, data collected during the rolling work repeatedly performed by such a skilled worker is stored in the speed database 90 as the plurality of speed data, and the target speed calculation unit 84 is able to calculate the target speed Vat, i.e., the target value of the arm top speed Va, for proceeding with the rolling work while maintaining the rolling force corresponding to the arm top thrust force Fm and the arm top thrust angle θf calculated at the time when it was determined that the rolling work should start from the plurality of speed data.

[0076] The target speed calculation unit 84 may, for example, set the arm top speed Va of the speed data that is closest to the arm top thrust force Fm and the arm top thrust angle θf calculated at the time of determining the start of the rolling compaction work out of the plurality of speed data as it is, as the target speed Vat, or may set the target speed Vat to an average value of a plurality of arm top velocities Va that correspond to each of a plurality of speed data that are close to the arm top thrust force Fm and the arm top thrust angle θf calculated at the time of determining the start of the rolling compaction work out of the plurality of speed data, or a value determined by interpolation calculation. For example, when the magnitude of the calculated arm top thrust Fm and arm top thrust angle θf are 80 kg·f and 53 deg, respectively, the target speed calculation unit 84 may adopt the speed data in the third row from the top of Table 1 by placing importance on the magnitude of the arm top thrust Fm, and set the arm top speed (average speed) of 210 mm / s of that speed data as the target speed Vat as is, or may calculate the target speed Vat by performing an average calculation or an interpolation calculation based on the speed data in the third row and the speed data (speed data in the second row) adopted by placing importance on the arm top thrust angle θf.

[0077] The plurality of speed data stored in the speed database 90 may include all data collected by the skilled worker during work, or only data carefully selected from all the data as being particularly useful, for example, data with small variations in the arm top speed Va from the start to the completion of the compaction work, may be stored. Moreover, the controller 80 may automatically select the speed data and input the selected speed data into the speed database 90.

[0078] The location where the rolling work for collecting the plurality of speed data is performed is not limited. The location may be a factory where the hydraulic excavator is manufactured, or a work site where the hydraulic excavator is actually used. Furthermore, each time an actual rolling work is performed, additional speed data may be collected and additionally stored in the speed database 90. Alternatively, the work for collecting the speed data may not be actual rolling work, but may be simulated rolling work for collecting data that approximates actual compaction work.

[0079] Furthermore, the plurality of speed data stored in the speed database 90 is not limited to data collected during actual work. The plurality of speed data may be data obtained, for example, by computer simulation.

[0080] 4. Calculation of final boom raising command Sbf (steps S5 to S7) The controller 80 performs an operation for calculating a final boom raising command Sbf to be input to the boom raising flow control valve 76A based on the target speed Vat. Specifically, the operation is as follows.

[0081] First, the actual speed calculation unit 85 of the controller 80 calculates the actual speed Var, i.e., the actual arm top speed Va, and the speed deviation calculation unit 86 calculates the speed deviation ΔVa, i.e., the difference between the target speed Vat and the actual speed Var (=Vat−Var) (step S5).

[0082] Next, the boom raising command calculation unit 88 calculates an assist boom raising command Sba based on the speed deviation ΔVa (step S6). The assist boom raising command Sba is a boom raising command for bringing the speed deviation ΔVa closer to zero (i.e., bringing the actual speed Var closer to the target speed Vat). The boom raising command calculation unit 88 may, for example, store a preset relationship (for example, the relationship between the speed deviation ΔVa and the assist boom raising command Sba as shown in FIG. 6) and calculate the assist boom raising command Sba based on the relationship, or may multiply the speed deviation ΔVa by a predetermined gain to calculate a feedback correction amount and calculate the assist boom raising command Sba based on the feedback correction amount.

[0083] The boom raising command calculation unit 88 further calculates the final boom raising command Sbf based on the assist boom raising command Sba, the boom raising operation command Sbo (a speed command corresponding to the magnitude of the boom raising operation applied to the boom lever) calculated by a boom raising operation calculation unit, and the assist rate Ra set by an assist rate setting unit 89 (step S7). The final boom raising command Sbf is given by the following equation (4):

[0084] Sbf=(1-Ra)·Sbo+Ra·Sba …(4) As shown in equation (4), the assist rate Ra is the proportion of the assist boom raising command Sba in the final boom raising command Sbf, and the greater the assist rate Ra, the smaller the proportion of the boom raising operation applied to the boom lever that is taken into account. The assist rate Ra may be maintained at a constant value that is set in advance, or may be set appropriately based on the preferences of the operator, etc. Alternatively, it may be calculated automatically depending on the condition of the construction surface, etc.

[0085] 5.Completion of compaction work After the start of the rolling work, the rolling work determination unit 83 according to this embodiment also determines the end of the rolling work (step S8). This determination can be made by determining whether the work state satisfies a preset rolling work end condition, similar to the determination of the start of the rolling work. Examples of the rolling work end condition include: (i) the horizontal distance Lx (the horizontal distance from the boom foot to the arm top) shown in FIG. 6 is equal to or less than a preset threshold for determining the end of the rolling work; (ii) the vertical distance from the boom foot to the arm foot is equal to or greater than a preset threshold; and (iii) the operation amount of the boom lever or arm lever is equal to or less than a preset threshold (the boom lever is substantially returned to the neutral position).

[0086] The controller 80 continues the process for calculating the final boom raising command Sbf (steps S5 to S7) until it is determined that the rolling compaction work has ended (NO in step S8), and then ends the operation for controlling the rolling compaction work when it is determined that the rolling compaction work has ended (YES in step S8).

[0087] The control described above does not use the rolling force as a control variable as in the past, but rather uses the movement speed of the compaction work area as a control variable; specifically, it is a control that calculates a target speed Vat corresponding to the values ​​calculated at the start of compaction work for the arm top thrust Fm and arm top thrust angle θf, which can identify the rolling force, and brings the speed deviation ΔVa, which is the deviation between the target speed Vat and the actual speed Var, closer to 0.Therefore, it is possible to perform stable compaction work control regardless of fluctuations in the rolling force due to unevenness of the work surface or changes in soil quality, and thereby stabilize the properties of the work surface.

[0088] The present invention is not limited to the above-described embodiment, but includes the following aspects, for example.

[0089] (1) Determining the target speed The control unit according to the present invention is not limited to one that calculates the target speed based on the thrust and thrust angle at the start of the compaction work. For example, when the arm-top thrust angle θf in the compaction start posture as shown in Fig. 6 is stable, the target speed may be calculated based only on the thrust. In this case, each of the multiple speed data stored in the speed database 90 may include only a combination of the arm-top thrust Fm (a force equivalent to the thrust acting on the compaction work area) and the arm-top speed Va (a speed equivalent to the movement speed of the compaction work area) (i.e., it may not include the arm-top thrust angle θf).

[0090] Alternatively, the control unit according to the present invention may determine the target speed (without detecting the thrust and thrust angle) based on a target value (e.g., a target rolling force) specified by an operator for a physical quantity equivalent to the rolling force.

[0091] (2) Relationship information storage section The relationship information storage unit according to the present invention is not limited to the speed database 90, as long as it stores relationship information relating to the relationship between rolling force and target speed and enables the target speed to be determined. The relationship information storage unit may store, for example, a relational expression or map that indicates the relationship between the thrust force acting on the rolling work area, the thrust angle, and the target speed, which is set based on the plurality of speed data.

[0092] (3) Operational devices The work operating device according to the present invention may be any device that can provide a work operation for specifying the operating speed of a work device, and is not limited to devices that convert the work operation into an electrical signal like the controllers 46-48. The work operating device may be, for example, a valve that opens to allow a pilot pressure corresponding to the work operation to be input to a pilot-operated control valve connected to the work drive device, i.e., a remote control valve. In this case as well, the specified operation amount corresponding to the work operation can be determined by detecting the pilot pressure output from the remote control valve with a pressure sensor and converting the detected pilot pressure into the specified operation amount.

[0093] (4) Assistance recipients Although the operation to be assisted in the above-described embodiment is a boom-raising operation, the operation to be assisted may also be an arm-pulling operation. That is, an arm-pulling assist operation amount for bringing the speed deviation ΔVa closer to 0 may be calculated, and a final arm-pulling command may be calculated based on the calculated assist operation amount and a command operation amount corresponding to the arm operation actually given to the arm lever.

[0094] (5) Automatic control The assist rate may be set to 1. In other words, the drive of the boom 21 or the arm 22 may be completely automatically controlled (independent of boom operation or arm operation).

[0095] Alternatively, the operation of the arm cylinder 27 may be controlled so that the arm 22 rotates at a constant speed, while a boom raising command may be calculated to bring the actual speed closer to the target speed, assuming that the arm 22 rotates at the constant speed. This type of control not only assists (or automatically controls) the operation of the boom 21, but also makes it possible to further reduce the burden on the operator by eliminating the need to operate the arm during compaction work. The rotation speed of the arm 22 may be a predetermined speed, or may be a speed specified manually by the operator (including by operating the arm lever).

[0096] (6) Construction aspects Although the construction surface in the above embodiment is a horizontal ground surface G, the construction surface in the present invention may also be a slope (inclined surface). In this case, compaction work with stable rolling force can be achieved by controlling the actual speed to approach the target speed along the inclined construction surface. For example, each of the multiple speed data stored in the speed data storage unit includes a combination of the thrust force, the thrust angle, the angle of the construction surface, and the travel speed. By selecting, from the multiple speed data, speed data corresponding to the detected thrust force and thrust angle and the actual angle of the construction surface, the target speed can be determined based on the speed data. The angle of the construction surface may be automatically detected by LiDAR or the like, or may be specified by an operator.

[0097] (7) Speed ​​detection unit The speed detection unit according to the present invention need only detect the speed of the compaction work area or a speed equivalent thereto, and is not necessarily limited to calculating the attitude of the work device. For example, it may include an acceleration sensor attached to the compaction work area or a location equivalent thereto, and a calculation unit that calculates the speed of the compaction work area or a speed equivalent thereto based on the acceleration detected by the acceleration sensor.

[0098] (8) Work equipment The working device according to the present invention may be any device that includes a compaction work portion, and is not limited to the working device 14, i.e., a working device mounted on a hydraulic excavator that includes the boom 21, the arm 22, and the bucket 24. The working device according to the present invention may be, for example, a device configured specifically for compaction work and that includes a compaction work portion at its tip. [Explanation of symbols]

[0099] 10 Undercarriage (airframe) 12 Upper rotating body (aircraft) 14 Work equipment 21 Boom 22 Arm 24 buckets 26 Boom cylinder (boom driver) 26h Head Concubine 26r Rod Side Room 27 Arm cylinder (arm driver) 28 Bucket cylinder (bucket driver) 40 Work control device 46 Boom controller 64H Arm cylinder head pressure sensor (thrust detection part) 64R Arm cylinder rod pressure sensor (thrust detection part) 66-68 Stroke sensor (attitude detection part and thrust detection part) 80 Controller 81 Work device attitude calculation unit (speed detection unit and thrust detection unit) 82 Thrust and thrust angle calculation unit (thrust detection unit) 83 Compaction work judgment unit (control unit) 84 Target speed calculation unit (control unit) 85 Actual speed calculation unit (speed detection unit) 89 Boom raising command calculation unit (control unit)

Claims

1. A control device for controlling a rolling work operation performed by a work machine including a work device including a rolling work portion, and a work drive device capable of driving the work device so that the work device performs a rolling work operation, the rolling work operation being an operation in which the rolling work portion moves along a construction surface while being pressed against the construction surface, a speed detection unit for detecting an actual speed, which is the actual moving speed of the rolling work area; a relationship information storage unit for storing relationship information that is information about the relationship between a physical quantity related to the rolling pressure, which is the force with which the rolling work area is pressed against the construction surface, and the moving speed; a control unit that determines a target speed, which is a target value for the movement speed, based on target values ​​given for the physical quantities and the relationship information, and controls driving of the work device by the work drive device so that the actual speed approaches the target speed during the compaction work operation.

2. 2. A control device for a work machine according to claim 1, further comprising a thrust detection unit that detects the thrust applied to the compaction work portion by the work drive device, wherein the relationship information storage unit stores information about the relationship between the thrust and the movement speed as the relationship information, and the control unit is configured to determine the target speed based on the thrust detected by the thrust detection unit and the relationship information at the start of the compaction work operation.

3. 3. A control device for a work machine according to claim 2, wherein the relationship information storage unit is a speed data storage unit that stores a plurality of speed data, each of the plurality of speed data including a combination of the thrust and the travel speed, the plurality of speed data including data having mutually different travel speeds, and the control unit selects, from the plurality of speed data, speed data that corresponds to the thrust detected by the thrust detection unit at the start of the compaction work operation, and determines the target speed based on the travel speed that corresponds to the selected speed data.

4. 3. A control device for a work machine according to claim 2, wherein the thrust detection unit is configured to further detect a thrust angle, which is the angle of the thrust with respect to the construction surface; the relationship information storage unit stores information about the relationship between the thrust and the thrust angle and the movement speed as the relationship information; and the control unit is configured to determine the target speed based on the thrust and the thrust angle detected by the thrust detection unit at the start of the compaction work operation and the relationship information.

5. 5. A control device for a work machine according to claim 4, wherein the relationship information storage unit is a speed data storage unit that stores a plurality of speed data, each of the plurality of speed data including a combination of the thrust and the thrust angle and the travel speed, and the control unit selects, from the plurality of speed data, speed data that corresponds to the thrust and the thrust angle detected by the thrust detection unit at the start of the compaction work operation, and determines the target speed based on the travel speed that corresponds to the selected speed data.

6. 3. A control device for a work machine according to claim 2, wherein the control unit is configured to store a rolling work determination condition set for the state of the work device in order to determine the start of the rolling work operation, and to determine the target speed based on the thrust detected by the thrust detection unit when the rolling work determination condition is satisfied.

7. 5. A control device for a work machine according to claim 4, wherein the control unit is configured to store a rolling work determination condition set for the state of the work device in order to determine the start of the rolling work operation, and to determine the target speed based on the thrust and thrust angle detected by the thrust detection unit when the rolling work determination condition is satisfied.

8. 2. A control device for a work machine according to claim 1, further comprising a work operation device into which a work operation for specifying the operating speed of the work device is input, wherein the control unit is configured to control the work device based on both a specified operation amount corresponding to the work operation and an assist operation amount for bringing the actual speed closer to the target speed.

9. 9. A control device for a work machine according to any one of claims 1 to 8, wherein the work machine is a hydraulic excavator, the hydraulic excavator further including a body, the work device including a boom connected to the body so as to be able to be raised and lowered relative to the body, an arm connected to the boom so as to be able to rotate up and down relative to the boom, and a bucket connected to the tip of the arm, the bucket having a bottom surface that constitutes the compaction work site, the work drive device including a boom driver that raises and lowers the boom, and an arm driver that rotates the arm relative to the boom, and the control unit is configured to control at least the boom driver of the work drive device.

10. 10. A control device for a work machine according to claim 9, further comprising a boom manipulator to which a boom operation for specifying a boom hoisting speed is input, wherein the control unit is configured to control driving of the boom by the boom driver on the basis of both a boom specified operation amount corresponding to the boom operation and a boom assist operation amount calculated to bring the actual speed closer to the target speed.

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