Working machine and method for controlling the working machine
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- KOMATSU LTD
- Filing Date
- 2022-02-02
- Publication Date
- 2026-08-03
Smart Images
Figure 0007898863000001 
Figure 0007898863000002 
Figure 0007898863000003
Abstract
Description
Technical Field
[0006] ,
[0007] , ,
[0001] The present invention relates to a working machine and a control method for a working machine.
Background Art
[0002] In road construction or pipe laying work, etc., excavators are often used. When used on roads in urban areas, etc., the operator needs to drive the excavator while paying attention to obstacles such as automobiles traveling on the side, fences, guardrails, etc.
[0003] Therefore, for example, in Patent Document 1, it is disclosed that a virtual wall is set to limit the movement of an excavator. In Patent Document 1, object detection sensors are arranged at the front, rear, left, and right parts of the revolving body, and also at the diagonal parts, to detect obstacles around the excavator and the distance from the excavator, and a virtual wall is set.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] However, during the operation, it is difficult for the operator to grasp the position of the virtual wall because it is difficult to see the monitor, etc., and the operation of the excavator is stopped due to interference with the virtual wall. When the operation is stopped in this way, it is difficult to perform the operation smoothly.
[0006] The present disclosure provides a working machine and a control method for a working machine that can perform operations smoothly even when a virtual wall is set.
Means for Solving the Problems
[0007] The work machine of this disclosure comprises a work machine body, a detection unit, and a posture control unit. The work machine body has a traveling body and a rotating body. The rotating body has a work machine and is rotatable relative to the traveling body. The detection unit detects the position of the work machine. When the rotating body is rotated, the posture control unit determines, based on the position of the work machine, that the work machine would interfere with a virtual wall set at a predetermined position relative to the work machine body, and changes the posture of the work machine so as not to interfere with the virtual wall.
[0008] The method for controlling a work machine according to this disclosure comprises a traveling body and a rotating body having a work machine and being able to rotate relative to the traveling body, and includes a position detection step, a determination step, and an interference avoidance step. The position detection step detects the position of the work machine. The determination step determines, based on the detection by the position detection step, whether the work machine interferes with a virtual wall set at a predetermined position relative to the work machine when the rotating body is rotated. If the interference avoidance step determines that the work machine interferes with the virtual wall, it changes the posture of the work machine so as not to interfere with the virtual wall. [Effects of the Invention]
[0009] According to aspects of this disclosure, it is possible to provide a work machine and a control method for the work machine that can perform work smoothly even when a virtual wall is set up. [Brief explanation of the drawing]
[0010] [Figure 1] A side view showing a hydraulic excavator according to an embodiment of the disclosure. [Figure 2] This is a block diagram showing the configuration of a hydraulic excavator and its control system according to an embodiment of the present disclosure. [Figure 3] This is a block diagram showing the configuration of the hydraulic circuit of a hydraulic excavator according to the disclosed embodiment. [Figure 4] (a) A schematic side view illustrating the attitude detection of a hydraulic excavator according to an embodiment of the present disclosure; (b) A plan view illustrating the slewing angle of a hydraulic excavator according to an embodiment of the present disclosure. [Figure 5] (a) A perspective view showing the calculation point in the working machine of a hydraulic excavator according to an embodiment of the present disclosure; (b) A side view of the bucket of a hydraulic excavator according to an embodiment of the present disclosure. [Figure 6] This is a plan view showing an example of setting a virtual wall for a hydraulic excavator according to the embodiment of the disclosure. [Figure 7] This is a perspective view showing the working machine of a hydraulic excavator according to the embodiment of the disclosure rotating toward a virtual wall. [Figure 8] This figure shows the working equipment of a hydraulic excavator according to the present disclosure embodiment in an approaching state to a virtual wall. [Figure 9] This is a flowchart illustrating the control operation of a hydraulic excavator according to an embodiment of the disclosure. [Modes for carrying out the invention]
[0011] A hydraulic excavator, as an example of the work machinery covered by this disclosure, will be described below with reference to the drawings.
[0012] <Structure> (Overview of Hydraulic Excavator 1) Figure 1 is a side view showing the configuration of the hydraulic excavator 1 of this embodiment.
[0013] A hydraulic excavator 1 (an example of a work machine) comprises an excavator body 2 (an example of a work machine body), a controller 3 (an example of a posture control unit) (see Figure 2), and a detection unit 4 (see Figure 2).
[0014] The excavator body 2 comprises a running body 11 and a slewing body 12. The running body 11 has a pair of running devices 11a. Each running device 11a has a track 11b. The hydraulic excavator 1 moves when the running motor rotates due to the driving force from the engine, which drives the track 11b.
[0015] The revolving body 12 is arranged above the traveling body 11. The revolving body 12 is configured to be able to revolve with respect to the traveling body 11 about an axis along the vertical direction by a revolving motor 27 (see FIG. 2). A swing machinery is arranged on the revolving body 12. A swing circle is arranged on the traveling body 11 and meshes with the output pinion of the swing machinery. The rotational drive of the revolving motor 27 is decelerated by the swing machinery (not shown) and output from the output pinion. Thereby, the swing machinery rotates inside or outside the swing circle, and the revolving body 12 rotates with respect to the traveling body 11.
[0016] The revolving body 12 includes a revolving frame 13 (an example of a frame part), a cab 14, and a working machine 15. The revolving frame 13 is arranged above the traveling body 11 and is a frame that can revolve with respect to the traveling body 11. The cab 14 is provided at the front left position of the revolving frame 13. The cab 14 is provided as a driver's seat where an operator sits during operation. Inside the cab 14, there are arranged a driver's seat, an operating device 81 including a lever for operating the working machine 15, an input device 82, and various display devices (including a display 83 to be described later), etc.
[0017] In addition, in this embodiment, unless otherwise specified, the front, rear, left, and right are described based on the driver's seat in the cab 14. The direction in which the driver's seat faces directly forward is defined as the front direction, and the direction opposite to the front direction is defined as the rear direction. When the driver's seat faces directly forward, the right and left sides in the lateral direction are defined as the right direction and the left direction, respectively.
[0018] The working machine 15 is attached to the central front position of the swing frame 13. As shown in FIG. 1, the working machine 15 has a boom 21, an arm 22, and a bucket 23 (an example of an attachment). The base end portion of the boom 21 is rotatably connected to the swing frame 13. Also, the tip end portion of the boom 21 is rotatably connected to the base end portion of the arm 22. The tip end portion of the arm 22 is rotatably connected to the bucket 23. The bucket 23 is attached to the arm 22 so that its opening can face the direction (rear) of the swing body 12. The hydraulic excavator 1 with the bucket 23 attached in such a direction is called a backhoe.
[0019] Hydraulic cylinders 24 to 26 (boom cylinder 24 (an example of a first cylinder), arm cylinder 25 (an example of a second cylinder), and bucket cylinder 26 (an example of a third cylinder)) are arranged corresponding to the boom 21, the arm 22, and the bucket 23, respectively. The boom cylinders 24 are arranged on both the left and right sides of the boom 21. By driving these hydraulic cylinders 24 to 26, the working machine 15 is driven. Thereby, operations such as excavation are performed.
[0020] An engine room 16 is arranged behind the cab 14 of the swing body 12. The engine room 16 houses an engine, a cooling unit for cooling the engine, a hydraulic pump, and the like.
[0021] (Control system configuration of the hydraulic excavator 1) FIG. 2 is a block diagram showing the configuration of the hydraulic excavator 1 and its control system. The hydraulic excavator 1 includes a controller 3, a detection unit 4, a drive system 5, and an operation system 6.
[0022] (Drive system 5) The drive system 5 includes an engine 31, a hydraulic circuit 32, and a power transmission device 33. The engine 31 is controlled by command signals from the controller 3. The hydraulic circuit 32 supplies hydraulic fluid to the left and right boom cylinders 24, the arm cylinder 25, the bucket cylinder 26, and the slewing motor 27. The hydraulic circuit 32 includes a hydraulic pump 34, a pump control device 35, and a main valve 36. The hydraulic pump 34 is driven by the engine 31 and discharges hydraulic fluid. The hydraulic fluid discharged from the hydraulic pump 34 is supplied to the left and right boom cylinders 24, the arm cylinder 25, the bucket cylinder 26, and the slewing motor 27. The slewing motor 27 is, for example, a hydraulic motor. The slewing motor 27 is driven by the hydraulic fluid from the hydraulic pump 34. The slewing motor 27 rotates the slewing body 12.
[0023] (Hydraulic circuit 32) The hydraulic pump 34 is a variable displacement pump. A pump control device 35 is connected to the hydraulic pump 34. The pump control device 35 controls the tilt angle of the hydraulic pump 34. The pump control device 35 includes, for example, a solenoid valve and is controlled by a command signal from the controller 3. The controller 3 controls the capacity of the hydraulic pump 34 by controlling the pump control device 35. Although one hydraulic pump is shown in Figure 2, multiple hydraulic pumps may be provided.
[0024] The main valve 36 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 34 to the hydraulic cylinders 24-26 and the swing motor 27. The hydraulic cylinders 24-26 and the swing motor 27 are connected to the hydraulic pump 34 by a hydraulic circuit via the main valve 36. The main valve 36 is controlled by command signals from the controller 3. The controller 3 controls the operation of the work implement 15 by controlling the main valve 36. The controller 3 controls the rotation of the swing body 12 by controlling the main valve 36.
[0025] Figure 3 is a hydraulic circuit diagram showing the hydraulic circuit 32. The hydraulic circuit 32 includes a main valve 36, a hydraulic oil tank 37, a hydraulic oil supply passage 38, a hydraulic oil return passage 39, hydraulic oil passages 41-48, a pilot oil supply passage 49, a pilot oil return passage 50, and pilot oil passages 51-58. In Figure 3, the hydraulic oil supply passage 38, the hydraulic oil return passage 39, and the hydraulic oil passages 41-48 are shown as thick solid lines, the pilot oil supply passage 49 is shown as a thin solid line, and the pilot oil return passage 50 is shown as a dashed line. Electrical connections from the controller 3 are shown as dotted lines.
[0026] The hydraulic fluid tank 37 stores hydraulic fluid. The hydraulic fluid supply passage 38 supplies hydraulic fluid from the hydraulic fluid tank 37 to the main valve 36. The hydraulic fluid return passage 39 returns hydraulic fluid from the main valve 36 to the hydraulic fluid tank 37.
[0027] The main valve 36 includes a boom valve 61, an arm valve 62, a bucket valve 63, and a slewing valve 64.
[0028] Each of the boom valve 61, arm valve 62, bucket valve 63, and slewing valve 64 is a directional control valve with four ports and capable of taking on three positions. The position of each of the boom valve 61, arm valve 62, bucket valve 63, and slewing valve 64 is switched by the pressure of pilot oil.
[0029] The boom valve 61 includes four ports P11, P12, P13, and P14. The boom valve 61 includes a valve body which is movable to the boom raised position, boom lowered position, and stop position. Port P11 is connected to the hydraulic fluid supply passage 38. Port P12 is connected to the hydraulic fluid return passage 39. Port P13 is connected to the bottom cylinder chambers of the left and right boom cylinders 24 by a hydraulic fluid passage 41. Port P14 is connected to the rod-side cylinder chambers of the left and right boom cylinders 24 by a hydraulic fluid passage 42.
[0030] When the valve body of the boom valve 61 moves to the boom raised position (left side in the diagram), hydraulic fluid is supplied to the bottom cylinder chamber of the boom cylinder 24 and discharged from the rod cylinder chamber. This causes the boom cylinder 24 to extend and the boom 21 to swing upward. When the valve body of the boom valve 61 moves to the boom lowered position (right side in the diagram), hydraulic fluid is discharged from the bottom cylinder chamber of the boom cylinder 24 and supplied to the rod cylinder chamber. This causes the boom cylinder 24 to contract and the boom 21 to swing downward. When the valve body of the boom valve 61 moves to the stop position (center in the diagram), the supply and discharge of hydraulic fluid from each port stops, and the boom 21 comes to a stop.
[0031] The arm valve 62 includes four ports P21, P22, P23, and P24. The arm valve 62 includes a valve body, which is movable to the arm raised position, arm lowered position, and stop position. Port P21 is connected to the hydraulic fluid supply passage 38. Port P22 is connected to the hydraulic fluid return passage 39. Port P23 is connected to the rod-side cylinder chamber of the arm cylinder 25 by a hydraulic fluid passage 43. Port P24 is connected to the bottom-side cylinder chamber of the arm cylinder 25 by a hydraulic fluid passage 44.
[0032] When the valve body of the arm valve 62 moves to the arm-raised position (left side in the figure), hydraulic fluid is supplied to the rod-side cylinder chamber of the arm cylinder 25 and discharged from the bottom-side cylinder chamber. As a result, the arm cylinder 25 retracts, and the arm 22 swings outward relative to the boom 21. When the valve body of the arm valve 62 moves to the arm-lower position (right side in the figure), hydraulic fluid is discharged from the rod-side cylinder chamber of the arm cylinder 25 and supplied to the bottom-side cylinder chamber. As a result, the arm cylinder 25 extends, and the arm 22 swings inward relative to the boom 21. When the valve body of the arm valve 62 moves to the stop position (center in the figure), the supply and discharge of hydraulic fluid from each port stops, and the arm 22 comes to a stop.
[0033] The bucket valve 63 includes four ports P31, P32, P33, and P34. The bucket valve 63 includes a valve body which is movable to the bucket raised position, bucket lowered position, and stop position. Port P31 is connected to the hydraulic fluid supply passage 38. Port P32 is connected to the hydraulic fluid return passage 39. Port P33 is connected to the rod-side cylinder chamber of the bucket cylinder 26 by a hydraulic fluid passage 45. Port P34 is connected to the bottom-side cylinder chamber of the bucket cylinder 26 by a hydraulic fluid passage 46.
[0034] When the valve body of the bucket valve 63 moves to the bucket raised position (left side in the figure), hydraulic fluid is supplied to the rod-side cylinder chamber of the bucket cylinder 26 and discharged from the bottom-side cylinder chamber. This causes the bucket cylinder 26 to contract, and the bucket 23 to swing outward relative to the arm 22. When the valve body of the bucket valve 63 moves to the bucket lowered position (right side in the figure), hydraulic fluid is discharged from the rod-side cylinder chamber of the bucket cylinder 26 and supplied to the bottom-side cylinder chamber. This causes the bucket cylinder 26 to extend, and the bucket 23 to swing inward relative to the arm 22 (also called the winding direction). When the valve body of the bucket valve 63 moves to the stop position (center in the figure), the supply and discharge of hydraulic fluid from each port stops, and the bucket 23 comes to a stop.
[0035] The swivel valve 64 includes four ports P41, P42, P43, and P44. The swivel valve 64 includes a valve body which is movable to a left swivel position, a right swivel position, and a stop position. Port P41 is connected to the hydraulic fluid supply passage 38. Port P42 is connected to the hydraulic fluid return passage 39. Port P43 is connected to the swivel motor 27 by a hydraulic fluid passage 47. Port P44 is connected to the swivel motor 27 by a hydraulic fluid passage 48.
[0036] When the valve body of the swivel valve 64 moves to the left swivel position (left side in the figure), the swivel motor 27 is driven, and the swivel body 12 swivels to the left relative to the travel body 11. When the valve body of the swivel valve 64 moves to the right swivel position (right side in the figure), the swivel motor 27 is driven, and the swivel body 12 swivels to the right relative to the travel body 11. When the valve body of the swivel valve 64 moves to the stop position (center in the figure), the supply and discharge of hydraulic fluid from each port stops, and the swivel body 12 comes to a stop.
[0037] The main valve 36 includes a boom-raising EPC (Electric Proportional Control) valve 65, a boom-lowering EPC valve 66, an arm-raising EPC valve 67, an arm-lowering EPC valve 68, a bucket-raising EPC valve 69, a bucket-lowering EPC valve 70, a left-swing EPC valve 71, and a right-swing EPC valve 72. Each of these EPC valves 65-72 is used as a pilot valve, supplying pilot oil to the boom valve 61, arm valve 62, bucket valve 63, or swing valve 64, thereby changing the valve position. Each of the EPC valves 65-72 is connected to the controller 3 and opens and closes based on command signals from the controller 3.
[0038] The pilot oil supply passage 49 branches off from the hydraulic fluid supply passage 38. The pilot oil supply passage 49 supplies pilot oil to the EPC valves 65-72. A pressure reducing valve 59 is provided in the pilot oil supply passage 49. The hydraulic fluid discharged from the hydraulic fluid tank 37 by the hydraulic pump 34 is depressurized by the pressure reducing valve 59 and supplied to each of the EPC valves 65-72. The pilot oil return passage 50 returns the pilot oil from each of the EPC valves 65-72 to the hydraulic fluid tank 37.
[0039] The boom-raising EPC valve 65 and boom-down EPC valve 66 supply pilot oil to the pilot chamber of the boom valve 61 to switch the position of the valve body of the boom valve 61. Each of the boom-raising EPC valve 65 and boom-down EPC valve 66 includes three ports P51, P52, and P53. Port P51 of each of the boom-raising EPC valve 65 and boom-down EPC valve 66 is connected to the pilot oil supply passage 49. Port P53 of each of the boom-raising EPC valve 65 and boom-down EPC valve 66 is connected to the pilot oil return passage 50. Port P52 of the boom-raising EPC valve 65 is connected to the pilot oil chamber of the boom valve 61 via the pilot oil passage 51. Port P52 of the boom-down EPC valve 66 is connected to the pilot oil chamber of the boom valve 61 via the pilot oil passage 52.
[0040] When the connection between ports P53 and P52 is gradually switched to the connection between ports P51 and P52, the boom-raising EPC valve 65 and the boom-lowering EPC valve 66 gradually open, supplying pilot oil to the boom valve 61.
[0041] With the hydraulic pump 34 operating, if a command signal from the controller 3 sets the opening of, for example, the boom-raising EPC valve 65 to be greater than the opening of the boom-lowering EPC valve 66, the valve body of the boom valve 61 moves to the raised position. As a result, the boom cylinder 24 extends and the boom 21 swings upward.
[0042] The arm-raising EPC valve 67 and the arm-down EPC valve 68 supply pilot oil to the pilot chamber of the arm valve 62 to switch the position of the valve body of the arm valve 62. Each of the arm-raising EPC valve 67 and the arm-down EPC valve 68 includes three ports P61, P62, and P63. Port P61 of each of the arm-raising EPC valve 67 and the arm-down EPC valve 68 is connected to the pilot oil supply passage 49. Port P63 of each of the arm-raising EPC valve 67 and the arm-down EPC valve 68 is connected to the pilot oil return passage 50. Port P62 of the arm-raising EPC valve 67 is connected to the pilot oil chamber of the arm valve 62 via the pilot oil passage 53. Port P62 of the arm-down EPC valve 68 is connected to the pilot oil chamber of the arm valve 62 via the pilot oil passage 54.
[0043] When the connection between port P63 and port P62 is gradually switched to the connection between port P61 and port P62, the arm-raising EPC valve 67 and the arm-lowering EPC valve 68 gradually open, supplying pilot oil to the arm valve 62.
[0044] With the hydraulic pump 34 operating, if a command signal from the controller 3 sets the opening of, for example, the arm-raising EPC valve 67 to be greater than the opening of the arm-down EPC valve 68, the valve body of the arm valve 62 moves to the raised position. As a result, the arm cylinder 25 retracts, and the arm 22 swings upward.
[0045] The bucket-lift EPC valve 69 and the bucket-down EPC valve 70 supply pilot oil to the pilot chamber of the bucket valve 63 to switch the position of the valve body of the bucket valve 63. Each of the bucket-lift EPC valve 69 and the bucket-down EPC valve 70 includes three ports P71, P72, and P73. Port P71 of each of the bucket-lift EPC valve 69 and the bucket-down EPC valve 70 is connected to the pilot oil supply passage 49. Port P73 of each of the bucket-lift EPC valve 69 and the bucket-down EPC valve 70 is connected to the pilot oil return passage 50. Port P72 of the bucket-lift EPC valve 69 is connected to the pilot oil chamber of the bucket valve 63 via the pilot oil passage 55. Port P72 of the bucket-down EPC valve 70 is connected to the pilot oil chamber of the bucket valve 63 via the pilot oil passage 56.
[0046] As the connection between port P73 and port P72 is gradually switched to the connection between port P71 and port P72, the bucket lifting EPC valve 69 and the bucket lowering EPC valve 70 gradually open, supplying pilot oil to the bucket valve 63.
[0047] With the hydraulic pump 34 operating, if a command signal from the controller 3 sets the opening of, for example, the bucket-lifting EPC valve 69 to be greater than the opening of the bucket-lowering EPC valve 70, the valve body of the bucket valve 63 moves to the raised position. As a result, the bucket cylinder 26 retracts, and the bucket 23 swings outward relative to the arm 22.
[0048] The left-swivel EPC valve 71 and the right-swivel EPC valve 72 supply pilot oil to the pilot chamber of the swivel valve 64 to switch the position of the valve body of the swivel valve 64. Each of the left-swivel EPC valve 71 and the right-swivel EPC valve 72 includes three ports P81, P82, and P83. Port P81 of each of the left-swivel EPC valve 71 and the right-swivel EPC valve 72 is connected to the pilot oil supply passage 49. Port P83 of each of the left-swivel EPC valve 71 and the right-swivel EPC valve 72 is connected to the pilot oil return passage 50. Port P82 of the left-swivel EPC valve 71 is connected to the pilot oil chamber of the swivel valve 64 via the pilot oil passage 57. Port P82 of the right-swivel EPC valve 72 is connected to the pilot oil chamber of the swivel valve 64 via the pilot oil passage 58.
[0049] When the connection between port P83 and port P82 is gradually switched to the connection between port P81 and port P82, the left-swivel EPC valve 71 and the right-swivel EPC valve 72 gradually open, supplying pilot oil to the swivel valve 64.
[0050] With the hydraulic pump 34 operating, if a command signal from the controller 3 sets the opening of, for example, the left-swing EPC valve 71 to be greater than the opening of the right-swing EPC valve 72, the valve body of the swing valve 64 moves to the left-swing position. This drives the swing motor 27, causing the swing body 12 to swing left relative to the travel body 11.
[0051] (Power transmission device 33) The power transmission device 33 shown in Figure 2 transmits the driving force of the engine 31 to the vehicle body 11. The tracks 11b are driven by the driving force from the power transmission device 33 to move the hydraulic excavator 1. The power transmission device 33 may be, for example, a torque converter or a transmission with multiple gears. Alternatively, the power transmission device 33 may be another type of transmission such as an HST (Hydro Static Transmission) or an HMT (Hydraulic Mechanical Transmission).
[0052] (Detection unit 4) The detection unit 4 shown in Figure 2 detects the position of the work implement 15. The position of the work implement 15 includes the orientation of the work implement 15. The detection unit 4 includes a processor 4a such as a CPU. The processor 4a performs processing to detect the position of the work implement 15. The detection unit 4 includes a storage device 4b. The storage device 4b includes memory such as RAM or ROM, and auxiliary storage devices such as HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 4b stores data and programs for detecting the position of the work implement 15.
[0053] The detection unit 4 includes a posture detection unit 92 and a slewing angle sensor 93. The posture detection unit 92 detects information for determining the posture of the hydraulic excavator 1.
[0054] The posture detection unit 92 detects information for determining the posture of the vehicle 11 and the work machine 15. The posture detection unit 92 includes a vehicle posture sensor 94 and a work machine posture detection unit 95.
[0055] The vehicle attitude sensor 94 detects information for determining the attitude of the vehicle 11. The attitude of the vehicle 11 includes the pitch angle θ1 of the vehicle 11. The vehicle attitude sensor 94 detects first position data including the pitch angle θ1. As shown in Figure 4(a), the pitch angle θ1 of the vehicle 11 is the tilt angle of the vehicle 11 in the front-rear direction relative to the horizontal direction. The vehicle attitude sensor 94 is, for example, an IMU (Inertial Measurement Unit). The vehicle attitude sensor 94 detects first position data indicating the attitude of the vehicle 11.
[0056] The work equipment posture detection unit 95 detects information for determining the posture of the work equipment 15. The posture of the work equipment 15 includes the boom angle θ2, the arm angle θ3, and the bucket angle θ4. The work equipment posture detection unit 95 detects second position data indicating the boom angle θ2, the arm angle θ3, and the bucket angle θ4.
[0057] The work machine attitude detection unit 95 includes a boom angle sensor 95a, an arm angle sensor 95b, and a bucket angle sensor 95c. The boom angle sensor 95a detects the boom angle θ2. The boom angle sensor 95a is, for example, an IMU. The boom angle θ2 is the angle of the boom 21 with respect to the vertical direction of the traveling body 11. The arm angle sensor 95b detects the arm angle θ3. The arm angle θ3 is the angle of the arm 22 with respect to the boom 21. The arm angle sensor 95b is, for example, an IMU. The bucket angle sensor 95c detects the bucket angle θ4. The bucket angle θ4 is the angle of the bucket 23 with respect to the arm 22. The bucket angle sensor 95c detects, for example, the stroke length of the bucket cylinder 26. The bucket angle θ4 is detected from the stroke length of the bucket cylinder 26. The work machine attitude detection unit 95 detects second position data indicating the attitude of the work machine 15.
[0058] The swivel angle sensor 93 detects the swivel angle θ5 of the swivel body 12 relative to the traveling body 11. The swivel angle sensor 93 detects swivel angle data indicating the swivel angle θ5. Figure 4(b) is a diagram illustrating the swivel angle θ5. As shown in Figure 4(b), the first reference line L1 is a straight line that runs along the track 11b of the traveling body 11 and passes through the swivel center 12g of the swivel body 12. The swivel line M is a straight line that passes through the swivel center 12g of the swivel body 12 and runs along the front-rear direction of the swivel body 12. The swivel angle θ5 is the angle formed by the first reference line L1 and the swivel line M. The swivel angle sensor 93 is, for example, an encoder placed on the swivel motor 27 or a sensor that detects the teeth of a swing machine. The swivel angle sensor 93 detects third position data indicating the swivel position of the work machine 15.
[0059] The detection unit 4 calculates the current position of the work machine 15 based on the first position data, the second position data, and the third position data.
[0060] Here, since calculating the positions of all the work implements 15 would be computationally intensive, the detection unit 4 calculates the positions of predetermined calculation points on the work implement 15. Figure 5(a) is a perspective view of the hydraulic excavator 1 to illustrate the predetermined calculation points on the work implement 15. For example, calculation points C1 to C6, whose positions are calculated by the detection unit 4, are set on the work implement 15. Calculation points C1 to C6 are set on the part of the work implement 15 that is most likely to be located furthest from the pivot center 12g.
[0061] Calculation point C1 is set at the connection point between the tip of the rod 25a of the arm cylinder 25 and the arm 22. Calculation point C2 is set at the connection point between the tip of the rod 26a of the bucket cylinder 26 and the link member 236. As shown in Figure 1, the link member 236 is pivotably connected between the bucket 23 and the tip of the rod 26a.
[0062] Calculation points C3 to C5 are set on bucket 23. Figure 5(b) is a side view of bucket 23. As shown in Figure 5(b), bucket 23 includes a bottom portion 231, a rear portion 232, a pair of side walls 233, teeth 234, and a bracket 235. The bottom portion 231 has a curved shape. The rear portion 232 is connected to the bottom portion 231. The pair of side walls 233 cover the sides of the space enclosed by the bottom portion 231 and the rear portion 232. The teeth 234 are located at the tip of the bottom portion 231 (the end opposite to the rear portion 232). The bracket 235 is located on the rear portion 232. The tip of the arm 22 is rotatably attached to the bracket 235. A link member 236 (see Figure 1) is attached to the bracket 235, which is rotatably connected to the tip of the rod 26a of the bucket cylinder 26.
[0063] Calculation point C3 is set at the left end in the width direction of tooth 234. Calculation point C4 is set at the right end in the width direction of tooth 234. The end of the side wall portion 233 that forms the edge of the opening of the bucket 23 (the upper end of the side wall portion 233 in Figure 5(b)) is denoted as 233a. The plane containing the ends 233a of the pair of side wall portions 233 is defined as the bucket excavation surface S. Calculation point C5 is set at the left end in the width direction of the part of the bottom surface portion 231 that is furthest from the bucket excavation surface S by distance A. Calculation point C6 is set at the right end in the width direction of the part of the bottom surface portion 231 that is furthest from the bucket excavation surface S by distance A. In Figure 5(b), calculation points C3 and C4 overlap, and calculation points C5 and C6 overlap.
[0064] The detection unit 4 calculates the three-dimensional positions of the calculation points C1 to C6 of the work machine 15 from the first position data, the second position data, and the third position data.
[0065] The storage device 4b stores dimensional data of the work machine 15. The dimensional data is shape data such as the length, thickness, and width of the boom 21, arm 22, and bucket 23. For example, the dimensional data includes the length L1 of the boom 21, the length L2 of the arm 22, and the length L3 of the bucket 23, as shown in Figure 4(a). In detail, the length L1 of the boom 21 is the distance between the boom pin 28 that connects the boom 21 to the slewing body 12 and the arm pin 29 that connects the arm 22 to the boom 21. The length L2 of the arm 22 is the distance between the arm pin 29 and the bucket pin 30 that connects the bucket 23 to the arm 22. The length of the bucket 23 is the distance between the bucket pin 30 and the tip of the tooth 234 of the bucket 23.
[0066] When the controller 3 receives a signal for a rotation operation, the detection unit 4 calculates the positions of the calculation points C1 to C6 of the work equipment 15 based on the dimensional data stored in the storage device 4b and the pitch angle θ1, boom angle θ2, arm angle θ3, and bucket angle θ4. The detection unit 4 transmits the calculated position data of the calculation points C1 to C6 to the controller 3.
[0067] (Operation system 6) As shown in Figure 2, the operating system 6 includes an operating device 81 (an example of an operation instruction unit), an input device 82 (an example of a selection unit), and a display 83. The operating device 81 is operable by an operator. The operating device 81 includes, for example, a lever, a pedal, or a switch. The operating device 81 outputs an operation instruction signal to the controller 3 in response to the operator's operation of the operating device 81. The controller 3 controls the main valve 36 to operate the work implement 15 in response to the operator's operation of the operating device 81. The controller 3 controls the main valve 36 to rotate the slewing body 12 in response to the operator's operation of the operating device 81. The controller 3 controls the engine 31 and the power transmission device 33 to move the hydraulic excavator 1 in response to the operator's operation of the operating device 81.
[0068] The input device 82 is operable by an operator. The input device 82 is, for example, a touchscreen. However, the input device 82 may also include hardware keys. The display 83 is, for example, an LCD, OLED, or other type of display. The display 83 displays a screen corresponding to the display signal from the controller 3.
[0069] The operator inputs various settings for the hydraulic excavator 1 by operating the input device 82. The input device 82 outputs an input signal corresponding to the operator's operation.
[0070] The operator can set a virtual wall W by operating the input device 82. The virtual wall W is a wall that the controller 3 virtually sets up to prevent the work equipment 15 from entering during work. For example, the virtual wall W is set on the side of the hydraulic excavator 1 in the area to be prevented from entering. The setting of the virtual wall W may be done manually by the operator or automatically.
[0071] For example, if a hydraulic excavator 1 is equipped with an imaging unit that captures images of the surroundings, and the images captured by the imaging unit are displayed on a display 83, the operator can check the surrounding situation on the display 83 and manually set a virtual wall W in front of any obstacles (on the hydraulic excavator 1 side). When the operator determines the position to set the virtual wall W on the display 83 using an input device 82 (e.g., a touchscreen), the controller 3 converts the position on the display 83 to the actual position and sets the virtual wall W.
[0072] Furthermore, if the hydraulic excavator 1 is equipped with a sensor for detecting obstacles, the controller 3 can automatically set up a virtual wall W in front of the obstacle when the sensor detects one.
[0073] Figure 6 shows an example of setting a virtual wall W. Figure 6 is a plan view showing a construction site. Figure 6 shows a construction site where the road is divided by multiple road cones 101. Figure 6 shows a state where construction is being carried out with one lane on each side closed. Multiple road cones 101 are arranged along the center lane. Vehicles are passing on one side of the road cones 101, and construction is being carried out on the other side. Figure 6 also shows a dump truck 102, and the hydraulic excavator 1 is loading soil into the dump truck 10 after excavating soil. In such a case, for example, a virtual wall W can be set along the multiple road cones 101. The bucket 23 that has rotated to approach the virtual wall W and the bucket 23 that has rotated to a position facing the dump truck 102 are shown by dashed lines.
[0074] Furthermore, the input device 82 also functions as a selection unit that allows the operator to choose whether or not to perform interference avoidance control (described later) to prevent the work machine 15 from interfering with the virtual wall W during rotation. In other words, the operator can choose whether or not to perform interference avoidance control by inputting through the input device 82.
[0075] (Controller 3) As shown in Figure 2, the controller 3 includes a processor 3a such as a CPU. The processor 3a performs processing for controlling the hydraulic excavator 1. The controller 3 also includes a storage device 3b. The storage device 3b includes memory such as RAM or ROM, and auxiliary storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 3b stores data and programs for controlling the hydraulic excavator 1.
[0076] Controller 3 receives an operation instruction signal from the operating device 81. Controller 3 receives an input signal from the input device 82. Controller 3 outputs a display signal to the display 83. Controller 3 receives position data of calculation points C1 to C6 from the detection unit 4.
[0077] When the controller 3 receives an input signal for setting the virtual wall W, which is input by the operator via the input device 82, it converts the position set by the operator on the display 83 into an actual position and sets the virtual wall W.
[0078] Controller 3 receives an input signal from the operator via input device 82 indicating whether or not to perform interference avoidance control.
[0079] When a virtual wall W is set, if an operator operates the control device 81 to give a rotation command (also called a rotation command) for the rotating body 12, the controller 3 determines whether the work machine 15 will interfere with the virtual wall W based on the position data of calculated points C1 to C6 received from the detection unit 4. If the controller 3 determines that the work machine 15 will interfere with the virtual wall W, it performs interference avoidance control to change the posture of the work machine 15.
[0080] When the controller 3 rotates the rotating body 12 according to the operation instruction, it determines whether the calculation points C1 to C6 of the work machine 15 interfere with the virtual wall W.
[0081] Figure 7 is a perspective view showing the hydraulic excavator 1 rotating in the direction of arrow A toward a virtual wall W. When a rotation command is input to the controller 3, it calculates the distance from each of the calculation points C1 to C6 to the virtual wall W, and determines whether each of the calculation points C1 to C6 intersects with the virtual wall W if the excavator 15 rotates from its current position relative to the calculation points C1 to C6 in its current orientation. If any of the calculation points C1 to C6 intersect with the virtual wall W, the controller 3 determines that the excavator 15 will interfere with the virtual wall W. If none of the calculation points C1 to C6 of the excavator 15 intersect with the virtual wall W, the controller 3 determines that the excavator 15 will not interfere with the virtual wall W. In Figure 7, the distance D1 from calculation point C1 to virtual wall W, the distance D2 from calculation point C2 to virtual wall W, and the distance D6 from calculation point C6 to virtual wall W are shown.
[0082] If the controller 3 determines that the calculation points C1 to C6 interfere with the virtual wall W due to the rotation, it changes the posture of the work machine 15 so that the calculation points C1 to C6 do not interfere with the virtual wall W. The controller 3 functions as a posture control unit. The controller 3 operates the boom 21, arm 22, and bucket 23 so that the calculation points C1 to C6 are located on the rotation center 12g side of the virtual wall W.
[0083] Controller 3 calculates the posture of the work implement 15 such that calculation points C1 to C6 do not interfere with the virtual wall W. Controller 3 transmits the data of the non-interfering posture of the work implement 15 to the detection unit 4, and the detection unit 4 calculates the amount of change in boom angle θ2, arm angle θ3, and bucket angle θ4 that results in a non-interfering posture based on the dimensional data stored in the storage device 4b. This change amount data is transmitted from the detection unit 4 to the controller 3, and the controller 3 transmits drive signals to the EPC valves 65 to 72. Alternatively, the controller 3 may calculate the amount of change in boom angle θ2, arm angle θ3, and bucket angle θ4. In this case, the controller 3 receives first position data from the vehicle posture sensor 94, second position data from the work implement posture detection unit 95, and third position data from the slewing angle sensor 93. The storage device 3b of the controller 3 stores the dimensional data described above. Controller 3 can calculate the amount of change in boom angle θ2, arm angle θ3, and bucket angle θ4 that will result in a non-interference posture, based on dimensional data, as well as first position data, second position data, and third position data.
[0084] Figure 8 is a perspective view showing the hydraulic excavator 1 with the posture of the work implement 15 changed so that calculation points C1 to C6 do not interfere with the virtual wall W. Figure 8 shows the state in which the work implement 15 is close to the virtual wall W. In the state of the work implement 15 shown in Figure 8, the boom 21 is swung upward relative to the slewing frame 13 from Figure 7, the arm 22 is swung inward so as to approach the boom 21, and the bucket 23 is swung inward so that the teeth 234 move inward (wrap around). The controller 3 can change the posture of the work implement 15 by sending drive signals to the EPC valves 65 to 72. The controller 3 sends operation signals to the boom-raising EPC valve 65 and the boom-lowering EPC valve 66, and adjusts the opening of the boom-raising EPC valve 65 to be greater than the opening of the boom-lowering EPC valve 66. As a result, the boom valve 61 moves to the boom-raising position, the boom cylinder 24 extends, and the boom 21 swings upward (see arrow E). Controller 3 sends operation signals to the arm-raising EPC valve 67 and the arm-lowering EPC valve 68, adjusting the opening of the arm-lowering EPC valve 68 to be greater than the opening of the arm-raising EPC valve 67. As a result, the arm valve 62 moves to the arm-lowered position, the arm cylinder 25 extends, and the arm 22 swings inward (see arrow F). Controller 3 sends drive signals to the bucket-raising EPC valve 69 and the bucket-lowering EPC valve 70, adjusting the opening of the bucket-lowering EPC valve 70 to be greater than the opening of the bucket-raising EPC valve 69. As a result, the bucket valve 63 moves to the bucket-lowered position, the bucket cylinder 26 extends, and the bucket 23 swings in the winding direction (see arrow G). Figure 8 shows the distance D1 from calculation point C1 to virtual wall W, the distance D2 from calculation point C2 to virtual wall W, and the distance D6 from calculation point C6 to virtual wall W. Furthermore, the controller 3 may, for example, set the swing direction of the boom 21 relative to the slewing frame 13 upward, the swing direction of the arm 22 inward so as to approach the boom 21, and the swing direction of the bucket 23 inward so as to move (wrap around) the teeth 234 inward, in order to calculate the position where the calculation points C1 to C6 do not interfere with the virtual wall W.
[0085] In this way, the controller 3 automatically changes the posture of the work equipment 15 so that the calculation points C1 to C6 do not interfere with the virtual wall W, thereby enabling continuous rotation without interfering with the virtual wall W and stopping. In Figure 6, when the work equipment 15 approaches the virtual wall W due to rotation, the posture of the work equipment 15 is changed. In the changed posture, the work equipment 15 rotates to a position facing the dump truck 102 without interfering with the virtual wall W (see the bucket 23 shown by the dashed line).
[0086] When controller 3 receives an operation instruction from operating device 81, it determines whether the change in the posture of the work implement 15 can be completed before the calculated points C1 to C6 interfere with the virtual wall W, if the work implement 15 is rotated at the rotation speed specified in the operation instruction. If controller 3 determines that the change in posture can be completed, it sends a drive signal to EPC valves 65 to 72 to change the posture of the work implement 15 while it is rotating. If controller 3 determines that the change in posture cannot be completed, it controls the left rotation EPC valve 71 and the right rotation EPC valve 72 to operate the rotation valve 64 and stop the rotation motor 27.
[0087] Furthermore, if the controller 3 determines that it cannot complete the change in the posture of the work machine 15 before the calculated points C1 to C6 interfere with the virtual wall W when turning at the turning speed specified by the operation command, it may limit the turning speed to one that allows the change in posture to be completed.
[0088] <Operation> Next, the control operation of the hydraulic excavator 1 in this embodiment will be described.
[0089] Figure 9 is a flowchart showing the control operation of the hydraulic excavator 1 in this embodiment.
[0090] First, in step S1, when the operator inputs the virtual wall W using the input device 82, the controller 3 sets the virtual wall W at a predetermined distance from the shovel body 2.
[0091] Next, in step S2, the controller 3 determines whether interference avoidance control is selected. The operator can select whether or not to perform interference avoidance control using the input device 82. If the operator selects to perform interference avoidance control, the control proceeds to step S3.
[0092] When the operator inputs a rotation command to the rotating body 12 by operating the control device 81, in step S3, the controller 3 receives the rotation command from the control device 81.
[0093] Next, in step S4, the controller 3 drives the slewing motor 27 to slewing the slewing body 12 according to the slewing instruction. Specifically, if the slewing instruction is to slewing the slewing body 12 to the left, the controller 3 sends operation signals to the left slewing EPC valve 71 and the right slewing EPC valve 72, and adjusts the opening of the left slewing EPC valve 71 to be greater than the opening of the right slewing EPC valve 72. As a result, the slewing valve 64 moves to the left slewing position, hydraulic fluid is supplied, the slewing motor 27 is driven, and the slewing body 12 slewing to the left.
[0094] Next, in step S5, the detection unit 4 calculates the positions of the calculation points C1 to C6 of the work machine 15 based on the dimensional data stored in the storage device 4b and the pitch angle θ1, boom angle θ2, arm angle θ3, and bucket angle θ4.
[0095] Next, in step S6, the controller 3 determines whether the work machine 15 interferes with the virtual wall W when the rotating body 12 is rotated according to the rotation instruction. As described above, the controller 3 determines whether any of the calculation points C1 to C6 of the work machine 15 detected by the detection unit 4 interferes with the virtual wall W.
[0096] If it is determined in step S6 that the work machine 15 interferes with the virtual wall W, the control proceeds to step S7.
[0097] In step S7, the controller 3 determines whether the change in the posture of the work implement 15 can be completed before the work implement 15 interferes with the virtual wall W, when the slewing body 12 is slewing at the slewing speed instructed by the operating device 81. For example, the controller 3 calculates the posture of the work implement 15 such that calculation points C1 to C6 do not interfere with the virtual wall W, and transmits this posture data to the detection unit 4. The detection unit 4 calculates the amount of change in boom angle θ2, arm angle θ3, and bucket angle θ4 to achieve a posture that does not interfere, and transmits this change amount data to the controller 3. The controller 3 determines whether the driving of the boom cylinder 24, arm cylinder 25, and bucket cylinder 26 by the amount of change in boom angle θ2, arm angle θ3, and bucket angle θ4 to achieve a posture in which the work implement 15 does not interfere with the virtual wall W can be completed before the work implement 15 interferes with the virtual wall W. Furthermore, the controller 3's storage device 3b may store the dimensional data described above, and the controller 3 may receive the first position data, second position data, and third position data to calculate the amount of change in the boom angle θ2, arm angle θ3, and bucket angle θ4. If, in step S7, it is determined that the change in the posture of the work machine 15 can be completed before interfering with the virtual wall W, the control proceeds to step S8.
[0098] In step S8, the controller 3 changes the posture of the work machine 15. For example, as shown in Figures 7 to 8, the controller 3 raises the boom 21, lowers the arm 22, and retracts the bucket 23.
[0099] In this way, the posture of the work implement 15 is changed while it rotates, and the rotation of the rotating body 12 continues with the posture of the work implement 15 changed.
[0100] When the operator inputs a rotation completion command for the rotating body 12 by operating the control device 81, in step S9, the controller 3 receives the rotation completion command from the control device 81.
[0101] Next, in step S10, the controller 3 stops the slewing motor 27 and terminates control. The controller 3 sends operation signals to the left-slewing EPC valve 71 and the right-slewing EPC valve 72 so that the valve body of the slewing valve 64 is in the stop position. As a result, the supply of hydraulic fluid to the slewing motor 27 is stopped, and the slewing motor 27 stops.
[0102] If, in step S6, it is determined that the work implement 15 does not interfere with the virtual wall W, the slewing body 12 is rotated in the current position of the work implement 15. Then, when the controller 3 receives a rotation completion instruction from the operating device 81 in step S9, it stops the slewing motor 27 in step S10.
[0103] Furthermore, if it is determined in step S7 that the change in the posture of the work machine 15 cannot be completed before interfering with the virtual wall W, the control proceeds to step S11. In step S11, the controller 3 sends operation signals to the left-swing EPC valve 71 and the right-swing EPC valve 72 to stop the swing motor 27, and the control ends.
[0104] On the other hand, if the option not to perform interference avoidance control is selected in step S2, the control proceeds to step S12.
[0105] When the controller 3 receives a rotation instruction from the operating device 81 in step S12, in step S13 it drives the rotation motor 27 according to the rotation instruction to rotate the rotation body 12.
[0106] Next, in step S14, the detection unit 4 calculates the positions of the calculation points C1 to C6 of the work machine 15 based on the dimensional data stored in the storage device 4b and the pitch angle θ1, boom angle θ2, arm angle θ3, and bucket angle θ4.
[0107] Next, in step S15, the controller 3 determines whether the calculation points C1 to C6 of the work machine 15 detected by the detection unit 4 interfere with the virtual wall W when the slewing body 12 is slewing according to the slewing instruction. If it is determined in step S15 that the calculation points C1 to C6 interfere with the virtual wall W, the control proceeds to step S11. Then, in step S11, the controller 3 sends operation signals to the left slewing EPC valve 71 and the right slewing EPC valve 72 to stop the slewing motor 27.
[0108] On the other hand, if it is determined in step S15 that the calculation points C1 to C6 do not interfere with the virtual wall W, the control proceeds to step S9. When the controller 3 receives a rotation completion instruction from the operating device 81 in step S9, it stops the rotation motor 27 in step S10 and the control ends.
[0109] (Features, etc.) (1) The hydraulic excavator 1 of this embodiment comprises an excavator body 2, a detection unit 4, and a controller 3. The excavator body 2 has a traveling body 11 and a slewing body 12. The slewing body 12 has a work implement 15 and is rotatable relative to the traveling body 11. The detection unit 4 detects the position of the work implement 15. When the controller 3 rotates the slewing body 12, if it determines that the work implement 15 will interfere with a virtual wall W set at a predetermined position from the excavator body 2 based on the position of the work implement 15, it changes the posture of the work implement 15 so as not to interfere with the virtual wall W.
[0110] By changing the posture of the work machine 15 so as not to interfere with the virtual wall W, the rotational movement of the slewing body 12 can be continued. This reduces work stoppages and allows for smoother operation.
[0111] (2) In the hydraulic excavator 1 of this embodiment, the controller 3 changes the posture of the work implement 15 while rotating the slewing body 12.
[0112] This allows the working machine's posture to be changed so as it rotates and reaches the virtual wall W, avoiding interference with the virtual wall W.
[0113] (3) In the hydraulic excavator 1 of this embodiment, if the controller 3 determines that the rotation speed of the slewing body input by the operating device 81 is insufficient to change the posture of the work implement 15 before it interferes with the virtual wall W, the controller 3 stops the rotation of the slewing body 12.
[0114] This allows the system to stop rotating if it determines that the change in the posture of the work machine 15 will not be completed before reaching the virtual wall W.
[0115] (4) In the hydraulic excavator 1 of this embodiment, if the controller 3 determines that the rotation speed of the rotating body based on the input from the operating device 81 is insufficient to change the posture of the work implement 15 before it reaches a virtual wall, the controller 3 limits the rotation speed of the rotating body to a rotation speed at which the posture of the work implement 15 can be changed.
[0116] This allows the rotation speed to be limited, enabling the change in the posture of the work machine 15 to be completed before reaching the virtual wall W.
[0117] (5) In this embodiment of the hydraulic excavator 1, the excavator body 2 is further equipped with an input device 82. The input device 82 selects whether or not to perform control to operate the work implement 15 so as not to interfere with the virtual wall W. When the input device 82 has selected not to perform control, the controller 3 stops the rotation of the slewing body 12 when it determines that the work implement 15 would interfere with the virtual wall W if the slewing body 12 were rotated by the input of the operating device 81.
[0118] This allows the operator to choose whether or not to control the work machine 15 so as not to interfere with the virtual wall W.
[0119] (6) In this embodiment of the hydraulic excavator 1, the slewing body 12 further has a slewing frame 13 to which a work implement 15 is attached. The work implement 15 has a boom 21, an arm 22, a bucket 23, a boom cylinder 24, an arm cylinder 25, and a bucket cylinder 26. The boom 21 is pivotably mounted on the slewing frame 13. The arm 22 is pivotably mounted on the boom 21. The bucket 23 is pivotably mounted on the arm 22. The boom cylinder 24 swings the boom 21. The arm cylinder 25 swings the arm 22. The bucket cylinder 26 swings the bucket 23. The controller 3 changes the posture of the work implement 15 by adjusting the hydraulic fluid supplied to the boom cylinder 24, the arm cylinder 25, and the bucket cylinder 26.
[0120] This allows the posture of the work machine 15 to be changed so as not to interfere with the virtual wall W.
[0121] (7) In the hydraulic excavator 1 of this embodiment, the bucket 23 has a curved bottom surface 231, a tooth 234 positioned at the tip of the bottom surface 231, and a pair of side wall portions 233 positioned at both ends of the bottom surface 231 in the width direction. The detection unit 4 detects a calculation point C1 which is the tip position of the arm cylinder 25, a calculation point C2 which is the tip position of the bucket cylinder 26, calculation points C3 and C4 which are the positions of both ends of the tooth 234 in the width direction, and calculation points C5 and C6 which are the positions of both ends in the width direction of the part of the bottom surface 231 that is furthest from the bucket excavation surface (an example of a predetermined part of the bottom surface). The controller 3 determines whether the work machine 15 interferes with the virtual wall W by whether the calculation points C1 to C6 interfere with the virtual wall W due to the rotation of the slewing body 12.
[0122] In this way, the positions of a predetermined number of calculation points C1 to C6 are detected, and it is possible to determine whether or not the work machine 15 interferes with the virtual wall W based on the positional relationship between each of the detected calculation points C1 to C6 and the virtual wall W. Therefore, it is not necessary to calculate the position of all the work machine 15 positions and determine interference with the virtual wall W, which simplifies the calculation process.
[0123] (8) In the hydraulic excavator 1 of this embodiment, the controller 3 changes the posture of the work equipment 15 so that the multiple calculation points C1 to C6 that it has detected do not interfere with the virtual wall W.
[0124] This allows the posture of the work machine 15 to be changed by simple calculation processing.
[0125] (9) The control method for the hydraulic excavator 1 of this embodiment is a control method for a hydraulic excavator 1 comprising a traveling body 11 and a slewing body 12 having a work implement 15 and being rotatable relative to the traveling body 11, and comprises step S5 (an example of a position detection step), step S6 (an example of a determination step), and step S8 (an example of an interference avoidance step). In step S5, the position of the work implement 15 is detected. In step S6, when the slewing body 12 is rotated, it is determined whether the work implement 15 will interfere with a virtual wall W set at a predetermined position relative to the hydraulic excavator 1, based on the position detected in step S5. In step S8, if it is determined that the work implement 15 will interfere with the virtual wall W, the posture of the work implement 15 is changed so as not to interfere with the virtual wall W.
[0126] (Other embodiments) Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.
[0127] (A) In the above embodiment, the posture of the work machine 15 is changed so as not to interfere with the virtual wall W while the rotating body 12 is rotating. However, the rotation of the rotating body 12 may be started after the posture of the work machine 15 has been changed.
[0128] Furthermore, if the controller 3 determines that the working machine 15 cannot change its posture before interfering with the virtual wall W at the rotation speed specified by the operation command, the controller 3 may change the posture of the working machine 15 before starting the rotation of the rotating body 12.
[0129] (B) In the above embodiment, the positions of calculation points C1 to C6 of the work machine 15 are calculated to determine whether it interferes with the virtual wall W due to rotation. However, the positions to be calculated are not limited to calculation points C1 to C6; there may be 7 or more calculation points, or 5 or fewer. Also, although the amount of calculation increases compared to the above embodiment, the outermost position may be calculated by determining the position of the entire work machine 15 based on the dimensional data stored in the storage device 3b of the work machine 15, along with the pitch angle θ1, boom angle θ2, arm angle θ3, and bucket angle θ4. The detection unit 4 detects the outermost position of the work machine 15, and the controller 3 may determine whether the work machine 15 interferes with the virtual wall W based on whether the outermost position interferes with the virtual wall W due to the rotation of the slewing body 12.
[0130] (C) In the above embodiment, a virtual wall is positioned to the side of the hydraulic excavator 1, but it is not limited to the side; the virtual wall may also be positioned in front of or behind the hydraulic excavator 1. Furthermore, although the virtual wall is positioned on only one side of the hydraulic excavator 1, it may be positioned on both sides. Moreover, the hydraulic excavator 1 may be surrounded by the virtual wall.
[0131] (D) In the above embodiment, the virtual wall W is set along the vertical direction, but it may also be placed above the hydraulic excavator 1. In this case, the upward movement of the boom 21 to avoid interference with the virtual wall arranged along the vertical direction can be suppressed so as not to interfere with the upper virtual wall. This makes it possible to rotate while avoiding contact with, for example, power lines.
[0132] (E) In the above embodiment, a bucket 23 is attached to the tip of the arm 22 as an example of an attachment, but it is not limited to a bucket 23, and a crusher or the like may be attached instead.
[0133] (F) In the above embodiment, the boom angle sensor 95a is an IMU, but it is not limited to this, and may be a sensor that detects the stroke length of the boom cylinder 24. The arm angle sensor 95b is an IMU, but it is not limited to this, and may be a sensor that detects the stroke length of the arm cylinder 25. Also, the bucket angle sensor 95c is a sensor that detects the stroke of the bucket cylinder 26, but it is not limited to this, and may be an IMU. In short, the boom angle sensor 95a, the arm angle sensor 95b, and the bucket angle sensor 95c can be any sensors that can detect their respective angles.
[0134] (G) In Figure 2 of the above embodiment, the controller 3 and the detection unit 4 are shown as separate components, but the functions of the detection unit 4 may be implemented within the controller 3. Specifically, the controller 3 may receive signals from the vehicle attitude sensor 94, boom angle sensor 95a, arm angle sensor 95b, and bucket angle sensor 95c, and the controller 3 may detect the attitude of the work machine 15 based on each sensor signal. In this case, the processor 4a and storage device 4b of the detection unit 4 may not be provided.
[0135] (H) In the above embodiment, the slewing motor 27 is a hydraulic motor, but it is not limited to this and may be an electric motor. [Industrial applicability]
[0136] The work machine and control method of the work machine described herein have the effect of enabling smooth operation even when a virtual wall is set, and are useful as hydraulic excavators and the like. [Explanation of symbols]
[0137] 1: Hydraulic excavator 2: Shovel body 3: Controller 4: Detection unit 11: Running body 12: Rotating body 15: Work equipment 81: Operating device W: Virtual Wall
Claims
1. A work machine body having a traveling body and a slewing body that has a work implement and is rotatable relative to the traveling body, A detection unit for detecting the position of the work machine, The system includes a posture control unit that, when the rotating body is rotated, determines that the working machine would interfere with a virtual wall set at a predetermined position from the working machine body based on the position of the working machine, and changes the posture of the working machine so as not to interfere with the virtual wall, The attitude control unit changes the attitude of the work machine while rotating the rotating body. If the attitude control unit determines that the attitude of the work machine cannot be changed before it interferes with the virtual wall at the rotation speed of the rotating body input by the operation instruction unit, it stops the rotation of the rotating body. Agricultural machinery.
2. A work machine body having a traveling body and a slewing body that has a work machine and is rotatable relative to the traveling body, A detection unit for detecting the position of the work machine, The system includes a posture control unit that, when the rotating body is rotated, determines that the working machine would interfere with a virtual wall set at a predetermined position from the working machine body based on the position of the working machine, and changes the posture of the working machine so as not to interfere with the virtual wall, The attitude control unit changes the attitude of the work machine while rotating the rotating body. If the attitude control unit determines that the attitude of the work machine cannot be changed before the work machine reaches the virtual wall at the rotation speed of the rotation body input by the operation instruction unit, it limits the rotation speed of the rotation body to a rotation speed at which the attitude of the work machine can be changed. Agricultural machinery.
3. A work machine body having a traveling body and a slewing body that has a work machine and is rotatable relative to the traveling body, A detection unit for detecting the position of the work machine, The system includes a posture control unit that, when the rotating body is rotated, determines that the working machine would interfere with a virtual wall set at a predetermined position from the working machine body based on the position of the working machine, and changes the posture of the working machine so as not to interfere with the virtual wall, The main body of the work machine further includes a selection unit that selects whether or not to perform control to operate the work machine so as not to interfere with the virtual wall, When the selection unit has selected not to perform the control, the attitude control unit determines that if the rotating body is rotated by the input of the operation instruction unit, the work machine will interfere with the virtual wall, and stops the rotation of the rotating body. Agricultural machinery.
4. The detection unit detects the outermost position of the work machine, The attitude control unit determines whether the outermost position interferes with the virtual wall when the rotating body is rotated, thereby determining whether the work machine interferes with the virtual wall. The work machine according to claim 1.
5. The rotating body further comprises a frame portion to which the work machine is attached, The aforementioned work machine is, A boom is pivotably attached to the frame portion, An arm swingably attached to the boom, An attachment that is pivotably mounted on the aforementioned arm, The first cylinder that swings the boom, A second cylinder that pivots the aforementioned arm, The attachment has a third cylinder that swings the attachment, The attitude control unit changes the attitude of the work machine by adjusting the hydraulic fluid supplied to the first cylinder, the second cylinder, and the third cylinder. The work machine according to claim 1.
6. A work machine body having a traveling body and a slewing body that has a work machine and is rotatable relative to the traveling body, A detection unit for detecting the position of the work machine, The system includes a posture control unit that, when the rotating body is rotated, determines that the working machine would interfere with a virtual wall set at a predetermined position from the working machine body based on the position of the working machine, and changes the posture of the working machine so as not to interfere with the virtual wall, The rotating body further comprises a frame portion to which the work machine is attached, The aforementioned work machine is, A boom is pivotably attached to the frame portion, An arm swingably attached to the boom, An attachment that is pivotably mounted on the aforementioned arm, The first cylinder that swings the boom, A second cylinder that pivots the aforementioned arm, The attachment has a third cylinder that swings the attachment, The attitude control unit changes the attitude of the work machine by adjusting the hydraulic fluid supplied to the first cylinder, the second cylinder, and the third cylinder. The aforementioned attachment is a bucket, The bucket has a curved bottom surface, teeth positioned at the tip of the bottom surface, and a pair of side walls positioned at both ends of the bottom surface in the width direction. The detection unit detects the tip position of the second cylinder, the tip position of the third cylinder, the positions of both ends of the tooth in the width direction, and the positions of both ends in the width direction of a predetermined portion of the bottom surface. The attitude control unit determines whether the work machine interferes with the virtual wall based on whether the detected plurality of positions interfere with the virtual wall due to the rotation of the rotating body. Agricultural machinery.
7. The attitude control unit changes the attitude of the work machine so that the detected plurality of positions do not interfere with the virtual wall. The work machine according to claim 6.
8. A control method for a work machine comprising a traveling body and a slewing body having a work implement and being rotatable relative to the traveling body, A position detection step for detecting the position of the work machine, When the rotating body is rotated, a determination step is made to determine whether the work machine interferes with a virtual wall set at a predetermined position relative to the work machine, based on the detection by the position detection step. The system includes, if it is determined that the work machine will interfere with the virtual wall, an interference avoidance step of changing the posture of the work machine so as not to interfere with the virtual wall, In the interference avoidance step, the posture of the work machine is changed while the rotating body is rotated. If the rotation speed of the rotating body, as input by the operation instruction unit, determines that the posture of the work machine cannot be changed before the work machine interferes with the virtual wall, the rotation of the rotating body is stopped. A method for controlling industrial machinery.