Hitachi Construction Machinery Co., Ltd.

Yasuhiko Kanari

Shiho Izumi

Hiroshi Sakamoto

Shinji Ishihara

Akihiro Narazaki

Hiroaki Tanaka

Yusuke Suzuki

Shuuichi Meguriya

Hideto Ishibashi

Takahiko Kurose

Kenta Nakagi

Shinya Imura

Kouji Ishikawa

Manabu Edamura

Akinori Ishii

Masafumi Hita

Teruki Igarashi

Eiji Egawa

Naoki Hayakawa

Daito Sakai

Kohei Hiromatsu

Shinichi Kotake

A construction machine includes an angle measuring apparatus that sense acceleration and angular velocities of installation portions on a machine body and a work implement and that compute angles of the installation portions relative to a reference plane based on sensing results, and a controller that executes operation assistance of a work implement based on postural information on the machine body and the work implement computed on the basis of the angles from the angle measuring apparatus. The controller computes second required accuracy of angle computation by the angle measuring apparatus on the basis of first required accuracy set for the operation assistance, determines whether the state of the machine body has changed from an active state to a stopped state on the basis of the sensing results of the angle measuring apparatus, determines whether the computation accuracy of the angle measuring apparatus satisfies the second required accuracy, and stops the operation assistance of the work implement or gives a warning in a case where the state of the machine body has changed to a stopped state, and where the computation accuracy fails to satisfy the second required accuracy.

Construction machine

The invention of the present application intends to provide a work machine that can improve the work performance by keeping the work state of work equipment conforming to the intention of an operator in machine control for causing the work equipment to follow an excavation target surface. For this purpose, a controller determines the work state of the work equipment on the basis of an operation input amount inputted from an operation input device and the posture of the work equipment with respect to the target surface, computes a range of an action command value of actuators in which the work state determined is kept, and corrects, within the range, the action command value of the actuators to make the distance between the work equipment and the target surface small.

Work machine

The invention of the present application has as its object the provision of a work machine that is equipped with a function to prevent a work device thereof from going into an entry prohibited area and can satisfy both working precision and working efficiency of the work device. A controller is therefore configured to start work range limiting control to decelerate or stop an action of a machine main body or the work device when a distance between a monitor point set beforehand on the work device and the entry prohibited area decreases to a first distance, to end the work range limiting control when the distance between the monitor point and the entry prohibited area increases to a second distance greater than the first distance, and to change the second distance according to an operation amount of an operation device.

A controller sets, as a satellite mask range, a range for which a work implement can become an obstacle when an antenna receives positioning signals from a plurality of positioning satellites on the basis of a position at which the antenna is installed, a movable range of the work implement, a posture of an upper swing structure, and an azimuth angle of the upper swing structure. The controller cancels the setting of the satellite mask range in a case where it has been determined, on the basis of satellite positioning condition data acquired from a receiver, that the setting of the satellite mask range leads to reduced precision of positioning computation by the receiver. In a case where the setting of the satellite mask range has been canceled, the receiver computes the position of the upper swing structure on the basis of the positioning signals transmitted from the plurality of positioning satellites.

Work machine configured to set a mask range in a field of vision over an antenna for which part of the work machine can become an obstacle when receiving positioning signals from satellites

In a hydraulic excavator including a controller configured to calculate the magnitude of a position difference in a height direction between a construction target surface and a front work implement on the basis of the position of the construction target surface, the position of a machine main body which is calculated by a GNSS receiver, and the posture of the front work implement which is detected by a posture sensor. The controller records snapshot data of information about an operation sensor, a pressure sensor, the posture sensor, the GNSS receiver, and a radio in a predetermined period that is determined based on a time at which the magnitude of the position difference exceeds a predetermined value when the magnitude of the position difference exceeds the predetermined value, and diagnoses a cause of the magnitude of the position difference exceeding the predetermined value, on the basis of the snapshot data.

Work machine with machine control that stores snapshot data for equipment abnormality diagnosis

An installation error of a machine-body inertial measurement unit around a first axis is computed on a basis of sensing results of inertial measurement units of a front work implement, and the machine-body inertial measurement unit obtained while the upper swing structure is in a first calibration posture in which the upper swing structure faces a predetermined direction relative to a lower travel structure; and an installation error of the machine-body inertial measurement unit around a second axis is computed on a basis of a sensing result of the machine-body inertial measurement unit obtained while the upper swing structure is in a second calibration posture in which the upper swing structure is swung by 90 degrees relative to the lower travel structure from the first calibration posture, and the installation error of the machine-body inertial measurement unit around the first axis.

A hydraulic excavator includes a receiver configured to calculate a position and an azimuth angle of an upper swing structure on the basis of satellite signals received by two GNSS antennae and a controller configured to calculate a distal end position of a bucket on the basis of the position and the azimuth angle of the upper swing structure calculated by the receiver. The controller sets, on the basis of installation positions of the two GNSS antennae, a movable range of a front work device and an inclination angle and an azimuth angle of the upper swing structure, a range within which the front work device possibly becomes an obstacle to reception of satellite signals by each of the two GNSS antennae as a mask range. The receiver is configured to calculate the position and the azimuth angle of the upper swing structure on the basis of the satellite signals transmitted from the remaining satellites other than the satellites positioned in the mask range.

A calibration work support system includes an input device for inputting machine information including machine rank data on a hydraulic excavator and specification data on a front work implement, a display controller that generates a target posture image that is an image of the case in which the front work implement that takes target measurement posture is viewed with a point-of-view position and a line-of-sight direction of an operator M on the basis of the machine information input from the input device and target posture data defined in advance as the target measurement posture of the front work implement when an inertial measurement device is calibrated, and an HMD that displays the target posture image generated in the display controller. The HMD executes displaying in such a manner that the target posture image is superimposed on the actual front work implement viewed with the point-of-view position and the line-of-sight direction of the operator M.

Calibration work support system

When a machine-control ON/OFF switch is switched to the ON position, a controller outputs either a first control signal generated by an operation lever or a second control signal that operates a boom cylinder in accordance with a predetermined condition; when the ON/OFF switch is switched to the OFF position, the controller outputs the first control signal; when a control signal has been switched from one of the first control signal and the second control signal to the other control signal by the operation of the ON/OFF switch, the controller applies a rate limit to the control signal, and controls the boom cylinder on the basis of the control signal obtained after the limitation.

A hydraulic excavator () includes a controller () for generating, when the tip of a work implement (A) is approaching a target surface () due to the pilot pressure output from an operating device (), a control signal for a boom cylinder () such that the tip of the work implement moves along the target surface and controlling the work implement (A) by outputting the generated control signal to the flow control valve () of the boom cylinder (). The controller calculates the positional information of a finished shape () formed by the work implement, based on the topographic information input from a topographic measurement device () that measures the topography near the work machine and corrects the control signal based on the positional information of the finished shape such that the finished shape gets closer to the target surface.

When a work implement is actuated in such a manner that a work point is located at each of a plurality of positions on a datum line, a first work point position computing section calculates a position of the work point at each of the plurality of positions. A calibration value computing section calculates calibration values of angle conversion parameters (&#x3b1;bm, &#x3b2;bm, &#x3b1;am, &#x3b2;am, &#x3b1;bk, &#x3b2;bk), dimension parameters (Lbm, Lam, Lbk), and line parameters (tilt tan &#x3b8;, intercept Zline) using the fact that the positions of the work point at each of the plurality of positions calculated by the first work point position computing section can satisfy a linear equation indicating a datum line. A parameter update section reflects the calibration values calculated by the calibration value computing section in computation by a corresponding computing section that is one of the angle computing section and the first work point position computing section.

A display system for a construction machine includes: a moving direction computing section for computing a predictive moving direction of a bucket; a work-tool display control section that, if the moving direction computing section predicts a movement of the bucket, changes the display position of a bucket image based on the predictive moving direction such that the area of a region located on the predictive moving direction side from the bucket image on the display screen of a monitor is displayed wider than when the bucket image is displayed at a reference position and that displays the bucket image at the reference position if a movement of the bucket cannot be predicted. A target-surface display control section displays on the display screen an image of a target surface when the bucket image is displayed at the display position determined by the work-tool display control section.

Display system for construction machine

An area limiting excavation control system for construction machines including a control unit () that performs area limiting control by controlling at least one of a plurality of hydraulic cylinders () on the basis of a posture and a position of each of a boom (), an arm (), and a bucket (). The control system includes an angle sensor group () that detects rotational angles of the boom (), the arm (), and the bucket (), and a tilting angle sensor group () that detects ground angles of the boom (), the arm (), and the bucket (). The control unit () selects, from among the angle sensor group () and the tilting angle sensor group (), a sensor to be used for calculating a posture and a position of each of the boom (), the arm (), and the bucket () in accordance with a magnitude of speed of at least one of the boom (), the arm (), and the bucket ().

Area limiting excavation control system for construction machines

A basic information calculator device calculates basic information for area limiting excavation control to control a construction machinery work device so that the construction machinery does not perform excavation beyond a target excavation surface. The basic information calculator includes: a storage device having stored therein three-dimensional information of the target excavation surface; a two-dimensional information extractor for obtaining the intersecting line between a reference surface that is the target excavation surface and the operational plane of the work device based on the three-dimensional information and the current positional information of the construction machinery to extract a reference line that is the intersecting line as the two-dimensional information of the reference surface in the operational plane; and a characteristic point transmitter for transmitting the Z-coordinates of characteristic points on the reference line to an area limiting excavation controller as the basic information.

Growing community of inventors

Kasumigaura, Japan

Yasuhiko Kanari