Trace Generation Device and Working Machine

• US 20160258128A1
• Filed: 01/07/2016
• Published: 09/08/2016
• Est. Priority Date: 03/05/2015
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: NAKAMURA, Satoshi, EGAWA, Saku
• Granted Patent: US 9,752,298 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: E02F 3/43 Control of dipper or bucket position; Control of sequence of drive operations
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

In a trace generation device including a trace generation determination unit that outputs a command of trace generation, when a difference of an actual load applied to a bucket and a reference load is equal to or larger than a predetermined value during excavation and a candidate trace generation unit that generates a trace in which a work amount is almost constant, after the command is output, the reference load is an estimated load and the command of the trace generation is output when the difference of the actual load and the estimated load is equal to or larger than the predetermined value during the excavation. As a result, working efficiency can be raised while a trace in which an excavation amount is almost constant is generated.

Claims

1. A trace generation device comprising:

a trace generation determination unit that outputs a command of trace generation, when a difference of an actual load applied to a bucket and a reference load is equal to or larger than a predetermined value during excavation; and

a candidate trace generation unit that generates a trace in which a work amount is almost constant, after the command is output.

2. The trace generation device according to claim 1, wherein

the reference load is an estimated load, and

the trace generation determination unit outputs the command of the trace generation, when the difference of the actual load and the estimated load is equal to or larger than the predetermined value during the excavation.

3. The trace generation device according to claim 1, wherein

the reference load is an allowed load, and

the trace generation determination unit outputs the command of the trace generation, when the difference of the actual load and the allowed load is equal to or larger than the predetermined value during the excavation.

4. The trace generation device according to claim 1, further comprising:

an load estimation unit that operates estimated loads of a plurality of candidate traces using load parameters;

a trace selection unit that selects a trace from the plurality of candidate traces, on the basis of the estimated loads;

a trace following control unit that controls the bucket according to the trace selected by the trace selection unit; and

a load parameter update unit that updates the load parameters used for the operation of the estimated loads, using the actual load, wherein

the candidate trace generation unit generates the plurality of candidate traces in which a work amount is almost constant, using a current position of the bucket during work as a start point, and

the trace generation determination unit determines whether generation of the trace is necessary during the excavation, on the basis of the actual load acting on the bucket.

5. A working machine comprising the trace generation device according to claim 1.