Excavation control system for hydraulic excavator

• US 9,410,305 B2
• Filed: 10/29/2014
• Issued: 08/09/2016
• Est. Priority Date: 04/11/2012
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Matsuyama, Toru, Kami, Yoshiki, Kashiwabara, Shin, Ichihara, Masashi
• Primary Examiner(s): Mawari, Redhwan k
• Application Number:
  US14/526,895
• Publication Number:
  US 20150050110A1
• Time in Patent Office: 650 Days
• Field of Search: 701/50
• US Class Current: 1/1
• CPC Class Codes: E02F 3/32 working downwardly and towards the machine, e.g. with backhoes
• CPC Class Codes: E02F 3/43 Control of dipper or bucket position; Control of sequence of drive operations
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a position of the bucket. The subordinate designed surface data indicates a first subordinate designed surface linked to the superior designed surface. The designed surface data generation part generates shape data indicating shapes of the superior designed surface and the first subordinate designed surface. The excavation limit control part automatically adjusts a position of the bucket.

Claims

1. An excavation control system for a hydraulic excavator, the excavation control system comprising:

a vehicle main body,

a working unit having a boom, an arm and a bucket, the boom being attached to the vehicle main body, the arm being attached to the boom, the bucket being attached to the arm;

a designed landform data storage part configured to store designed landform data indicating a target shape of an excavation object;

a bucket position data generation part configured to generate bucket position data indicating a current position of the bucket;

a designed surface data generation part configured to generate superior designed surface data and subordinate designed surface data based on the designed landform data and the bucket position data, the superior designed surface data indicating a superior designed surface corresponding to a position of the bucket, the subordinate designed surface data indicating a first subordinate designed surface linked to the superior designed surface, the designed surface data generation part being configured to generate shape data indicating shapes of the superior designed surface and the first subordinate designed surface; and

an excavation limit control part configured to automatically adjust a position of the bucket in relation to the superior designed surface and the first subordinate designed surface based on the shape data and the bucket position data.

2. The excavation control system for a hydraulic excavator according to claim 1, wherein

the bucket position data generation part is configured to intermittently update the bucket position data, and

the designed surface data generation part is configured to update the superior designed surface data, the subordinate designed surface data and the shape data when the bucket position data generation part has updated the bucket position data.

3. The excavation control system for a hydraulic excavator according to claim 1, wherein

the designed surface data generation part is configured to set a second subordinate designed surface linked to the superior designed surface,

the first subordinate designed surface extends toward a vehicle main body side from the superior designed surface, and

the second subordinate designed surface extends toward an opposite side of the vehicle main body side from the superior designed surface,.

4. The excavation control system for a hydraulic excavator according to claim 1, wherein

the designed surface data generation part is configured to set the superior designed surface and the first subordinate designed surface based on an intersection of the designed surface data and a working plane on which the working unit moves.

5. The excavation control system for a hydraulic excavator according to claim 1, wherein

each of the superior designed surface and the first subordinate designed surface is defined by coordinates data of two points.

6. The excavation control system for a hydraulic excavator according to claim 1, further comprising:

a hydraulic cylinder driving the working unit, wherein

the hydraulic cylinder includes a stroke sensor configured to detect a stroke length of the hydraulic cylinder.

7. The excavation control system for a hydraulic excavator according to claim 1, wherein

the vehicle main body includes a drive unit and a revolving body pivotally attached on the drive unit.