JPH09217702A - Control device of hydraulic shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out accurate operation according to various work kinds without requiring switch operation and the like by an operator. SOLUTION: A device is provided with a work kind judging unit 41 for judging a work kind carried out by a hydraulic shovel on the basis of the detecting data of manipulated variable sensors 25 to 30 for detecting a manipulated variable of boom operating lever and the like, a setting units 51 to 54 for setting the operating configuration of a hydraulic pump absorptive horse power and the like according to the judged work kind, a hydraulic pump control unit 55 for controlling hydraulic pumps in compliance with the set work configuration, and an automatic deceleration control unit 56 which is operated by making automatic deceleration control for controlling rotational speed of an engine 1 to low speed rotational speed effective or ineffective when work is rested, according to the judged work kind.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a control device for a hydraulic excavator.

[0002]

2. Description of the Related Art A hydraulic excavator is equipped with an engine and a hydraulic pump having the engine as a drive source, as working equipment, and a hydraulic actuator (hydraulic cylinder) for driving a boom, an arm and a bucket of the hydraulic excavator.
In addition, a hydraulic actuator (hydraulic motor) for turning and traveling is provided. Then, at the time of work, by operating the operation lever corresponding to each hydraulic actuator, pressure oil is supplied from the hydraulic pump to each hydraulic actuator in response to the operation, and each hydraulic actuator is operated to perform various works. ing.

There are various types of work performed by the hydraulic excavator, such as spreading work, dusting work, slope finishing work, crane work, excavation work, loading work, turning leveling work, and the like. The excavation work includes work types such as pressing excavation work, simple excavation work, groove excavation work, and horizontal excavation work. In these various works, the required operation and load condition of the hydraulic excavator are often different, so work operation devices such as the engine and hydraulic pump should be operated in an appropriate operation mode according to the work type. It is preferable to operate.

[0004] For example, excavation work generally has a larger load than other works, so that an engine, a hydraulic pump, or the like must be installed so that the driving force of the engine can be sufficiently transmitted to each hydraulic actuator via the hydraulic pump. It is preferable to control. Conversely, in crane work and loading work, the load is small, so it is not necessary to draw out the driving force of the engine so much.It is possible to control the engine and hydraulic pump etc. so as to reduce the fuel consumption of the engine as much as possible. preferable.

On the other hand, in the conventional hydraulic excavator, for example, when the operator operates the operation mode switch,
By adjusting the engine speed, it is possible to adjust the absorption ratio of the engine driving force (output) by the hydraulic pump (so-called hydraulic pump absorption horsepower) to multiple types, which allows the operation of the hydraulic excavator suitable for the work type. It is known to be able to do.

Further, when the operator has operated a predetermined switch in advance during a work pause when all the operation levers are in the neutral position, the engine speed is automatically set to a predetermined low speed rotation speed. It is also known to control and thereby reduce the fuel consumption of the engine.

However, in such a conventional hydraulic excavator, in order to operate the hydraulic excavator suitable for the work type intended by the worker, the worker himself / herself distinguishes the work type from other work types and determines the predetermined type. You must operate the switch. Therefore, in many cases, the switch operation is not performed because the switch operation is forgotten. In such a case, it is not possible to operate the hydraulic excavator suitable for the work type, and There was an inconvenience that the ability could not be fully utilized. In addition, in a certain work, even if the operator performs a switch operation, when performing another type of work, it is often forgotten to cancel the switch operation. In such a case,
There is an inconvenience that the operator may not be able to operate the hydraulic excavator as desired.

[0008]

DISCLOSURE OF THE INVENTION The present invention solves such inconvenience, and controls a hydraulic excavator capable of performing an appropriate operation according to various work types without requiring a switch operation by an operator. The purpose is to provide a device.

[0009]

In order to achieve the above object, a control system for a hydraulic excavator according to the present invention is operated by at least an engine, a hydraulic pump driven by the engine, and a hydraulic oil discharged from the hydraulic pump. A control device for a hydraulic excavator, comprising: a working operating device including a working actuator that operates according to an operation of a lever, and performing a required work by operating the working working device; Of the devices to be operated, an operation state detection unit that detects an operation state of at least one device, a work type determination unit that determines a work type based on the operation state detected by the operation state detection unit, and the work type determination Based on the work type determined by the means, a small number of devices that constitute the work operation device in a predetermined operation mode corresponding to the work type. Both is characterized in that a operating configuration control means for controlling one of the working.

According to the present invention, the operating state grasping means grasps the operating state of at least one of the working operating equipment such as the engine, the hydraulic pump, and the hydraulic actuator, and based on the grasped operating state. The work type is discriminated by the work type discriminating means, and based on the discriminated work type, at least one of the working operating devices is controlled in a predetermined operation mode corresponding to the work type.

Therefore, since the work type is automatically discriminated from the operating state of the work operating device and the work operating device is controlled in an operation mode suitable for the discriminated work type, a switch operation or the like by the operator is required. Therefore, it is possible to perform appropriate operation according to various work types.

In the present invention, the operating state detecting means corresponds to at least one actuator of the working actuators, which is one of a boom actuator, an arm actuator, a bucket actuator and a swing actuator. An operation amount detecting means for detecting the operation amount of the operation lever for operation as an amount indicating the operation state of the actuator is provided, and the work type determining means has a work type as a spreading work, a dusting work, a slope finishing work, It is preferable that at least one work type of the crane work, the pressing excavation work, the loading work, the turning leveling work, and the excavation work other than the pressing excavation work is determined based on the operation amount detected by the operation amount detecting means.

That is, the operation mode of the work operation lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator, and the turning actuator is often peculiar to the type of work being performed, and at least, at least. By detecting any of these manipulated variables (including the case where all manipulated variables are detected), spreading work, dusting work, slope finishing work,
It is possible to determine at least one work type of a crane work, a pressing excavation work, a loading work, a turning leveling work, and an excavation work other than the pressing excavation work.

In this case, more specifically, the work type discriminating means is based on the operation amount detected by the operation amount detecting means corresponding to the boom actuator, and the rate of increase or decrease of the operation amount within a predetermined time. Based on the operation amount detected by the operation amount detecting means corresponding to the boom operation complexity grasping means for grasping as the boom operation complexity display amount and the operation amount detecting means corresponding to the bucket actuator, the increase / decrease variation of the operation amount within a predetermined time. Based on the operation amount detected by the operation amount detection means corresponding to the bucket operation complexity grasping means and the operation amount detecting means corresponding to the turning actuator, the magnitude of the operation amount is grasped within a predetermined time. High speed turning time grasping means for grasping a time when the value becomes a predetermined value or more as a high speed turning time, the boom actuator and the arm. Based on the operation amounts detected by the operation amount detecting means respectively corresponding to the actuator and the bucket actuator, the boom operation amount becomes a predetermined value or more on the ascending side of the boom within a predetermined time, and the arm operation amount and the bucket operation amount are Boom reverse operation time grasping means for grasping as the boom reverse operation time a time at which the arm and the bucket are retracted at predetermined values or more, and operation amount detecting means respectively corresponding to the boom actuator, the arm actuator and the bucket actuator. Based on the operation amount detected by, the time during which the magnitude of the boom operation amount is greater than or equal to the predetermined value and the magnitudes of the arm operation amount and the bucket operation amount are less than or equal to the predetermined values within the predetermined time is defined as the bucket arm stop time. Grasping bucket arm stop time grasping hand Based on the operation amounts detected by the operation amount detecting means corresponding to the boom actuator, the arm actuator, and the bucket actuator, an average value of the magnitudes of the respective operation amounts within a predetermined time is calculated as a boom operation amount. An average value, an arm operation amount average value, and a bucket operation amount average value that are grasped as a boom operation average value grasping means, an arm operation average value grasping means, and a bucket operation average value grasping means, and at least one grasping means, The operation state detecting means includes the operation amount detecting means for detecting an operation amount of the work operation lever corresponding to the at least one grasping means, and the work type discriminating means grasps the operation amount grasped by the grasping means. Boom operation complexity display amount, bucket operation complexity display amount, high-speed turning time, boom reverse The work type is determined based on at least one of the operation time, the bucket / arm stop time, the boom operation amount average value, the arm operation amount average value, and the bucket operation amount average value.

That is, among the operation modes of the work operation lever corresponding to the boom actuator, the arm actuator, the bucket actuator, and the swing actuator, the complexity display amount of the boom operation and the complexity of the bucket operation are particularly complicated. Display amount High-speed turning time, boom reverse operation time, bucket / arm stop time, boom operation amount average value, arm operation amount average value, bucket operation amount average value, or a combination of these depends on the type of work being performed. Tends to be unique.

Therefore, by grasping the complexity display amount of the boom operation and the like from the operation amount of the work operation lever,
It is possible to accurately determine various work types such as spreading work, dusting work, etc., and by accurately determining work types in this way, it is possible to operate the hydraulic excavator in the optimal operation mode for each work type. You can

Specifically, among the types of work performed by the hydraulic excavator, in the scattering work, the operation amount of the bucket operation lever is generally increased / decreased more frequently than in other works. Therefore, when the complexity display amount of the boom operation is equal to or more than a predetermined value, the work type determination means determines that the spreading work is being performed, so that the spreading work can be determined.

In addition, in the dusting work, in general, the operation amount of the boom operation lever is frequently increased and decreased, and the operation lever of the arm and bucket is operated more than the operation amount of the boom operation lever. The amount of time for which the amount is relatively small is relatively long, and high-speed turning is rarely performed by the turning operation lever. Therefore, when the complexity display amount of the boom operation is equal to or more than a predetermined value, the high-speed turning time is less than or equal to a predetermined value, and the bucket arm stop time is more than or equal to a predetermined value, the work type determining means determines By determining that the work is being performed, the dusting work can be determined.

In addition, in the slope finishing work, generally, the operation amount of the operation lever for the bucket is not frequently increased or decreased, and the operation amount of the operation lever for the arm or the bucket is relatively small. Is relatively short, and
It takes a relatively long time to operate the operating levers for the boom and the retracting side of the arm or bucket while operating the operating levers for the boom, and the operating lever for the arm or the operating lever for the bucket is operated. On average, the quantity is relatively large. Therefore, by the work type determination means, the bucket operation complexity display amount is a predetermined value or less, the bucket arm stop time is a predetermined value or less, the boom reverse operation time is a predetermined value or more, and the arm operation amount. When the sum of the average value and the bucket operation amount average value is equal to or greater than the predetermined value, it is possible to determine the slope finishing work by determining that the slope finishing work is being performed.

In addition, in crane work, generally, the operation amount of the boom operation lever is frequently increased and decreased, while the operation amount of the bucket operation lever is rarely increased and decreased, and the operation amount of the swing operation lever is small. High-speed turning by the operating lever is rarely performed, and the amount of operation of the operating lever for the arm or bucket is kept relatively small compared to the operating amount of the operating lever for the boom. On the average, the operation amount of the arm operation lever or the bucket operation lever is relatively small. Therefore, by the work type determination means, the complexity display amount of the boom operation is a predetermined value or more, the complexity display amount of the bucket operation is a predetermined value or less, the high-speed turning time is a predetermined value or less, and the bucket When the arm stop time is less than or equal to a predetermined value and the sum of the arm operation amount average value and the bucket operation amount average value is less than or equal to a predetermined value, the crane work is determined by determining that the crane operation is being performed. be able to.

Further, in the push excavation work, generally, high-speed turning by the turning operation lever is relatively frequently performed, while the operation amount of the arm or bucket operation lever is higher than that of the boom operation lever. Therefore, the time for which the operation lever is kept small is relatively short, and the operation amount of the operation lever for the arm or the operation lever for the bucket is relatively large on average. Therefore, by the work type determination means, the high-speed turning time is a predetermined value or more and the bucket / arm stop time is a predetermined value or less, and the sum of the arm operation amount average value and the bucket operation amount average value is a predetermined value or more. When it is, it is possible to determine the pressing excavation work by determining that the pressing excavation work is being performed.

In the loading operation, the operation amount of the boom operation lever and the operation amount of the bucket operation lever are not often increased or decreased frequently, and high-speed turning is performed by the turning operation lever. In addition to being rarely operated, it is rare to operate the operation levers for the boom and the retracting side of the arm or bucket while operating the operation levers for the boom. Therefore, the work type determining means determines that the complexity display amount of the boom operation is less than or equal to a predetermined value, the complexity display amount of the bucket operation is less than or equal to a predetermined value, the high-speed turning time is less than or equal to a predetermined value, and the boom reverse operation is performed. When the operation time is less than or equal to the predetermined value, it is possible to determine the loading work by determining that the loading work is being performed.

In the turning leveling work, in general, a high-speed turning operation is often performed by a turning operation lever, and the operation amount of the arm or bucket operation lever is higher than that of the boom operation lever. The operation time of the boom operation lever or the arm operation lever is relatively small on average. Therefore, the work type determination means determines that the high-speed turning time is equal to or greater than a predetermined value, the bucket arm stop time is equal to or greater than a predetermined value, and the sum of the boom operation amount average value and the arm operation amount average value is equal to or less than a predetermined value. Then, by determining that the turning ground leveling work is being performed, it is possible to determine the turning level leveling work.

In the excavation work (simple excavation work, groove excavation work, horizontal excavation work, etc.) other than the above-mentioned pressing excavation work, generally, the operation amount of the boom operation lever or the arm operation lever is average. Relatively large. Therefore, when the total value of the boom operation amount average value and the arm operation amount average value is equal to or more than a predetermined value, the work type determining means determines that the excavation work other than the push excavation work is being performed. Excavation work can be identified.

The complexity display amount of the boom operation or the bucket operation is, for example, the number of times the operation amount of the operation lever for the boom or the bucket increases or decreases by a predetermined operation amount within a predetermined time, It can be grasped by the number of times the sign of the first derivative of the operation amount is switched within a predetermined time, or the magnitude of a high frequency component equal to or higher than a predetermined frequency among frequency components of the operation amount within the predetermined time.

Next, in the present invention for discriminating various work types in this way, the operation mode control means and the hydraulic pump absorption horsepower which is a ratio of absorbing the output of the engine by the hydraulic pump, and the hydraulic pump. To the working actuator, the maximum supply flow rate of the pressure oil to the working actuator, the change rate of the pressure oil flow rate to the working actuator with respect to the change in the operation amount of the operation lever corresponding to the working actuator, and the working actuator. A means for setting at least one of a response time constant of the work actuator with respect to the operation of the operation lever as an operation mode of the operation device for operation according to the work type determined by the work type determination means. Controlling the operating device for operation according to the set operation mode.

Further, there is provided an auto decelerating means for controlling the engine to a predetermined low speed rotation speed when the operation lever of the operation actuator is in a neutral position and the operation is stopped, and the operation mode control means comprises the operation type discriminating means. The auto deceleration means is controlled to be in an operating state or a non-operating state according to the work type determined by.

According to the work type determined in this way, the hydraulic pump absorption horsepower, the maximum supply flow rate of the pressure oil, the flow rate change rate of the pressure oil, and the response time constant are set, and
By activating or deactivating the auto decelerating means, the engine output can be utilized efficiently according to the work type, or the maximum operating speed of the work actuator,
It is possible to make the change in the operation speed of the work actuator with respect to the change in the operation amount of the work operation lever and the responsiveness of the operation of the work actuator with respect to the operation of the work operation lever suitable for the work type. The function of the auto deceleration means can be automatically activated or deactivated appropriately according to the type. As a result, the various types of work can be operated by the hydraulic excavator in a form adapted to the work type.

Specifically, when the work type judging means discriminates at least the excavating work from the other works, and when the hydraulic pump absorption horsepower is set and controlled, the operation form control means The hydraulic pump absorption horsepower comprises absorption horsepower setting means for setting the hydraulic pump according to the determined work type, and hydraulic pump control means for controlling the hydraulic pump according to the set absorption horsepower, and the determined work type is excavation work. When it is, the hydraulic pump absorption horsepower is set to be larger than that during the work other than the excavation work.

Alternatively, in the case where at least one of the crane work and the loading work is discriminated and discriminated by the work type discriminating means by the work type discriminating means, the operating mode control means sets the absorption horsepower in the same manner as described above. Means and a hydraulic pump control means, and when the determined work type is either crane work or loading work, the hydraulic pump absorption horsepower is set to be smaller than in the other work.

By doing so, in excavation work in which the load of the work actuator is relatively large, the output of the engine is sufficiently absorbed by the hydraulic pump,
It can be transmitted to the work actuator, and conversely, in crane work and loading work where the work actuator load is relatively small, the engine output is limited to the required level to improve the fuel efficiency of the engine. can do.

When the excavation work is discriminated,
By setting the hydraulic pump absorption horsepower so that the output torque at each rotation speed of the engine and the output torque of the hydraulic pump match, the engine output can be maximized to perform the excavation work. . Further, when discriminating more types of work types, a plurality of types of hydraulic pump absorption horsepower may be set according to the work types.

Further, in the case of discriminating at least one of the excavation work and the turning leveling work and the work other than these by the work type judging means, when setting and controlling the maximum supply flow rate of the pressure oil, The operation mode control means, a maximum supply flow rate setting means for setting the maximum supply flow rate of the pressure oil according to the determined work type;
A hydraulic pump control means for controlling the discharge flow rate of the hydraulic pump at a set maximum supply flow rate or less is provided, and when the determined work type is either excavation work or turning ground leveling work, other work The maximum supply flow rate is set higher.

Alternatively, when the work type discriminating means discriminates at least one of the crane work and the loading work and the other work, the maximum supply flow rate of the pressure oil is determined by the discriminating work type. A maximum supply flow rate setting means to be set according to the above, and a hydraulic pump control means for controlling the discharge flow rate of the hydraulic pump below the set maximum supply flow rate, and the determined work type is either crane work or loading work. If either of the above is the case, the maximum supply flow rate is set to be smaller than in the case of work other than these.

By doing so, in excavation work and turning-in leveling work which require a relatively high operating speed of the work actuator, if the work operation lever is operated to the maximum operation amount, the work actuator can be operated. The required operating speed can be obtained, and conversely, in crane work and loading work, where a relatively low operating speed of the work actuator is required, even if the work operation lever is operated to the maximum operation amount It is possible to eliminate a situation in which the actuator for use operates at an operating speed faster than necessary.

When any one of the excavation work and the turning leveling work is discriminated, the maximum supply flow rate is set to the predetermined maximum discharge flow rate of the hydraulic pump so that the maximum working speed of the work actuator can be obtained. Can be obtained. Further, when discriminating more types of work types, a plurality of types of the maximum supply amount may be set according to the work types.

Further, when the work type discriminating means discriminates at least one of the excavating work, the dusting work and the scattering work and the work other than these, the flow rate change degree of the pressure oil is set. When controlling, the operation mode control means sets the flow rate change rate of the pressure oil according to the determined work type, and the hydraulic pump that controls the hydraulic pump according to the set flow rate change rate. When the determined work type is any one of the excavation work, the dusting work, and the scattering work, the flow rate change degree is set to be larger than that of the other work.

Alternatively, the operation type determining means is provided with means for distinguishing and determining at least one of the work type and the work type other than the crane type and the loading type work, and the operation mode control means is provided for the work type. Flow rate characteristic setting means for setting the degree of change in the flow rate of the pressure oil to the work actuator with respect to the change in the operation amount of the operation lever corresponding to the actuator according to the work type determined by the work type determination means, and the set flow rate. A hydraulic pump control means for controlling the hydraulic pump in accordance with the degree of change, wherein the flow rate characteristic setting means, when the determined work type is either crane work or loading work, the flow rate characteristic setting means is more than the above when the work is other than these. Set a small flow rate change rate.

By doing so, in the excavation work, the dusting work and the scattering work, which require a relatively large change in the operating speed of the work actuator with respect to the change in the operation amount of the work operation lever, the work is performed. The operating speed of the work actuator can be changed sufficiently by slightly changing the operation amount of the operation lever, and conversely,
In a crane work, a loading work, or the like in which a small change in the operating speed of the work actuator with respect to a change in the operation amount of the work operation lever is required, the work actuator can be operated at a very low speed.

When discriminating more kinds of work types, a plurality of kinds of flow rate change degrees may be set according to the work types.

In the case where the work type discrimination means discriminates at least one of the sand piling work and the spreading work and the work other than these, the operation is performed when the response time constant is set and controlled. The form control means includes a time constant setting means for setting the response time constant according to the determined work type, and a hydraulic pump control means for controlling the hydraulic pump according to the set time constant, and the determined work When the type is the dusting work or the scattering work, the response time constant is set to be smaller than that of the other work.

Alternatively, when the work type discriminating means discriminates at least one of the crane work, the loading work and the slope finishing work and the work other than these, the operation form control means is made to respond to the response. A time constant setting means for setting a time constant according to the determined work type and a hydraulic pump control means for controlling the hydraulic pump according to the set time constant are provided, and the determined work types are crane work and loading work. And any of the slope finishing work, the response time constant is set to be larger than that of the other work.

By doing so, the required responsiveness can be obtained in the sand blasting work and the spreading work in which the quick response of the operation of the work actuator to the operation of the work operation lever is required. Therefore, in the case of crane work, loading work and slope finishing work, which requires relatively slow response of the operation of the work actuator to the operation of the work operation lever, Even if the operation amount of the work control lever fluctuates temporarily, it is possible to avoid the situation in which the work actuator operates following the fluctuation, and work can be performed at a stable operation speed of the work actuator. It can be carried out.

When any of the dusting work and the scattering work is discriminated, the response time constant is set to zero so that the operation of the work actuator is followed by the operation of the work operation lever. You can get it quickly.

Further, when the auto decelerating means is provided and at least one of the crane work and the loading work is discriminated by the work type discriminating means and the work other than these is discriminated, the discriminating work type is the crane work. And when it is one of the loading work, the auto decelerating means is controlled to the non-operating state,
When the work is other than the crane work and the loading work, the auto decelerating means is controlled to an operating state.

That is, in the crane work and the loading work, all the work operation levers are often operated to the neutral position during the work, as in the case of the work rest.
In such a case, it is not preferable to control the engine rotation speed to a predetermined low rotation speed against the operator's intention by the auto deceleration means. Therefore, when the work type determined as described above is one of the crane work and the loading work, the auto decelerating means is brought into a non-operating state so that a predetermined work is performed against the intention of the worker during these works. It is possible to avoid a situation where the engine speed is controlled to a low speed. When the work other than the crane work and the loading work is performed, the auto decelerating means is kept in operation so that the engine speed is automatically controlled to a low speed when the work is stopped to improve fuel economy. be able to.

[0047]

DETAILED DESCRIPTION OF THE INVENTION An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall system configuration diagram of the hydraulic excavator of the present embodiment, FIG. 2 is a block diagram showing a control device of the hydraulic excavator of FIG. 1, and FIGS. 3 to 5 are diagrams for explaining the operation of the control device. 6 is a flow chart for explaining the operation of the control device.

Referring to FIG. 1, the hydraulic excavator of the present embodiment is provided with an engine 1, two hydraulic pumps 2 and 3 driven by the engine 1, as a working operating device, and a boom which is a working actuator. Actuator 4 (hydraulic cylinder), arm actuator 5 (hydraulic cylinder), bucket actuator 6 (hydraulic cylinder), swing actuator 7 (hydraulic motor), right-side traveling actuator 8 (hydraulic motor), and left-side traveling hydraulic actuator 9 (Hydraulic motor), and a controller 10 for controlling the operating mode (operating characteristics) of these working operating devices.

The hydraulic pump 2 is for supplying pressure oil to the boom actuator 4, the bucket actuator 6 and the right traveling actuator 8 among the working actuators to operate them, and The actuators 4, 6 and 8 are respectively connected via a boom control valve 11, a bucket control valve 12 and a right traveling control valve 13, which are directional control valves.

Similarly, the hydraulic pump 3 is for supplying pressure oil to the arm actuator 5, the turning actuator 7 and the left side traveling actuator 9 to operate them, and the respective actuators 5, 7 are provided. , 9
Are connected via an arm control valve 14, a turning control valve 15 and a left-side traveling control valve 16, respectively.

Each of the control valves 11 to 16 has
Pilots (not shown) of operating devices 17a to 22a each including a boom operating lever 17, a bucket operating lever 18, a right traveling operating lever 19, an arm operating lever 20, a turning operating lever 21, and a left traveling operating lever 22. A pilot pressure corresponding to the operation amount and operation direction of each of the operation levers 17 to 22 is applied from the valve, and a switching operation or the like is performed.

In the figure, for the sake of convenience, each operation lever 17-
22 have been described as being separately provided, but in actuality, the boom operation lever 17 and the bucket operation lever 18 are constituted by one operation lever,
Each of the actuators 4 and 6 is operated by the operation in the front-rear direction and the operation in the left-right direction of the operation lever. Similarly, the arm operation lever 20 and the turning operation lever 21 are similarly operated. Is constituted by one operation lever.

The hydraulic pumps 2 and 3 are of the variable displacement type, and the tilt angles that define the discharge flow rate are generated by the first proportional solenoid valve 23 and the second proportional solenoid valve 24, respectively. The pressure can be adjusted via a regulator (not shown). Each proportional solenoid valve 23, 24
The secondary pressure is generated in accordance with the amount of power supply, and the discharge flow rate of each of the hydraulic pumps 2 and 3 can be controlled by controlling the power supply to each of the proportional solenoid valves 23 and 24. The energization control of the proportional solenoid valves 23 and 24 is performed by the controller 10 as described later.

On the other hand, in the hydraulic excavator of this embodiment, the operation amount of each of the operation levers 17 to 21 (including the operation direction).
Is detected as an amount indicating the operating state of each of the corresponding actuators 4 to 9, a boom operation amount sensor 25, a bucket operation amount sensor 26, a right traveling operation amount sensor 27, an arm operation amount sensor 28, a turning operation amount sensor 29, and The left traveling operation amount sensor 30 is provided, and each of these operation amount sensors 2
5 to 30 output to the controller 10 a signal according to the operation amount of each operation lever 17 to 21. Further, pressure sensors 31 and 32 that detect the discharge pressure (load pressure) of the hydraulic pumps 2 and 3 and a rotation speed sensor 33 that detects the rotation speed of the engine 1 are provided, and these pressure sensors 31 and 3 are provided.
2 and the rotation speed sensor 33 are hydraulic pumps 2 and 3 respectively.
A signal is output to the controller 10 according to the discharge pressure and the rotation speed of the engine 1.

In this case, each of the operation amount sensors 25 to 30
Indicates a pilot pressure generated by the operating devices 17a to 22a provided with the operating levers 17 to 21 in accordance with the operating amounts of the operating levers 17 to 21, respectively. Detected as

Note that, in FIG. 1, in the present embodiment, the boom actuator 4 is appropriately supplied with pressure oil discharged from the hydraulic pump 3 via a boom merging valve 34 provided in a conduit on the hydraulic pump 3 side. The discharge pressure oil of the hydraulic pump 2 is joined and supplied. Similarly, the arm actuator 5 is appropriately supplied to the arm actuator 5 via an arm merging valve 35 provided in a conduit on the hydraulic pump 2 side. The discharge pressure oil of the hydraulic pump 2 merges with the discharge pressure oil of the hydraulic pump 2 and is supplied.

Further, the pressure oil discharged from the hydraulic pump 2 is directly returned to a hydraulic oil tank (not shown) through the cut valve 36 when the boom actuator 4, the bucket actuator 6 and the right traveling actuator 8 are in the non-operating state. The cut valve 36 is configured to shut off the recirculation when any one of the actuators 4, 6 and 8 is operated. Further, a similar cut valve 37 is provided on the hydraulic pump 3 side.

Further, reference numeral 38 in FIG. 1 is for adjusting so that the same amount of pressure oil is supplied from the hydraulic pumps 2 and 3 to the right side traveling actuator 8 and the left side traveling actuator 9 when the hydraulic excavator is traveling straight ahead. It is a valve.

Next, referring to FIG. 2, the controller 10
Are configured using a microcomputer, and as the functional configuration, each of the operation amount sensors 25 to
An A / D converter 39 for A / D converting the output signal of the A / D converter 30;
A data holding unit 40 that holds the data indicating the operation amounts of the operation levers 17 to 21 that have been A / D converted, and a work type determination unit that determines the type of work performed by the excavator based on the held data 41, and an operation mode control unit 42 that sets the operation mode of the hydraulic pumps 2, 3 and the engine 1 according to the determined work type and controls the operation of each of the hydraulic pumps 2, 3 and the engine 1 in accordance therewith. Have.

The data holding section 40 stores data indicating the operation amounts of the operation levers 17 to 21 obtained from the operation amount sensors 25 to 30 via the A / D converter 39 for a predetermined continuous time (for example, 20 seconds). ) Hold and update it, for example, every 5 seconds.

The work type discriminating section 41 discriminates the work type by operating the operation amount data for a predetermined time of each of the operation levers 17 to 21 held in the data holding section 40 with a plurality of types of characteristic amounts described below. The boom operation complexity grasping section 43, the bucket operation complexity grasping section 44, the high-speed turning time grasping section 45, the boom reverse operation time grasping section 46, the bucket arm stop time grasping section 47, and the boom operation average value grasping section 48 which are grasped respectively from FIG. , Arm operation average value grasping section 49 and bucket operation average value grasping section 50, and these grasping sections 43 to 50.
Based on the feature amount grasped by, the work type is determined as described later.

The boom operation complexity grasping section 43 determines from the operation amount data of the boom operation lever 17 for the predetermined time,
The rate at which the operation amount of the operation lever 17 is increased or decreased within the predetermined time is grasped as a complexity display amount indicating the complexity of boom operation (hereinafter referred to as reference numeral ch1). Similarly, the bucket operation complexity comprehension unit 44 determines, from the operation amount data of the bucket operation lever 18 for the predetermined time, the rate at which the operation amount of the operation lever 18 is increased or decreased within the predetermined time in the boom operation. It is understood as a complexity display amount indicating complexity (hereinafter referred to as reference numeral ch2).

More specifically, with reference to FIG. 3, in the present embodiment, the boom operation complexity grasping section 43 causes the waveform a indicating the temporal change in the operation amount of the boom operation lever 17 for the predetermined time. (This corresponds to the time-series data of the operation amount data held in the data holding unit 40 for the predetermined time)
From the number of intersections P intersecting with a straight line b representing a predetermined operation amount C, that is, the operation amount of the boom operation lever 17 within the predetermined time is smaller or larger than the predetermined operation amount. The number of times the operation amount is changed to be larger or smaller than the predetermined operation amount (the number of changes to the upper and lower sides of the predetermined operation amount) is obtained as the complexity display amount ch1 of the boom operation. The same applies to the bucket operation complexity grasping unit 44.

The predetermined operation amount C is determined for each of the positive and negative operation directions of the boom operation lever 17 and the arm operation lever 18, respectively.
The operating levers 17 and 18 are individually set.

The complexity display amounts ch1 and ch2 of the boom operation and the bucket operation thus obtained are such that the boom operation lever 17 and the bucket operation lever 18 are frequently increased and decreased within the predetermined time. The larger the complexity display amounts ch1 and ch2, the more frequently the operation levers 17 and 18 are increased and decreased, and the more complicated the boom operation and the bucket operation are performed.

The complexity display quantities ch1 and ch2 are
For example, the number of the signs (the number of maximum points and minimum points of the waveform a) in which the first derivative of the waveform a of the manipulated variable (rate of change of the manipulated variable) changes from positive to negative or from negative to positive is displayed in complexity. It may be understood as the quantities ch1 and ch2, or the waveform a of the manipulated variable is Fourier transformed into frequency components,
The magnitude (power) of a high frequency component equal to or higher than a predetermined frequency may be obtained and grasped as the complexity display amounts ch1 and ch2.

The high-speed turning time grasping section 45 determines beforehand the magnitude (absolute value) of the operation amount of the operating lever 21 within the predetermined time from the operation amount data of the turning operation lever 21 for the predetermined time. The total time for which the operation amount is greater than or equal to the predetermined operation amount is calculated, and is grasped as the high-speed turning time (hereinafter referred to as reference numeral ch3).

The boom reverse operation time grasping section 46 is provided with boom, arm and bucket operation levers 17 and 2.
Based on the operation amount data of 0 and 18 for the predetermined time, the operation amount of the boom operation lever 17 within the predetermined time is equal to or more than a predetermined operation amount that is predetermined on the positive side (the boom rising side) in the operation direction, Further, the respective operation amounts of the arm operation lever 20 and the bucket operation lever 18 are both equal to or less than a predetermined operation amount which is predetermined on the negative side of the operation direction (the arm and bucket retracting side) (absolute of each operation amount. Calculate the total time for which the value is greater than or equal to the predetermined operation amount),
Understand this as the boom reverse operation time (hereinafter referred to as reference numeral ch4). The boom reverse operation time ch4 obtained in this manner means the total time within the predetermined time when the boom is driven to the up side and the arm and the bucket are driven to the retract side.

The bucket arm stop time grasping section 47 includes the operation levers 17 for boom, arm and bucket.
From the operation amount data for the predetermined time of 20 and 18, the magnitude (absolute value) of the operation amount of the boom operation lever 17 within the predetermined time is equal to or greater than a predetermined operation amount,
In addition, the total time during which the magnitude of each operation amount of the arm operation lever 20 and the bucket operation lever 18 is equal to or less than a predetermined operation amount is calculated, and is calculated as a bucket arm stop time (hereinafter, referred to as a bucket arm stop time). The reference code ch5 is attached). The bucket / arm stop time ch5 obtained in this manner means the total time within the predetermined time when only the boom is driven with the bucket and the arm being substantially stopped.

Boom operation average value grasping section 48, arm operation average value grasping section 49 and bucket operation average value grasping section 50.
Is obtained from the operation amount data of the boom, arm, and bucket operation levers 17, 20, and 18 for the predetermined time, respectively.
The average of the magnitudes (absolute values) of the operation amounts of 0 and 18 is obtained,
It is grasped as a boom operation amount average value, an arm operation amount average value, and a bucket operation amount average value (hereinafter, these are respectively denoted by reference symbols ch6, ch7, and ch8).

The operation mode control unit 42, according to the work type determined by the work type determination unit 41, has a plurality of types of operation modes (operation characteristics) of the hydraulic pumps 2 and 3 described below.
Absorption horsepower setting unit 51, maximum supply flow rate setting unit 5
2. Flow rate variation setting unit 53 and response time constant setting unit 54
According to the set operation mode, the hydraulic pump control unit 55 that controls the hydraulic pumps 2 and 3 via the first proportional solenoid valve 23 and the second proportional solenoid valve 24, respectively, and the work type determination unit 41 determine. An automatic deceleration control unit 56 that performs the later-described automatic deceleration control of the engine 1 according to the work type.
(Auto decelerating means).

The absorption horsepower setting unit 51 sets a so-called hydraulic pump absorption horsepower, which is a ratio of absorbing the output of the engine 1 by the hydraulic pumps 2 and 3, in accordance with the work type. For example, as shown in FIG. In addition, the hydraulic pump absorption horsepower is set to 100%, 80%, and 70% according to the work type. Here, the hydraulic pump absorption horsepower of 100% is equal to the product of the output torque at each rotation speed of the engine 1 and the generated torque of the hydraulic pumps 2 and 3 (this is the product of the discharge flow rate and the discharge pressure of the hydraulic pumps 2 and 3). In this state, the output of the engine 1 is directly converted into the outputs of the hydraulic pumps 2 and 3 for driving the actuators 4 to 9. Also, 80% or 7
The 0% hydraulic pump absorption horsepower indicates a state in which the torque generated by the hydraulic pumps 2 and 3 at each rotational speed of the engine 1 becomes 80% or 70% of the output torque of the engine 1. In this state, the engine 1 80% or 70% of the output of is converted into the output of the hydraulic pumps 2 and 3 for driving the actuators 4 to 9.

In order to operate the hydraulic pumps 2 and 3 in accordance with such a set value of the hydraulic pump absorption horsepower, for example, the rotational speed of the engine 1 detected by the rotational speed sensor 33 and data as shown in FIG. The generated torque of the hydraulic pumps 2 and 3 corresponding to the set value of the hydraulic pump absorption horsepower is obtained from the table, and the generated torque is calculated based on the discharge pressure of the hydraulic pumps 2 and 3 (this is the load of each actuator 4 to 9). , Which is detected by the pressure sensors 31 and 32), and the discharge flow rate are equal to each other.
It is performed by adjusting the discharge flow rate of No. 3.

The maximum supply flow rate setting unit 52 sets the maximum supply flow rate of the pressure oil from the hydraulic pumps 2 and 3 to the actuators 4 to 9 (upper limit discharge flow rate of the hydraulic pumps 2 and 3) according to the work type. And, for example, as shown in FIG.
Assuming that the maximum supply flow rate equal to the maximum allowable discharge flow rate of the hydraulic pumps 2 and 3 is 100%, the maximum supply flow rate is 100%, 8
It is set to 0% and 70%. The larger the maximum supply flow rate, the faster the maximum operating speed of each actuator 4-9 due to the operation of each operation lever 17-22.

As shown in FIG. 5, the flow rate change degree setting unit 53 changes the flow rate of the pressure oil from the hydraulic pumps 2 and 3 to the actuators 4 to 9 with respect to the change amount of the operation amounts of the operation levers 17 to 22. The flow rate change rate is set according to the work type, with the ratio of the amount (static change amount) (gradients of the straight lines c, d, and e in FIG. 5) as the flow rate change degree. The degree is set to, for example, three types of large, medium and small. The greater the degree of change in the flow rate, the greater the increase or decrease in the operating speed of each of the actuators 4 to 9 with respect to the increase or decrease in the operation amount of each of the operation levers 17 to 22.

The response time constant setting section 54 is provided for each operation lever 1
A response time constant that defines the change speed of the operation speed of each of the actuators 4 to 9 with respect to the change speed of the operation amount of 7 to 22 is set according to the type of work, and the response time constant is set to, for example, 0 s or 0.2 s. , 0.3 s, and 0.5 s. The smaller the response time constant is, the higher the response (response) of the operation speed of each of the actuators 4 to 9 to the change in the operation amount of each of the operation levers 17 to 22 is.

The operation in accordance with the set response time constant is for causing a change in the flow rate of the hydraulic pumps 2 and 3 when the operation amount of each operation lever 17 to 22 is changed, for example. This is performed by delaying the timing of energizing the proportional solenoid valves 23, 24 by the time of the response time constant.

As described above, the hydraulic pump control unit 55 controls each operating lever in accordance with the hydraulic pump absorption horsepower, the maximum supply flow rate, the flow rate change rate, and the response time constant set by the setting sections 51 to 54 according to the work type. The amount of energization to the first and second proportional solenoid valves 23 and 24 is determined so that the pressure oil having a flow rate according to the momentary operation amount of 17 to 22 is supplied to each actuator 4 to 9 and the proportional solenoid is supplied. The valves 23 and 24 are energized to control the discharge flow rates of the hydraulic pumps 2 and 3.

Basically, the auto decel control unit 56
From the time when all the operation amounts of the operation levers 17 to 22 detected by the operation amount sensors 25 to 30 become “0” (when all the operation levers 17 to 22 are operated to the neutral position), the state When a predetermined time has elapsed, the engine speed of the engine 1 is controlled to a predetermined constant speed, and when one of the operation levers 17 to 22 is operated thereafter, The number of revolutions of 1 is returned to the original number of revolutions (hereinafter, this control is referred to as auto decel control). Then, in this case, the auto decel control unit 56 validates the auto decel control (performs the auto decel control) or invalidates the auto decel control (does not perform the auto decel control) depending on the work type determined by the work type determination unit 41. I am trying.

Next, the operation of the hydraulic excavator of this embodiment will be described.

When the work by the hydraulic excavator is started, the data held by the operation amount sensors 25 to 30 are held in the data holding unit 40 for the predetermined time, for example, 5
It is updated every second. Then, the work type determination unit 41
Based on the data held in the data holding unit 40 as described above, the grasping units 43 to 50 cause the boom operation complexity display amount ch1, the bucket operation complexity display amount ch2,
High-speed turning time ch3, boom reverse operation time ch4, bucket
The arm stop time ch5, the boom operation amount average value ch6, the arm operation amount average value ch7, and the bucket operation amount average value ch8 are obtained, and the type of work currently being performed is determined from these characteristic amounts as shown in the flowchart of FIG. To do.

That is, the work type discriminating section 41 first
The complexity display amount ch2 of the bucket operation is compared with a predetermined value Th1 corresponding to this (STEP1),
If ch2 ≧ Th1, it is determined that the type of work being performed is a scattering work.

The scattering operation is a high speed repetition of the operation of scooping soil in the bucket by the simultaneous operation of the bucket, the arm and the boom and scattering it by the operation of the bucket. The operating amount of the operating lever 18 is frequently increased or decreased. For this reason, the complexity display amount ch2 of the bucket operation becomes a larger value than that of other work, and accordingly, by appropriately setting the predetermined value Th1, it is possible to perform the STEP in the scattering work.
It can be determined that the condition 1 is satisfied and that the scattering work is being performed.

If the condition of STEP 1 is not satisfied,
Next, the work type determination unit 41 determines the complexity display amount ch1 of the boom operation, the high-speed turning time ch3, and the bucket / arm stop time ch5 to predetermined values Th2,
Compared with Th3 and Th4 (STEP2), ch1 ≧ Th2, and ch
If 3 ≤ Th3 and ch5 ≥ Th4, it is determined that the type of work being performed is sand piling work.

The sand hammering work is a work of hitting the bucket against the ground by repeating up and down movements of the boom to harden the ground. In such work, in particular,
The operation amount of the boom operation lever 17 is frequently increased and decreased, the high-speed turning operation is hardly performed, and the bucket and the arm are stopped for a relatively long time during the vertical movement of the boom. For this reason, the complexity display amount ch1 of the boom operation becomes a large value compared to other work, and
The high-speed turning time ch3 is relatively short, and the bucket arm stop time ch5 is relatively long. Therefore, the predetermined value Th2,
By properly setting Th3 and Th4, it is possible to determine that the condition of STEP 2 is satisfied during the sand piling work and that the sand piling work is being performed.

When the condition of STEP2 is not satisfied,
Next, the work type determination unit 41 calculates the sum of the bucket operation complexity display amount ch2, the bucket / arm stop time ch5, the boom reverse operation time ch4, the arm operation amount average value ch7, and the bucket operation amount average value ch8. The value (ch7 + ch8) is compared with the predetermined values Th5, Th6, Th7 and Th8 respectively (STEP3), ch2 ≤ Th5, and ch5 ≤ Th6, and
If ch4 ≧ Th7 and (ch7 + ch8) ≧ Th8, it is determined that the type of work being performed is slope finishing work.

The slope finishing work includes buckets, arms,
With the simultaneous movement of the boom, the bucket is moved along the slope,
In this state, the arm or boom is operated to scrape the slope with the bucket. In such a work, the bucket operating lever 18 is not moved very often, and the bucket and the arm are almost not moved. There are few movements that move the boom up and down while stopped,
Further, the time for operating the bucket and the arm toward the retracted side while raising the boom is long, and the operation amount of the bucket operation lever 18 or the arm operation lever 20 is relatively large on average. Therefore, the bucket operation complexity display amount ch2 becomes smaller than other work, the bucket arm stop time ch5 becomes relatively short, and the boom reverse operation time ch4
Or arm operation amount average value ch7 and bucket operation amount average value
The total value of ch8 (ch7 + ch8) becomes relatively large. Therefore, by appropriately setting the predetermined values Th5, Th6, Th7 and Th8, it is possible to determine that the condition of STEP 3 is satisfied during the slope finishing work and that the slope finishing work is being performed.

If the condition of STEP 3 is not satisfied,
Next, the work type determining unit 41 determines the boom operation complexity display amount ch1, the bucket operation complexity display amount ch2, the high-speed turning time ch3, the bucket / arm stop time ch5, and the arm operation amount average value ch7. And the total value of the bucket operation amount average value ch8 (ch7 + ch8) are compared with predetermined values Th9, Th10, Th11, Th12 and Th13 respectively (STEP
4), ch1 ≤ Th9, ch2 ≤ Th10, and ch3 ≤ Th11,
If ch5 ≤ Th12 and (ch7 + ch8) ≤ Th13,
Judge that the type of work being performed is crane work.

The crane work is carried out by suspending a transported object on the blade edge of a bucket via a rope or the like and moving the transported object. In such a work, particularly, the boom operation lever 17 or the bucket operation is performed. There are few situations where the operation lever 18 is frequently moved or a high-speed turning operation is performed, and there is relatively little movement that moves the boom up and down with the bucket and arm almost stopped. The operation amount of the bucket operation lever 18 or the arm operation lever 20 becomes relatively small on average.
Therefore, the complexity display amount ch1 of the boom operation and the complexity display amount ch2 of the bucket operation are smaller than other work, and the high-speed turning time ch3 and the bucket arm stop time ch5 are relatively short. Also, the total value (ch7 + ch8) of the arm operation amount average value ch7 and the bucket operation amount average value ch8 becomes relatively small. Therefore,
By appropriately setting the predetermined values Th9, Th10, Th11, Th12, and Th13, it is possible to determine that the condition of STEP 4 is satisfied during crane work and that crane work is being performed.

If the condition of STEP 4 is not satisfied,
Next, the work type determination unit 41 determines the high-speed turning time ch3, the bucket / arm stop time ch5, and the arm operation amount average value ch.
7 and bucket operation amount average value ch8 total value (ch7 + ch8
) And are predetermined values Th14 and Th1
5, compared with Th16 (STEP5), ch3 ≧ Th14, and ch5
If ≦ Th15 and (ch7 + ch8) ≧ Th16, it is determined that the type of work being performed is push excavation work.

The pushing and excavating work is performed by pushing the bucket against the ground while pulling it while performing a turning operation when excavating a groove in the front and rear direction of the vehicle at a side portion of the vehicle. In such work, particularly, a high-speed turning operation is frequently performed, and relatively few operations such as moving the boom up and down with the bucket and the arm substantially stopped, and the bucket operation lever 18 or the arm operation are performed. The operation amount of the operation lever 20 is relatively large on average. Therefore, the high-speed turning time ch3 is longer than other work, while the bucket arm stop time is longer.
ch5 becomes relatively short, and the arm operation amount average value ch7
And bucket operation amount average value ch8 total value (ch7 + ch8)
Is relatively large. Therefore, by setting the predetermined values Th14, Th15, and Th16 appropriately, during the push excavation work,
It can be determined that the condition of STEP 5 is satisfied and the push excavation work is being performed.

If the condition of STEP 5 is not satisfied,
Next, the work type discriminating unit 41 determines the complexity display amount ch1 of the boom operation, the complexity display amount ch2 of the bucket operation, the high-speed turning time ch3, and the boom reverse operation time ch4 to predetermined values Th17 and Th18, respectively. , Th19, Th20 compared (S
TEP6), ch1 ≤ Th17, ch2 ≤ Th18, and ch3 ≤ T
If h19 and ch4 ≤ Th20, it is determined that the type of work being performed is loading work.

The loading operation is an operation of loading the hydraulic excavator on a trailer or the like when the hydraulic excavator is transported. In such an operation, particularly, the boom operation lever 1
7 or the bucket control lever 18 is frequently moved,
In most cases, the turning operation is not performed at high speed, and the bucket and the arm are hardly moved to the retracted side while raising the boom. Therefore, the boom operation complexity display amount ch1, the bucket operation complexity display amount ch2, the high-speed turning time ch3, and the boom reverse operation time ch4 are all relatively small.
By appropriately setting the predetermined values Th17, Th18, Th19, and Th20, it is possible to determine that the condition of STEP 6 is satisfied during the loading work and the loading work is being performed.

If the condition of STEP 6 is not satisfied,
The work type determination unit 41 determines that the high-speed turning time ch3
The arm stop time ch5 and the sum of the boom operation amount average value ch6 and the arm operation amount average value ch7 (ch6 + ch7) are compared with predetermined values Th21, Th22, Th23 respectively (STEP 7), ch3 ≧ Th21, If ch5 ≧ Th21 and (ch6 + ch7) ≦ Th23, it is determined that the type of work being performed is turning ground leveling work.

The turning leveling work is a work for leveling by bringing a bucket into contact with the ground and performing a turning motion in this state. In such a work, particularly, a high speed turning motion and a bucket and an arm are almost There are relatively many operations for moving the boom up and down in the stopped state, and the boom operation lever 17 or the arm operation lever 20 is used.
The operation amount of is relatively small on average. Therefore, high-speed turning time ch3 and bucket / arm stop time ch5
Becomes relatively long, and the sum of the boom operation amount average value ch6 and the arm operation amount average value ch7 (ch6 + ch7) becomes relatively small. Therefore, by setting the predetermined values Th21, Th22 and Th23 appropriately, the STE
It can be determined that the condition of P7 is satisfied and the turning ground leveling work is being performed.

If the condition of STEP 7 is not satisfied,
The work type discrimination unit 41 compares the sum of the boom operation amount average value ch6 and the arm operation amount average value ch7 (ch6 + ch7) with a predetermined value Th24 (STEP8),
If (ch6 + ch7) ≧ Th24, it is determined that the type of work being performed is an excavation work (simple excavation, trench excavation, horizontal excavation) other than the above-mentioned forced excavation work.

These excavation works are basically carried out by pushing the bucket against the ground at the front part of the vehicle and pulling it toward the front. In such work, the boom operation lever 17 and the arm operation are carried out. The operation amount of the operation lever 20 becomes relatively large on average, and the sum of the boom operation amount average value ch6 and the arm operation amount average value ch7 (ch6 + ch
7) is relatively large. Therefore, by appropriately setting the predetermined value Th24, it is possible to determine that the excavation work other than the pressing excavation work is being performed when the condition of STEP 8 is satisfied.

When the condition of STEP 8 is not satisfied, the work type discriminating section 41 makes the work type undecidable.

Thus, the complexity display amount of the boom operation
ch1, bucket operation complexity display ch2, high-speed turning time
ch3, boom reverse operation time ch4, bucket / arm stop time ch5, boom operation amount average value ch6, arm operation amount average value
By comparing one of ch7 and the bucket operation amount average value ch8 or a combination thereof with a predetermined value, it is possible to discriminate a plurality of types of work with high accuracy.

The above-described determination of the work type is performed every time the data in the data holding unit 40 is updated.

Based on the work type thus discriminated, the setting units 51 to 54 and the automatic deceleration control unit 56 of the operation mode control unit 42 respectively operate on the hydraulic pump absorption horsepower, the maximum supply flow rate, the flow rate change rate, and the response. The time constant and auto decel control are set as shown in Table 1 below. And
The hydraulic pump control unit 55 controls the discharge flow rates of the hydraulic pumps 2 and 3 via the proportional solenoid valves 23 and 24 according to the set values such as the hydraulic pump absorption horsepower set for each work type in this way, and The auto decel control unit 56 enables or disables the auto decel control.

[0102]

[Table 1]

In this manner, the excavator can be operated in an operation mode suitable for each type of work.

That is, as shown in Table 1, the hydraulic pump absorption horsepower is the maximum of 1 in excavation work (including pressing excavation work) that is a heavy load work compared to other works.
Since it is set to 00%, it is possible to perform work by using the output of the engine 1 to the maximum, and conversely, it is the minimum of 70 for crane work and loading work that are light load work compared to other work. Since it is set to%, it is possible to operate the engine 1 with good fuel efficiency. In other work, since the hydraulic pump absorption horsepower is set to 80% of the intermediate value, the output of the engine 1 should be sufficiently drawn to the required extent and the fuel consumption of the engine 1 should be relatively good. You can

The maximum supply flow rate is 100% of the maximum in the excavation work or the turning leveling work which requires a higher operation speed of each of the actuators 4 to 9 compared to other works.
, The required operation speed of each of the actuators 4 to 9 can be reliably ensured. Conversely, in a slope finishing operation, a crane operation, and a loading operation in which the required operation speed of each of the actuators 4 to 9 is lower than other operations, the maximum supply flow rate is set to 70% of the minimum.
It is possible to avoid a situation in which the operation speed of each of the actuators 4 to 9 becomes unnecessarily high when the operation levers 17 to 22 are carelessly operated. For other operations, the maximum supply flow rate is
Since it is set to 0%, it is possible to obtain sufficient operating speeds of the actuators 4 to 9 to the extent necessary for each work.

Further, the degree of change in the flow rate is determined by the operation lever 1
Each actuator 4 for the change amount of the operation amount of 7 to 22
In the dispersing work, the shaking work, and the excavation work in which the change in the operating speed of the operation Nos. To 9 is required to be larger than that of other work, the work is performed quickly because the maximum flow rate change is set. On the contrary, in the crane operation and the loading operation that require a very slow operation of the boom, the arm, the bucket, etc. as compared with other operations, the minimum flow rate change is set. The operation speed of each of the actuators 4 to 9 does not greatly change due to a slight change in the operation amount of the above, and the work can be performed at a desired operation speed. In other operations, the flow rate change is set to a medium flow rate change. Therefore, the change in the operating speed of each of the actuators 4 to 9 with respect to the change in the operation amount of each of the operation levers 17 to 22 is determined in those work. It can be suitable for

The response time constant is determined for each operation lever 1
In the dispersing work and the soil blow work, which require quick response of the operation speed of each of the actuators 4 to 9 to the operation speed of 7 to 22 in comparison with other work, the minimum operation time is set to 0 s. If the operation amount of the levers 17 to 22 is quickly increased or decreased, the operating speed of each of the actuators 4 to 9 changes immediately, and the operation speed of each of the operation levers 17 to 22 is changed.
The operation can be performed by operating the actuators 4 to 9 with good responsiveness by the operation of. Conversely, in a crane operation, a loading operation, and a slope finishing operation in which the instantaneous movement of each of the actuators 4 to 9 may hinder the operation, the response time constant is set to a maximum of 0.5 s.
Even if the operation levers 17 to 22 are instantaneously moved, the actuators 4 to 9 do not move following them, and a stable operation can be performed. And
For other tasks, the response time constant is moderate 0.3
s or 0.2 s, the operation lever 17
22 to 22, the responsiveness and stability of the operation of each of the actuators 4 to 9 in accordance with the operation can be sufficiently secured to the necessary extent.

In crane work and loading work,
In many cases, all the operation levers 17 to 22 are continuously operated to the neutral position for a certain period of time during the work. However, in these works, the auto deceleration control is invalidated. It is possible to avoid a situation in which the rotation speed of the engine 1 is controlled to a low rotation speed against the intention of the user. In other operations, the auto deceleration control is enabled. Therefore, if the operator returns all the operation levers 17 to 22 to the neutral position and suspends the operation, the rotation speed of the engine 1 will soon be reduced to the auto deceleration control unit. The engine speed is controlled to a low speed by 56, so that the fuel efficiency of the engine 1 can be improved.
By operating Steps # 22 to # 22, the rotation speed of the engine 1 returns to the original rotation speed, and the operation can be performed without any trouble.

As described above, according to the hydraulic excavator of the present embodiment, various work types can be automatically discriminated, and thereby, each work type can be determined without requiring a switch operation by an operator. The hydraulic excavator can be operated in a suitable operating mode.

In the present embodiment, a large number of work types are discriminated, but it is needless to say that the number of work types to be discriminated may be smaller than that. For example, only one work type is discriminated. The hydraulic excavator may be operated in an operation mode corresponding to that, and in this case, only the sensor necessary for determining the work type may be selectively provided.

Further, in the present embodiment, the hydraulic pump absorption horsepower, the maximum supply flow rate, the flow rate change rate, the response time constant and the automatic deceleration control are set according to the work type.
Depending on the type of work to be discriminated, it is not always necessary to set all of these types, and it is also possible to set multiple operating modes.

Further, in the present embodiment, when the work type cannot be discriminated, the hydraulic pump absorption horsepower and the like are fixedly set as shown in Table 1, but the hydraulic pump absorption horsepower and the like are already set. You may make it maintain the state which was kept.

In this embodiment, the work type is not determined by using the data detected by the travel operation amount sensors 27 and 30. However, the work type may be determined by using the detected data. It is possible.

[Brief description of drawings]

FIG. 1 is an overall system configuration diagram of a hydraulic shovel according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control device of the hydraulic shovel of FIG. 1;

FIG. 3 is a diagram for explaining the operation of the control device of FIG. 2;

FIG. 4 is a diagram for explaining the operation of the control device of FIG. 2;

FIG. 5 is a diagram for explaining the operation of the control device of FIG. 2;

FIG. 6 is a flowchart for explaining the operation of the control device in FIG.

[Explanation of symbols]

1 ... Engine, 2, 3 ... Hydraulic pump, 4-9 ... Work actuator, 17-22 ... Work operating lever, 25-
30 ... Operation amount sensor (operation amount detection means), 41 ... Work type discrimination unit, 43-50 ... Grasping unit, 42 ... Operation mode control unit, 51-54 ... Setting unit, 55 ... Hydraulic pump control unit, 5
6 ... Auto decel control unit (auto decel means).

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Naoki Tamura 1-5-5 Takatsukadai, Nishi-ku, Kobe-shi, Hyogo Inside Kobe Steel Institute of Kobe Steel, Ltd. (72) Inventor Atsushi Onishi Takatsukadai, Nishi-ku, Kobe-shi, Hyogo Prefecture 1-5-5 Inside Kobe Research Institute of Kobe Steel, Ltd. (72) Inventor Takahiro Kobayashi 1-5-5 Takatsukadai, Nishi-ku, Kobe-shi, Hyogo Inside Kobe Research Institute of Kobe Steel, Ltd.

Claims (25)

[Claims] 1. A working operating device including at least an engine, a hydraulic pump driven by the engine, and a working actuator that operates in response to operation of a working operating lever by hydraulic oil discharged from the hydraulic pump, A control device for a hydraulic excavator that performs a required work by the operation of the work operating device, wherein an operating state detection unit that detects an operating state of at least one device among the devices constituting the working operating device, Based on the operation state detected by the operation state detection means, a work type determination means for determining a work type, and a work type determined by the work type determination means, are determined in advance corresponding to the work type. An operating form control means for controlling the operation of at least one of the devices constituting the work operating device in an operating form. The control device of the bell. 2. The operation state detecting means operates the work operation lever corresponding to at least one actuator of the work actuators, which is one of a boom actuator, an arm actuator, a bucket actuator and a swing actuator. An operation amount detection means for detecting an amount as an operation state of the actuator is provided, and the work type determination means is
At least one work type of the spreading work, the dusting work, the slope finishing work, the crane work, the pressing excavation work, the loading work, the turning leveling work and the excavation work other than the pressing excavation work is performed by the operation amount detecting means. The control device for the hydraulic excavator according to claim 1, wherein the determination is made based on the detected operation amount. 3. The work type discriminating means determines, based on an operation amount detected by an operation amount detecting means corresponding to the boom actuator, a ratio of increase / decrease of the operation amount within a predetermined time period in a complicated boom operation. Based on the operation amount detected by the operation amount detecting means corresponding to the boom operation complexity grasping means for grasping the boom operation complexity and the bucket actuator, the bucket operation is performed at a rate at which the operation amount increases or decreases within a predetermined time. Based on the operation amount detected by the operation amount detection means corresponding to the bucket operation complexity grasping means for grasping as the complexity display amount of the operation amount, the magnitude of the operation amount is equal to or more than a predetermined value within a predetermined time. High-speed turning time grasping means for grasping the time as the high-speed turning time, the boom actuator, the arm actuator and the bucket. Based on the operation amount detected by the respective preparative actuator corresponding operation amount detecting means,
The time during which the boom operation amount is equal to or greater than a predetermined value on the ascending side of the boom and the arm operation amount and the bucket operation amount are equal to or greater than the respective predetermined values on the arm and bucket retracting sides within a predetermined time is grasped as a boom reverse operation time. Based on the operation amounts detected by the boom reverse operation time grasping means and the operation amount detecting means respectively corresponding to the boom actuator, the arm actuator and the bucket actuator, the boom operation amount has a predetermined value within a predetermined time. Bucket arm stop time grasping means for grasping the time when the magnitudes of the arm operation amount and the bucket operation amount are equal to or less than the predetermined values as the bucket arm stop time, the boom actuator, the arm actuator and the bucket actuator. Operation amount corresponding to Based on the operation amount detected by the output means, the average value of the magnitudes of the respective operation amounts within a predetermined time is grasped as a boom operation amount average value, an arm operation amount average value, and a bucket operation amount average value, respectively. At least any one of a value grasping means, an arm operation average value grasping means, and a bucket operation average value grasping means is provided, and the operation state detecting means includes the operation operation corresponding to the at least one grasping means. The operation amount detection means for detecting the operation amount of the lever is provided, and the work type determination means, the complexity display amount of the boom operation, the complexity display amount of the bucket operation, the high-speed turning time, which are grasped by the grasping means, Boom reverse operation time, bucket / arm stop time, boom operation amount average value, arm operation amount average value, and bucket operation amount average value Hydraulic excavator control apparatus according to claim 2, wherein the determining the work type based on any one even without. 4. The operation state detection means includes the operation amount detection means for detecting an operation amount of the work operation lever corresponding to the bucket actuator, and the work type determination means is for the bucket operation complexity. It is characterized by further comprising: grasping means, and means for determining that a spreading operation is being performed when the complexity display amount of the bucket operation grasped by the bucket operation complexity grasping means is a predetermined value or more. The control device for the hydraulic excavator according to claim 3. 5. The operation state detecting means includes the operation amount detecting means for detecting an operation amount of the working operation lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the swing actuator. The work type determination means includes the boom operation complexity grasping means, the high-speed turning time grasping means, the bucket arm stop time grasping means, and the boom operation complexity grasping by the boom operation complexity grasping means. The display amount is equal to or more than a predetermined value, the high speed turning time grasped by the high speed turning time grasping means is less than a predetermined value, and the bucket arm stop time grasped by the bucket arm stop time grasping means is more than a predetermined value. When it is, it is provided with a means for judging that the dusting work is being performed. Hydraulic excavator control apparatus according to claim 3 wherein. 6. The operation state detecting means includes the operation amount detecting means for detecting an operation amount of the work operating lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the swing actuator. The work type discrimination means, the bucket operation complexity grasping means, the bucket arm stop time grasping means, the boom reverse operation time grasping means, the arm operation average value grasping means, and the bucket operation average value grasping Means and the bucket operation complexity grasped by the bucket operation complexity grasping means is less than a predetermined value and the bucket arm stop time grasped by the bucket arm stop time grasping means is less than a predetermined value. And the boom reverse operation time grasped by the boom reverse operation time grasping means When the average value of the arm operation amount and the average value of bucket operation amounts grasped by the arm operation average value grasping means and the bucket operation average value grasping means is equal to or more than a predetermined value, the slope finish is finished. The control device for a hydraulic excavator according to claim 3, further comprising: a means for determining that the work is being performed. 7. The operation state detecting means comprises the operation amount detecting means for detecting an operation amount of the work operating lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the swing actuator. The work type determination means includes the boom operation complexity determination means, the bucket operation complexity determination means, the high speed turning time determination means, the bucket arm stop time determination means, and the arm operation average value determination means. And the bucket operation average value grasping means and the boom operation complexity grasping means, wherein the boom operation complexity display amount is less than or equal to a predetermined value, and the bucket operation grasping means grasps the bucket operation. Before the complexity display amount is less than a predetermined value and is grasped by the high speed turning time grasping means, The high-speed turning time is less than a predetermined value and the bucket arm stop time grasped by the bucket arm stop time grasping means is less than a predetermined value and is grasped by the arm operation average value grasping means and the bucket operation average value grasping means, respectively. The hydraulic excavator according to claim 3, further comprising means for determining that a crane operation is being performed when a total value of the average value of the arm operation amount and the average value of the bucket operation amount is equal to or less than a predetermined value. Control device. 8. The operation state detecting means comprises the operation amount detecting means for detecting an operation amount of the work operating lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the turning actuator. The work type discriminating means includes the high speed turning time grasping means, the bucket arm stop time grasping means, the arm operation average value grasping means, the bucket operation average value grasping means, and the high speed revolution time grasping means. The grasped high speed turning time is a predetermined value or more and the bucket arm stop time grasped by the bucket arm stop time grasping means is a predetermined value or less and the arm operation average value grasping means and the bucket operation average value grasping means The average value of the arm operation amount and the bucket operation amount that are respectively grasped by When the total value of the average value is a predetermined value or more, a hydraulic excavator control apparatus according to claim 3, characterized by comprising a means for determining that performs pressing drilling operations. 9. The operation state detecting means comprises the operation amount detecting means for detecting an operation amount of the work operating lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the turning actuator. The work type determination means includes the boom operation complexity determination means, the bucket operation complexity determination means, the high-speed turning time determination means, the boom reverse operation time determination means, and the boom operation complexity determination means. The complexity display amount of the boom operation that is grasped by a predetermined value or less and the complexity display amount of the bucket operation grasped by the bucket operation complexity grasping means is a predetermined value or less and the high-speed turning time grasping means is The grasped high-speed turning time is less than a predetermined value and the boom reverse operation time grasping means grasps it. When said boom reverse operating time is less than a predetermined value, the hydraulic excavator control apparatus according to claim 3, characterized by comprising a means for determining that performing loading work. 10. The operation state detecting means includes the operation amount detecting means for detecting an operation amount of the work operating lever corresponding to each of the boom actuator, the arm actuator, the bucket actuator and the turning actuator. The work type discriminating means includes the high speed turning time grasping means, the bucket arm stop time grasping means, the boom operation average value grasping means, the arm operation average value grasping means, and the high speed revolution time grasping means. The grasped high speed turning time is a predetermined value or more and the bucket arm stop time grasping means is a predetermined value or more and the boom operation average value grasping means and the arm operation average value grasping Boom operation amount average value and arm operation amount which are respectively grasped by means When the total value of the average value is equal to or less than the predetermined value, the hydraulic excavator control apparatus according to claim 3, characterized by comprising a means for determining that performs turning earthmoving work. 11. The operation state detection means includes the operation amount detection means for detecting an operation amount of the work operation lever corresponding to each of the boom actuator and the arm actuator, and the work type determination means includes: The boom operation average value grasping means, the arm operation average value grasping means, the boom operation average value grasping means, and the arm operation average value grasping means, respectively. The control device for the hydraulic excavator according to claim 3, further comprising means for determining that the excavation work other than the pressing excavation work is being performed when the total value is equal to or more than a predetermined value. 12. The operation mode control means, a hydraulic pump absorption horsepower which is a ratio of absorbing the output of the engine by the hydraulic pump, and a maximum supply flow rate of pressure oil from the hydraulic pump to the working actuator. The change rate of the flow rate of the pressure oil to the work actuator with respect to the change in the operation amount of the operation lever corresponding to the work actuator, and the response time constant of the work actuator with respect to the operation of the operation lever corresponding to the work actuator. A means for setting at least one of them as an operation mode of the operation device for operation according to the operation type determined by the operation type determination means, and controlling the operation device for operation according to the set operation mode The control device for a hydraulic excavator according to any one of claims 1 to 11, characterized in that. 13. An auto decelerating means for controlling the engine to a predetermined low speed rotation speed when the operation lever of the work actuator is in a neutral position and the work is stopped, and the operation mode control means comprises the work type discriminating means. 13. The hydraulic excavator control device according to claim 1, wherein the automatic deceleration means is controlled to an operating state or a non-operating state according to the work type determined by. 14. The work type discriminating means comprises means for discriminating and discriminating work types into at least excavation work and other work, and the operation mode control means outputs the output of the engine by the hydraulic pump. Absorption horsepower setting means for setting the hydraulic pump absorption horsepower, which is the ratio of absorption, according to the work type determined by the work type determination means, and hydraulic pump control means for controlling the hydraulic pump according to the set absorption horsepower. The absorption horsepower setting means, when the determined work type is excavation work,
The control device for the hydraulic excavator according to claim 1, wherein the hydraulic pump absorption horsepower is set to be larger than that during a work other than the excavation work. 15. The absorption horsepower setting means absorbs the hydraulic pump so that the output torque at each rotation speed of the engine and the output torque of the hydraulic pump match when the determined work type is excavation work. The control device for the hydraulic excavator according to claim 14, wherein horsepower is set. 16. The work type discriminating means includes means for discriminating at least one of a crane work and a loading work and a work other than these as a work type and discriminating the work type. Absorption horsepower setting means for setting the hydraulic pump absorption horsepower, which is the ratio at which the output of the engine is absorbed by the hydraulic pump, according to the work type determined by the work type determination means, and the hydraulic pump according to the set absorption horsepower. And a hydraulic pump control means for controlling, wherein the absorption horsepower setting means sets the hydraulic pump absorption horsepower to a smaller value when the determined work type is one of crane work and loading work, compared to the other work. The control device for the hydraulic excavator according to claim 1, wherein: 17. The work type discriminating means includes a means for discriminating at least one of the excavating work and the turning leveling work and the work other than these work types and discriminating the work types. Maximum supply flow rate setting means for setting the maximum supply flow rate of the pressure oil from the hydraulic pump to the work actuator according to the work type determined by the work type determination means, and the hydraulic pump below the set maximum supply flow rate Hydraulic pump control means for controlling the discharge flow rate of the, the maximum supply flow rate setting means,
The hydraulic excavator control device according to claim 1, wherein when the determined work type is either excavation work or turning ground leveling work, the maximum supply flow rate is set to be larger than that in the other work. 18. The maximum supply flow rate setting means sets the maximum supply flow rate to a predetermined maximum discharge flow rate of the hydraulic pump when the determined work type is either excavation work or turning ground leveling work. The hydraulic excavator control device according to claim 17, wherein the hydraulic excavator control device is set. 19. The work type discriminating means includes a means for discriminating at least one of a crane work and a loading work as a work type and a work other than the crane work, and the operation mode control means is provided for the hydraulic pressure. Maximum supply flow rate setting means for setting the maximum supply flow rate of the pressure oil from the pump to the work actuator according to the work type determined by the work type determination means, and the hydraulic pump of the hydraulic pump below the set maximum supply flow rate. And a hydraulic pump control means for controlling the discharge flow rate, the maximum supply flow rate setting means, when the determined work type is any one of crane work and loading work, the maximum supply flow rate setting means The control device for the hydraulic excavator according to claim 1, wherein the maximum supply flow rate is set small. 20. The work type discriminating means includes means for discriminating at least one of the work types, ie, excavation work, dusting work, and scatter work, and works other than these, and further, the operation form control. The means sets a flow rate characteristic setting means for setting the degree of change in the flow rate of the pressure oil to the work actuator with respect to the change in the operation amount of the operation lever corresponding to the work actuator, in accordance with the work type determined by the work type determination means. And a hydraulic pump control means for controlling the hydraulic pump according to the set flow rate change degree, wherein the flow rate characteristic setting means is one in which the determined work type is excavation work, sand hammering work, or scattering work. The hydraulic excavator according to claim 1, wherein the flow rate change degree is set to be larger than that in the case of work other than the above, at a certain time. The control device. 21. The work type discriminating means includes means for discriminating and discriminating the work type into at least one of a crane work and a loading work and a work other than the crane work, and the operation mode control means includes the work type control means. Flow rate characteristic setting means for setting the degree of change in the flow rate of the pressure oil to the work actuator with respect to the change in the operation amount of the operation lever corresponding to the work actuator according to the work type determined by the work type determination means. A hydraulic pump control means for controlling the hydraulic pump according to the flow rate change degree,
The flow rate characteristic setting means sets the flow rate change degree to be smaller when the determined work type is one of a crane work and a loading work, as compared with the other work. Control device for hydraulic excavator. 22. The work type discriminating means includes means for discriminating and discriminating at least one of the work type and the spreading work and the work other than these, and the operation form control means, Time constant setting means for setting a response time constant of the work actuator in response to the operation of the operation lever corresponding to the work actuator according to the work type determined by the work type determination means, and the time constant setting means according to the set time constant. And a hydraulic pump control means for controlling the hydraulic pump, wherein the time constant setting means, when the determined work type is one of the dusting work and the spreading work, the response time is set to be greater than that of the other work. The control device for the hydraulic excavator according to claim 1, wherein the constant is set small. 23. The time constant setting means sets the response time constant to zero when the determined work type is any one of a dusting work and a scattering work. Hydraulic excavator control device. 24. The work type discriminating means includes means for discriminating at least one of the work types, crane work, loading work, and slope finishing work, and other works, and further, the operation mode control. The means includes a time constant setting means for setting a response time constant of the work actuator in response to an operation of an operation lever corresponding to the work actuator according to the work type determined by the work type determination means, and a time constant setting means. Hydraulic pump control means for controlling the hydraulic pump according to a constant, and the time constant setting means, when the determined work type is any one of crane work, loading work and slope finishing work, other work 2. The control device for the hydraulic excavator according to claim 1, wherein the response time constant is set to be larger than that at the time. 25. An auto decelerating means is provided for controlling the engine to a predetermined low speed revolution when the operation lever of the operation actuator is in a neutral position and the operation is stopped, and the operation type determining means has at least an operation type of a crane. The operation mode control means includes means for discriminating between one of the work and the loading work and the other work, and the operation mode control means, when the determined work type is either the crane work or the loading work, the auto deceleration 2. The hydraulic excavator control apparatus according to claim 1, wherein the means is controlled to a non-operating state, and the auto decelerating means is controlled to an operating state when the work is other than the crane work and the loading work.