EXCAVATION CONTROL SYTEM FOR HYDRAULIC EXCAVATOR

摘要

An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).

主权项

1. An excavation control system for a hydraulic excavator having a drive unit, a revolving unit being revolvable about a revolving axis on the drive unit, and a working unit attached to the revolving unit, the excavation control system comprising:
a first data generating part configured to generate revolving unit disposition data, the revolving unit disposition data indicating a disposition of the revolving unit; a prediction correcting part configured to generate corrected revolving unit disposition data by predictively correcting the revolving unit disposition data based on motion data, the motion data indicating a motion of the revolving unit; a second data generating part configured to generate working unit position data based on the revolving unit disposition data and the corrected revolving unit disposition data, the working unit position data indicating a position of the working unit; a third data generating part configured to generate designed terrain data based on the working unit position data, the designed terrain data indicating a target shape of an excavation object; an excavation limit control part configured to limit a speed of the working unit with respect to the designed terrain in accordance with a distance from the designed terrain, the distance obtained based on the working unit position data and the designed terrain data; the prediction correcting part configured to generate the corrected revolving unit disposition data by predictively correcting the revolving unit disposition data based on the motion data and a delay time, the delay time including a time period required for the second data generating part to generate the working unit position data and a time period required for the third data generating part to generate the designed terrain data.