Method for carrying out automatic surface finishing work with electro-hydraulic excavator vehicle

摘要

A method for carrying out a surface finishing work with an electronically controlled hydraulic excavator is disclosed. The present invention includes the steps of: selecting an automatic surface finishing work, and inputting a desired work angle (S1); detecting the current positions of the respective attachment (S32); deciding the bucket maintaining angle relative to the horizontal plane (S3); correcting the work angle relative to the equipment inclination (S4); judging as to whether the control lever for the dipper stick is manipulated by the operator (S7); judging as to whether or not there is a swinging operation by the operator (S9); correcting the swinging angle and the inclination angle when carrying out the swinging operation (S10); compensating the departure amount of the bucket end from the initially inputted work plane during the swinging (S11); calculating the linear velocity of the bucket end L which is proportionate to the actuation of the control lever for the dipper stick (S12); deciding a velocity for satisfying the positions of the cylinders corresponding to the intended angles of the bucket, the dipper stick and the boom (S15); making corrections for feasible velocities calculating the target velocities of the respective cylinders for arriving to the target positions (S17); correcting the velocities of the cylinders compensating the velocity of the cylinders and the fluid discharge amount of the pump (S19); and terminating the operation after the end of the work (S21).