| 摘要 |
PROBLEM TO BE SOLVED: To automate the operation of construction equipment by computing an angle of a joint part of an offset boom type work machine member and a vehicle body turn angle and controlling a tip of a work machine linearly in the horizontal direction. SOLUTION: When, for example, an arm control point e is controlled in the horizontal direction by turn, an arm ground angleγ, the point e, and the horizontal control direction are set to turn on an automatic change-over switch. Next, X-, Y-, and Z-axis coordinate of the point e and the arm ground angle are computed based on detected values of oscillation angles of a first boom 5 and other work machine member and a turn angle of an upper turn body and the length of each work machine member. Then, turn speed of the point e in Z direction is calculated, and a reference coordinate from the center of turn to a control point el is calculated based on the coordinate. Each actuator is driven by computing based on the reference coordinate, and the point e is controlled linearly in the horizontal direction. If an error occurs in the vertical and horizontal directions, it is compensated by the boom. Consequently, construction equipment can easily be operated even by an unskilled operator.
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