Construction machine control system, construction machine, and method of controlling construction machine

Abstract

A method of controlling a construction machine including a work machine including a boom, an arm, and a bucket, the method comprising: determining a speed limit according to a distance between the bucket and a target excavation landform based on the target excavation landform and bucket position data and limiting a speed of the boom so that a speed at which the work machine approaches the target excavation landform is equal to or smaller than the speed limit; operating an operating device in order to drive a movable member including at least one of the arm and the bucket; detecting an amount of operation of the operating device; setting a limited amount of operation for limiting a speed of the movable member based on a detection result of the detection device; and outputting a control signal so that the movable member is driven with the limited amount of operation.

1 . A construction machine control system that includes a work machine including a boom, an arm, and a bucket, the system comprising:
 a boom limiting unit that determines a speed limit according to a distance between the bucket and a target excavation landform indicating a target shape of an excavation object based on the target excavation landform and bucket position data indicating the position of the bucket and limits the speed of the boom so that a speed at which the work machine approaches the target excavation landform is equal to or smaller than the speed limit;   an operating device that is operated in order to drive a movable member including at least one of the arm and the bucket;   a detection device that detects an amount of operation of the operating device; and   a movable member control unit that outputs a control signal so that the movable member is driven with a limited amount of operation for limiting a speed of the movable member based on a detection result of the detection device.   
     
     
         2 . The construction machine control system according to  claim 1 , further comprising:
 a timer that starts time measurement based on the detection result of the detection device; and   a limit value setting unit that sets the limited amount of operation for limiting the speed of the movable member in association with time elapsed from a start time of the time measurement of the timer, wherein   the movable member control unit outputs a control signal so that the movable member is driven with the limited amount of operation in a predetermined period from the start time of the time measurement of the timer.   
     
     
         3 . The construction machine control system according to  claim 2 , wherein
 the start time of the time measurement of the timer includes at least one of a start time of an operation of the operating device, time at which a detection value of the detection device exceeds a threshold value, and time at which an amount of increase per unit time of the detection value of the detection device exceeds an allowable value.   
     
     
         4 . The construction machine control system according to  claim 2 , wherein
 the driving based on the limited amount of operation is disabled when the predetermined period has elapsed from the start time of the time measurement.   
     
     
         5 . The construction machine control system according to  claim 2 , wherein
 the limited amount of operation in a first half of the predetermined period is smaller than the limited amount of operation in a second half.   
     
     
         6 . The construction machine control system according to  claim 1 , further comprising:
 a hydraulic system that includes a first hydraulic actuator for driving the boom and a second hydraulic actuator for driving the movable member, wherein   in an excavation operation of the bucket, the hydraulic system is operated so that the boom is raised and the arm is lowered, and   the hydraulic system is driven with the limited amount of operation when the arm is lowered.   
     
     
         7 . The construction machine control system according to  claim 6 , wherein
 the hydraulic system includes a control valve that adjusts an amount of operating oil supplied to the second hydraulic actuator, and   the control signal is output to the control valve.   
     
     
         8 . The construction machine control system according to  claim 6 , wherein
 the hydraulic system includes:   a hydraulic pump that supplies operating oil; and   a pump control unit that controls the hydraulic pump so that the operating oil is supplied with a first largest discharge capacity from the hydraulic pump in a first operation mode and the operating oil is supplied with a second largest discharge capacity smaller than the first largest discharge capacity from the hydraulic pump in a second operation mode, and   the limited amount of operation in the second operation mode is smaller than the limited amount of operation in the first operation mode.   
     
     
         9 . The construction machine control system according to  claim 1 , wherein
 the movable member is replaceable, and   the limited amount of operation when the movable member of a first weight is connected to the boom is smaller than the limited amount of operation when the movable member of a second weight smaller than the first weight is connected.   
     
     
         10 . The construction machine control system according to  claim 1 , wherein
 the output of the control signal is started so that the movable member is driven with the limited amount of operation when an amount of increase per unit time of the detection value of the detection device exceeds an allowable value, and   the amount of increase includes a difference between the amount of operation of the operating device and a processing amount generated by low-pass filtering of the amount of operation.   
     
     
         11 . The construction machine control system according to  claim 1 , wherein
 when the operating device is operated so that the amount of operation decreases, the limited amount of operation is maintained to a certain value from a decrease start time.   
     
     
         12 . The construction machine control system according to  claim 11 , wherein
 the movable member is driven based on the amount of operation when the amount of operation is smaller than the limited amount of operation.   
     
     
         13 . The construction machine control system according to  claim 1 , wherein
 the construction machine includes a vehicle body that supports the boom, and   the limited amount of operation when the work machine is driven so that a distance between the bucket and a reference position of the vehicle body is a first distance is smaller than the limited amount of operation when the work machine is driven so that the distance between the bucket and the reference position is a second distance shorter than the first distance.   
     
     
         14 . A construction machine comprising:
 a lower traveling structure;   an upper revolving structure that is supported by the lower traveling structure;   a work machine that includes a boom, an arm and a bucket and is supported by the upper revolving structure; and   the control system according to  claim 1 .   
     
     
         15 . A method of controlling a construction machine that includes a work machine including a boom, an arm, and a bucket, the method comprising:
 determining a speed limit according to a distance between the bucket and a target excavation landform indicating a target shape of an excavation object based on the target excavation landform and bucket position data indicating a position of the bucket and limiting a speed of the boom so that a speed at which the work machine approaches the target excavation landform is equal to or smaller than the speed limit;   operating an operating device in order to drive a movable member including at least one of the arm and the bucket;   detecting an amount of operation of the operating device;   setting a limited amount of operation for limiting a speed of the movable member based on a detection result of the detection device; and   outputting a control signal so that the movable member is driven with the limited amount of operation.