Construction machine driving device, and construction machine and construction machine system provided with same

Abstract

A controller of a driving device sets a target physical quantity relating to an orientation of a work device, calculates a current physical quantity relating to the actual orientation of the work device, calculates a physical quantity error between the target physical quantity and the current physical quantity, calculates an assistance operation value for assisting operation of an operator, corrects an operator operation value to an operator correction value so as to attain a small value when the physical quantity error is small as compared with when the physical quantity error is large, corrects the assistance operation value to an assistance correction value so as to attain a large value when the physical quantity error is small as compared with when the physical quantity error is large, and controls the orientation of the work device using a total value obtained by adding the operator correction value and the assistance correction value.

1 . A construction machine driving device comprising:
 an operation device to which an operation by an operator for moving a work device with respect to a machine body is given; and   a controller,   wherein the controller:   sets a target physical quantity that is a target of a physical quantity related to an orientation of the work device;   calculates a current physical quantity that is a physical quantity related to an actual orientation of the work device;   calculates a physical quantity error that is an error between the target physical quantity and the current physical quantity;   calculates an assistance operation value for assisting the operation of the operator;   corrects an operator operation value corresponding to the operation to an operator correction value such that the operator correction value becomes smaller when the physical quantity error is small as compared with when the physical quantity error is large;   corrects the assistance operation value to an assistance correction value such that the assistance correction value becomes larger when the physical quantity error is small as compared with when the physical quantity error is large; and   controls the orientation of the work device by using a total value obtained by adding the operator correction value and the assistance correction value.   
     
     
         2 . The construction machine driving device according to  claim 1 , wherein
 the controller:   sets an assistance rate such that the assistance rate becomes a larger value when the physical quantity error is small as compared with when the physical quantity error is large;   calculates the assistance correction value by multiplying the assistance operation value by the assistance rate; and   calculates the operator correction value by multiplying the operator operation value by a value obtained by subtracting the assistance rate from a preset setting value.   
     
     
         3 . The construction machine driving device according to  claim 2 , further comprising an input device that receives input by the operator for correcting the assistance rate,
 wherein the controller corrects the assistance rate based on the input by the operator.   
     
     
         4 . The construction machine driving device according to  claim 2 , further comprising a notification device for notifying the operator of a situation of control by the controller,
 wherein the controller controls operation of the notification device such that output from the notification device changes according to the assistance rate.   
     
     
         5 . The construction machine driving device according to  claim 1 , further comprising a notification device for notifying the operator of a situation of control by the controller,
 wherein the controller controls operation of the notification device such that output from the notification device changes according to the physical quantity error.   
     
     
         6 . The construction machine driving device according to  claim 1 , wherein the controller calculates the assistance operation value based on the physical quantity error such that the physical quantity error approaches zero. 
     
     
         7 . The construction machine driving device according to  claim 1 , wherein
 the controller:   sets a plurality of target physical quantities including the target physical quantity;   determines work being performed by the construction machine; and   selects a target physical quantity corresponding to the determined work from the plurality of target physical quantities.   
     
     
         8 . The construction machine driving device according to  claim 1 , wherein
 the controller:   determines whether or not target work that is work set in advance as a target of assistance by the controller is performed;   controls the orientation of the work device by using the total value in a case where the target work is performed; and   controls the orientation of the work device by using the operator operation value in a case where the target work is not performed.   
     
     
         9 . The construction machine driving device according to  claim 1 , wherein
 the work device includes a bucket, and   the physical quantity error is a value corresponding to a distance between a tip of the bucket and a working surface.   
     
     
         10 . The construction machine driving device according to  claim 1 , further comprising a display device,
 wherein the controller causes the display device to display an actual orientation image which is an image related to an actual orientation of the work device and a target orientation image which is an image related to a target orientation of the work device.   
     
     
         11 . The construction machine driving device according to  claim 10 , wherein the controller causes the display device to further display an intermediate orientation image which is an image related to an intermediate orientation between the actual orientation and the target orientation. 
     
     
         12 . The construction machine driving device according to  claim 11 , wherein the controller calculates the intermediate orientation based on information related to an operation speed of the work device. 
     
     
         13 . The construction machine driving device according to  claim 1 , wherein in a case where a non-assistance condition, which is a predetermined condition, is satisfied while the controller performs assistance control for controlling the orientation of the work device by using the total value, the controller switches from the assistance control to control based on an operation given to the operation device. 
     
     
         14 . The construction machine driving device according to  claim 13 , wherein the non-assistance condition includes switching from the operation given to the operation device in the assistance control to another operation set in advance. 
     
     
         15 . A construction machine comprising:
 the machine body;   the work device; and   the driving device according to  claim 1 .   
     
     
         16 . A construction machine system comprising:
 the driving device according to  claim 1 ,   wherein the operation device is a remote operation device arranged at a place away from the construction machine.