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

Patent metadata

Field	Value
Publication number	US-2016138240-A1
Application number	US-201514761078-A
Country	US
Kind code	A1
Filing date	Mar 24, 2015
Priority date	Jun 4, 2014
Publication date	May 19, 2016
Grant date	—

Abstract

A control system includes: a control valve control unit that controls a control valve; a data acquisition unit that acquires data on an operation command value and a cylinder speed in a state where an operation command for operating a hydraulic cylinder is output; and a deriving unit that derives operation characteristics in an operation direction of each of a plurality of hydraulic cylinders in relation to the operation command value based on the data acquired by the data acquisition unit. In acquisition of the data by the data acquisition unit, the control valve control unit controls a control valve of one pilot oil passage that is an acquisition object where the data is acquired among the plurality of pilot oil passages to open one pilot oil passage and controls control valves of the other pilot oil passages to close the other pilot oil passages.

First claim

1 . A construction machine control system for a construction machine that includes a work machine including a boom, an arm, and a bucket, the construction machine control system comprising:
a plurality of hydraulic cylinders that allow the work machine to execute one operation of a raising operation and a lowering operation by operating in a first operating direction and allow the work machine to execute the other operation by operating in a second operating direction; a plurality of direction control valves, each of which is disposed in each of the hydraulic cylinders, has a movable spool, and supplies operating oil to the hydraulic cylinder with movement of the spool to operate the hydraulic cylinder; a plurality of control valves that allow the spool to be movable based on a first operating direction operation command for moving the spool to operate in the first operating direction and a second operating direction operation command for moving the spool to operate in the second operating direction; a plurality of cylinder speed sensors, each of which is disposed in each of the hydraulic cylinders and detects a cylinder speed of the hydraulic cylinder; a control unit that controls the control valves; a data acquisition unit that acquires an operation command value indicating a value of an operation command signal to operate the hydraulic cylinder and data indicating the cylinder speed in a state where the operation command signal is output; and a deriving unit that defines operation characteristic of the cylinder speed of the hydraulic cylinder in relation to the operation command value and derives the operation characteristics in an operating direction of each of the hydraulic cylinders based on the data acquired by the data acquisition unit, wherein, in acquisition of the data by the data acquisition unit, the control unit controls one control valve that is an acquisition object where the data is acquired among the control valves to enable the one control valve and controls the other control valves to disable the other control valves.

2 . The construction machine control system according to claim 1 ,
wherein the control valve includes a control valve that is disposed in a pilot oil passage through which pilot oil flows and capable of adjusting pressure of the pilot oil passage, the construction machine control system further comprising an operating device that is capable of adjusting pressure of the pilot oil according to an amount of operation, wherein the data acquisition unit acquires first data indicating a first operation command value indicating a first value of the operation command signal and the cylinder speed in relation to the first operation command value, and second data indicating a second operation command value indicating a second value of the operation command signal that is different from the first value and the cylinder speed in relation to the second operation command value, wherein the deriving unit derives first operation characteristics in the operating direction of the hydraulic cylinder based on the first data and derives second operation characteristics in the operating direction of the hydraulic cylinder based on the second data, and wherein the control valve control unit controls the control valves to open a plurality of the pilot oil passages in a period from an end of acquisition of the first data to a start of acquisition of the second data.

3 . The construction machine control system according to claim 1 ,
wherein the first operation command value includes an operation command value by which the hydraulic cylinder operates at the cylinder speed in a slow-speed area, wherein the second operation command value includes an operation command value by which the hydraulic cylinder operates at the cylinder speed in a normal-speed area, wherein each of the first and second data includes a slow-speed area that is a speed area where the cylinder speed in relation to each of the first and the second operation command values is higher than zero and lower than a predetermined speed and a normal-speed area that is a speed area where the cylinder speed in relation to each of the first and second operation command values is equal to or higher than the predetermined speed and an amount of change in the cylinder speed with respect to each of the first and second operation command values is higher than that in the slow-speed area, wherein the first operation characteristics include slow-speed operation characteristics indicating a relation between the first operation command value and the cylinder speed in the slow-speed area, and wherein the second operation characteristics include normal-speed operation characteristics indicating a relation between the second operation command value and the cylinder speed in the normal-speed area.

4 . The construction machine control system according to claim 3 , further comprising a sequence control unit that continuously executes acquiring data for deriving an operation start operation command value that is an operation start point of the cylinder speed in relation to the operation command value when the hydraulic cylinder in a stopped state starts operating, acquiring data for deriving the slow-speed operation characteristics, and acquiring data for deriving the normal-speed operation characteristics.

5 . The construction machine control system according to claim 1 , further comprising:
a pressure sensor that detects pressure of the pilot oil; and a spool stroke sensor that detects a movement amount of the spool which is moved by the pilot oil, wherein the operation command value includes at least one of a current value supplied to the control valve determined by the control valve control unit, the pressure value, and the movement amount value.

6 . The construction machine control system according to claim 1 , further comprising a man machine interface that includes an input unit and a display unit,
wherein the display unit displays attitude adjustment request information to request adjustment of an attitude of the work machine, and wherein the input unit generates a command signal for outputting the operation command to operate the hydraulic cylinder.

7 . A construction machine, comprising:
a lower traveling structure; an upper swinging 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 swinging structure; and the construction machine control system according to claim 1 .

8 . A construction machine control method for a construction machine that includes a work machine including a boom, an arm, and a bucket,
wherein the construction machine includes a plurality of hydraulic cylinders that allow the work machine to execute one operation of a raising operation and a lowering operation by operating in a first operating direction and allow the work machine to execute the other operation by operating in a second operating direction, a plurality of direction control valves, each of which has a movable spool, and supplies operating oil to the hydraulic cylinder with movement of the spool to operate the hydraulic cylinder, a plurality of control valves that allow the spool to be movable based on a first operating direction operation command for moving the spool to operate in the first operating direction and a second operating direction operation command for moving the spool to the operate in the second operating direction, a plurality of cylinder speed sensors, each of which is disposed in the respective hydraulic cylinder and detects a cylinder speed of the hydraulic cylinder, an input unit that receives an input from an outside, and a display unit that performs a display o

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Ikegami Katsuhiro
• Ito Satoshi
• Baba Akinori

Classifications

• F15B2211/405

  characterised by the type of flow control means or valve · CPC title

• F15B13/06

  for use with two or more servomotors · CPC title

• E02F9/26

  Indicating devices {(E02F5/145 takes precedence)} · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title

• E02F9/2267

  Valves or distributors (position of valves arrangements on upper-structures E02F9/0875) · CPC title