Control system for construction machine and control method
A construction machine has a work implement and a work implement operating device. The work implement has a boom, arm, and bucket. A limit velocity determining unit determines a limit velocity of the boom from the limit velocity of the entire work implement, the arm target velocity, and the bucket target velocity. The distance when the blade tip of the bucket is positioned outside of the design plane is a positive value and the velocity in a direction from inside of the design plane toward outside of the design plane is a positive value. The first limit condition includes a condition that the limit velocity of the boom is greater than the boom target velocity. When the first limit condition is satisfied, a work implement control unit controls the boom to match the limit velocity of the boom and controls the arm to match the arm target velocity.
1. A control system for a construction machine equipped with a work implement and an operating device used to operate the work implement, the work implement having a boom, an arm, and a bucket, the control system comprising:
a design plane setting unit configured to set a design plane indicating a target shape to be excavated;
a target velocity determining unit configured to determine
a boom target velocity in accordance with an operation amount of the operating device to operate the boom,
an arm target velocity in accordance with an operation amount of the operating device device to operate the arm, and
a bucket target velocity in accordance with an operation amount of the operating device device to operate the bucket;
a distance obtaining unit configured to obtain a distance between a blade tip of the bucket and the design plane;
a limit velocity determining unit configured to determine a limit velocity of an entirety of work implement based on the distance;
a first limit determining unit configured to determine whether a first limit condition is satisfied;
a second limit determining unit configured to determine whether a second limit condition is satisfied; and
a work implement control unit configured to control the work implement,
the limit velocity determining unit being configured to determine a limit velocity of the boom from the limit velocity of the entirety of the work implement, the arm target velocity, and the bucket target velocity,
the distance when the blade tip of the bucket is positioned outside of the design plane being a positive value and a velocity in a direction from inside of the design plane toward outside of the design plane being a positive value,
the first limit condition including
a condition that the limit velocity of the boom is greater than the boom target velocity, and
a condition that the distance is less than a first predetermined value,
the work implement control unit being configured to control the boom to match the limit velocity of the boom and to control the arm to match the arm target velocity when the first limit condition is satisfied,
the second limit condition including a condition that the distance is smaller than a second predetermined value, the second predetermined value being different from the first predetermined value,
the work implement control unit being configured to control the boom to match the limit velocity of the boom and to control the arm to match an arm limit velocity when the second limit condition is satisfied, and
an absolute value of the arm limit velocity is smaller than an absolute value of the arm target velocity.
2. The control system according to claim 1 , wherein
the second predetermined value is smaller than the first predetermined value.
3. The control system for the construction machine according to claim 2 , wherein
the second predetermined value is 0.
4. The control system for the construction machine according to claim 2 , wherein
the second predetermined value is greater than 0.
5. The control system for the construction machine according to claim 2 , wherein
the distance obtaining unit is configured to obtain a deviation amount of the blade tip of the bucket at predetermined time periods;
the deviation amount is an absolute value of a distance between the design plane and the blade tip of the bucket inside the design plane; and
the second limit condition further includes a condition that a current deviation amount is larger than a previous deviation amount.
6. The control system for the construction machine according to claim 5 , wherein
the limit velocity determining unit is configured to determine an arm deceleration coefficient based on the current deviation amount and a displacement amount between a previous position and a current position of the blade tip of the bucket;
the arm deceleration coefficient is greater than 0 and smaller than 1; and
the limit velocity determining unit is configured to determine the arm limit velocity by multiplying the arm target velocity by the arm deceleration coefficient.
7. The control system for the construction machine according to claim 1 , wherein
the work implement control unit is configured to reduce a velocity of the boom to a velocity lower than the boom target velocity when the first limit condition or the second limit condition is satisfied and the limit velocity of the entirety of the work implement is smaller than a sum of the arm target velocity and the bucket target velocity.
8. The control system for the construction machine according to claim 1 , wherein
the work implement control unit is configured to move the boom in the direction from inside the design plane to outside the design plane when the first limit condition or the second limit condition is satisfied and the limit velocity of the entirety of the work implement is larger than a sum of the arm target velocity and the bucket target velocity.
9. The control system according to claim 1 , further comprising:
a third limit determining unit configured to determine whether a third limit condition is satisfied,
the third limit condition including a condition that the distance is smaller than the second predetermined value,
the work implement control unit is configured to control the boom to match the limit velocity of the boom and to control the bucket to match a bucket limit velocity when the third limit condition is satisfied, and
an absolute value of the bucket limit velocity being smaller than an absolute value of the bucket target velocity.
10. A construction machine including the control system according to claim 1 .
11. A control method for controlling a construction machine equipped with a work implement and an operating device used to operate the work implement, the work implement including a boom, an arm and a bucket, the control method comprising:
setting a design plane indicating a target shape to be excavated;
determining
a boom target velocity in accordance with an operation amount of the operating device to operate the boom,
an arm target velocity in accordance with an operation amount of the operating device to operate the arm, and
a bucket target velocity in accordance with an operation amount of the operating device to operate the bucket;
obtaining a distance between a blade tip of the bucket and the design plane;
determining a limit velocity of an entirety of the work implement based on the distance;
determining a limit velocity of the boom from the limit velocity of the entirety of the work implement, the arm target velocity, and the bucket target velocity,
determining whether a first limit condition is satisfied, the first limit condition including
a condition that the limit velocity of the boom is greater than the boom target velocity, and
a condition that the distance is less than a first predetermined value, and
determining whether a second limit condition is satisfied, the second limit condition including a condition that the distance is smaller than a second predetermined value, the second predetermined value being different from the first predetermined value; and
controlling the work implement,
the distance when the blade tip of the bucket is positioned outside of the design plane being a positive value and a velocity in a direction from inside of the design plane toward outside of the design plane being a positive value, and
the controlling the work implement including controlling the boom to match the limit velocity of the boom and controlling the arm to match the arm target velocity when the first limit condition is satisfied, and controlling the work implement including controlling the boom to match the limit velocity of the boom and to control the arm to match an arm limit velocity when the second limit condition is satisfied, and
an absolute value of the arm limit velocity being smaller than an absolute value of the arm target velocity.