JPH0410008B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for measuring the height of a working surface of a bulldozer, etc., and is particularly suitable for measuring the height of a working surface of a bulldozer, etc. when the bulldozer, etc. is in a continuous running state. Concerning a measuring device.

[Conventional technology]

Generally, when performing work such as excavation using a bulldozer, etc., it is desirable to excavate over a predetermined range by a certain depth (height) above the standard height.
There has often been a need to constantly monitor the depth (height) of the excavation surface.

In many of these cases, the control lever is operated by relying on the intuition of the operator. On the other hand, when particularly accurate excavation is desired, a method of using a laser beam as shown in FIG. 7 has been adopted. In the method shown in FIG. 7, a laser beam generator 4 is horizontally arranged in front of the bulldozer 2 at a predetermined distance, and the laser beam output from the laser beam generator 4 is attached to the discharge plate 2A of the bulldozer 2. The height of the excavated surface was monitored or measured based on the detected height data.

[Problem that the invention seeks to solve]

However, among the conventional techniques mentioned above, the former method, which relies on the operator's intuition, has the problem that accurate excavation is difficult, and excavation is often repeated by trial and error, resulting in a significant decrease in work efficiency. It was hot. On the other hand, the latter method using a laser beam requires work preparation, such as the need to set the laser beam generator 4 horizontally and at a predetermined height, and the need to prepare a power source for the laser beam generator 4. While it takes a lot of time and effort, there are many limitations in terms of usage, such as the short usable distance of the laser beam, the inability to use it in foggy conditions, and the inability to use it in shadows, which makes the work as a whole much more efficient. There was a problem in that the value decreased.

[Purpose of the invention]

The present invention was devised in view of the problems of the prior art, and in particular, it can be easily integrated into a bulldozer, etc., and it can perform accurate and quick measurements, thereby significantly improving work efficiency. The object of the present invention is to provide a device for measuring the height of a work surface of a bulldozer or the like, which can measure the height of a working surface of a bulldozer or the like.

[Means for solving problems]

Therefore, in the present invention, the initial value of the height of the vehicle body position with respect to the reference fixed point of the main body of the work machine such as a bulldozer is
An initial value setting device for setting and inputting H _s , an inclination angle detector for detecting the inclination angle Θ _o of the work equipment body, a travel distance detection means for detecting the travel distance ΔL _o of the work equipment body, and a travel distance detection means for detecting the travel distance ΔL o of the work equipment body An arm angle detector attached to a working arm detects the inclination angle α _o of the arm, and calculates the height of the working position by the working arm based on information set or detected in each of these component means. and a height display device that displays the output of the height calculation section. a first calculation means for calculating the integral value H _o of the change in the center of gravity position; A second calculation means for calculating the height H, and a distance between the center of gravity of the work equipment body and the rotational axis of the work arm based on the outputs of the inclination angle detector and the arm angle detector, and the work arm. Each vertical component between the rotational axis of and the working point of the working arm
A third calculating means for calculating H _A and H _B , and a fourth calculating means for calculating the height position H _P of the working point of the working arm based on the output of each of these calculating means, It has this configuration. This aims to achieve the above-mentioned purpose.

[Effect]

Before the start of travel, the vehicle body height is output as an initial value to the height calculation mechanism via the initial value setter. The height calculation mechanism calculates the height of the working surface from the reference surface to the working surface based on changes in the height of the vehicle body in the running state. The result of this calculation is displayed on a height indicator. Therefore, the operator only needs to operate the vehicle while visually checking the height indicator.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. This example shows a case in which the present invention is applied to a bulldozer.

In FIG. 2, numeral 8 indicates an initial value setter, numeral 9 indicates a height calculation mechanism, and numeral 10 indicates a height indicator. Of these, the height calculation mechanism 9 includes a calculation unit 14 installed at a predetermined position of the bulldozer 12 (see FIG. 2). This computing unit 14
Functionally, the running distance calculation unit 14A calculates the running distance of the bulldozer 12 at each predetermined timing.
and the excavation surface (work surface) by the bulldozer 12.
and a height calculating section 14B that calculates the height of.

Of these, the track pillar 12A of the bulldozer 12 is connected to the input side of the travel distance calculation unit 14A.
A caterpillar rotational speed detector 16 that detects the rotational speed of the caterpillar and outputs a corresponding caterpillar rotational speed signal T _o (n=1, 2, 3, ...; the same applies hereinafter) is installed in the drive system that drives the caterpillar 12A. The mileage calculating section 14A and the caterpillar rotation speed detector 16 constitute a mileage detecting means 18. For this reason, the mileage calculation section 14A
Now, calculate the traveling distance ΔL _o at each predetermined timing based on the input caterpillar rotation speed signal T _o ,
A signal corresponding to this is output to the height calculation section 14B.

On the other hand, the input side of the height calculation unit 14B is equipped with a tilt angle detector 20, an arm angle detector 22, and an initial value setter 8, which will be described later. Calculation data from each is taken into the height calculation unit 14B. It's starting to become easier. Further, a display 10 is provided on the output side of the height calculation section 14B, and the calculation result of the height calculation section 14B is displayed as the height of the excavation surface.

Here, the height calculation mechanism 9 is constituted by the height calculation section 14B, the travel distance detection means 18, the inclination angle detector 20, and the arm angle detector 22.

The tilt angle detector 20 is installed at a predetermined position on the bulldozer 12. This tilt angle detector 20 is
As shown in FIG. 2, the center of gravity O of the caterpillar 12A
Detecting the angle θ o that a straight line E (vehicle running direction) passing through the front center point _CF and the later-described center point C _R through the reference fixed point of the vehicle body and the horizontal line _M with respect to the ground, It has a function of outputting an electric signal corresponding to this detected value to the height calculating section 14B at every predetermined timing. Here, the length between C _F and _CR is assumed to be 2B. Further, it is assumed that OC _F (=OC _R )=B. Also, straight line E
is parallel to the horizontal line M.

The arm angle detector 22 is connected to the arm 12B of the bulldozer 12 relative to the earth removal plate 12C (see FIG. 2).
is placed at a predetermined position. The arm angle detector 22 has a function of detecting the angle α _o formed by the straight line E and the extending direction Q of the arm 12B, and outputting an electric signal corresponding to this to the height calculation unit 14B at predetermined timings. ing.

Here, in this embodiment, a predetermined point in the extending direction Q of the arm 12B is defined as an excavation point P, and the length between PC _F is defined as A. Further, a horizontal plane passing through the excavation point P is defined as an excavation surface R.

The initial value setting device 8 is provided at a predetermined position of the driver's seat of the bulldozer 12, and the operator can set an arbitrary initial height value as necessary via the initial value setting device 8.
H _s can be given to the height calculation section 14B. In this embodiment, this initial height value H _s is set between a certain arbitrary reference plane S _p and the caterpillar 12A.
It is set as the height at the start of traveling with respect to the center of gravity O. Here, if a certain reference plane S _p is the ground surface, H _s
= D (D: see FIG. 2), and H _s may be set to a fixed value.

Further, the height calculation section 14B functionally calculates the following based on the input inclination angle signal θ _o , travel distance signal ΔL _o , arm angle signal α _o , and height initial value data H _s .
It is constituted by first to fourth calculation means 14B _a to 14B _d that calculate the excavation surface height (working surface height) H _p from the reference surface S _p to the excavation point P.

Specifically, the first calculating means 14B _a calculates the height change ΔH _o of the center of gravity O of the track pillar 12A and its integral value H _o based on the inclination angle signal θ and the traveling distance signal ΔL _o . (See Figure 3). The second calculating means 14B _b is responsible for calculating the vehicle body height H from the reference plane S _p to the center of gravity O based on the calculation result of the first calculating means 14B _a and the initial height value H _s (see Fig. 3). ~see Figure 4), third calculation means 1
4B _c is designed to calculate a vertical component H _A between PC _F and a vertical component H _B between OC _F , which will be described later, based on the tilt angle signal θ _o and the arm angle signal α _o . (see figure). Furthermore, the fourth calculation means 14B _d
The excavation surface height H _p is calculated based on the calculation results of the second and third calculation means 14B _b and 14B _c , and this result is output to the height display 10.

By the way, the computing unit 14 functionally has the above-mentioned mileage computing section 14A and height computing section 14B.
The hardware consists of a microcomputer. This microcomputer includes a CPU (central processing unit), various types of memory, etc., and is set to perform the various calculations described above based on programs stored in advance.

Next, the operation of this embodiment will be explained.

Now, when the bulldozer 12 is in the initial state shown in FIG. 3, after the initial height value H _s is given,
A case where excavation work is performed while traveling in the direction of arrow X will be described. In this case, the arithmetic unit 14 detects each of the above-mentioned detectors 16,
Detection data is taken in from 20 and 22. Therefore,
Δt is repeated (n-1) times, and the position of the bulldozer 12 after (n-1)·Δt becomes the state shown in FIG. 3 (hereinafter referred to as the "(n-1)th state"),
Assume that the next position after n·Δt is the state shown in the figure (hereinafter referred to as the "n-th state"). The travel distance ΔL _o between this (n-1)th state and the n-th state is calculated from the caterpillar rotation speed T _o in the travel distance detection means 18, and the result is output to the first calculation means 14B _a . be done. Also, since the inclination angle in the (n-1)th state is θ _o-1 , the height change ΔH _o of the center of gravity O point during the transition from the (n-1)th state to the n-th state is:
The general formula is ΔH _o =ΔL _o siNθ _o-1 (1). Integrating this height change from the 1st time to the nth time results in H _o = ΔH ₁ + ΔH ₂ +...ΔH _o ...(2), and these ΔH _o and H _o are sent to the first calculation means 14B _a . It is calculated accordingly. Also, a certain reference plane
The height H from S _p to the center of gravity O of the n-th state is H=H _s +H _o (3), and this is calculated by the second calculation means 14B _b .

Furthermore, the positional relationship between the caterpillar 12A and the arm 12B of the bulldozer 12 in the n-th state is shown in FIG. In this FIG. 4, there is the relationship H _A = Asin(α _o −θ _o )...(4) H _B = Bsinθ _o ...(5), and these are the third calculation means 14B _c
It is calculated by Therefore, the excavation surface height H _p from a certain reference plane S _p to the excavation point P is H _p = H + H _B - H _A , and using equations (2) to (5), H _p = H _s +H _o-1 +ΔH _o +Bsinθ _o −Asin(α _o −θ _o ) …(6) However, H _o-1 =ΔH ₁ +ΔH ₂ +…+ΔH _o-1 .

According to this equation (6), the value of H _s is known,
Other values are calculated based on detection data, so
The value of H _p is immediately determined by the fourth calculation means 14B _d and this value is displayed on the height display 10.

Therefore, the driver can perform more accurate excavation work by operating the control lever as appropriate while visually viewing the height display 10 whose display contents are updated at predetermined timings.
In addition, since the entire measuring device is integrated with the bulldozer, the trouble of installing measuring equipment outside the vehicle body, which is required when using conventional laser beams, is eliminated, and the operating distance is The range can be set longer, and overall work efficiency is significantly improved. Furthermore, by repeatedly setting the initial height value H _s for each appropriate distance traveled,
It can be used continuously while the bulldozer is in operation. Furthermore, by using an inexpensive and highly accurate (10 ^-6 G) tilt detector, the device can be used at a lower cost and can be used for accurate measurement.

Next, another embodiment of the present invention will be described based on FIG.

Here, the same reference numerals are used for the same components as in FIG. 4 showing the above-mentioned embodiment, and the explanation will be omitted or simplified.

The embodiment shown in FIG. 5 is different from the above-described embodiments in that it is equipped with a working arm 12D bent in a substantially dogleg shape. in this case,
The length of the first arm portion 12D' on the caterpillar 12A side of the arm 12D is A, the length of the second arm portion 12D'' rotatably connected thereto is a, and these arm portions 12D' , 12D'' is the angle β _o . This angle β _o is detected by an arm angle detector (not shown) in the same way as the arm angle detector 22, and the detection signal is sent to the height calculating section 14B.
is output to.

Then, since there is the relationship H _a = a・cos (α _o −θ _o + β _o ) H _p = H + H _B − _{H A} − H _a , the above implementation can be performed using the above items (2) to (5). Calculate the excavation surface height H _p as in the example,
can be displayed. Here, the calculation of H _a is
It is assumed that the calculation is performed by the third calculation means _14Bc .

By doing so, the effect is equivalent to that of the above-mentioned embodiment, and it can also be applied even when the arm 12D moves in two stages, further expanding the functionality. It will be planned.
In this case, even if the arm moves in three or more complicated steps, it can be carried out in the same manner as described above.

Note that in each of the above embodiments, the tilt angle detector 2
0 may be equipped as shown in FIG. That is, in this FIG. 6, the bearing 30 is mounted on a part 12E of the vehicle of the bulldozer 12,
The tilt angle detector 20 is suspended via a support rod 32 fixed to this bearing 30. Therefore, even if the bulldozer 12 tilts in the lateral direction of the vehicle, the lateral rotation of the bearing 30 ensures the fixed position of the tilt angle detector 20 in the longitudinal direction, making it possible to further reduce the detection error. can. Further, the inclination angle detector 20 may be placed in oil to prevent lateral deflection (vibration). Furthermore, a gravitational acceleration detector may be used as the inclination angle detector 20, but in that case, it is preferable to equip the output side of the detector with a low-pass filter (LPF) to prevent the influence of vibrations and the like.

On the other hand, the caterpillar rotation speed detector 16 may be configured to be able to determine whether the vehicle is moving forward or backward. Alternatively, a printer may be connected to the height display 10 to record the data H _p .

Furthermore, there are various methods for reducing errors in the calculations in the calculation units 14A and 14B. For example, the equation (1) can be expressed as ΔH _o =ΔL _o sin [(θ _{o -1} + θ _o )/2]. You may also perform calculations and further calculate the distance traveled ΔL _o
may be taken as the average value of the left and right caterpillars.

Furthermore, the present invention is not necessarily limited to bulldozers, but can be applied to any mechanical device that is driven similarly to a bulldozer, and the work surface may be set to a surface other than the excavation surface.

〔Effect of the invention〕

Since the present invention is configured and functions as described above, it can be relatively easily and integrally installed on the body of a bulldozer, etc., and can also be used to prevent changes in the height of the working surface (excavation surface) during running conditions. can be measured and displayed accurately and quickly. In addition, unlike the conventional technology described above, which uses a laser beam from a laser beam source installed outside the vehicle body, it is possible to set the traveling distance (usable distance range) longer, and the vehicle body is By repeating the initial value setting of the height, the bulldozer, etc. can be used continuously while being operated, and because of these things, the work surface height of the bulldozer, etc. is unprecedented and can significantly improve the work efficiency. A measuring device can be provided.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the positional relationship of each part of the bulldozer, and FIG. 3 is an explanatory diagram showing changes in the height of the center of gravity of the caterpillar in the running state. Fig. 4 is an explanatory diagram showing the height relationship of the excavation surface height H _p , Fig. 5 is an explanatory diagram showing the height relationship of other embodiments, and Fig. 6 is an explanatory diagram showing the height relationship of other embodiments. The schematic perspective view shown in FIG. 7 is an explanatory diagram showing a conventional example. 8...Initial value setter, 9...Height calculation mechanism, 1
0...Height indicator, 12...Bulldozer, 14B
...height calculation section, 14B _a ...first calculation means,
14B _b ...Second calculation means, 14B _c ...Third calculation means, 14B _d ...Fourth calculation means, 18...
... Mileage detection means, 20 ... Inclination angle detector, 2
2...Arm angle detector.

Claims (1)

[Scope of Claims] 1. An initial value setting device for setting and inputting an initial value H _s of the height of the vehicle body position with respect to a reference fixed point of the main body of a working machine such as a bulldozer, and detecting the inclination angle Θ _o of the main body of the working machine. an inclination angle detector, a travel distance detection means for detecting a travel distance ΔL _o of the work equipment main body, and an arm angle detector attached to a working arm of the work equipment main body and detecting an inclination angle α _o of the arm. and a height calculation unit that calculates the height of the working position by the working arm based on information set or detected in each of these component means, and a height display that displays the output of the height calculation unit. and a first unit for calculating an integral value H _o of a change in the center of gravity position of the work equipment main body based on each output of the inclination angle detector and the travel distance detecting means.
a second calculating means for calculating the height H of the center of gravity position with respect to the reference fixed point of the working machine main body based on each output of the first calculating means and the initial value setting device; Based on the respective outputs of the angle detector and the arm angle detector, the position of the center of gravity of the working machine body and the rotational support shaft of the working arm, and the rotational support shaft of the working arm and the work of the working arm are determined. a third calculating means for calculating each vertical component H _A , H _B between the points, and a height position of the working point of the working arm based on the output of each of these calculating means;
A working surface height measuring device for a bulldozer, etc., characterized in that it is equipped with a fourth calculating means for calculating H _P.