JPH0615775B2 - Excavator Excavation Control Device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator control device for an excavator, and more particularly to an excavator control device for an excavator that is suitable when performing excavation work as a routine work.

[Conventional technology]

Generally, when performing work using a bulldozer or the like, there are often situations in which it is desired to repeatedly perform excavation at a predetermined depth (height) at the same position.

Of these, when excavating to a predetermined depth, most of them are
The control lever is operated depending on the intuition of the operator. In addition, a method of using a laser beam, for example, has been adopted when particularly accurate excavation is desired. In this method, a laser beam generator is horizontally arranged at a predetermined distance such as a bulldozer, and a laser beam output from this laser beam generator is installed at a predetermined position of an earth plate such as a bulldozer. The beam was detected by the beam detector, and the operator operated the control lever based on the detected data.

On the other hand, most of the operations for routine work of repeatedly traveling to the same excavation position are performed manually each time.

[Problems to be solved by the invention]

However, in the above-described conventional technology, since the manual operation is performed, the excavation work is performed by trial and error, which makes it difficult to perform quick and accurate excavation, wastes the operation, and lowers the overall work efficiency. There was a problem in that. The problem is that the same excavation position has a predetermined depth (height).
When it was attempted to repeatedly excavate, the situation became even more remarkable.

[Object of the Invention]

The present invention has been made in view of the situation of the related art, and in particular, a desired excavation position and excavation height can be set in advance, and when the excavation position is reached, the arm angle is controlled so that the excavation height becomes the set excavation height. It is an object of the present invention to provide an excavation control device for an excavator, which enables further simplification of operation and labor saving.

[Means for solving problems]

Therefore, in the present invention, an initial height setting device for setting the vehicle body height from an arbitrary reference surface to a reference fixed point of a vehicle body such as a bulldozer before starting traveling, and the initial height setting device are provided. An excavation height calculation mechanism that calculates a change in vehicle body height during traveling at predetermined timings and calculates the excavation height from the reference surface to the excavation point on the bulldozer or the like based on the calculated value, The excavation data predetermined device for presetting the excavation position and its excavation height and the traveling position of the bulldozer etc. while the calculated value reaches the vicinity of the set value of the excavation position, An excavation data processing mechanism that outputs data corresponding to the height is provided, and the excavation height is set to a set value based on the data output from the excavation data processing mechanism and the excavation height calculation mechanism. A structure such as comprising an arm angle control mechanism allowed to automatically control the angle of the arm for Kunar drilling, whereby it is intended to achieve the object.

[Work]

If the vehicle body height is set by the initial height setting device before starting traveling, the excavation height calculating mechanism calculates the excavation height at every predetermined timing during traveling. If the desired excavation position and excavation height are set by the excavation data setting device, when the target excavation position is reached, based on the data output from the excavation data setting device and the excavation height calculation mechanism. The arm angle control mechanism operates and the arm for excavation is automatically controlled so that the excavation height becomes equal to the set value.

Example of Invention

An embodiment of the present invention will be described below with reference to FIGS. 1 to 7. The present embodiment shows a case where it is carried out for a bulldozer.

In FIG. 1, 12 is an initial height setting device, 14 is an excavation height calculation mechanism, and 16 is an indicator for the excavation height. The initial height setting device 12 is a bulldozer 18 (second
It is provided at a predetermined position in the driver's seat (see the drawing), and the operator gives an arbitrary vehicle body height H _s (initial value) to the excavation height calculation mechanism 14 via the initial height setting device 12 before starting traveling. Is able to. This body height H
_In the present embodiment, _s is set as the height before the start of travel between a certain arbitrary reference surface S _o and the center of gravity (reference fixed point) O of the caterpillar 18A as a part of the vehicle body of the bulldozer 18. (See FIG. 5). Here, if the reference surface S _o is the ground surface, then H _s = D (D: see FIG. 5), and a fixed value can be obtained.

Further, the excavation height calculation mechanism 14 has a first calculator 20 as shown in FIG. 1, and an inclination angle detector 22 and a caterpillar rotation detection are provided on the input side of the first calculator 20. Bowl 2
4. The arm angle detector 26 is equipped and configured.
Of these, the first computing unit 20 functionally computes the traveling distance computing unit 20A that computes the traveling distance of the bulldozer 18 at every predetermined timing, and the height of the excavation surface (work surface) by the bulldozer 18. And a main calculation unit 20B that operates.

The caterpillar rotation speed detector 24 is a caterpillar 18A.
The rotation speed signal T _n (n = n
1, 2, 3, ...
It has a function of outputting to A and is equipped in a drive system for driving the caterpillar 18A. Therefore, the traveling distance calculation unit 20A calculates the traveling distance ΔL _n at each predetermined timing based on the input rotation speed signal T _n , and outputs a signal corresponding to this to the main calculation unit 20B.

Here, the caterpillar rotation speed detector 24 and the traveling distance calculation unit 20A constitute traveling distance detecting means 28.

The tilt angle detector 22 is mounted at a predetermined position of the bulldozer 18. Inclination angle detector 22, as shown in FIG. 2, the travel of the linear E [vehicle passing through the center point C _F and the rear of the center point C _R of the front through the center of gravity O of the caterpillar 18A (front-rear) direction ] Has a function of detecting an angle θ _n formed with a horizontal line M passing through the center of gravity O and outputting an electric signal corresponding to the detected value to the main calculation unit 20B at every predetermined timing. Here, the length between C _F and C _R is 2B. Further, OC _F (= OC _R ) = B.

The arm angle detector 26 is arranged at a predetermined position of the arm 18B (see FIG. 2) that reaches the earth discharging plate 18tC of the bulldozer 18. The arm angle detector 26 has a function of detecting an angle α _n formed by the straight line E and the extending direction Q of the arm 18B, and outputting an electric signal corresponding to the angle α _n to the main arithmetic unit 20B at every predetermined timing. ing.

Here, in this embodiment, a point corresponding to a predetermined excavation in the extension direction Q is an excavation point P, and a horizontal plane passing through the excavation point P is an excavation surface R. Also, the length between PC _F is A.

Further, as shown in FIG. 3, the main calculation unit 20B functionally inputs the inclination angle signal θ _n and the traveling distance signal Δ that are input.
First to fourth calculating means 20B _a for calculating the excavation height H _p from the reference surface S _o to the excavation point P based on L _n , the arm angle signal α _n , and the vehicle body height initial value H _s. To 20B _d .

Specifically, the first computing means 20B _a uses the tilt angle signal θ.
_n based on the traveling distance signal ΔL _n
The height change amount ΔH _n of the center of gravity O and its integrated value H _n are calculated. The second calculation means 20B _b calculates the calculation result of the first calculation means 20B _a and the vehicle body height initial value H.
_s responsible for operation of the vehicle height H to the center of gravity O of the reference plane S _o upcoming based on, third arithmetic means 20B _c, based on the inclination angle signal theta _n and the arm angle signal alpha _n, described later Vertical component _HA between PC _F and vertical component H _B between OC _F
(See FIG. 6). Furthermore,
The fourth calculating means 20B _d is the second and third calculating means 20.
The excavation height H _p is calculated based on the calculation results of B _b and 20 B _c , and the result is output to the excavation height indicator 16.

Further, the excavation height indicator 16 is adapted to display the final calculation result H _p in the main calculation section 20B as a numerical value. This display is updated and displayed one by one as the bulldozer 18 travels.

In addition, in this embodiment, as shown in FIG.
An excavation data setting device 30 provided in the driver's seat and an excavation data processing mechanism 32 for processing and controlling data preset by the excavation data setting device 30. Of these, the excavation data setter 30 is configured to select a desired excavation position (X _m ,
It is configured to be able to set a desired excavation height H _SET in Y _m), and outputs a signal for these data to the drilling data processing mechanism 32.

The excavation data processing mechanism 32 has a second computing unit 34, and an azimuth detector 36 and an initial position setting unit 38 are installed and configured on the input side of the second computing unit 34, and The output signal ΔL _n of the traveling distance detecting means 28 is also input. Of these, the azimuth detector 36 is composed of a gyro in this embodiment, and outputs the azimuth signal φ _n of the bulldozer 18 at every predetermined timing. Further, the initial position setter 38 can set the position (X _s , Y _s ) before the start of running and outputs a signal corresponding to this.

The second calculator 34 is functionally composed of a position calculator 34A and a data comparison controller 34B, as shown in FIG. Of these, the position calculation means 34A
Is the current position (X _n , the current position of the bulldozer 18 during traveling, based on the azimuth signal φ _n , the traveling distance signal ΔL _n , and the initial position signal (X _s , Y _s ), which will be described later.
Y _n ) is calculated and output to the corresponding signal data comparison control means 34B. Further, the data comparison control means 34B, the position signal (X _n , Y _n ) and the position signal (X _m , output from the excavation data setter 30.
Y _m ), and outputs the desired excavation height H _SET only when (X _n , Y _n ) reaches a predetermined vicinity of (X _m , Y _m ). .

Further, in this embodiment, as shown in FIG. 1, the arm angle control mechanism 4 is provided between the excavation height calculation mechanism 14 and the excavation data processing mechanism 32 and the arm 18B of the bulldozer 18.
0 is equipped. This arm angle control mechanism 40 is
A command arm angle calculator 42 that receives output data H _p and H _SET of the excavation height calculation mechanism 14 and the excavation data processing mechanism 32 as input signals is provided, and an adder 44, The servo amplifier 46, the motor 48, and the hydraulic drive means 50 are cascade-equipped. Among them, the arm angle signal α _n is applied to one input end of the adder 44. Also, the motor 4
8, a switching means (not shown) is used for switching, and a manual operation signal for manual operation is input. Further, the hydraulic drive means 50 is composed of a hydraulic pump rotated by a motor 48, a cylinder connected to the hydraulic pump, and the like, and the cylinder indirectly drives the arm 18B up and down.

Further, the command arm angle calculator 42 uses the formula of α _s = K∫ (H _SET −H _p ) dt (K: constant) here, and the command arm angle α _s [ _Deg / _Sec ·
M] and outputs it to the adder 44 (however, H
_{When SET} = 0, α _s = 0). The adder 44 adds α _s and α _n and outputs the difference signal to the servo amplifier 46. The servo amplifier 46 amplifies the input signal and drives the motor 48 to rotate. Therefore, the motor 48 is urged to rotate, the hydraulic drive means 50 operates,
As a result, the arm 18B is controlled so that the angle signals α _s and α _n are equal. That is, H _p =
The angle α _{n of the} arm 18B is controlled so as to be H _SET .

By the way, the above-mentioned first and second calculators 20 and 34 and the command arm angle calculator 42 are, as hardware,
Each is constituted by a microcomputer having a CPU (central processing unit) and various memories. Therefore, the above-described various calculations and controls are performed based on the contents of the program stored in advance.

Next, the operation of this embodiment will be described.

First, the case of measuring the excavation height H _p will be described with reference to FIGS.

Now, bulldozer 18 in the initial state shown in FIG. 5, after the vehicle initial height H _s is given, and performing the excavating work while traveling in the direction of the arrow X. In this case, the first computing unit 20 fetches the detection data from the above-mentioned detectors 22, 24, 26 at each predetermined minute timing Δt. Then, Δt is repeated (n-1) times (n-
1) · The position of the bulldozer 18 after Δt becomes the state shown in in FIG. 5 (hereinafter, referred to as “(n−1) th state”), and the position after the next n · Δt is shown in FIG. It is assumed that the state (hereinafter, referred to as “nth state”) is reached.
The traveling distance ΔL _n between the (n−1) th state and the nth state is calculated by the traveling distance detecting means 28 from the caterpillar rotation speed T _n , and the result is the first calculating means 2
It is output to the 0B _a. Further, since the tilt angle in the (n-1) th state is θ _n-1 , the height change Δ of the center of gravity O during the transition from the (n-1) th to the nth state is Δ.
H _n is represented by ΔH _n = ΔL _n sin θ _n-1 (1) as a general formula. Integrating this height variation from the first to _{n-th, H n = ΔH 1 + ΔH} 2 + ... + ΔH n ··· (2) next, these [Delta] H _n and _{H n} is the first computation means 20
Calculated by B _a . In addition, a certain reference plane S _o to n
The height H to the center of gravity O of the rotating first _{state, H = H s + H n} ...... (3) becomes, which is calculated by the second arithmetic means 20B _b.

Further, the positional relationship between the caterpillar 18A and the arm 18B in the n-th state is shown in FIG. This 6th
In the figure, there is a relation of H _A = Asin (α _n −θ _n ) ... (4) H _B = _B sin θ _n (5), which are calculated by the third calculating means 20B _c . Accordingly, the height _{H p} drilling trying to now _{operations, H p = H + H B} -H A next, to the (2) without using the equation _{(5), H p = H s + H} n-1 + ΔH n + Bsinθ n _{-Asin (α n -θ n) ......} (6) _However, the _{H n-1 = ΔH 1 +} ΔH 2 + ... + ΔH n-1. According to the equation (6), the value of H _s is known, and the other values are calculated based on the detection data. Therefore, the value of H _p is immediately obtained by the fourth computing means 20B _d . This value is displayed on the excavation height indicator 16.

Next, the position calculation means 3 in the excavation data processing mechanism 32
The calculation operation of 4A will be described.

The positional relationship between the (n-1) th state and the nth state is
Suppose that it is as shown in FIG. In FIG. 7, the respective changes in the Z and Y components between the (n-1) th and nth states are ΔX _n = ΔL _n ′ · sin φ _n (7) ΔY _n = ΔL _n ′ · Cosφ _n (8) Here, ΔL _n ′ = ΔL _n cos θ _n−1 (see FIG. 5). Therefore, the position (X _n , Y _n ) of the bulldozer 18 to be obtained is: X _n = X _s + ΔX ₁ + ΔX ₂ + ... + ΔX _n (9) Y _n = Y _s + ΔY ₁ + ΔY ₂ + ... + ΔY _n .. (10), the position calculation means 34A calculates at every predetermined timing based on the expressions (9) and (10), and outputs the result.

Next, the overall operation will be described.

First, the operator designates an arbitrary vehicle body height H _s from the initial height determining device 12 before starting excavation work (before traveling), and a desired excavation position (X _m , Y _m ) from the excavation data setting device 30. And its excavation height H _SET , and the initial position (X _s , Y _s ) from the initial position setter 38.

Then, when the traveling is started, the excavation data processing mechanism 32 causes the current traveling position (X _n , Y) of the bulldozer 18 as described above.
_n ) is calculated.

While (X _n , Y _n ) does not reach the predetermined vicinity of (X _m , Y _m ), the excavation data processing mechanism 32 does not output H _SET . During this period, as described above, the excavation height calculation mechanism 1
4, the excavation height H _p is calculated based on the arm angle α _n operated by the operator, and is displayed on the excavation height indicator 16. However, to the arm angle control mechanism 40, since only H _p is input and H _SET is not input, the command arm angle calculator 42 determines that the command arm angle α _s =
Set to 0. Therefore, the angle of the arm 18B remains constant, and the arm 18B heads toward the destination (X _m , Y _m ).

The current traveling position (X _n , Y _n ) is the destination (X _m ,
When reaching a predetermined vicinity of Y _m ), H _SET is output from the excavation data processing mechanism 32 as described above. For this reason,
The arm angle control mechanism 40 controls the arm angle α _n as described above so that H _p = H _SET . As a result, the desired excavation height H at the destination (X _m , Y _m )
_SET is automatically set. Further, the excavation height H _p (= H _SET ) at that time is displayed on the excavation height indicator 16 and can be visually confirmed.

In this way, by setting the excavation data in advance, the operator can reach the destination while measuring and confirming the traveling position by another means and save the trouble of setting the excavation height. Will be significantly simplified.

In the above case, if the excavation data is not set in advance, only the excavation height H _p will be displayed.

As described above, in the present embodiment, first, in the case of manual excavation, the excavation height is measured and displayed at every predetermined timing, so the operator can confirm the excavation height by visually checking the displayed value, and Accurate drilling can be performed. Further, in this embodiment, since excavation data can be reserved and set, further simplification of operation and improvement of work efficiency can be achieved. Further, the work can be performed by appropriately combining the manual excavation and the automatic excavation.

Moreover, since the entire device can be integrated with the bulldozer, the trouble of arranging measuring instruments and the like outside the vehicle body as in the case of using the conventional laser beam is eliminated, and the operating distance range can be set longer. As a result, the work efficiency as a whole is significantly improved. Further, by repeatedly setting the vehicle body height initial value H _s for each appropriate traveling distance, the bulldozer can be continuously used while being operated.

In addition, in the above-described embodiment, the excavation data setting device 30 is used.
As a data setting method for a plurality of positions (X _m ,
H _SET ( _m ) in Y _m ) (m = 1, 2, 3, ...)
May be designated, or may be designated by being divided into predetermined areas. Furthermore, as a function of the traveling position (X _n , Y _n ), for example, H _SET = K ₁ · (X _n −Y _G ) (where X _n ≧ X _G ) H _SET = K ₂ (where X _n <X _G ) (Here, K ₁ , K ₂ , and X _G are constants), and in this case, the excavation height having an inclined surface as shown in FIG. 8 can be specified.

Further, the direction signal φ _n may be directly taken from the steering wheel.

Further, the present invention is not necessarily limited to the bulldozer, and may be any excavating machine device having a function equivalent to that of the bulldozer, such as a power shovel or the like provided with an arm for pulling up. It can be similarly implemented.

EFFECTS OF THE INVENTION Since the present invention is configured and functions as described above, according to this, a desired excavation position and its excavation height can be set in advance, and when the excavation position is reached, the set excavation height is reached. Since the arm angle is automatically controlled, the operation is remarkably simplified and labor-saving compared to the manual operation as in the conventional example, which allows routine work to be performed repeatedly. In the case of, it becomes especially effective. Also, unlike the case of using the laser beam of the conventional example, since it can be integrated into a bulldozer, etc., there is less restriction in terms of use, such as a longer travel distance (use distance range). , By these,
It is possible to provide an unprecedented excellent excavation control device for an excavator that can significantly improve the overall work efficiency.

In addition, in the invention described in claim 2, in addition to the above-mentioned effects, since the excavation height is always displayed,
At the time of work, there is an effect that more accurate excavation can be performed and confirmation thereof can be facilitated, thereby preventing an erroneous operation or the like.

[Brief description of drawings]

FIG. 1 is a 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, FIG. 3 is a functional block diagram showing the main calculation part in FIG. 1, and FIG. The figure is first
Second operator functional block diagram of the figure, FIG. 5 is an explanatory diagram showing a change in height of the center of gravity of the caterpillar during running, FIG. 6 shows a height relationship of the excavation height H _p Description FIG. 7 and FIG. 7 are explanatory diagrams showing an example of position calculation processing by the second arithmetic unit, and FIG. 8 is an explanatory diagram showing another example of how to give excavation data. 12 ... Initial height setting device, 14 ... Excavation height calculation mechanism,
16 ... Excavation height indicator, 18 ... Bulldozer, 18A
...... Caterpillar as a part of the vehicle body, 18B ... Arm, 30 ... Excavation data setting device, 32 ... Excavation data processing mechanism.

Claims (1)

[Claims] 1. An initial height setting device for setting a height of a vehicle body from an arbitrary reference surface to a reference fixed point of a vehicle body such as a bulldozer before starting traveling, and a vehicle body given by the initial height setting device. An excavation height calculation mechanism for calculating a change in height during traveling at predetermined timings and calculating an excavation height from the reference surface to an excavation point by the bulldozer based on the calculated value. The excavation data setter for presetting the position and its excavation height, and the excavation height when the calculated value reaches the vicinity of the set value of the excavation position while calculating the traveling position of the bulldozer or the like. And an excavation data processing mechanism that outputs data corresponding to the excavation data processing mechanism and the excavation height processing mechanism and the excavation height calculation mechanism based on the data output from the excavation data processing mechanism. Arm angle control mechanism and the excavation control system of the excavator, characterized in that it comprises a for allowed to automatically control the angle of the arm for excavation as.