JPH0816335B2 - Automatic linear excavation control system for hydraulic excavators - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to improvement of a linear automatic excavation device for a hydraulic power shovel, and particularly, even when a vehicle body is advanced to reach the next working position, The present invention relates to a straight-line automatic excavation device that enables continuous excavation with high accuracy on a sloped surface that was excavated when the vehicle was in the front position.

[Conventional technology]

The hydraulic power shovel is for excavating work by rotating the boom, arm, and bucket in the vertical direction.The boom, arm, and bucket are operated by an operator to operate the operation valve. By supplying pressure oil to the bucket cylinder and expanding and contracting, it can rotate up and down, and in order to move the bucket linearly, each operating valve must be operated complicatedly, and that operation is very troublesome and skilled. Requires.

Therefore, various control devices have been proposed for automatically moving a bucket in a straight line to automatically perform a straight line excavation work.

For example, in JP-A-61-270421, the boom rotation angle, the arm rotation angle, and the bucket rotation angle are measured,
Based on this, the operation amount of each operation valve required for the bucket to move linearly is calculated, and the bucket is moved linearly by this.

[Problems to be Solved by the Invention]

By the way, in the conventional straight line automatic excavation control device, it is only related to how to linearly move the bucket when the vehicle body is stopped at a fixed position. There was nothing focused on trying to continue with a straight line which is the work surface by the previous straight line automatic excavation work with high accuracy when the vehicle body moves forward. That is, conventionally, when the operator moves forward with the vehicle body as described above, the operator manually arranges the bucket on the work surface by the previous straight line automatic excavation work, and then the bucket is subjected to the automatic straight line excavation work. Therefore, the straight line excavation work is continued. For this reason, an error is likely to occur when the linearity is continued by the operator's manual operation due to the forward movement of the vehicle body. Especially, in such a method, when the vehicle body is moved forward many times, the error is accumulated every time. Was not desirable.

Even in the case of straight line automatic excavation work, in order to prevent such errors from occurring, the slope of the target slope is provided over a long section on the ground surface where the excavation work has not yet been performed by surveying, and It is also possible to confirm the excavation depth of the bucket based on the tension at that position as a standard each time the shovel advances, but in this case, excavation preparation work and confirmation work are required each However, there is a problem that the excavation work itself takes time.

The present invention has been made to solve the above problem, and a hydraulic power shovel equipped with a straight line automatic excavation control device can move forward even if the vehicle body is moved forward for straight line excavation work over a long section. It is an object of the present invention to provide a straight line automatic excavation control device capable of automatically and continuously performing straightness due to work in a field.

[Means and Actions for Solving the Problems]

According to the present invention, in a hydraulic power shovel equipped with a straight line automatic excavator, means for measuring the travel distance of the vehicle body and laser light from a laser oscillator arranged far away from the vehicle body are received, and the absolute vehicle body excavator is detected. The laser receiver for recognizing the change in the target height is arranged, and the outputs of these means are used to guarantee the continuity of the collinear slope on which the bucket should work even when the vehicle body moves forward. To do so.

〔Example〕

As shown in FIG. 1, a boom 2 is provided on a vehicle body 1 so as to be vertically rotatable by a boom cylinder 3, and an arm 4 is attached to the boom 2.
Is provided in an arm cylinder 5 so as to be vertically rotatable, and a bucket 6 is provided in an arm 4 so as to be vertically rotatable by a bucket cylinder 7 to form a hydraulic power shovel. An inclinometer 9, a boom angle sensor 11 is provided at the rotation fulcrum of the boom 2, an arm angle sensor 12 is provided at the rotation fulcrum of the arm 4, and a bucket angle sensor 13 is provided at the rotation fulcrum of the bucket 6. Left and right inclinometer 9, boom angle sensor
The signals from the arm angle sensor 12, the bucket angle sensor 13, and the arm angle sensor 12 are input to the automatic excavation control circuit 22 in the arithmetic circuit 21 of the controller 20 and arithmetically operated in the same manner as in the prior art to output a control command to the control circuit 23, which control circuit From 23, it is possible to linearly move the bucket 6 by outputting a control current to the electromagnetic proportional control valves 24, 25, 26 for the boom, arm, and bucket to extend and retract the boom cylinder 3, the arm cylinder 5, and the bucket cylinder 7. Is similar to the conventional example.

According to the present invention, two additional means are provided for the hydraulic excavator having the automatic linear excavation control device as described above.

First, a sensor 10 for receiving a laser beam is prepared on the lower traveling body or the upper revolving body of the hydraulic power shovel. This sensor 10 is for receiving the laser beam B of the laser oscillator 14 installed on the excavated ground surface A outside the hydraulic excavator. This laser light system is for confirming the absolute height of the vehicle body when the vehicle body changes its height in the vertical direction due to the change in height of the ground surface when the vehicle body moves forward. That is, if the hydraulic power shovel performs a horizontal automatic excavation work corresponding to a case where the linear gradient is 0 degree in the straight automatic excavation work, only by providing this sensor 10, the vehicle body moves forward to temporarily increase the vehicle height. Even if a change occurs, the arithmetic unit incorporates this change through the sensor 10 to automatically perform horizontal automatic excavation work at the same depth as the horizontal plane of the horizontal excavation work performed at the position before the vehicle body moves. You can Therefore, since this sensor 10 basically gives the horizontal excavation depth at that point to the arithmetic unit even when the vehicle body moves to the next point where there is a difference in height, the sensor 10 itself has a height direction. It has a sensing range at the end and can detect changes in the height direction of laser light irradiation, or even if there is only one sensing range, the deviation of laser light reception due to the height change of the vehicle body can be detected. It is desirable that the structure in which 10 moves up and down captures the laser light and outputs the change in the height of the vehicle body.

However, as described above, in the case of horizontal automatic excavation work, which is only a special case where the gradient of the linear automatic excavation work is zero, the sensor 10 alone changes the height of the vehicle body at the next work point, or changes the height. Even if there is no change, the bucket tip can be automatically moved to the horizontal excavation work surface of the next bucket, but in the case of normal straight line excavation work where the straight line has a slope, the hydraulic excavator has a single point. Even if it has a straight line automatic excavation function in, the slope itself can be excavated at the same point as the previous point at the next point where the car body moved forward, but there is no guarantee of mutual continuity between the two points. In this case, even if the change in the height of the vehicle body is known by the laser light, it does not contribute to the continuity of the gradients. Therefore, in the present invention, the following means are provided for the continuity of the straight line automatic excavation.

That is, in order for two straight lines with the same gradient to have continuity in the two-dimensional plane, it is necessary and sufficient that both straight lines share one point (x, y) in the plane coordinates. It is considered that, in addition to the height change when the vehicle body moves forward, that is, the height data y, the data x related to the forwarded distance is necessary. Therefore, in the present invention, the vehicle body is provided with means 30 for outputting the amount of movement from the previous point. This movement amount output means 30 may be anything as long as it can judge the movement amount of the vehicle body, and to give some examples, the traveling distance is calculated from the number of revolutions of the axle or the like, and the change in the height direction of the sensor 10 is detected. To determine the amount of horizontal movement, to irradiate a point at a known distance from the vehicle body, to determine the amount of horizontal movement from the deviation of reflected light, and to use the laser light to know the change in the height direction. A horizontal movement amount is calculated from the time change of receiving the light wave train, or since the x, y coordinates of the bucket tip can be calculated from the vehicle body at any time, the vehicle body is moved based on after excavation on the ground surface with the bucket tip attached, etc. The measuring means is free.

As described above, according to the present invention, the vehicle body moves and its x, y
Even if there is a change in the coordinates, the absolute spatial position of the gradient at that point can be determined, so the final gradient depth at that point can be calculated, and the bucket can be controlled with this as a limiting condition. For example, the gradient at both points will be continuous.

Next, an example in which the straight line automatic excavator according to the present invention is used for excavating a groove for burying a fume pipe will be described.

 The vehicle body 1 is run and stopped at the required position.

The automatic excavation control circuit 22 of the controller 20 inputs the excavation gradient and the distance from the laser beam at one point of the excavation gradient, that is, the excavation depth at that point.

The arithmetic unit calculates a straight line excavation work satisfying the required gradient and gradient depth at that point from the actual vehicle body height from the sensor 10 and the vehicle body front / rear and left / right inclination angle signals as necessary, As a working condition, before the critical working condition is reached, linear excavation work with the same gradient and a shallow gradient depth is allowed, and a control current is sent to each electromagnetic proportional control valve 24, 25, 26 to boom cylinder 3, Pressure oil is supplied to the arm cylinder 5 and the bucket cylinder 7 to rotate the boom 2, the arm 3 and the bucket 6 to cause the bat 6 to perform a linear excavation work.

When the excavation of a groove of a predetermined length is completed, the vehicle body 1 travels for a predetermined distance and stops, and the gradient depth at that position is determined from the output of the sensor 10 at that time and the amount of movement of the vehicle body in the same procedure as described above. To be done.

By repeating this operation, the inclined groove is continuously excavated.

Although the rotation amount of the boom, arm and bucket is detected by the angle sensor in the above embodiment, the rotation amount may be detected by the stroke of the cylinder.

Further, the present invention can be applied to a straight line automatic excavating device in which the angle between the bucket and the arm is constant.

〔The invention's effect〕

Even with a hydraulic power shovel that has a function for automatic linear excavation at a stopped position of the vehicle body, the section where the automatic linear excavation at the stopped position can be limited due to the limit of the length of the boom, arm, etc. In order to obtain a continuous gradient, the movement of the vehicle body is indispensable, and in this case, conventionally, it took time and effort to perform the work accompanying the excavation work for ensuring the continuity of the continuous gradient by surveying or the like. According to the invention, the hydraulic excavator itself has means for measuring the amount of movement of the vehicle body and means for receiving the laser light emitted at the reference height, so that even if the vehicle body moves, the required gradient depth at that point is obtained. Can be calculated, and as a result, not only the identity of gradients but also the positioning of these gradients on the same straight line can be easily compensated. Between so that the can be significantly shortened.

Also, since it is not necessary to arrange measuring means etc. on the working machine, the data will not be affected by the movement of the working machine etc. during the automatic linear excavation work at the working position, and will not be destroyed by the earth and sand etc. during the work. .

[Brief description of drawings]

FIG. 1 is a front view of a hydraulic power shovel, and FIG. 2 is a block explanatory view of a control device. 1 is a vehicle body, 2 is a boom, 3 is a boom cylinder, 4 is an arm, 5 is an arm cylinder, 6 is a bucket, 7 is a bucket cylinder, 10 is a sensor, 14 is a laser oscillator, 30 is a movement amount sensor.

Claims (1)

[Claims] 1. A hydraulic power shovel having at least an arm rotation angle detection means, a boom rotation angle detection means, and a computing device, and having a function of linearly excavating a bucket, and means for measuring the amount of movement of a vehicle body. The means for receiving the laser beam emitted at the reference height and the means other than the working machine of the hydraulic power shovel are arranged, and the outputs of these means are input to the arithmetic unit, whereby the vehicle body moves at the point where it moves. A straight line automatic excavation control device for a hydraulic power shovel, wherein a straight line in the straight line automatic excavation can be continuous with a straight line of the straight line automatic excavation at a point before movement.