JP3682352B2 - Front control device for construction machinery - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention limits a region in which a front device can move in a construction machine provided with a multi-joint type front device, particularly a construction machine such as a hydraulic excavator provided with a front device including a front member such as an arm, a boom, and a bucket. The present invention relates to a front control device that performs front control such as area limited excavation control for excavation.
[0002]
[Prior art]
A typical example of a construction machine is a hydraulic excavator. In the hydraulic excavator, the operation of front members such as a boom and an arm constituting the front device is performed by an operator operating each manual operation lever. Since each of these front members is connected by a joint portion and performs a rotating motion, it is very difficult to excavate a predetermined area or excavate a predetermined plane by operating these front members. Work.
[0003]
Therefore, various proposals for facilitating excavation work have been made.
For example, in the method described in Japanese Patent Application Laid-Open No. 4-136324, when a deceleration area is set before the inaccessible area and a part of the front device, for example, a bucket enters the deceleration area, an operation signal of the operation lever The front apparatus is decelerated by reducing the speed and stopped when the bucket reaches the boundary of the inaccessible area.
[0004]
Further, in the method described in International Publication No. WO95 / 30059, an excavable area is set, and when a part of the front device, for example, a bucket approaches the boundary of the excavable area, the area approaches the boundary of the bucket. Only the movement in the direction is decelerated, and when the bucket reaches the boundary of the excavable area, the bucket does not go out of the excavable area but moves along the boundary of the excavable area.
[0005]
As a method for setting an intrusion impossible area or an excavable area, a numerical input setting method and a direct teach method are known.
For example, as shown in FIG. 10 of Japanese Patent Laid-Open No. 4-136324, the numerical value input setting method is a method of setting a region by inputting a required numerical value using a numerical value input key. The numerical value input setting method is a convenient method when the excavable area can be set with actual numerical values in advance, for example, when there is a designation of how many meters to excavate from the ground with the hydraulic excavator.
[0006]
On the other hand, as shown in FIG. 5 of Japanese Patent Laid-Open No. 4-136324 or International Publication No. WO95 / 30059, for example, the operator takes the bucket edge on the target boundary line, This is a method of setting an area by pressing a switch. The direct teach method is a convenient method when performing rough leveling work roughly in a work site where rough excavation is performed where the range to be excavated is not specifically defined by a figure or the like.
[0007]
[Problems to be solved by the invention]
By the way, when setting the area by direct teaching, if the excavator is located on the horizontal ground and works while staying at that position, once the excavation area is set, the excavation area is not set again little by little. It is possible to excavate around the excavator to a certain depth by turning the excavator. However, when the excavator is positioned in a tilted state, the excavation area is set based on the body of the excavator, so the setting surface changes vertically while turning. In order to excavate to a certain depth, it is necessary to set the region again. In addition, when the height of the installation location of the hydraulic excavator is changed by traveling, it is necessary to reset the excavation area each time.
[0008]
The resetting of the excavation area requires two button operations: a button operation for releasing the set excavation area and a button operation for setting a new excavation area. It is extremely troublesome to perform a resetting operation by such a button operation every time it changes.
[0009]
An object of the present invention is to provide a front control device for a construction machine that enables direct teaching without a button operation and can easily set a desired excavation area.
[0010]
[Means for Solving the Problems]
  In order to achieve the above object, the present invention provides a first invention,Can be rotated verticallyConsists of boom, arm and bucketArticulated type front device constituted by a plurality of front members, a plurality of hydraulic actuators for driving the plurality of front members, and driven by operation signals from a plurality of operation lever means and supplied to the plurality of hydraulic actuators Provided in a construction machine having a plurality of hydraulic control valves for controlling the flow rate of pressurized oil,A front posture calculation unit that calculates the posture of the front device based on each rotation angle of the front device, and a drilling region in which the front device is set and calculated by controlling a front posture calculation value from the front posture calculation unit The area-limited excavation control unit that controls the movement of the bucket so as to move, the arm cloud setting switch that instructs the start of setting of the excavation area by direct teaching by the start of the operation of the arm cloud, and the arm cloud setting switch are selected. And an area setting calculation unit in an arm cloud setting mode that sets the tip position of the bucket during the arm cloud operation after the boom operation by the operation lever means as a boundary of the excavable area.
  Further, in a second aspect based on the first aspect, in the first aspect, the area setting calculation unit in the arm cloud setting mode, when the arm cloud operation signal by the operation lever exceeds a preset reference operation signal, When the position of the bucket tip at that time is set as the boundary of the excavable area at the time of arm cloud operation in direct teach, and the arm cloud operation signal by the operation lever becomes smaller than the preset reference operation signal The arm cloud operation is judged to have stopped, and the boundary of the excavation area is changed to a preset initial value..
[0011]
  Furthermore, the third invention isCan be rotated verticallyConsists of boom, arm and bucketArticulated type front device constituted by a plurality of front members, a plurality of hydraulic actuators for driving the plurality of front members, and driven by operation signals from a plurality of operation lever means and supplied to the plurality of hydraulic actuators Provided in a construction machine having a plurality of hydraulic control valves for controlling the flow rate of pressurized oil,A front posture calculation unit that calculates the posture of the front device based on each rotation angle of the front device, and a drilling region in which the front device is set and calculated by controlling a front posture calculation value from the front posture calculation unit The area-limited excavation control unit that controls the movement of the bucket so as to move, the arm dump setting switch that instructs the start of setting of the excavation area by direct teaching by the start of the arm dump operation, and the arm dump setting switch are selected. And an area setting calculation unit in an arm dump setting mode for setting the tip position of the bucket at the time of arm dump operation after the boom operation by the operation lever means as a boundary of the excavable area.
  According to a fourth aspect of the present invention, in the third aspect of the present invention, the region setting calculation unit in the arm dump setting mode is configured such that when the arm dump operation signal by the operation lever exceeds a preset reference operation signal, The position of the bucket tip at that time is set as the boundary of the arm dumpable area, and the arm dump operation is stopped when the arm dump operation signal by the operation lever becomes smaller than the preset reference operation signal. It is determined that the boundary of the excavation area is changed to an initial value set in advance.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment when the present invention is applied to a hydraulic excavator will be described with reference to the drawings.
First, a front control device for a hydraulic excavator according to a first embodiment of the present invention will be described with reference to FIGS.
[0014]
In FIG. 1, a hydraulic excavator to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3 a, an arm cylinder 3 b, a bucket cylinder 3 c, a swing motor 3 d, and a left and right traveling that are driven by pressure oil from the hydraulic pump 2. A plurality of hydraulic actuators including motors 3e and 3f, a plurality of operation lever devices 4a to 4f provided corresponding to each of the hydraulic actuators 3a to 3f, and a flow rate of pressure oil supplied to the hydraulic actuators 3a to 3f And a relief valve 6 that opens when the pressure between the hydraulic pump 2 and the flow control valves 5a to 5f exceeds a set value.
[0015]
In this embodiment, the operation levers 4a to 4f are electric lever devices that output electric signals as operation signals, and the flow rate control valves 5a to 5f are electrohydraulic conversion means that converts electric signals into pilot pressure, such as proportional solenoid valves. It is an electric / hydraulic operation type valve provided at both ends.
[0016]
In addition, the operation lever devices 4a to 4d are provided with different symbols corresponding to the boom, arm, bucket, and turning, but actually, the boom operation lever device 4a, the bucket operation lever device 4c, and the arm The operation lever device 4b and the turning operation lever device 4d are each configured to share one operation lever device, and each operation signal is output by moving the one operation lever two-dimensionally. is there.
[0017]
As shown in FIG. 2, the hydraulic excavator includes an articulated front device 1A including a boom 1a, an arm 1b, and a bucket 1c that rotate in a vertical direction, and a vehicle body 1B that includes an upper turning pair 1d and a lower traveling body 1e. The base end of the boom 1a of the front device 1A is supported by the front part of the upper swing body 1d. The boom 1a, arm 1b, bucket 1c, upper swing body 1d and lower traveling body 1e are respectively the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, swing motor 3d and left and right travel motors 3e, 3f shown in FIG. These operations are instructed by the operation lever devices 4a to 4f shown in FIG. The upper swing body 1d is provided with a cab 1f, and the operation lever devices 4a to 4f are arranged in the cab 1f.
[0018]
The hydraulic excavator as described above is provided with the front control device according to the present embodiment. The front control device is provided at the setting device 7 for instructing the start of the region-limited excavation control and setting of the excavation region in the control, and the pivot fulcrum of each of the boom 1a, the arm 1b, and the bucket 1c. Angle detectors 8a, 8b, 8c for detecting the respective rotation angles as state quantities relating to the position and posture of the robot, the force detection sensor 10 provided in the boom operation lever device 4a, and operations from the operation lever devices 4a to 4f. A control unit 9 is provided which inputs signals S4a to S4f, a signal from the setting device 7 and a detection signal from the force detection sensor 10 and outputs drive signals (electrical signals) to the flow control valves 5a to 5f.
[0019]
As shown in FIG. 3, the setting device 7 includes a control start switch 7a for instructing start of area limited excavation control, a direct setting switch 7b for instructing setting of an excavation area by direct teaching, and setting of an excavation area by numerical input. A numerical setting switch 7c for instructing, an arm cloud setting switch 7d for instructing the setting of the excavation area by direct teaching by starting the arm cloud operation, and releasing the setting of the excavation area by stopping the arm cloud operation, and a display screen 7e.
[0020]
When the control start switch 7a is pressed, a control start signal for switching from the normal mode to the area limited excavation control mode is output to the control unit 9 to enable setting of the excavation area and area limited excavation control. In addition, the upper right lamp of the switch 7a is turned on to inform the operator that the excavation restriction control mode is set.
[0021]
When the direct setting switch 7b is pressed, a direct teach setting signal is output to the control unit 9, and the excavation area is set at a predetermined portion of the front apparatus 1A, for example, the tip position of the bucket 1c at that time. In addition, the upper right lamp of the switch 7b is turned on to inform the operator that the setting mode is set by direct teaching.
When the numerical value setting switch 7c is pressed, the numerical value is displayed on the display screen 7e, and the upper right lamp of the switch 7c is turned on. Further, the numerical value displayed on the display screen 7e is output to the control unit 9 as a numerical value input setting signal, and the excavation area is set by the numerical value. The numerical value setting switch 7c includes two buttons, up and down, and increases or decreases the numerical value set by pressing any of the two buttons.
[0022]
When the arm cloud setting switch 7d is pressed, a setting mode switching signal is output to the control unit 9, and by the start of the arm cloud operation, at a predetermined part of the front device 1A at that time, for example, at the tip of the bucket 1c, by direct teaching A drilling area is set. Further, the upper right lamp of the switch 7d is turned on. Details of the arm cloud setting mode will be described later with reference to FIG.
[0023]
When the control start switch 7a of the setting device 7 is not pushed, the control unit 9 generates drive signals (electric signals) corresponding to the operation signals S4a to S4f from the operation lever devices 4a to 4f, and outputs them as flow rates. When the control start switch 7a of the setting device 7 is pushed by outputting to the control valves 5a to 5f, the setting signal from the direct setting switch 7b, the numerical value setting switch 7c or the arm cloud setting switch 7d of the setting device 7 is used. The excavation area where the tip can move can be set, and the operation signals S4a and S4b from the operation lever devices 4a and 4b are corrected for the area limited excavation control, and a drive signal corresponding to the corrected operation signal is provided. And output to the flow control valves 5a and 5b.
[0024]
In the following, the details of the functions of the portions related to the operation signals S4a and S4b of the control unit 9 will be described with reference to FIGS.
As shown in FIG. 4, the control unit 9 has functions of an area setting unit 90 and an area limited excavation control unit 92. The area setting unit 90 performs calculation for setting an excavation restriction area in which the tip of the bucket 1c can move in response to an instruction from the setting device 7, and includes an area setting calculation unit 90a in the normal setting mode and an area setting in the arm cloud setting mode. It is comprised from each function of the calculating part 90b and the setting mode switching part 90c. The region limited excavation control unit 92 controls the movement of the bucket 1c so as to limit the movement of the tip of the bucket 1c within the excavation region set and calculated by the region setting unit 90. The area limited excavation control unit 92 includes functions of a control switching unit 92a, a front posture calculation unit 92b, a deceleration / restoration control correction operation signal calculation unit 92c, and a valve command calculation unit 92d.
[0025]
First, the region setting function of the region setting calculation unit 90a in the normal setting mode of the region setting unit 90 and the posture calculation function of the front posture calculation unit 92b of the region limited excavation control unit 92 will be described. In the present embodiment, the excavation restriction region is set in parallel to the X axis shown in FIG.
When the control start switch 7a is turned ON (pressed) and the control start signal is input, the region setting calculation unit 90a in the normal setting mode of the region setting unit 90 receives a bucket as the initial value of the boundary L of the excavable region. Set a value that is not deep enough. As a result, immediately after the control start switch 7a is turned on, the front device 1A can move freely within the range in which it can operate, and the excavable area can be freely set within the operation range by direct teaching or numerical input setting. can do. As an example, the initial value is Y = −20 m.
[0026]
On the other hand, the front posture calculation unit 92b in the area-limited excavation control unit 92 has a toe of the bucket of the front device 1A (based on the rotation angles of the boom 1a, the arm 1b, and the bucket 1c detected by the angle detectors 8a to 8c). Calculate the position of the tip.
[0027]
That is, the storage device of the control unit 9 stores the dimensions of the front device 1A and the vehicle body 1B as shown in FIG. 5, and the front attitude calculation unit 92b stores these data and the angle detectors 8a, 8b, The position of the bucket tip is calculated using the values of the rotation angles α, β, and γ detected in 8c. At this time, the position of the tip is obtained, for example, as a coordinate value (X, Y) in the XY coordinate system with the rotation fulcrum of the boom 1a as the origin. The XY coordinate system is an orthogonal coordinate system in a vertical plane fixed to the main body 1B. The distance between the pivot point of the boom 1a and the pivot point of the arm 1b is L₁The distance between the pivot point of arm 1b and the pivot point of bucket 1c is L₂The distance between the rotation fulcrum of the bucket 1c and the tip of the bucket 1c is L_ThreeThen, the coordinate values (X, Y) of the XY coordinate system can be obtained from the following formulas from the rotation angles α, β, γ.
X = L₁sinα + L₂sin (α + β) + L_Threesin (α + β + γ)
Y = L₁cosα + L₂con (α + β) + L_Threecos (α + β + γ)
The area setting calculation unit 90a in the normal setting mode sets an excavable area where the tip of the bucket 1c can move by using the above data of the front posture calculation unit 92b by direct teaching in response to an instruction from the direct setting switch 7b. . That is, in FIG. 5, after the tip of the bucket 1c is moved to the target position P1 by the operation of the operator's operation lever device, the direct setting switch 7b is pushed. The area setting calculation unit 90a in the normal setting mode uses the Y coordinate value Y = Y1 of the bucket tip calculated by the front posture calculation unit 92b at that time in accordance with the setting signal from the direct setting switch 7b.
Setting value = Y coordinate value Y1
And the boundary L of the excavable area is set.
[0028]
When the direct setting switch 7b of the setting device 7 is pushed again, the setting by the direct teaching is canceled and reset to the initial value.
[0029]
On the other hand, when the numerical value setting switch 7c of the setting device 7 is pressed, the area setting calculation unit 90a in the normal setting mode sets the excavable area where the tip of the bucket 1c can move by the numerical value set by the numerical value setting switch 7c. I do.
[0030]
Next, the area setting function of the area setting calculation unit 90b in the arm cloud setting mode will be described.
[0031]
When the arm cloud setting switch 7d shown in FIG. 3 is pressed and the arm cloud setting mode is selected, the region setting calculation unit 90b in the arm cloud setting mode performs the boom lowering operation by the operator as shown in FIG. Then, the tip of the bucket 1c is moved to the position of the point P1, and when the arm crowding operation is performed by operating the arm operating lever device 4b in this state, the tip of the bucket 1c when the arm crowding operation is performed by direct teaching. Is set as the boundary of the excavable area.
[0032]
When the arm cloud operation is performed, the arm cloud operation signal S4c rises and becomes a preset reference operation signal S4co. When the arm cloud operation signal S4c exceeds S4co, the area setting calculation unit 90b in the arm cloud setting mode calculates the tip position P1 of the bucket 1c at that time, and sets the z coordinate value of P1 as the excavation restriction area.
[0033]
The calculation method of the tip position P1 is as described with reference to FIG. 5, and the front posture calculation unit 92b determines the front device from the rotation angles of the boom 1a, arm 1b, and bucket 1c detected by the angle detectors 8a to 8c. Using the result of calculating the position and posture of 1A, using the Y coordinate value Y = Y1 of the tip P1 of the bucket 1c when the arm cloud operation is performed,
Setting value = Y coordinate value Y1
And the boundary L of the excavable area is set.
[0034]
Here, the calculation processing function of the area setting calculation unit 90b in the arm cloud setting mode will be described with reference to the flowchart of FIG.
[0035]
In step 010, a preset internal counter is initialized to “0”.
[0036]
Next, in step 020, it is determined whether or not the arm cloud operation signal S4c is greater than a preset reference operation signal S4co. Here, the reference operation signal S4co gradually increases the arm cloud operation signal S4c, and sets the operation signal immediately before the arm 1b starts the arm cloud operation. If the operation signal S4c is greater than the preset reference operation signal S4co, it is determined that the arm cloud operation has been performed, and in step 030, the counter is incremented by one. If the operation signal S4c is smaller than the preset reference operation signal S4co, it is determined that the arm cloud operation has stopped, and in step 080, the linear expression of the boundary of the excavation area is Y = −20 m. To do.
[0037]
In step 040, it is determined whether or not the counter is “1”. Since the counter is “1” when the arm cloud operation is started, in step 050, the excavation area is set from the Y coordinate of the tip of the bucket 1c as described above. That is, when the arm cloud operation is started and the counter becomes “1”, the excavation area is set using the position P1 of the tip of the bucket 1c at that time.
[0038]
If the arm cloud operation continues, the counter is “2” by the process described later, and it is determined in step 060 whether the counter is “2” or more. When the arm cloud operation is started, since the counter is “1”, the process returns to step 020. When the arm cloud operation is continued, the counter is “2” by the process described later, and “2” is set to the counter in Step 070.
[0039]
Here, a case where the arm cloud operation is continued will be described. When the counter is “1” and the arm cloud operation is continued, the process proceeds to step 030, and the counter is incremented by one to become “2”. move on. In step 060, since the counter is “2”, in step 070, the region setting calculation unit 90b sets “2” in the counter and returns to step 010.
[0040]
Further, when the arm cloud operation continues, the process proceeds from step 020 to step 030, where the counter is incremented to “3”. Then, from step 040 through step 060, in step 070, the counter is set to “2”. That is, the counter is “1” at the start of the arm cloud operation, and is kept at “2” while the arm cloud operation continues.
[0041]
When the arm cloud operation stops, it is determined in step 020 that the arm cloud operation signal S4c is smaller than the preset reference operation signal S4co, and the arm cloud operation is stopped, and the process proceeds to step 080. .
[0042]
In step 080, the linear equation of the boundary of the excavation area is set to Y = −20 m, the initial value is returned, and then the process returns to step 010. By the processing in step 080, the setting value set in the arm cloud setting mode is canceled.
[0043]
Further, in step 010, the counter is initialized to “0”, so that the arm cloud operation is prepared next.
[0044]
As described above, the bucket is lowered by the boom lowering operation, and then the arm cloud operation is performed, so that the excavation area is set by direct teaching using the bucket tip coordinates at that time, and thereafter the area limited excavation is performed with the set value. Done. When the arm cloud operation stops, the counter is reset to “0”, so that the excavation area is reset by performing the arm cloud operation again.
[0045]
The setting mode switching unit 90c switches the setting mode by switching the region setting calculation unit 90a in the normal mode and the region setting calculation unit 90b in the arm cloud setting mode according to the state of the arm cloud setting switch 7d.
[0046]
Next, the overall control function of the area limited excavation control unit 92 will be described using the flowchart shown in FIG. In the figure, steps 100 and 110 are functions of the control switching unit 92a, steps 115 and 120 are functions of the front posture calculation unit 92b, and steps 125 to 150 are correction operation signal calculation units for deceleration / restoration control. Step 155 is a function of the valve command calculation unit 92d.
[0047]
In step 100, operation signals S4a and S4b of the operation lever devices 4a and 4b are input.
[0048]
Next, at step 110, the control method is switched depending on whether or not the control start switch 7a is ON. When the control start switch 7a is OFF, in step 155, a drive signal corresponding to the operation signal from the operation lever devices 4a and 4b shown in FIG. 4 is generated and output to the flow control valves 5a and 5b. Thereby, the normal excavation work according to the operation amount of the operation lever devices 4a and 4b is performed.
[0049]
When the control start switch 7a is ON, the process proceeds to steps 110 to 150, and the operation signals S4a and S4b from the operation lever devices 4a and 4b are corrected.
[0050]
Hereinafter, processing contents of steps 115 to 150 will be described.
In step 115, the rotation angles of the boom 1a, the arm 1b, and the bucket 1c detected by the angle detectors 8a to 8c are input to the front posture calculation unit 92b.
[0051]
In step 120, the position of a predetermined portion of the front device 1A, for example, the tip position of the bucket 1c, is calculated based on the detected rotation angles α, β, γ and the dimensions of each part of the front device 1A that are input in advance. The calculation at this time is the same as the calculation of the bucket tip position at the time of setting the excavation area described above. In this case, the position of the bucket tip is also obtained as a value in the XY coordinate system.
[0052]
Next, in step 125, a target speed vector Vc at the tip of the bucket 1c commanded by the operation signals S4a and S4b of the operation lever device for the front device 1A and 4b is calculated. Here, the relationship between the operation signals S4a and S4b of the operation lever devices 4a and 4b and the supply flow rate of the flow rate control valves 5a and 5b and the dimensions of each part of the front device 1A are stored in advance in the storage device of the control unit 9 for operation. The supply flow rates of the corresponding flow control valves 5a and 5b are obtained from the operation signals S4a and S4b of the lever devices 4a and 4b, and the target drive speeds of the hydraulic cylinders 3a and 3b are obtained from the supply flow rate values. The target speed vector Vc at the bucket tip is calculated using the dimensions of each part of the apparatus 1A. Then, a vector component Vcy in a direction perpendicular to the vector component Vcx in a direction parallel to the boundary of the target velocity vector Vc setting region is obtained. Here, the X coordinate component Vcx of the target velocity vector Vc is a vector component in a direction parallel to the boundary of the target velocity vector Vc setting region, and the Y coordinate component Vcy is a direction perpendicular to the boundary of the target velocity vector Vc setting region. Vector component of.
[0053]
Next, in step 130, it is determined whether or not the tip of the bucket 1c is in a deceleration region that is a region near the boundary in the setting region as shown in FIG. If YES in step 135, the process proceeds to step 135 where the target speed vector Vc is corrected so as to decelerate the front device 1A.
[0054]
Here, the determination of whether or not the vehicle is in the deceleration region in step 130 and the correction of the target speed vector Vc in the deceleration region in step 135 will be described with reference to FIGS.
[0055]
The storage device of the control unit 9 stores the relationship between the distance D1 between the boundary of the setting area and the tip of the bucket 1c and the deceleration vector count h as shown in FIG. The relationship between the distance D1 and the count h is h = 0 when the distance D1 is greater than the distance Ya1, and when D1 is smaller than Ya1, the deceleration vector count h increases as the distance D1 decreases. The distance D1 = 0 and h = 1 are set. Here, the range of the distance Ya1 from the boundary of the setting area corresponds to the deceleration area.
[0056]
In step 130, the distance D1 between the tip position of the bucket 1c obtained in step 120 and the boundary of the set area is calculated, and when this D1 becomes smaller than the distance Ya1, it is determined that the vehicle has entered the deceleration area.
[0057]
In step 135, the vector component in the vertical direction, that is, XY with respect to the boundary of the setting area which is a vector component in the direction approaching the boundary of the setting area of the target velocity vector Vc at the tip of the bucket 1c calculated in step 125, The target velocity vector Vc is corrected so as to reduce the Y coordinate component Vcy in the coordinate system. Specifically, the deceleration vector coefficient h corresponding to the distance D1 between the boundary of the set area and the tip of the bucket 1c is calculated from the relationship shown in FIG. 9 stored in the storage device, and this deceleration vector coefficient h is set as the target. The speed vector Vc is multiplied by the Ya coordinate component (vertical vector component) Vcy, and further multiplied by −1 to obtain a deceleration vector VR (= −h · Vcy), and VR is added to Vcy. Here, the deceleration vector VR is a velocity vector in the opposite direction of Vcy where D1 = 0 and VR = Vcy when the distance D1 between the tip of the bucket 1c and the boundary of the set region becomes smaller than Ya1. Therefore, by adding the deceleration vector VR to the vertical vector component Vcy of the target speed vector Vc, the vector component Vcy is increased so that the amount of decrease in the vertical vector component Vcy increases as the distance D1 becomes smaller than Ya1. The target speed vector Vc is corrected to the target speed vector Vca.
[0058]
Here, an example of a locus when the tip of the bucket 1c is decelerated and controlled according to the corrected target speed vector Vca as described above will be described with reference to FIG. When the target velocity vector Vc is constant obliquely downward, the parallel component Vcx is constant, and the vertical component Vcy is increased as the tip of the bucket 1c approaches the boundary of the setting region (distance D1 becomes Y_a1It gets smaller as it gets smaller). Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the set region as shown in FIG. Further, since D = 1 = 0, h = 1, VR = −Vcy, the corrected target velocity vector Vca on the boundary of the set region coincides with the parallel component Vcx.
[0059]
Thus, in the deceleration control in step 135, the movement in the direction approaching the boundary of the setting area at the tip of the bucket 1c is decelerated, and as a result, the moving direction of the tip of the bucket 1c is the direction along the boundary of the setting area. In this sense, the deceleration control in step 135 can also be referred to as direction conversion control.
[0060]
Next, in step 140, it is determined whether or not the tip of the bucket 1c is outside the setting area as shown in FIG. 8 set as described above. If it is outside the setting area, the process proceeds to step 145. Then, the target speed vector Vc is corrected so that the tip of the bucket 1c returns to the setting area, and when it is not outside the setting area, the process proceeds to step 155.
[0061]
Here, it will be described with reference to FIG. 11 and FIG. 12 whether or not the determination in step 140 is outside the set area and the correction of the target velocity vector Vc outside the set area in step 145.
[0062]
The storage device of the control unit 9 stores the relationship between the absolute value of the distance D2 between the boundary of the setting area and the tip of the bucket 1c and the restoration vector AR as shown in FIG. The relationship between the absolute value of the distance D2 and the restored vector AR is set so that the restored vector AR increases as the absolute value of the distance D2 decreases.
[0063]
In step 140, the distance D2 between the tip position of the bucket 1c obtained in step 120 and the boundary of the setting area is calculated, and if this distance becomes a negative value, it is determined that the vehicle has entered outside the setting area.
[0064]
Further, in step 145, the vector component in the vertical direction with respect to the boundary of the target velocity vector Vc at the tip of the bucket 1c calculated in step 125, that is, the Y coordinate component Vcy of the XY coordinate system becomes the boundary of the setting region. The target velocity vector Vc is corrected so as to change to a vertical component in the approaching direction. Specifically, the parallel component Vcx is extracted by adding the reverse vector Acy of Vcy so as to cancel the vector component Vcy in the vertical direction. This correction prevents the tip of the bucket 1c from moving further outside the set area.
[0065]
Then, a restoration vector AR corresponding to the absolute value of the distance D2 between the boundary of the setting area and the tip of the bucket 1c is calculated from the relationship shown in FIG. 11 stored in the storage device, and this restoration vector AR is calculated. The target velocity vector Vc is further added to the vector component Vcy in the vertical direction. Here, the restoration vector AR is a velocity vector in the reverse direction that decreases as the distance D2 between the tip of the bucket 1c and the boundary of the setting area decreases. Therefore, by adding the restored vector AR to the vertical vector component Vcy of the target velocity vector Vc, the target velocity vector Vc is reduced so that the vertical vector component Vcy decreases as the distance D2 decreases. It is corrected to Vca.
[0066]
Here, an example of a locus when the tip of the bucket 1c is restored and controlled according to the corrected target velocity vector Vca as described above will be described with reference to FIG. When the target velocity vector Vc is constant obliquely downward, the parallel component Vcx is constant, and the restoration vector AR is proportional to the distance D2, so that the vertical component becomes closer to the boundary of the setting area ( It becomes smaller (as the distance D2 becomes smaller). Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the set region as shown in FIG.
[0067]
Thus, in the restoration control in step 145, control is performed so that the tip of the bucket 1c returns to the setting area, so that the restoration area is obtained outside the setting area. In this restoration control as well, the movement in the direction approaching the boundary of the setting area at the tip of the bucket 1c is decelerated, and as a result, the moving direction of the tip of the bucket 1c is converted into a direction along the boundary of the setting area. In this sense, this restoration control can also be called direction change control.
[0068]
Next, in step 150, operation signals of the flow control valves 5a to 5c corresponding to the corrected target speed vector Vca obtained in step 135 or 145 are calculated. This is an inverse operation of the calculation of the target speed vector Vc in step 125.
[0069]
In step 155, a drive signal corresponding to the operation signal calculated in step 150 is generated, the flow control valves 5a and 5b are output, and the process returns to the beginning.
[0070]
When the area limited excavation control is to be ended, the control start switch 7a of the setting device 7 is pushed again to turn it off.
[0071]
As described above, according to the present embodiment, by lowering the bucket by the boom lowering operation and then performing the arm cloud operation, the excavation area can be easily set by direct teaching from the coordinates of the tip of the bucket at that time. Can do. In addition, the setting of the set excavation area can be canceled by stopping the arm cloud operation, and when the arm cloud operation occurs next, the excavation area is easily reset from the coordinates of the bucket tip at that time be able to. Therefore, unlike the conventional method, it is not necessary to perform two button operations, ie, a button operation for releasing a set region and a button operation for setting a new region in order to reset the excavation region. The area can be set easily.
[0072]
In addition, since the direct teach setting is performed in conjunction with the arm cloud operation as a means for setting the excavation restriction area, the target setting area can be set quickly.
[0073]
Further, when the tip of the bucket 1c is away from the boundary of the set area, the target speed vector Vc is not corrected and the work can be performed in the same manner as normal work, and the tip of the bucket 1c is close to the boundary in the set area. When approaching, correction is performed so as to reduce the vector component in the direction approaching the boundary of the set area of the target velocity vector Vc (vector component in the direction perpendicular to the boundary). Is decelerated and the velocity component in the direction along the boundary of the setting area is reduced. Therefore, as shown in FIG. 10, the tip of the bucket 1c can be moved along the boundary of the setting area. For this reason, the excavation which restrict | limited the area | region which can move the front-end | tip of the bucket 1c can be performed efficiently.
[0074]
Next, a second embodiment of the present invention will be described with reference to FIGS.
In the embodiment described above, the arm cloud operation is detected and the excavation area is set by direct teaching, whereas in this embodiment, the arm dumping operation is detected and the excavation area is set by direct teach. It is also possible to do. That is, when performing leveling excavation, in addition to leveling excavation using an arm cloud, leveling excavation may be performed using an arm dump. The area is set.
[0075]
First, the setting device 7 'will be described with reference to FIG. The setting device 7 'outputs a setting signal to the control unit 9 by operating means such as a switch provided on the operation panel, and instructs setting of the excavation restricted area. The operation panel type setting device 7 'includes a control start switch 7a, a direct setting switch 7b, a numerical value setting switch 7c, an arm cloud setting switch 7d, and a display screen 7e. The functions of these switches 7a to 7d and the display screen 7e are the same as those described in FIG.
[0076]
Furthermore, in the present embodiment, an arm dump setting switch 7f is provided for setting the excavation area by direct teaching when the arm dump operation is started and releasing the setting of the excavation area when the arm dump operation is stopped.
[0077]
When the arm dump setting switch 7f is pressed, a setting mode switching signal is output to the control unit 9, and by the start of the arm dump operation, a predetermined part of the front device 1A at that time, for example, the tip of the bucket 1c is used by direct teaching. A drilling area is set. Further, the upper right lamp of the switch 7f is turned on. Details of the arm dump setting mode will be described later with reference to FIG.
[0078]
The configuration of the front control device and its hydraulic drive device used in this embodiment is the same as that shown in FIG. Further, the configuration of the control unit 9 is the same as that shown in FIG. 4, and in addition to the functional configurations shown in FIG. 4, it further includes an area setting calculation unit in the arm dump setting mode. Then, a setting mode switching signal from the arm dump setting switch 7f shown in FIG. 13 is also input to the setting mode switching unit 90c shown in FIG. The area setting calculation unit 90b and the area setting calculation unit in the arm dump setting mode are switched and used.
[0079]
Here, the calculation processing function of the area setting calculation unit in the arm dump setting mode will be described with reference to the flowchart of FIG. In this flowchart, step 220 is particularly different from the flowchart shown in FIG.
[0080]
In step 210, a preset internal counter is initialized to “0”.
[0081]
Next, at step 220, it is determined whether or not the arm dump operation signal S4d is greater than a preset reference operation signal S4do. Here, the reference operation signal S4do gradually increases the arm dump operation signal S4d, and sets the operation signal immediately before the arm 1b starts the arm dump operation. If the operation signal S4d is larger than the preset reference operation signal S4do, it is determined that the arm dump operation has been performed, and the process proceeds to step 230, where the operation signal S4d is the preset reference operation signal. If it is smaller than S4do, it is determined that the arm dumping operation has stopped, and the routine proceeds to step 280.
[0082]
In step 230, the counter is incremented by one.
[0083]
In step 240, it is determined whether or not the counter is “1”. Since the counter is “1” when the arm dump operation is started, in step 250, the excavation area is set from the Y coordinate of the tip of the bucket 1c as described above. That is, when the arm dumping operation is started and the counter becomes “1”, the excavation area is set using the position P1 of the tip of the bucket 1c at that time.
[0084]
If the arm dumping operation continues, the counter is “2” by the process described later, and it is determined in step 260 whether the counter is “2” or more. When the arm dump operation is started, the counter is “1”. Therefore, the process returns to step 220. If the arm dump operation is continued, the counter is “2” by the process described later. Proceed to 270.
[0085]
When the arm dump operation is stopped, in step 220, the arm setting operation unit in the arm dump setting mode makes the arm dump operation signal S4d smaller than the preset reference operation signal S4do, and the arm dump operation is stopped. Judge that it was done.
[0086]
In step 280, the linear equation of the boundary of the excavation area is set to Y = −20 m, the initial value is returned, and the process returns to step 210. By the processing in step 280, the setting value set in the arm dump setting mode is canceled.
[0087]
Further, in step 210, the counter is initialized to “0”, so that the arm dump operation is prepared next.
[0088]
As described above, by performing the arm dumping operation, the excavation area is set by direct teaching from the coordinates of the tip of the bucket at that time, and thereafter, the area limited excavation is performed with the set value. When the arm dumping operation is stopped, the counter is reset to “0”, so that the excavation area is reset by performing the arm dumping operation again.
[0089]
The setting mode switching unit 90c selects a normal mode region setting calculation unit 90a, an arm cloud setting mode region setting calculation unit 90b, and an arm dump setting mode region setting calculation unit according to the state of the arm dump setting switch 7f. By switching, the setting mode can be switched.
[0090]
As described above, also in the present embodiment, the excavation area can be easily set by the arm cloud operation or the arm dump operation.
[0091]
In addition, since the direct teaching is performed in conjunction with the arm cloud operation or the arm dumping operation as means for setting the excavation restriction region, the target excavation region can be set quickly.
[0092]
The front control device according to the present invention is not limited to the above-described embodiments, and various modifications can be made. As an example, in this embodiment, the operation lever is an electric lever, but may be a hydraulic pilot lever. In addition, although an angle meter that detects a rotation angle is used as means for detecting a state quantity related to the position and orientation of the front device 1A, a stroke of a cylinder may be detected.
[0093]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the setting of the excavation area by the direct teach in the front control apparatus of a construction machine can be performed without button operation, and a desired excavation area can be set easily.
[Brief description of the drawings]
FIG. 1 is a diagram showing a front control device for a construction machine according to an embodiment of the present invention, together with its hydraulic drive device.
FIG. 2 is a diagram showing the external shape of a hydraulic excavator to which the present invention is applied.
FIG. 3 is a diagram showing an operation panel type setting device for instructing setting of an excavation restricted area in the present embodiment.
FIG. 4 is a functional block diagram showing a control function of a control unit.
FIG. 5 is a diagram showing a coordinate system used in the area limited excavation control and an excavation area setting method according to the present embodiment.
FIG. 6 is a flowchart for explaining calculation contents for setting an excavation area by an arm cloud operation;
FIG. 7 is a flowchart showing a control procedure in the control unit.
FIG. 8 is a diagram illustrating a difference in the operation of correcting the bucket tip speed by the boom when the bucket tip is within the setting region, when it is on the boundary of the setting region, and when it is outside the setting region.
FIG. 9 is a diagram illustrating a relationship between a distance between a tip of a bucket and a boundary of a setting area and a deceleration vector.
FIG. 10 is a diagram illustrating an example of a correction operation locus when the bucket tip is within a setting region.
FIG. 11 is a diagram illustrating a relationship between a distance between a tip of a bucket and a boundary of a setting area and a restoration vector.
FIG. 12 is a diagram illustrating an example of a correction operation locus when the tip of the bucket is outside the setting region.
FIG. 13 is a diagram showing an operation panel type setting device for instructing setting of an excavation restricted area according to another embodiment of the present invention.
FIG. 14 is a flowchart for explaining calculation contents for setting an excavation area by an arm dump operation.
[Explanation of symbols]
1A Front device
1B body
1a boom
1b arm
1c bucket
2 Hydraulic pump
3a-3f Hydraulic actuator
4a-4f Operation lever device
5a-5f Flow control valve
6 Relief valve
7 Setting device
7a Control start switch
7b Direct setting switch
7c Numerical value setting switch
7d Arm cloud setting switch
7e Display screen
7f Arm dump setting switch
8a, 8b, 8c Angle detector
9 Control unit
90 Area setting section
90a Normal mode area setting calculation unit
90b Area setting calculation part of arm cloud setting mode
90c Setting mode switching section
92 Area limited excavation control unit
92a Control switching unit
92b Front posture calculation unit
92c Correction operation signal calculation unit for deceleration / restoration control
92d Valve command calculation unit

Claims (4)

From an articulated front device composed of a plurality of front members made up of a boom, an arm and a bucket that can pivot in the vertical direction, a plurality of hydraulic actuators for driving the plurality of front members, and a plurality of operating lever means And a plurality of hydraulic control valves that control flow rates of pressure oil supplied to the plurality of hydraulic actuators, and are provided on a construction machine based on each rotation angle of the front device. Front posture calculation unit for calculating posture, and region limited excavation for controlling the movement of the bucket so that the front device moves within the calculated excavation region by controlling the front posture calculation value from the front posture calculation unit The control unit and the arm crank that instructs the start of excavation area setting by direct teach by the start of arm cloud operation In the state where the wood setting switch and the arm cloud setting switch are selected, the area of the arm cloud setting mode in which the tip position of the bucket at the time of the arm cloud operation after the boom operation by the operation lever means is set as the boundary of the excavable area A front control device for a construction machine, comprising: a setting calculation unit . When the arm cloud operation signal by the operation lever exceeds the preset reference operation signal, the area setting calculation unit in the arm cloud setting mode determines the position of the bucket tip at that time, and the arm cloud operation in direct teach Is set as the boundary of the excavable area at the time, and when the operation signal of the arm cloud by the operation lever becomes smaller than the preset reference operation signal, it is determined that the arm cloud operation has stopped, and excavation 2. The front control device for a construction machine according to claim 1 , wherein the boundary of the region is changed to a preset initial value . From an articulated front device composed of a plurality of front members made up of a boom, an arm and a bucket that can pivot in the vertical direction, a plurality of hydraulic actuators for driving the plurality of front members, and a plurality of operating lever means And a plurality of hydraulic control valves that control flow rates of pressure oil supplied to the plurality of hydraulic actuators, and are provided on a construction machine based on each rotation angle of the front device. Front posture calculation unit for calculating posture, and region limited excavation for controlling the movement of the bucket so that the front device moves within the calculated excavation region by controlling the front posture calculation value from the front posture calculation unit The control unit and an arm dumper that instructs the start of excavation area setting by direct teaching when arm dumping starts. Area setting in arm dump setting mode for setting the tip position of the bucket at the time of arm dumping operation after boom operation by the operation lever means as a boundary of the excavable area in a state where the setting switch and the arm dump setting switch are selected A front control device for a construction machine, comprising a calculation unit . When the arm dump operation signal by the operation lever exceeds a preset reference operation signal, the area setting calculation unit in the arm dump setting mode determines the position of the bucket tip at that time as the boundary of the arm dump possible area. When the arm dump operation signal by the operation lever becomes smaller than the preset reference operation signal, it is determined that the arm dump operation has stopped, and the boundary of the excavation area is set in advance. 4. The front control device for a construction machine according to claim 3 , wherein the front control device is changed to an initial value .

Images