JP3686750B2 - Automatic driving excavator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic driving excavator, and more particularly to an automatic driving shovel that performs work in cooperation with a transport machine such as a truck.
[0002]
[Prior art]
Japanese Patent Application Laid-Open No. 9-195321 describes an automatic driving excavator that operates in cooperation with other work machines. It is described that this automatic driving excavator stores teaching data by teaching operation, and automatically operates a series of operations such as excavation, turning, and earthing based on the teaching data during driving.
[0003]
[Problems to be solved by the invention]
By the way, in actual work sites, hydraulic excavators are often operated in cooperation with other work machines such as trucks and crushers. Is essential.
[0004]
In particular, when transporting materials such as earth and sand, quarrying, etc., dumped from a high place and deposited at a certain position, from a truck or other transport machine to other places such as a crusher hopper using a hydraulic excavator, The hydraulic excavator needs to be retracted to avoid colliding with a material dumped from the transport machine, and the operation must be stopped until the transport machine is withdrawn.
[0005]
However, the automatic driving excavator has no function of notifying the information about the time when the transporting machine dumps, and thus cannot perform efficient work.
[0006]
In view of the above problems, an object of the present invention is to provide an automatic driving excavator capable of detecting the approach of a truck, evacuating it, reducing the engine speed, and performing safe and efficient automatic driving. It is to provide.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the present invention employs the following means.
[0008]
In an automatic driving excavator that automatically repeats a series of operations from excavation to earthing as taught by regenerating operation,
The automatic operation excavator receives a detection output fed from a transport machine entry detector that detects an approach of a transport machine that carries the transported object to be excavated, and the automatic operation excavator is in excavation or excavation position. If it is determined that the vehicle is turning to move to the retracted position, the automatic driving excavator is retracted to the retracted position, and when the movement to the retracted position is completed, the engine speed is idled. It is characterized by that.
[0009]
In addition, an actuator for operating the boom, arm, bucket, and swing body,
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle between the swing body and the boom, between the boom and the arm, between the arm and the bucket, and a swing angle of the swing body;
A teaching position storage unit that sequentially stores angle signals from the angle detector as teaching data in an arbitrary plurality of postures of a hydraulic excavator, and a servo control that controls the electromagnetic control valve by sequentially reading the teaching position data. An automatic operation controller having a section ;
An engine controller for controlling the engine speed;
In an automatic driving excavator comprising
The automatic operation controller receives a detection output fed from a transport machine entry detector that detects the entrance of the transport machine that carries the transport object to be excavated, and the automatic operation excavator is in excavation or excavation position. If it is determined that the vehicle is turning to move to the retracted position, the automatic driving excavator is retracted to the retracted position, and when the movement to the retracted position is completed, the engine speed is idled. It is characterized by that.
[0010]
In the automatic driving excavator according to claim 2,
The automatic operation controller outputs a command to return the engine speed to the normal state before dropping the engine speed to the engine controller when the conveyance machine detection of the conveyance machine is detected by the conveyance machine entry detector. Is started.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS.
[0012]
FIG. 1 is a plan view showing a cooperative operation between an automatic driving excavator and another work machine according to the present embodiment, and FIGS. 2 (a), 2 (b), and 2 (c) are respectively shown in FIG. It is a side view which shows each state of excavation of the automatic driving excavator, earthing, and evacuation.
[0013]
In these drawings, 1 is an automatic driving excavator, 2 is a revolving structure that can be swiveled horizontally, 3 is a boom that is coupled to the revolving structure 2, 4 is an arm that is coupled to the boom 3, and 5 is coupled to an arm 4. The bucket 6 is carried by the truck, and is carried by the automatic excavator 1 such as earth and sand, quarrying, 7 is a crusher, 8 is a hopper, 9 is a truck, and 10 is an entry position of the truck 9. , A truck entry detection sensor for detecting the entry of the truck, 11 a remote operation device having a teaching box and a playback operation panel, 12 a cable for transmitting the output of the track entry detection sensor 10 to the remote operation device 11, and positions A and B , ..., position D represents the excavation position of the automatic excavator.
[0014]
The truck approach detection sensor 10 uses an ultrasonic wave, a laser, or the like, and its operation principle is to output an ON-OFF signal by comparing the track approach detection sensor 10 with a certain distance.
[0015]
As shown in FIG. 1, in a crushed stone site or the like, the automatic driving excavator 1 excavates a quarry 6 at a position A by a bucket 5 and turns (turns 1) in accordance with a taught work procedure, and then a hopper of a crusher 7. Release to 8, turn again (turn 2), excavate at position B, turn and release. Further, after excavation at positions C and D, the same operation is performed while increasing the excavation depth at position A again. Furthermore, as shown in FIG. 2 (c), the automatic driving shovel 1 is stopped at the retracted position when entering the truck so that the front portion of the automatic driving shovel 1 does not collide with the material dumped by the truck 9.
[0016]
FIG. 3 is an overall configuration diagram of the control mechanism of the automatic driving shovel 1 according to the present embodiment.
[0017]
In the figure, 111 is a teaching operation unit for performing teaching in the remote operation device, 112 is a reproduction operation unit for performing playback in the remote operation unit 11, and 113 and 135 are remote operation devices for serial communication, respectively. 11 and a remote control device-side wireless device provided to perform data transmission / reception between the automatic operation controller described later and an upper vehicle-side wireless device, 13 is an on-vehicle device mounted on the automatic operation shovel 1, and 131 is an automatic operation. An automatic operation controller 132 that performs various controls to perform, an electromagnetic control valve 132 that is driven by a drive current output from the automatic operation controller 131 and controls the amount of oil or hydraulic pressure that flows into the actuator, and 133 is an automatic operation such as the bucket 5 An actuator 134 for operating each part of the driving shovel, Between over beam 3, the boom 3 and between the arms 4, an angle sensor for detecting the respective rotation angle and the turning angle of the swing body 2 between the arm 4 and the bucket 5, 136 engine controller for performing various controls of the engine, Reference numeral 137 denotes an engine. In FIG. 3, the same parts as those shown in FIGS. 1 and 2 are designated by the same reference numerals and the description thereof is omitted.
[0018]
At the time of teaching, teaching is performed via the wireless devices 113 and 135 by the operation from the teaching operation unit 111 of the remote operation device 11, and the automatic operation controller 131 detects each detection from each angle sensor 134 of the automatic operation shovel 1. An output is inputted and calculated, and teaching data and a teaching command are stored in a predetermined storage area.
[0019]
During playback, a playback command is output via the wireless devices 113 and 135 in the same manner from the playback operation unit 112. Upon receiving the command, the automatic operation controller 131 calls the stored teaching position data according to the teaching command, and compares it with the angle information from the angle sensor 134 so as to match the teaching position data. 3, to drive the arm 4 and the bucket 5, a drive current is output to each electromagnetic control valve 132. Each electromagnetic control valve 132 hydraulically controls each actuator 133 to automatically operate the automatic excavator 1.
[0020]
FIG. 4 is a functional configuration diagram of the automatic driving excavator 1 mainly during playback according to the present embodiment.
[0021]
In the figure, reference numeral 1311 denotes a teaching position storage unit that stores teaching position data taught by an operation from the teaching operation unit 111 of the remote operation device 11 during teaching, and reference numeral 1312 denotes a plurality of predetermined operation procedures. A teaching command storage unit for storing teaching commands, 1313 is a command interpreter unit for interpreting teaching commands and instructing output of predetermined teaching position data from the teaching position storage unit 1311, and 1314 is a teaching position at which teaching position data is output. The output processing unit 1315 generates and outputs the teaching position data output from the teaching position output processing unit 1314 into the interpolation teaching position data subdivided by calculation so that the automatic driving excavator 1 operates smoothly. A pre-processing unit 1316 includes interpolation teaching position data output from the servo pre-processing unit 1315 and The servo control unit 1317 outputs a drive current for controlling each part of the automatic driving excavator to a predetermined position by comparing with the current position data output from the current position calculation unit, and 1317 indicates the detection output of the track approach detection sensor 10. A track entry detection processing unit 1318 that processes a predetermined input format for input to the command interpreter unit 1313, calculates a detection value from the angle sensor 134 provided in each part of the automatic driving excavator 1 as predetermined current position data. The current position calculation unit 1319 is an engine rotation command unit that commands the rotation speed of the engine.
[0022]
In FIG. 4, the same parts as those shown in FIG.
[0023]
FIG. 5 is a diagram showing an example of a teaching command at the time of excavation stored in the teaching command storage unit 1312 shown in FIG.
[0024]
In the figure, v is a command for instructing an automatic driving speed, move is a command for instructing an operation, P1 to Pn are labels indicating angle information of each joint of the revolving body 2, boom 3, arm 4, and bucket 5 of the move command. The teaching position data as parameters of the labels P1 to Pn are stored in the teaching position storage unit 1311.
[0025]
Next, the operation of the automatic excavator 1 during playback will be described mainly with reference to FIG.
At the time of playback, an instruction for automatic driving is output from the reproduction operation unit 112 of the remote operation device 11 to the command interpreter unit 1313. In response to the instruction, the command interpreter unit 1313 sequentially reads and interprets the teaching commands stored in the teaching command storage unit 1312. For example, as shown in FIG. 5 during excavation, when the command is a move command, teaching position data as parameters corresponding to the labels P1 to Pn of the teaching command is transmitted from the teaching position storage unit 1311 to the teaching position data output processing unit. To 1314. The output teaching position data is output to the servo pre-processing unit 1315, and the data is further interpolated from the teaching position data by interpolation so that the automatic driving excavator 1 operates at a smooth speed. Data is created. Further, the interpolation teaching position data is input to the servo controller 1316, while the current position data is obtained from the current position calculator 1318 and input to the servo controller 1316. The servo control unit 1316 performs predetermined servo control based on target interpolation teaching position data and detected current position data, and outputs a drive current from the electromagnetic control valve 132.
[0026]
FIG. 6 is a flowchart showing a processing procedure during normal operation in the automatic operation controller 131.
[0027]
As shown in the figure, the automatic driving excavator 1 performs excavation in step 11, performs turning (turning 1) to release the crusher 8 in step 12, and releases the crusher 8 in step 13. In step 14, a turn is made for excavation again (turn 2), and the processing from step 11 is repeated again.
[0028]
On the other hand, when the truck 9 enters the truck entry detection processing unit 1317 shown in FIG. 4, a detection output is input from the truck entry detection sensor 10 via the remote operation device 11. In the command interpreter unit 1313, when there is an interrupt based on the detection output, the command interpreter unit 1313 starts interrupt processing.
[0029]
FIG. 7 is a flowchart showing a processing procedure of interrupt processing when the automatic operation controller 131 detects entry of the truck 9.
[0030]
At any point during the normal driving operation shown in FIG. 6, as shown in step 1 of FIG. 7, it is determined whether or not the entry of the truck 9 has been detected. When the entry is detected, an interruption process is executed. The Next, in step 2, it is determined whether or not the excavation operation is in progress. If not in excavation, it is determined in step 3 whether or not a turn (turn 2) for moving from the earth to the excavation position is performed. to decide. When it is neither case, that is, when neither excavation operation nor turning (turn 2), it is assumed that the automatic operation excavator 1 is not adversely affected by the dumping of the transported material from the truck 9, and nothing is normally done. Return to the operation. If it is determined in step 2 that excavation or turning in step 3 is being performed (turning 2), in step 4, the automatic driving excavator 1 performs a retreat operation to a position as shown in FIG. Next, when the movement to the retracted position is completed, in Step 5, a command for idling the engine speed is output from the automatic operation controller 131 to the engine controller 135 to put the engine in an idling state. Next, at step 6, it is determined whether or not the track 9 has left, and the process waits until the track 9 has left. When the truck 9 exits, the engine speed of the automatic driving excavator is returned to the original in step 7 to return to the normal automatic driving operation.
[0031]
As described above, according to the automatic driving excavator of the present embodiment, by detecting the entry and exit of the truck, the front of the excavator does not collide with the earth and sand dumped from the truck, and the engine speed By automatically dropping the engine, safe and efficient automatic operation can be performed without consuming unnecessary fuel.
[0032]
As described above, the automatic driving excavator of the present invention detects the approach of the transporting machine by the transporting machine approach detector, and further determines that the automatic driving shovel is being excavated or turning for moving to the excavation position. stops the operation and retracted to a predetermined position, sediment automatic operation shovel is dumped from the transportation machine, with avoiding collision with the transportation of such debris, to idle the engine, safe and automatic operation efficient Work can be realized. Moreover, since the excavator retreat conditions are limited as described above, work interruption due to excavation of the excavator and idling of the engine speed can be minimized, and reduction in work efficiency can be prevented.
[Brief description of the drawings]
FIG. 1 is a plan view showing a cooperative operation between an automatic driving excavator and another work machine according to an embodiment of the present invention.
FIG. 2 is a side view showing each operation state of the automatic driving shovel according to the present embodiment.
FIG. 3 is an overall configuration diagram of the control mechanism of the automatic driving shovel according to the present embodiment.
FIG. 4 is a functional configuration diagram of an automatic operation shovel mainly during playback according to the present embodiment.
FIG. 5 is a diagram illustrating an example of a teaching command stored in a teaching command storage unit 1312 illustrated in FIG.
FIG. 6 is a flowchart showing a processing procedure during normal operation of the automatic excavator according to the present embodiment.
FIG. 7 is a flowchart showing a processing procedure when the automatic driving excavator according to the present embodiment enters a truck.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic driving excavator 2 Revolving body 3 Boom 4 Arm 5 Bucket 9 Truck 10 Truck approach detection sensor 11 Remote operation device 13 On-board device 131 Automatic operation controller 1311 Teaching position storage part 1312 Teaching command storage part 1313 Command interpreter part 1314 Teaching position output Processing unit 1315 Servo preprocessing unit 1316 Servo control unit 1317 Track entry detection processing unit 1318 Current position calculation unit 1319 Engine rotation command unit 132 Electromagnetic control valve 133 Actuator 134 Angle sensor 135 Engine controller 136 Engine

Claims (3)

In an automatic driving excavator that automatically repeats a series of operations from excavation to earthing as taught by regenerating operation,
The automatic operation excavator receives a detection output fed from a transport machine entry detector that detects an approach of a transport machine that carries the transported object to be excavated, and the automatic operation excavator is in excavation or excavation position. If it is determined that the vehicle is turning to move to the retracted position, the automatic driving excavator is retracted to the retracted position, and when the movement to the retracted position is completed, the engine speed is idled. This is an automatic driving excavator. An actuator for operating a boom, an arm, a bucket, and a swing body,
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle between the swing body and the boom, between the boom and the arm, between the arm and the bucket, and a swing angle of the swing body;
A teaching position storage unit that sequentially stores angle signals from the angle detector as teaching data in an arbitrary plurality of postures of a hydraulic excavator, and a servo control that controls the electromagnetic control valve by sequentially reading the teaching position data. An automatic operation controller having a section ;
An engine controller for controlling the engine speed;
In an automatic driving excavator comprising
The automatic operation controller receives a detection output fed from a transport machine entry detector that detects the entrance of the transport machine that carries the transport object to be excavated, and the automatic operation excavator is in excavation or excavation position. If it is determined that the vehicle is turning to move to the retracted position, the automatic driving excavator is retracted to the retracted position, and when the movement to the retracted position is completed, the engine speed is idled. This is an automatic driving excavator. In the description of claim 2,
The automatic operation controller outputs a command to return the engine speed to the normal state before dropping the engine speed to the engine controller when the conveyance machine detection of the conveyance machine is detected by the conveyance machine entry detector. An automatic driving excavator characterized by starting the operation.

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