JP3735427B2 - 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 excavator provided with means for preventing a collision with a peripheral device.
[0002]
[Prior art]
Conventionally, Japanese Patent Publication No. Sho 54-7121 is known as a technique of teaching and playback means of a hydraulic excavator, so-called teaching reproduction means. This is a self-contained system in which information such as the angle and position of a sensor mounted in a work machine is stored by teaching and the same operation is repeated by playback.
[0003]
[Problems to be solved by the invention]
Normally, hydraulic excavators are often operated in cooperation with other work machines such as trucks and crushers at the work site. When automating excavators, it is necessary to prevent contact and collision with other work machines. Don't be.
[0004]
However, in the above self-contained system, there is no consideration for relative displacement from other work machines or the like from the point of teaching, and no special measures are taken. On the other hand, in order to prevent contact or the like, a system that recognizes the position of another work machine by actively using an external sensor such as a visual sensor or a method that uses a system that uses GPS or the like is considered. These systems are not practical because the sensors and devices are expensive, and the processing load for processing the detected data to obtain desired data is large.
[0005]
Therefore, in view of the above problems, the present invention is to provide an automatic driving excavator having a contact prevention function using an inexpensive sensor and reducing the data processing load.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides:
An actuator that operates a front mechanism including a boom, an arm, and a bucket, and a swinging body, and
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle of a joint portion formed between the swing body and the boom, between the boom and the arm, and between the arm and the bucket, and a swing angle of the swing body;
The teaching position storage means for storing the rotation angle of each joint portion of the front mechanism and the turning angle of the revolving body detected from the angle detector as teaching position data, and the teaching position storage means stored at the time of playback. Sequentially reading the teaching position data, and comparing the current position data at the time of playback of the front mechanism obtained from the angle detector, the electromagnetic control valve is set so that the front mechanism reaches the stored teaching position. An automatic operation controller composed of command means to control;
In an automatic driving excavator comprising
The other work machines other than those 該Shi Yoberu, provided with a distance detector for detecting a distance between the predetermined part of the person 該Shi Yoberu,
In the automatic operation controller,
And determining the position storing means for storing a predetermined taught position data of taught position data stored by said taught position storage means,
Said determining a position predetermined taught position data stored in the storage means, the current position data, and the distance of the other obtained from a detector working machine and those wherein the front mechanism obtained from the angle detector at the time of playback enter the current distance data between the predetermined portion of the sheet Yoberu, on the basis of the current distance data, the position determining the positional deviation of the pre-carboxymethyl Yoberu versus the a predetermined teaching position data and the present position data Deviation determination means;
Is provided.
[0007]
In addition, an actuator that operates a front mechanism including a boom, an arm, and a bucket and a swing body,
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle of a joint portion formed between the swing body and the boom, between the boom and the arm, and between the arm and the bucket, and a swing angle of the swing body;
The teaching position storage means for storing the rotation angle of each joint portion of the front mechanism and the turning angle of the revolving body detected from the angle detector as teaching position data, and the teaching position storage means stored at the time of playback. Sequentially reading the teaching position data, and comparing the current position data at the time of playback of the front mechanism obtained from the angle detector, the electromagnetic control valve is set so that the front mechanism reaches the stored teaching position. An automatic operation controller composed of command means to control;
In an automatic driving excavator comprising
In position on the ground, provided with a distance detector for detecting a distance between the predetermined part of the person 該Shi Yoberu,
In the automatic operation controller,
And determining the position storing means for storing a predetermined taught position data of taught position data stored by said taught position storage means,
Wherein determining the position storage means a predetermined taught position data stored in the current position data, and the distance the distance obtained from the detector the detector and those 該Shi of the front mechanism obtained from the angle detector at the time of playback enter the current distance data between the predetermined portion of Yoberu, on the basis of the current distance data and determines positional misalignment of front carboxymethyl Yoberu versus the a predetermined teaching position data and the present position data deviation A determination means;
Is provided.
[0009]
Further, the automatic operation controller is provided with distance threshold storage means for storing a threshold for determining an allowable range of positional deviation in the positional deviation determination means.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
A first embodiment of the present invention will be described below with reference to FIGS.
[0011]
FIG. 3 is an overall configuration diagram of the automatic driving shovel according to the present embodiment.
[0012]
In the figure, reference numeral 1 denotes a hydraulic excavator, 2 pivotable turning body in the horizontal direction, 3 a boom coupled to the swing body 2, 4 arm coupled to the boom 3, 5 is a bucket coupled to the arm 4 is there. As is well known, the boom 3, the arm 4 and the bucket 5 constitute a front mechanism. 6 is a crusher, 7 is a hopper, 8 is a distance sensor provided on the hopper 7 of the crusher 6 to measure the distance to the bucket 5, 9 is quarrying, 10 is crushed stone, 11 is a teaching box and a playback operation panel As a teaching / reproducing apparatus.
[0013]
The distance sensor 8 may be installed in an arbitrary number in the direction in which the positional deviation is desired to be detected, and can detect a multi-dimensional positional deviation up to six dimensions.
[0014]
As shown in the figure, the excavator 1 receives an instruction from the teaching / reproducing apparatus 11 at a crushed stone site, automatically collects the quarry 9 according to the taught work procedure, and collects the quarry 9 in the hopper 7 of the crusher 6. To obtain the crushed stone 10.
[0015]
FIG. 2 is an overall configuration diagram of the control mechanism of the automatic driving shovel according to the present embodiment.
[0016]
In the figure, 111 is a teaching operation unit for performing teaching, 112 is a reproduction operating unit for performing playback, and 12 and 14 are data between the teaching / reproducing apparatus 11 and the automatic operation controller, each performing serial communication or the like. Is a vehicle-mounted device mounted on the hydraulic excavator 1, 15 is an automatic operation controller, 16 is a drive current output from the automatic operation controller 15. An electromagnetic control valve that is driven and controls the amount or oil pressure of oil flowing into the actuator, 17 is an actuator for operating each part of the hydraulic excavator such as the swing body 2, the boom 3, the arm 4, and the bucket 5, and 18 is a swing body. between 2 and booms 3, between the boom 3 and the arm 4, the joint portions formed respectively between the arm 4 and the bucket 5 An angle sensor for detecting the rotation angle and the turning angle of the rotating body 2. In addition, the same code | symbol is attached | subjected about the part same as the part shown by FIG. 3, and description is abbreviate | omitted.
[0017]
The teaching / reproducing device 11 performs teaching via the wireless devices 12 and 14 by the operation from the teaching operation unit 111 during teaching, and the automatic operation controller 15 inputs each detection output from each angle sensor 18. Calculate and store teaching position data and teaching commands in a predetermined storage area. At the time of playback, a playback instruction is output from the playback operation unit 112 via the wireless devices 12 and 14. When the automatic operation controller 15 receives the instruction, it calls the stored teaching position data and compares it with the angle information from the angle sensor 18 so as to match the teaching position data so that the swivel body 2, the boom 3, the arm 4. A drive current is output to each electromagnetic control valve 16 in order to operate each bucket 5. Each electromagnetic control valve 16 hydraulically controls each actuator 17 to automatically operate the hydraulic excavator 1.
[0018]
FIG. 1 is a functional configuration diagram of an automatic driving excavator during playback according to the present embodiment.
[0019]
In the figure, 151 is a teaching position storage that stores the angle signal from the angle sensor 18 as teaching position data in any of a plurality of postures of the hydraulic excavator by operation from the teaching operation unit 111 of the teaching / reproducing apparatus 11 during teaching. , 152 is a teaching command storage unit that stores a teaching command taught by an operation from the teaching operation unit 111 of the teaching / reproducing apparatus 11 during teaching, and 153 interprets the teaching command and receives a predetermined value from the teaching position storage unit 151. A command interpreter unit for instructing the output of the teaching position data, 154 is a teaching position output processing unit for outputting teaching position data, and 155 is output from the teaching position output processing unit 154 so that the hydraulic excavator operates smoothly. Interpolated teaching position data is created by subdividing the teaching position data that has been The servo preprocessing unit 156 controls the hydraulic excavator to a predetermined position by comparing the interpolation teaching position data output from the servo preprocessing unit 155 with the current position data output from the current position calculation unit 160. A servo control unit that outputs a drive current, 157 calculates a current distance calculation unit that calculates a detection output from the distance sensor 8 to current distance data, and 158 is obtained from the teaching position storage unit 151 and is input to the position deviation determination unit In order to determine the current distance data as data to be used for the determination, a determination position storage unit that indicates a determination position and stores predetermined teaching position data to be compared with the current position data, 159 is the distance from the bucket 5 A distance threshold storage unit for storing a reference position and upper and lower limit values at the teaching position, for setting an allowable range of positional deviation with respect to the sensor 8; A current position calculation unit 161 that calculates an output from an angle sensor provided in each part of the hydraulic excavator into predetermined current position data. The start and stop of activation are controlled by an instruction from the command interpreter unit 153, and a current distance calculation unit 157, the position deviation of the bucket 5 is determined based on the data from the determination position storage unit 158, the distance threshold storage unit 159, and the current position calculation unit 160, and the result is sent to the command interpreter unit 153 and the servo preprocessing unit 155. It is the position shift determination part to output.
[0021]
The same parts as those shown in FIG. 2 and FIG.
[0022]
FIG. 4 is a diagram illustrating an example of the teaching command stored in the teaching command storage unit 152.
[0023]
In the figure, v is a command for instructing a speed, move is a command for instructing an operation, P1 to Pn are labels indicating angle information of each joint provided in each part of the excavator 1 of the move command, Teaching position data, which is a parameter of Pn, is stored in the teaching position storage unit 151.
[0024]
Next, the operation of the automatic driving excavator during playback will be described mainly with reference to FIG.
At the time of playback, an instruction for automatic operation is output to the command interpreter unit 153 from the reproduction operation unit 112 of the teaching / reproducing apparatus 11. When the command interpreter unit 153 receives the instruction, it sequentially reads and interprets the teaching command as shown in FIG. 4 stored in the teaching command storage unit 152. For example, when the command is a move command, each command of the teaching command Teaching position data as parameters corresponding to the labels P1 to Pn is output from the teaching position storage unit 151 to the teaching position output processing unit 154. The output teaching position data is input to the servo preprocessing unit 155, where the hydraulic excavator is calculated so as to operate at a smooth speed, and interpolated teaching position data is created by interpolating the data between the teaching position data. The The interpolation teaching position data is input to the servo control unit 156, while the current position calculation unit 160 calculates the detection output obtained from the angle sensor 18 to obtain current position data and inputs the current position data to the servo control unit 156. The servo control unit 156 performs predetermined servo control based on the target interpolation teaching position data and the detected current position data, and outputs a drive current to the electromagnetic control valve 16.
[0025]
On the other hand, the current distance calculation unit 157 inputs the detection output from the distance sensor 8 that measures the distance to the bucket 5 via the teaching / reproducing device 11 and calculates the current distance data to obtain the position shift. Input to the determination unit 161. Further, the misalignment determination unit 161 includes predetermined teaching position data for instructing the determination position and bucket to determine the current distance data input to the misalignment determination unit 161 as data to be used for the determination. Distance threshold value data for setting an allowable range of positional deviation between 5 and the distance sensor 8, and current position data from the current position calculation unit 160 are input. Based on the current distance data, the position deviation determination unit 161 calculates the position deviation by comparing the taught position data and the current position data, and determines whether the position deviation is within the range of the distance threshold data. As a result of the determination, when the positional deviation is within the range of the distance threshold data, a normal signal is sent to the command interpreter unit 153, and the command interpreter unit 153 reads the next command and continues processing. When the positional deviation is outside the range of the distance threshold data, an abnormal signal is sent to the command interpreter unit 153, the next processing in the command interpreter unit 153 is stopped, and the abnormal signal is sent to the servo pre-processing unit 155. . The servo preprocessing unit 155 stops the process to stop the operation of the excavator 1 and avoids contact between the excavator and another work machine such as a hopper.
[0026]
As described above, according to this embodiment, the automatic driving excavator can be provided with a contact prevention function with a simple configuration, and predetermined teaching position data and current position data are compared based on current distance data. since the positional deviation of the sheet Yoberu can be detected automatically Te, it is possible to improve the reliability of the automatic operation shovel.
[0027]
Further, since the detection position of the misalignment can be given by teaching, it is easy to handle because there is no need to adjust the detection device.
[0028]
Next, a second embodiment of the present invention will be described with reference to FIG.
[0029]
FIG. 5 is an overall configuration diagram of the automatic driving excavator according to the present embodiment.
[0030]
In addition, in this embodiment, since it differs from the thing of 1st Embodiment except the installation location of the distance sensor 8, the same code | symbol as 1st Embodiment is attached | subjected and description is abbreviate | omitted. As shown in the figure, in the present embodiment, the distance sensor 8 is installed on a pole arranged on the ground so as to measure the distance from the rear part of the upper swing body 2 of the excavator 1.
[0031]
Also in the present embodiment, as in the first embodiment, when the excavator 1 reaches the earthing position, distance information from the distance sensor 8 is obtained and distance information when the earthing position is taught is obtained. Can be detected.
[0032]
As described above, according to the present embodiment, the installation location of the distance sensor 8 can be easily arranged at a position where the positional deviation to be confirmed can be detected, so that the installation location can be easily set according to the situation of the work site. Can do.
[0033]
【The invention's effect】
As described above, the present invention provides a distance detector outside the hydraulic excavator, and based on the current distance data obtained from the distance detector, predetermined teaching position data and current position data obtained from the angle detector As a result, the displacement of the hydraulic excavator is determined, so that the displacement of the hydraulic excavator can be detected with a simple configuration, and an automatic driving excavator equipped with inexpensive contact prevention means can be realized. it can.
[Brief description of the drawings]
FIG. 1 is a functional configuration diagram of an automatic driving excavator during playback according to a first embodiment.
FIG. 2 is an overall configuration diagram of a control mechanism of an automatic driving excavator according to the first embodiment.
FIG. 3 is an overall configuration diagram of an automatic driving shovel according to the first embodiment.
4 is a diagram illustrating an example of a teaching command stored in a teaching command storage unit 152 illustrated in FIG. 1. FIG. 5 is an overall configuration diagram of an automatic driving excavator according to a second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Revolving body 3 Boom 4 Arm 5 Bucket 6 Crusher 7 Hopper 8 Distance sensor 15 Automatic operation controller 151 Teaching position storage part 152 Teaching command storage part 153 Command interpreter part 154 Teaching position output process part 155 Servo pre-processing part 156 Servo Control unit 157 Current distance calculation unit 158 Determination position storage unit 159 Distance threshold storage unit 160 Current position calculation unit 161 Position deviation determination unit 16 Electromagnetic control valve 17 Actuator 18 Angle sensor

Claims (3)

An actuator that operates a front mechanism including a boom, an arm, and a bucket, and a swinging body, and
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle of a joint portion formed between the swing body and the boom, between the boom and the arm, and between the arm and the bucket, and a swing angle of the swing body;
The teaching position storage means for storing the rotation angle of each joint portion of the front mechanism and the turning angle of the revolving body detected from the angle detector as teaching position data, and the teaching position storage means stored at the time of playback. Sequentially reading the teaching position data, and comparing the current position data at the time of playback of the front mechanism obtained from the angle detector, the electromagnetic control valve is set so that the front mechanism reaches the stored teaching position. An automatic operation controller composed of command means to control;
In an automatic driving excavator comprising
The other work machines other than those 該Shi Yoberu, provided with a distance detector for detecting a distance between the predetermined part of the person 該Shi Yoberu,
In the automatic operation controller,
And determining the position storing means for storing a predetermined taught position data of taught position data stored by said taught position storage means,
Said determining a position predetermined taught position data stored in the storage means, the current position data, and the distance of the other obtained from a detector working machine and those wherein the front mechanism obtained from the angle detector at the time of playback enter the current distance data between the predetermined portion of the sheet Yoberu, on the basis of the current distance data, the position determining the positional deviation of the pre-carboxymethyl Yoberu versus the a predetermined teaching position data and the present position data Deviation determination means;
An automatic driving excavator characterized by having An actuator that operates a front mechanism including a boom, an arm, and a bucket, and a swinging body, and
An electromagnetic control valve for driving the actuator;
An angle detector for detecting a rotation angle of a joint portion formed between the swing body and the boom, between the boom and the arm, and between the arm and the bucket, and a swing angle of the swing body;
The teaching position storage means for storing the rotation angle of each joint portion of the front mechanism and the turning angle of the revolving body detected from the angle detector as teaching position data, and the teaching position storage means stored at the time of playback. Sequentially reading the teaching position data, and comparing the current position data at the time of playback of the front mechanism obtained from the angle detector, the electromagnetic control valve is set so that the front mechanism reaches the stored teaching position. An automatic operation controller composed of command means to control;
In an automatic driving excavator comprising
In position on the ground, provided with a distance detector for detecting a distance between the predetermined part of the person 該Shi Yoberu,
In the automatic operation controller,
And determining the position storing means for storing a predetermined taught position data of taught position data stored by said taught position storage means,
Wherein determining the position storage means a predetermined taught position data stored in the current position data, and the distance the distance obtained from the detector the detector and those 該Shi of the front mechanism obtained from the angle detector at the time of playback enter the current distance data between the predetermined portion of Yoberu, on the basis of the current distance data and determines positional misalignment of front carboxymethyl Yoberu versus the a predetermined teaching position data and the present position data deviation A determination means;
An automatic driving excavator characterized by having In the description of claim 1 or claim 2,
An automatic driving excavator, characterized in that a distance threshold value storage means for storing a threshold value for determining an allowable range of positional deviation in the positional deviation determination means is provided in the automatic driving controller.

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