JPH04106229A - Excavated depth detector of excavator - Google Patents

Abstract

PURPOSE:To accurately excavate ground, by providing a laser emitter at a specified position of the ground base and a laser receiver on the excavator obtaining the excavated depth by computation respectively and by computing the excavated depth of the ground base and the machine body base to excavate the ground basing on the ground base. CONSTITUTION:Angle sensors 12, 13, 14, an inclined angle sensor 15, and a laser receiver 23 are equipped on an excavator 1 like a shovel or so and a computing means is equipped to compute the excavated depth of the excavator body base according to the detected data of respective sensors. On the other hand, a laser emitter 10 is equipped at a specified position basing on the ground and an absolute objective excavating depth is set. And an objective excavating depth is computed in accordance with the laser receiving position and at the same time, the excavating depth of the excavator body base is computed to correspond to the above depth. In this way, the working efficiency can be increased.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an excavation depth detection device for an excavator that detects the excavation depth when excavating the ground with an excavator.

[Conventional technology]

When excavating a trench or the like in the ground using an excavator, it is necessary to excavate to a target depth, and in order to do so, the current excavation depth during excavation must be known. The simplest method is for a worker to set up a rod at the excavation location and measure it, but it has the disadvantage of requiring manual labor. Conventionally, in order to avoid this drawback, a method using a laser leveler has been adopted. This will be explained using a diagram.

FIG. 5 is a side view showing a conventional excavation depth detection means. In the figure, 1 is the excavator, 2 is the main body of the excavator 1, and 3 is the main body 2
The front is rotatably mounted on the front. The front 3 is composed of a first arm 4, a second arm 5 and a packet 6. 7 is a support attached to the second arm, and 8 is a light receiver slidably supported by the support 7.

Go indicates the ground serving as a reference for the absolute target excavation depth, A indicates the groove to be excavated, and Hl indicates the distance between the installation surface of the excavator 1 and the target excavation position. 10 is a laser leveler installed on the ground G0, which outputs laser light vAB in the horizontal direction.

Prior to excavation, the operator of the excavator excavates a hole of the same depth as the target excavation position, positions the front 3 in the illustrated position (with the second arm 5 and packet 6 vertical), and places the receiver 8 just above the laser leveler 10. Adjust and fix the position to receive the laser beam vAB. Next, the operator performs the excavation work, and when the excavation has reached near the target excavation position, the operator operates the front 3 so that it assumes the same posture as described above. At this time, if the light receiver 8 does not receive the laser beam B, the operator excavates again, and after digging to a certain extent, sets the front 3 in the above-mentioned position again and checks whether the light receiver 8 is receiving light. This operation is repeated until the light receiver 8 receives the light.
When the reception of light is confirmed by a buzzer or the like, the operator will know that the excavation has reached the target excavation position.

In this method, adjusting the position of the light receiver 8 is troublesome;
In addition, during excavation work, the front 3 must take the above posture repeatedly, and furthermore, if the excavation depth is deep, the laser beam B
There is a drawback that the position of the light receiver 8 is outside the mounting position, making measurement impossible.

In order to avoid this drawback, arithmetic detection means have been proposed. This will be explained using a diagram. FIG. 6 is a side view illustrating the calculation-based detection means.

In the figure, parts that are the same or equivalent to those shown in FIG. 5 are given the same reference numerals. An angle sensor 12 is attached to the pivot point of the first arm 4 and detects the rotation angle θ, 13 is an angle sensor attached to the pivot point of the second arm 5 and detects the rotation angle θ2, and 14 An angle sensor 15 is attached to the pivot point of the packet 6 to detect the rotation angle θ3, and an angle sensor 15 is attached to the main body 2 to detect the inclination angle θ9 of the excavator 1. Note that each of the above angles assumes that the clockwise direction is positive and the counterclockwise direction is negative.

Here, the first arm 4 is removed from the ground where the excavator 1 is installed.
The distance to the rotation fulcrum of the second arm is 1°, the distance between this rotation fulcrum and the rotation fulcrum of the second arm is 11, the distance between this rotation fulcrum and the rotation fulcrum of the packet 6 is 12, and the distance of the rotation fulcrum of the packet 6 is 1°. length I
3, the excavation depth (excavation arm depth) Hf from the pivot point of the first arm to the tip of the packet 6 is H,=1. S in (θ+et) +l, sin (θ, +θ2-8.) +I, 5in (θ1 +02-03-θ,)...
......(1) Represented by:

Further, the actual excavation depth H between the ground where the excavator 1 is installed and the tip of the packet 6 is H-=HtI. cosθ9・・・・・・・・・・
...It is expressed as (2).

FIG. 7 is a block diagram of a detection device using the above calculations (1) and (2). In the figure, 12 to 15 are angle sensors shown in FIG. 6, 17 is a calculation device that calculates the above equations (1) and (2), and 18 is a target excavation depth Hl from the ground where the excavator 1 is installed. 19 is a comparator that compares the output H of the arithmetic unit 17 with the output H2 of the setter 18; 20
is a buzzer, and 21 is a display device.

The calculation device 17 calculates the detected values e, - of the angle sensors 12 to 15.
Equations (1) and (2) are calculated based on e, and the actual excavation depth H is output. The comparator 19 calculates the actual excavation depth H,
and the target excavation depth Ht, and when the two match, a drive signal for the buzzer 20 is output. In addition, each of the above H,,
H, is displayed on the display device 21. The operator excavates while understanding the remaining excavation depth by looking at the display device 21, and knows that the excavation has reached the target depth by operating the buzzer 20 or by looking at the display device 21.

[Problem to be solved by the invention]

The detection device using the above calculation means is an excellent device that eliminates the drawbacks of the device shown in FIG. However, (i) the height of the ground where the excavator 1 is installed changes every time the excavator 1 moves, so the value H2 must be grasped and set each time, which reduces work efficiency. 11) If it is necessary to add a slope to groove A (a slope in the direction perpendicular to the plane of the paper), even if excavator 1 works while moving on the same horizontal plane, as in (ii) above, the value Ht (iii) The above value Ht is set in the movement coordinates (machine standard) based on the excavator 10 zero body 2, so it is necessary to understand and change the setting. Based on (
There was a problem in that when viewed from the absolute coordinates (based on the ground), there was insufficient excavation, and corrective excavation was required.

The purpose of the present invention is to solve the problems in the above-mentioned prior art,
An object of the present invention is to provide an excavation depth detection device for an excavator that can excavate to a target excavation depth based on ground standards.

[Means to solve the problem]

In order to achieve the above object, the present invention provides an angle sensor for detecting the rotation angle of each arm constituting the front mechanism of an excavator, an angle sensor for detecting the inclination of the excavator body, and each of these angle sensors. In an excavation depth detection device for an excavator, the excavation depth detection device includes a calculation means for calculating an excavation depth based on the excavator main body based on a detected value of a laser emitter installed at a setting position; a light receiver comprising a group of light receiving elements attached to the excavator body and arranged in the excavation depth direction to receive the light beam from the laser emitter; and the setting position. The present invention is characterized by further comprising another calculating means for calculating the absolute target excavation depth from a predetermined position on the excavator main body based on a value set in the excavator and a light receiving position of the light receiver.

Further, another invention is characterized in that, in addition to the above configuration, a comparing means is provided for comparing each calculated value obtained by the calculating means and the other calculating means and outputting a signal when the two match. shall be.

Still another invention is characterized in that, in addition to the first invention, a display is provided for displaying each calculation value obtained by the calculation means and the other calculation means.

[Effect]

First, a laser emitter is installed at a predetermined position with the ground as a reference, and an absolute target excavation depth with the ground as a reference is set in a setting device. An absolute target excavation depth from a predetermined position on the excavator body is calculated based on the value output from this setting device and the laser beam receiving position of the light receiver. Then, the calculated absolute target excavation depth and the excavation depth based on the excavator body calculated by the other calculation means are output.

In the other invention described above, the two outputs are compared by the comparing means, and a signal is output when the two match.

Furthermore, another invention displays the above two outputs on a display.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 1 is a side view of an excavation depth detection device for an excavator according to an embodiment of the present invention. In the figure, parts that are the same as those shown in FIG. 6 are given the same reference numerals, and explanations thereof will be omitted. 10 is the same laser leveler as shown in Fig. 5, and the reference ground G is
It is set to 0.

H, is the true target excavation depth of trench A, and HL is ground G.

This shows the vertical distance to the laser beam B output from the laser leveler 10. 23 is a linear light receiver attached to the excavator main body 2, which receives the laser beam B and outputs the light receiving position. This linear light receiver 23 will be explained with reference to the drawings.

FIGS. 2(a) and 2(b) are a side view and a front view of the linear light receiver 23. f indicates a group of optical fibers arranged in a row in the vertical direction, and C indicates a group of light receiving elements coupled to the end of each optical fiber. Each optical fiber of the optical fiber group f is shown in FIG.
) are arranged in two rows in a staggered manner. Each optical fiber has a reference optical fiber (described later) with fo
, then f, , f, , ・・・・・・・・・・・・f
.

The sign for the downward optical fiber is preceded by a negative sign (
-) is attached. M indicates the light receiving range of the light receiver 23;
p indicates a pinch between adjacent optical fibers.

Here, returning to FIG. 1, let Ho be the vertical distance from the rotational fulcrum of the first arm 4 to the target excavation position, and let Hx be the vertical distance from the rotational fulcrum to the laser beam B, H ,+1(L=Ho 10Hx −−−−−−−−−−−
-(3), so He =H,,+l(,-)(x...
...(4).

That is, equation (4) is the absolute target excavation depth expressed by the vertical distance from the pivot point of the first arm 4 to the target excavation position with respect to the ground G0. Therefore, during excavation, if the excavation distance H from the rotation fulcrum of the excavator 1 to the excavation position is compared with the value H0 obtained by equation (4), the true target excavation depth will be reached. You can know whether it is or not. In addition,
The value He is obtained by calculating the above equation (1).

In the above equations (3) and (4), the value Hx is determined from the output of the linear light receiver 23. This will be explained using a diagram. Third
The figure is a diagram explaining the calculation of the value H8. In the figure, P indicates the pivot point of the first arm. The optical fiber f0 is an optical fiber located perpendicular to the pivot point P, and this optical fiber f0 serves as a reference optical fiber. optical fiber f
. The positional relationship between the rotation support point P and the pivot point P is fixed regardless of the inclination of the main body 2. Here, the optical fiber f
0 and the rotational fulcrum P, the optical fiber on which the laser beam B is incident is f8, and the optical fiber on the horizontal line passing through the rotational fulcrum P is f, then the optical fiber f,... f
, the distance between them is the value pX+, and the optical fibers f, ,
The distance between f and is the value pxj. Therefore, the value H, is H,= (pXi+pXj)cosθ9...
(5) By the way, since the value pxj is 1tane, the value Hx is Hz = (pXi+Ltanθg)cosθ9...
(6) It can be calculated based on the known values p, L, the detected angle eg, and the detected numerical value i.

FIG. 4 is a block diagram of the excavation depth detection device of this embodiment, and the same parts as shown in FIG. 7 are given the same reference numerals. 17' is an arithmetic unit, and 18' is a setting device. The value (H (+HR)) is set in the setter 18'.

Next, the operation of this embodiment will be explained. First, the laser leveler 10 is installed on the ground G0 serving as a reference, and the laser beam B is emitted. At this time, the value (HL +Hh) is measured and the measured value is set in the setting device 18'. When the excavator 1 is placed in a predetermined position, the inclination angle sensor 15 outputs the value θ.
9 is output, and the value (pxi) is output from the light receiver 23.

When excavation is started, values θ1, e2, and θ3 are output from the angle sensors 12, 13, and 14.

The arithmetic unit 17' inputs these values manually, calculates and outputs the value H7 using equation (1), the value H1 using equation (2), and the value H0 using equations (6) and (4). These values are appropriately displayed on the display device 21, and the operator of the excavator can see how much excavation has progressed or how much more excavation is required. - On the other hand, the values Ht and H output from the arithmetic unit 17'
a is input to the comparator 19, and during the excavation work, the two are constantly compared to see if they match. When the two match, a signal is output from the comparator 19 and the buzzer 20 is activated. The operator of the excavator 1 knows from the operation of the buzzer 20 that the excavation has reached the target excavation depth, and stops the excavation.

In this way, in this example, since a laser emitter and a light receiver are used, the target excavation depth to be compared with the current excavation depth can be set as a value based on the ground, and accurate excavation is possible. Become. Further, there is no need to set a target excavation depth on the excavator side each time the excavator moves, which saves time and improves work efficiency.

In addition, in the explanation of the above embodiment, an example was explained in which the front is composed of a first arm, a second arm, and a bucket, but the present invention is not limited to this, and the present invention can be applied to any front configuration. Applicable. Moreover, the linear light receiver can also directly arrange COD elements and the like without using optical fibers.

〔Effect of the invention〕

As described above, in the present invention, since a laser emitter and a light receiver are used, the target excavation depth to be compared with the current excavation depth can be set as a value based on the ground, and accurate excavation is possible. becomes. Further, there is no need to set a target excavation depth on the excavator side each time the excavator moves, which saves time and improves work efficiency.

[Brief explanation of drawings]

1 is a side view of an excavation depth detection device for an excavator according to an embodiment of the present invention, FIGS. 2(a) and 2(b) are a side view and a front view of the receiver shown in FIG. The figure is a diagram for explaining the calculation formula, Figure 4 is a block diagram of the excavation depth detection device, Figures 5 and 6 are side views of the conventional excavation depth detection device,
FIG. 7 is a block diagram of the excavation depth detection device shown in FIG. 6. 1...excavator, 2...excavator main body, l
O... Laser emitter, 12.13.14...
... Angle sensor, 15 ... Tilt angle sensor, 2
3... Light receiver. Figure 1 10 Racer Rehe 1 Ra 23°zu and Sakiban-1
2, 13, 14° tuna, A groove, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7.

Claims (3)

[Claims] (1) An angle sensor that detects the rotation angle of each arm that makes up the front mechanism of the excavator, an angle sensor that detects the inclination of the excavator body, and a standard for the excavator body based on the detected values of these angle sensors. An excavation depth detection device for an excavator, comprising: a setting device for setting an absolute target excavation depth based on a ground reference; and a laser emitter installed at a setting position based on the ground reference. and a light receiver comprising a group of light receiving elements that are attached to the excavator body and arranged in the excavation depth direction to receive the light beam from the laser emitter;
The excavator is characterized by further comprising another calculating means for calculating the absolute target excavation depth from a predetermined position on the excavator main body based on the value set in the setting device and the light receiving position of the light receiver. Excavator excavation depth detection device. (2) In the excavation depth detecting device for an excavator according to claim (1), each calculation value obtained by the calculation means and the other calculation means is compared and an output is generated when the two match. An excavation depth detection device for an excavator, characterized in that it is provided with a means. (3) The excavation depth detection device for an excavator according to claim (1), further comprising a display that displays each calculated value obtained by the calculation means and the other calculation means.