JPH0615774B2 - Excavator Excavation Control Device - Google Patents

Description

The present invention relates to an excavation control device for an excavator, and more particularly to an excavation control device for an excavator suitable for performing excavation work while continuously traveling.

[Conventional technology]

Generally, when excavation work is performed using a bulldozer or the like, there are often situations where it is desired to accurately perform excavation at a predetermined depth (height).

In such a case, in many cases, the control lever is manually operated depending on the intuition of the operator. In addition, a method of using a laser beam, for example, is also adopted in the case of particularly accurate excavation. In the method using the laser beam, for example, as shown in FIG. 8, a laser beam generator 4 is horizontally arranged in front of the bulldozer 2 at a predetermined distance, and the laser beam output from the laser beam generator 4 is output. Was detected by the laser beam detector 6 mounted at a predetermined position on the earth discharging plate 2A of the bulldozer 2, and the operator manually operated the control lever based on the detected data.

[Problems to be solved by the invention]

However, of the above-mentioned conventional techniques, the method relying on the intuition of the former operator makes accurate excavation difficult, and in many cases the excavation is repeated by trial and error, which requires a lot of time and effort for operation. There was a problem that training was required. On the other hand, in the latter method using a laser beam, the laser beam generator 4 as a separate body must be set horizontally and at a predetermined height, and the power source of the laser beam generator 4 must be prepared. However, while it takes a lot of work to prepare for work, there are many restrictions in terms of use, such as the short usable distance of the laser beam, the fact that it cannot be used in fog, and it cannot be used in shadows.
Therefore, there is a problem that the efficiency as a whole is significantly reduced.

[Object of the Invention]

The present invention has been made in view of the situation of the related art, and in particular, the excavation height is automatically set to a set value,
It is an object of the present invention to provide an excavation control device for an excavator that can simplify the operation.

[Means for solving problems]

Therefore, in the present invention, an initial height setting device for setting the vehicle body height from an arbitrary reference surface to a reference fixed point of the vehicle body such as a bulldozer before starting traveling is given by this initial height setting device. Detecting a change in vehicle body height at each predetermined timing, and with an excavation height calculation mechanism that calculates the excavation height from the reference surface to the excavation point by the bulldozer or the like based on the detected value, An excavation height setter for setting the excavation height to a desired value, and the excavation height is set to a set value based on data output from the excavation height setter and the excavation height calculation mechanism. The present invention aims to achieve the above-mentioned object by adopting a configuration including an arm angle control mechanism for automatically controlling the angles of excavating arms so as to be equal.

[Work]

If the vehicle body height is set by the initial height setting device before starting traveling, the excavation height calculating mechanism calculates the excavation height at every predetermined timing during traveling. If the excavation height is set to a desired value by the excavation height setter, the arm angle control mechanism operates based on the data output from the excavation height setter and the excavation height calculation mechanism, The excavation arm is controlled so that the excavation height becomes equal to the set value.

Example of Invention

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5. The present embodiment shows a case where it is carried out for a bulldozer.

In FIG. 1, 12 is an initial height setting device, 14 is an excavation height calculation mechanism, and 16 is an excavation height indicator. The initial height setting device 12 is provided at a predetermined position on the driver's seat of the bulldozer 18 (see FIG. 2), and the operator sets an arbitrary vehicle body height H _s via the initial height setting device 12 before starting traveling. The (initial value) can be given to the excavation height calculation mechanism 14. This body height H _s is
In this embodiment, an arbitrary reference plane S _o and bulldozer 18 are used.
It is set as the height before the start of traveling between the center of gravity (reference fixed point) O of the caterpillar 18A as a part of the vehicle body (see FIG. 4). Here, if the reference surface S _o is the ground surface, H _s = D (D: see FIG. 4), and a fixed value can be obtained.

Further, as shown in FIG. 1, the excavation height calculation mechanism 14 has a calculator 20, and an inclination angle detector 22, a caterpillar rotation speed detector 24, an arm angle are provided on the input side of the calculator 20. A detector 26 is equipped and configured. Among them, the arithmetic unit 20 is functionally provided with a traveling distance calculation unit 20A that calculates the traveling distance of the bulldozer 18 at predetermined timings.
The bulldozer 18 includes a main calculation unit 20B that calculates the height of the excavation surface (work surface).

The caterpillar rotation speed detector 24 is a caterpillar 18A.
The rotation speed signal T _n (n = n
1, 2, 3, ...
It has a function of outputting to A and is equipped in a drive system for driving the caterpillar 18A. Therefore, the traveling distance calculation unit 20A calculates the traveling distance ΔL _n at each predetermined timing based on the input rotation speed signal T _n , and outputs a signal corresponding to this to the main calculation unit 20B.

Here, the caterpillar rotation speed detector 24 and the traveling distance calculation unit 20A constitute traveling distance detecting means 28.

The tilt angle detector 22 is mounted at a predetermined position of the bulldozer 18. Inclination angle detector 22, as shown in FIG. 2, the travel of the linear E [vehicle passing through the center point C _F and the rear of the center point C _R of the front through the center of gravity O of the caterpillar 18A (front-rear) direction ] Has a function of detecting an angle θ _{n formed} with a horizontal line M passing through the center of gravity O and outputting an electric signal corresponding to the detected value to the main calculation unit 20B at every predetermined timing. Here, the length between C _F and C _R is 2B. Further, OC _F (= OC _R ) = B.

The arm angle detector 26 is arranged at a predetermined position of the arm 18B (see FIG. 2) that reaches the earth discharging plate 18C of the bulldozer 18. The arm angle detector 26 uses the straight line E
Has a function of detecting an angle α _n formed by the extension direction Q of the arm 18B and outputting an electric signal corresponding to the angle α _n to the main arithmetic unit 20B at every predetermined timing.

Here, in this embodiment, a point corresponding to a predetermined excavation in the extension direction Q is an excavation point P, and a horizontal plane passing through the excavation point P is an excavation surface R. Also, the length of the PC _F store is A.

Further, as shown in FIG. 3, the main arithmetic unit 20B is functionally provided with the input inclination angle signal θ _n and traveling distance signal Δ.
First to fourth calculating means 20B _a for calculating the excavation height H _p from the reference surface S _o to the excavation point P based on L _n , the arm angle signal α _n , and the vehicle body height initial value H _s. Through 20B _d .

Specifically, the first computing means 20B _a uses the tilt angle signal θ.
_n based on the traveling distance signal ΔL _n
The height change amount ΔH _n of the center of gravity O and its integrated value H _n are calculated. The second calculation means 20B _b calculates the calculation result of the first calculation means 20B _a and the vehicle body height initial value H.
responsible for operation of the vehicle height H from the reference plane S _o to the center of gravity O that is based on _s, third arithmetic means 20B _c, based on the inclination angle signal theta _n and the arm angle signal alpha _n, described below P
It is adapted to calculate the vertical component H _A between C _F and the vertical component H _B between OC _F (see FIG. 5). Furthermore, the fourth
The calculating means 20B _d of the second and third calculating means 20
The excavation height H _p is calculated based on the calculation results of B _b and 20 B _c , and the result is output to the excavation height indicator 16.

Further, the excavation height indicator 16 is adapted to display the final calculation result H _p in the main calculation section 20B as a numerical value. This display is updated and displayed one by one as the bulltozer 18 travels.

In addition, in this embodiment, as shown in FIG.
An excavation height setter 39 provided in the driver's seat, data set by the excavation height setter 39, and an arm angle control mechanism 40 that operates based on the calculation result by the excavation height calculator 14. Is equipped with. Of these, the excavation height setting device 39 is configured to set a desired excavation height H _SET , and outputs a signal corresponding to this data to the arm angle control mechanism 40.

The arm angle control mechanism 40 includes the excavation height calculation mechanism 14
And a command arm angle calculator 42 that uses output data H _p and H _SET of the excavation height setting device 39 as input signals,
An adder 44 and a servo amplifier 4 are provided on the output side of the arithmetic unit 42.
6, the motor 48 and the hydraulic drive means 50 are cascaded. Among them, the arm angle signal α _n is applied to one input end of the adder 44. The motor 48 is switched by a switching means (not shown) so that a manual operation signal for manual operation is input. Further, the hydraulic drive means 50 is used for the motor 4
8 is constituted by a hydraulic pump rotated by 8 and a cylinder connected to the hydraulic pump.
8B can be indirectly driven vertically.

In addition, the command arm angle calculator 42 uses the formula α _s = K∫ (H _SET −H _p ) dt (K: constant) to calculate the command arm angle α _s [D _eg / S _ec · M]. Is calculated and output to the adder 44 (however, when H _SET = 0, α _s = 0). In the adder 44, α _s and α _n
And are added, and this difference signal is output to the servo amplifier 46. The servo amplifier 46 amplifies the input signal and the motor 4
8 is driven to rotate. Therefore, the rotation of the motor 48 urges the hydraulic drive means 50 to operate, whereby the angle α _{n of the} arm 18B is controlled so that the angle signals α _s and α _n become equal. That is, H _p = H
The angle α _{n of the} arm 18B is controlled so as to achieve _SET .

However, the arithmetic unit 20 and the command arm angle arithmetic unit 42 described above are each constituted by a microcomputer having a CPU (central processing unit) and various memories as hardware. Therefore, the above-described various calculations and controls are performed based on the contents of the program stored in advance.

Next, the operation of this embodiment will be described.

First, the case of measuring the excavation height H _p will be described with reference to FIGS.

Now, bulldozer 18 in the initial state shown in in FIG. 4, after the body height initial value H _s is given, and performing the excavating work while traveling in the direction of the arrow X. in this case,
The arithmetic unit 20 fetches the detection data from each of the detectors 22, 24 and 26 described above at every predetermined minute timing Δt. Then, Δt is repeated (n-1) times (n-1) · Δ
The position of the bulldozer 18 after t becomes the state shown in in FIG. 4 (hereinafter, referred to as “(n−1) th state”), and the position after the next n · Δt is the state shown by in FIG. (Hereinafter, referred to as “nth state”). The travel distance ΔL _n between the (n−1) th state and the nth state is calculated from the track rotation speed T _n by the travel distance detecting means 2.
8 and the result is the first calculation means 20B.
It is output to _a. Further, since the inclination angle in the (n-1) th state is θ _n-1 , the height change ΔH of the center of gravity O point during the transition from the (n-1) th state to the nth state.
Generally, _n is represented by ΔH _n = ΔL _n sin θ _n-1 (1). Integrating this height variation from the first to _{n-th, H n = ΔH 1 + ΔH} 2 + ... + ΔH n ··· (2) next, these [Delta] H _n and _{H n} is the first computation means 20
Calculated by B _a . In addition, a certain reference plane S _o to n
The height H to the center of gravity O of the rotating first _{state, H = H s + H n} ...... (3) becomes, which is calculated by the second arithmetic means 20B _b.

Further, the positional relationship between the caterpillar 18A and the arm 18B in the state of the nth time is shown in FIG. This fifth
In the figure, there is a relation of H _A = Asin (α _n −θ _n ) ... (4) H _B = _B sin θ _n (5), which are calculated by the third calculating means 20B _c . Accordingly, excavation height _{H p is, H p = H + H B} -H A next, to the (2) without using the equation _{(5), H p = H s + H} n-1 + ΔH n + Bsinθ n -Asin (α n -θ _n) ...... (6) However, the _{H n-1 = ΔH 1 +} ΔH 2 + ... + ΔH n-1.
According to the equation (6), the value of H _s is known, and the other values are calculated based on the detection data. Therefore, the value of H _p is immediately obtained by the fourth computing means 20B _d . This value is displayed on the excavation height indicator 16.

Next, the overall operation will be described.

First, the operator specifies an arbitrary vehicle body height Hs from the initial height setting device 12 before starting excavation work (before traveling). Then, the vehicle is made to travel, and the desired excavation height _HSET is commanded from the excavation height setter 39 at the destination. Then, the arm angle control mechanism 40 controls the arm angle α _n as described above so that H _p = H _SET . As a result,
The desired excavation height _HSET is automatically set at the destination. Further, the excavation height H _p (= H _SET ) at that time is displayed on the excavation height indicator 16 and can be visually confirmed.

By setting the excavation height in this manner, the trouble of setting the excavation height at the destination is omitted, and the operation is significantly simplified.

On the other hand, in the above-mentioned case, when the excavation height is not set, only the actual excavation height H _p is measured and displayed.

As described above, in the present embodiment, since the excavation height is first measured and displayed at each predetermined timing during excavation, the operator can confirm the excavation height by visually checking the displayed value, and perform more accurate excavation. It can be carried out. Further, in this embodiment, since the excavation height can be set and the arm angle can be automatically adjusted to the set value to automatically set the excavation height, it is possible to further improve operability and work efficiency.

Moreover, since the entire device can be integrated with the bulldozer, the trouble of arranging measuring instruments and the like outside the vehicle body as in the case of using the conventional laser beam is eliminated, and the operating distance range can be set longer. As a result, the work efficiency as a whole is significantly improved. Further, by repeatedly setting the vehicle body height initial value H _s for each appropriate traveling distance, the bulldozer can be continuously used while being operated.

In addition, in the above-mentioned embodiment, although the arm 18B reaching the earth scavenging plate 18C is shown as a linear one, the present invention is not necessarily limited to this, for example, a bendable structure as shown in the sixth. It may be the arm 18D. That is, the arm 18D is the first arm portion 18
D'and the second arm portion 18D "are flexibly connected as shown in the drawing, and based on a command from the operator,
For example, the excavation point is from P ₁ (α ₁ , β ₁ ) to P ₂ point (α ₂ ,
Be able to move to β ₂ ). In this case, P
_If it is attempted to make the excavation heights of ₁ and P _{2 the} same, as described above, either the angle α is fixed and β is controlled, or the angle β is fixed and α is fixed. .

Further, the arm angle control mechanism 40 may be configured as shown in FIG. In the configuration of FIG. 7, the comparison amplifier 52
And a motor driver 54 are provided in front of the motor 48. Then, the comparison amplifier 52 determines the actual excavation height H
Input _p and the set excavation height H _SET, and H _SET > H
If _p , for example, a predetermined CW signal indicating a clockwise direction is output to the motor driver 54, and the motor 48 is rotated clockwise until H _SET = H _p .

On the other hand, the caterpillar rotation speed detector 24 may be of a structure that can determine forward and backward movement. Further, the excavation height indicator 16 may be connected to a printer and the data H _p may be recorded.

Furthermore, there are various methods for reducing errors in the arithmetic operations in the arithmetic units 20A and 20B. For example, in the above (1)
The calculation may be performed with the formula ΔH _n = ΔL _n sin [(θ _n-1 + θ _n ) / 2], and the travel distance ΔL _n may be the average value of the left and right tracks.

Further, the present invention is not necessarily limited to a bulldozer, and may be any excavating machine device having a function equivalent to that of a bulldozer, for example, a para excavator or the like having an arm for pulling up. It can be similarly implemented.

〔The invention's effect〕

Since the present invention is configured and operates as described above, according to this, since the excavation height can be automatically set to the set value, it is quick and accurate unlike the case of repeating trial and error like the conventional example. Since the excavation height is set in the car, the operation is significantly simplified, and it can be integrated with the vehicle body such as a bulldozer, unlike the case of using a laser beam as in the conventional example, (Range) can be set longer, and by continuously setting the initial value of the vehicle height for each appropriate mileage, it is possible to continuously use it while operating the bulldozer, etc., which can significantly improve work efficiency. That is, it is possible to provide an unprecedented excellent excavation control device for an excavator.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing an embodiment of the present invention, and FIG.
FIG. 4 is an explanatory view showing the positional relationship of each part of the bulldozer, FIG. 3 is a functional block diagram showing the main calculation part in FIG. 1, and FIG. 4 is an explanatory view showing the height change of the center of gravity of the caterpillar in a running state, FIG. 5 is an explanatory view showing the height relationship of the excavation height H _p ,
FIG. 6 is an explanatory view showing another example of the arm, FIG. 7 is a block diagram showing another example of the arm angle control mechanism, and FIG.
The figure is an explanatory view showing a conventional example. 12 ... Initial height setting device, 14 ... Excavation height calculation mechanism,
16 ... Excavation height indicator, 18 ... Bulldozer, 18A
...... As a part of the body, caterpillar, 18B ...... arm,
39 ... Excavation height setting device, 40 ... Arm angle control mechanism.

Claims (1)

[Claims] 1. An initial height setting device for setting a height of a vehicle body from an arbitrary reference surface to a reference fixed point of a vehicle body such as a bulldozer before starting traveling, and a vehicle body given by the initial height setting device. A change in height during traveling is detected at predetermined timings, and an excavation height calculation mechanism that calculates the excavation height from the reference surface to the excavation point by the bulldozer or the like based on the detected value is provided. The excavation height setter for setting the excavation height to a desired value, and the excavation height equal to the set value based on the data output from the excavation height setter and the excavation height calculation mechanism. And an arm angle control mechanism that automatically controls the angle of the arm for excavation.