JP2000160602A - Controller of construction machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller of construction machinery capable of setting form data or property data from the outside and preferentially selecting control data being set. SOLUTION: A controller of construction machinery is equipped with an angle sensor 10 provided in each of front members, an A/D transducer 2 for taking a signal from the angle sensor 10 thereinto, an EPROM 5 incapable of being rewritten and storing form data of a hydraulic shovel and property data of an equipment therein, an EEPROM 6 capable of being rewritten in accordance with a signal from the outside, a CPU 4 as an operation device, an output device 8 for outputting a control signal based on an operation result and a code rewritting device 23 indicating rewriting from the outside for rewriting control data of the EEPROM 6. Then, the CPU 4 reads the data of the EEPROM 6 in prior to the data of the EPROM 5 to make it possible to avoid a complicated work such as switching work or the like of the controller, and increasing of cost and lowering of work efficiency can be avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a construction machine provided in a construction machine such as a hydraulic shovel or a crane, and more particularly to an arithmetic processing for controlling a main body based on control data stored in a storage device. The present invention relates to a control device for a construction machine.

[0002]

2. Description of the Related Art In a construction machine, for example, a hydraulic shovel, an operator operates a front member such as a boom forming a front with a manual operation lever to perform excavation work of earth and sand. Each of these front members is connected to each other by a joint so as to perform a rotating motion, and a certain amount of experience is required to perform the operation with high accuracy or efficiency. For this reason, control such as trajectory control or area limit control is being adopted so that even an operator who is unfamiliar with the operation can easily perform the operation. For example, in the technique described in International Publication WO95 / 30059, a control area is set in advance, and when a predetermined location on the front reaches the boundary of the excavation area, the control area is prevented from further outside the excavation area. And it operates along the boundary of this excavation area.

In recent years, hydraulic shovels having an offset mechanism (parallel movement mechanism) suitable for digging work and small turning hydraulic shovels capable of turning in a vehicle have been increasing. In the case of, depending on the attitude of the front, the front member or an attachment such as a bucket connected to the front member may have a structure that may interfere with the cab. For this reason, Japanese Patent Application Laid-Open No. 4-136
In Japanese Patent No. 324, an intrusion prohibition area is set in advance, and when approaching the intrusion prohibition area, the operation signal from the operation lever is forcibly reduced to reduce the speed of the front, and to smoothly move on the boundary of the intrusion prohibition area. There is disclosed a technique for stopping the operation.

In performing the above-described control, a control unit is mounted on the hydraulic shovel, and a storage device of the control unit stores data relating to the shape of the front member and the attachment, and a hydraulic drive device such as a flow control valve. Characteristics and the like are stored as control data. Then, for example, a signal is input from an angle sensor or the like provided at the front, various calculations are performed based on the above-described control data, and control is executed.

Under such circumstances, there are various types of hydraulic shovels classified according to weight and the like, and even if the same type, the type of attachment connected to the front member and the type of attachment connected to the front member and the like are different. There are variations, and the control data stored in the storage device of the control unit differs depending on the model and the variations.

Further, a flow control valve or the like used in a hydraulic drive system for driving the front may be forced to be replaced due to the seizure of foreign matter in the hydraulic oil. Is uneven,
It is necessary to use characteristic data according to the equipment used.

For this reason, conventionally, when performing the same control, various types of control units corresponding to the models and variations have been prepared, and the corresponding units have been selected and mounted. When replacing the type of machine that forms the hydraulic drive, a non-volatile memory in which only the characteristic data of the replacement device is changed is prepared again, and the control unit equipped with this non-volatile memory is replaced with an existing one. I was

[0008]

According to the above-mentioned prior art, even when performing the same control, it is necessary to prepare various types of control units for each model or variation. Further, when exchanging the device forming the drive device, it is necessary to prepare a storage device in which the characteristic data of the exchange device is stored. Therefore, operations such as storage, installation, and replacement of the control unit become extremely complicated, and there is a problem that operation efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and a first object of the present invention is to provide data on the shape of a front member or an attachment used or characteristics of a device forming a driving device. It is an object of the present invention to provide a control device for a construction machine capable of externally setting control data such as the control data and selecting the externally set control data.

A second object of the present invention is to provide a construction machine capable of performing control using a common control unit irrespective of a model, a variation, or characteristics of a device forming a driving device when the same control is performed. It is to provide a control device.

[0011]

Means for Solving the Problems Among the above objects, in particular,
In order to achieve the first object, an invention according to claim 1 of the present invention is provided in a construction machine having a working member and driving means for driving the working member, wherein the working member and the driving means are provided. Detecting means for detecting a state quantity relating to at least one of the above, input means for inputting a state quantity signal detected by the detecting means, shape data of the working member, and characteristic data of the driving means. Non-rewritable non-volatile first storage means for storing control data including at least one of the control data, and a predetermined data based on the control data stored in the first storage means and a state quantity signal input through the input means. Arithmetic means for performing arithmetic processing;
Control of a construction machine having second storage means for temporarily storing the state quantity signal and the calculation result by the calculation means, and output means for outputting the calculation result by the calculation means to the drive means as a control signal In the apparatus, there is provided a control data storage area for storing the control data corresponding to at least one type of construction machine, a third storage means rewritable based on an external signal, and the third storage means. Wherein the control means reads control data stored in the third storage means in preference to control data stored in the corresponding first storage means when control data is stored in the storage means. And

According to the first aspect of the present invention, for example, when the device forming the driving means is replaced, the characteristic data of the replaced device is stored in the control data storage area of the third storage means at the corresponding address. Is written from outside. In such a state, the arithmetic unit reads the control data written in the third storage unit in preference to the characteristic data stored in the first storage unit. Then, based on the read control data and the state quantity signal input via the input means, a predetermined arithmetic processing is executed, and the result is output to the drive signal via the output means as a control signal.

Therefore, even if it is necessary to change the control data already stored in the storage device,
There is no need to replace the control unit itself, and a decrease in work efficiency can be avoided. Further, it is possible to reduce costs associated with replacement and replacement work of the control unit.

According to a second aspect of the present invention, in the first aspect, the first storage means has an equal capacity for storing the control data corresponding to a plurality of types of construction machines. A plurality of control data storage areas, wherein the third storage means has an area for storing model data for specifying a type of construction machine, and the arithmetic means is stored in the third storage means. And reading the control data corresponding to the model data from the first storage means.

According to the second aspect of the present invention, the arithmetic unit reads the model data stored in the third storage unit before executing the arithmetic processing. Next, control data corresponding to the read model data is read from a plurality of control data storage areas stored in the first storage means.

Thus, the same control can be executed by the common control unit irrespective of the type of the model, so that the cost of replacing and exchanging the control unit can be reduced.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a construction machine according to the present invention will be described below with reference to the drawings. 1 is an overall configuration diagram of a control device according to an embodiment of the present invention, FIG. 2 is a plan view of a general hydraulic excavator, and FIG. 3 is a structural diagram of a data area of an EPROM as storage means forming the control device. 4 is a data structure diagram of an EEPROM as a third storage means, FIG. 5 is a flowchart relating to data reading by a CPU as an arithmetic means, and FIG. 6 is a flowchart of a process when rewriting control data.

A general hydraulic excavator as a construction machine is:
As shown in FIG. 2, a lower traveling body 69 composed of a pair of left and right traveling belts 65 and 66, an upper revolving superstructure 67 including a machine room 70 and an operator cab 25, and a rotatable upper revolving superstructure 67. Front 60 as a working member provided in
And formed from The front 60 includes a boom 61 rotatably provided in the up-down direction with respect to the upper swing body 67, and an arm 63 rotatable in the up-down direction with respect to the boom 61.
And a bucket 6 rotatably provided with respect to the arm 63.
4 The traveling, turning, and front operations are performed by hydraulic actuators such as a hydraulic cylinder and a hydraulic motor.

FIG. 1 shows a control device 1 according to the present embodiment for performing control such as trajectory control for such a hydraulic excavator. The control device 1 includes an angle sensor 10 as a detection unit provided on each front member, an A / D converter 2 as an input unit for taking in a signal from the angle sensor 10, and a front member of a hydraulic shovel. EP as non-rewritable non-volatile first storage means storing shape data and characteristic data of hydraulic equipment and the like
A ROM 5, an EEPROM 6 as a third storage unit rewritable in response to an external signal, and a CPU as an arithmetic unit including a ROM 9 storing a processing program
4, a RAM 7 for temporarily storing a result calculated by the CPU 4, and an output means 8 for outputting a control signal based on the processing result to, for example, a solenoid valve 11 as a driving means.
And a code rewriting device 23 for instructing rewriting from outside to rewrite the control data of the EEPROM 6, and a serial interface 3 for inputting data from the code rewriting device 23.

In the EPROM 5, control data for each model is stored in a predetermined area as shown in FIG. For example, for model A, area 11 to area 1
3 stores codes representing a standard machine, a gutter, and a micro turning, respectively, and data corresponding to a bucket shape is stored in each of areas 1a to 1c. Similar data are stored in the storage areas from the areas 21 and 31 for the other models B and C, respectively.

As shown in FIG. 4, the EEPROM 6 has an area for designating a model in an area xx, and an area for storing data corresponding to one model is secured in the areas 11 to (xx-1). In the present embodiment configured as described above, the arithmetic processing according to the flowchart shown in FIG. 5 is executed. That is, after starting the engine in step S1, in step S2, the type of the target model is read from the area xx of the EEPROM 6. In the next step S3, control data stored in the EEPROM 6 is read from each area. On the other hand, EEPROM6
If there is data that is not stored in the
4 reads the missing data from the EPROM 5.
That is, in the present embodiment, the data stored in the EEPROM 6 is prioritized, and the data not stored in the EEPROM 6 is read from the EPROM 5 in an auxiliary manner. Then, in the next step S5, the signal from the above-described angle sensor 10 is input, and CP
The arithmetic processing is executed by U4 according to the program stored in the ROM9.

On the other hand, if the attachment such as a bucket or the arm is replaced, or the hydraulic equipment such as the electromagnetic valve 11 is replaced, and the specifications up to that time are changed,
The data in the EEPROM 6 is rewritten based on the flowchart shown in FIG. That is, in steps S6 and S7, it is determined whether or not the change is based on the code rewriting device 23 as a regular rewriting means, and whether or not the instructed command is a legitimate one. The rewriting code is read in the next step S8. In step S9, the result is stored in the EEPROM.
6 in a predetermined area.

Therefore, according to the present embodiment, the data relating to the shape of the front member or the attachment or the characteristic data of the hydraulic equipment or the like can be changed by the code rewriting device 23 provided outside, and the changed data can be obtained. Since the data can be selected from the EEPROM 6 in preference to the reference data stored in the EPROM 5, complicated work such as replacement of the control device 1 can be avoided, and the accompanying cost and reduction in work efficiency can be avoided. it can.

Further, when the same control is performed, the common control device 1 can be used regardless of the model and the machine variation, so that the cost associated with replacement of the control device 1 and the replacement work can be suppressed.

[0025]

As described above, according to the present invention, it is possible to externally set control data relating to the shape of a front member or an attachment used or the characteristics of a device forming a driving device. Can be preferentially selected from the set control data, and when performing the same control, control can be performed using a common control device regardless of the model, variation, or characteristics of the device forming the drive device, Complicated work such as replacement of the control device can be avoided, and the accompanying increase in cost and reduction in work efficiency can be avoided.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a control device according to an embodiment of the present invention.

FIG. 2 is a side view showing the appearance of a general hydraulic excavator.

FIG. 3 is a structural diagram of a data area of an EPROM according to an embodiment of the present invention.

FIG. 4 shows an EEPROM according to an embodiment of the present invention.
FIG. 3 is a data structure diagram of FIG.

FIG. 5 is a flowchart relating to data reading by a CPU according to the embodiment of the present invention.

FIG. 6 is a flowchart of a process when rewriting control data according to the embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 control device 2 A / D converter (input means) 4 CPU (calculation means) 5 EPROM (first storage means) 6 EEPROM (third storage means) 7 RAM (second storage means) 8 output means 10 Angle sensor (detection means) 11 Solenoid valve (drive means) 23 Code rewriting device

 ──────────────────────────────────────────────────の Continuing from the front page (72) Inventor Toichi Hirata 650 Kandamachi, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant, Ltd. (72) Inventor Toshiaki Nishida 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. F term in the Tsuchiura Plant (reference) 2D003 AA01 AB03 AB04 BA02 DB04 FA02

Claims (4)

[Claims] A detector provided on a construction machine having a working member and driving means for driving the working member, wherein detecting means detects a state quantity relating to at least one of the working member and the driving means; An input unit for inputting a state quantity signal detected by the detection unit; a non-rewritable nonvolatile non-volatile memory for storing control data including at least one of shape data of the working member and characteristic data of the driving unit; Storage means, a calculation means for performing a predetermined calculation process based on control data stored in the first storage means and a state quantity signal input via the input means, and the state quantity signal and the calculation means Storage means for temporarily storing the result of the calculation by the control means, and output means for outputting the result of the calculation by the calculation means to the drive means as a control signal. A control data storage area for storing the control data corresponding to at least one type of construction machine, and a third storage means rewritable based on an external signal. When the control data is stored in the third storage unit, the arithmetic unit stores the control data in the third storage unit in preference to the control data stored in the corresponding first storage unit. A control device for a construction machine, which reads control data. 2. The first storage unit includes a plurality of control data storage areas having the same capacity for storing the control data corresponding to a plurality of types of construction machines, and the third storage unit includes: An operation unit that reads model data stored in the third storage unit, and stores the control data corresponding to the model data in the first model. The control device for a construction machine according to claim 1, wherein the control device reads the data from a storage unit. 3. The control data stored in the control data storage area of the first storage means and the control data stored in the control data storage area of the third storage means are respectively stored in an address order according to a predetermined order. The control device for a construction machine according to claim 1 or 2, wherein 4. When there is a location where no data is stored in the control data storage area of the third storage means, the data stored in the first storage means corresponding to this location. 4. The control device for a construction machine according to claim 3, wherein the control unit is used in a calculation process by the calculation unit.