JP2000291048A - Power shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow clearer recognition of the start point of excavation work by bucket by an operator. SOLUTION: When the operator turns on an UP switch or a DOWN switch, a radiation angle of a laser beam from a laser distance measuring device 7 is changed and the visual point of a CCD camera 80 varies and if the operator catches an excavation start point P on the screen of a monitor 81 and gives an instruction, the laser distance measuring device 7 measures the distance to the excavation start point P. When the operator turns on the start switch, then the controller determines the excavation start position P (X, Y) based on the angle of reflection of the laser beam and the distance to the excavation start position P, determines the position (X1, Y1) of the tip 5a of bucket from each stroke detecting sensor and compares it to the excavation start position P, and controls so as to move the tip 5a to the excavation start position P.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power shovel used for excavating earth and sand, for example.

[0002]

2. Description of the Related Art A power shovel includes a lower mechanism, an upper swing body, a boom, an arm, a bucket, and the like. The lower mechanism has a caterpillar (crawler),
By driving the caterpillar, the power shovel runs on the ground. In addition, the lower mechanism supports the upper revolving superstructure provided with the driver's cab so as to be pivotable in parallel to the upper surface of the upper revolving structure via the revolving portion. The upper rotating body is configured to be rotated 360 ° with respect to the lower mechanism by a hydraulic motor. A boom is rotatably supported by the upper swing body, and a boom cylinder is connected between the upper swing body and an intermediate portion of the boom. The boom is configured to rotate around a connecting portion between the boom and the upper swing body based on expansion and contraction of the boom cylinder.

[0003] An arm is rotatably supported at the distal end of the boom, and an arm cylinder is connected between an intermediate portion of the boom and a base end of the arm. The arm is configured to rotate around a connecting portion between the boom and the arm based on expansion and contraction of the arm cylinder. A bucket is rotatably supported at the distal end of the arm, and a bucket cylinder is connected between an intermediate portion of the arm and a base end of the bucket. The bucket rotates around a connecting portion between the arm and the bucket based on expansion and contraction of the bucket cylinder.

The stroke of each cylinder is adjusted by the expansion and contraction of each piston rod, and the boom, arm, and bucket are individually driven. Two operating levers for operating the movement of the power shovel are provided in the cab of the upper revolving superstructure. These two operation levers can be switched to front, rear, left and right four positions, respectively, so that the boom cylinder, the arm cylinder, and the bucket cylinder expand and contract by performing a predetermined operation, so that the hydraulic motor rotates left and right. Has become.

When performing excavation work, the operator first moves and turns the power shovel to a position where excavation is possible, and then operates two operating levers to extend and retract the boom cylinder, arm cylinder, and bucket cylinder. To move the tip of the bucket to the excavation position. next,
The operator operates the two operation levers to rotate the bucket and, if necessary, the boom, the arm, and the like to excavate, for example, earth and sand on the ground.

However, to perform these operations smoothly requires skill and advanced techniques. In particular, it is not easy for a layman to operate the boom, the arm and the bucket in a combined manner, and this has caused a prolonged working time. In addition, these digging operations are usually repeated many times over a long period of time, so that even an experienced person has a problem that repetition of the operations is complicated and nervous.

[0007]

SUMMARY OF THE INVENTION In order to solve such a problem, the inventor of the present invention has disclosed in Japanese Patent Application No. 9-1313.
No. 59 proposed the technique disclosed. That is,
A laser distance measuring device configured to irradiate visible laser light and adjust its irradiation angle in the vertical direction is arranged on the roof of the cab. Then, when the worker points the point at which the excavation work is started by the bucket with the laser light emitted from the laser distance measuring device, the laser distance measuring device detects the position of the laser light reflected at the point, The distance Z from the measurement origin to the designated excavation start point is measured.

[0008] Then, for example, the coordinates of the excavation starting point having the coordinate origin on the main body side fulcrum of the coupling mechanism can be obtained. Also,
Calculate the current position coordinates of the bucket based on the detection result by the stroke detection sensor arranged in each cylinder,
The bucket is controlled to be automatically moved to the coordinates of the excavation start point. According to such a technique, the operator does not perform a complicated lever operation,
The bucket can be moved to the excavation start point indicated by the laser light.

[0009] However, the laser beam emitted from the laser distance measuring device may not be easily recognized by an operator depending on the brightness of the surrounding environment and the color of the ground surface at the point where the laser beam is emitted. It was not possible to recognize from the operator's cab which point the laser light was pointing to, and it could not be said that the laser light was necessarily sufficiently practical.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a power shovel that allows a worker to more clearly recognize a starting point of a digging operation using a bucket.

[0011]

In order to achieve the above object, a power shovel according to claim 1 is provided with a connecting mechanism driven with one end supported on a movable body, and another end of the connecting mechanism. A bucket rotatably supported by the actuator and driven in accordance with a drive stroke of the actuator; an image pickup means for picking up an excavation start point by the bucket; and the excavation start point picked up by the image pickup means being displayed as an image. Display means; distance measuring means for measuring a distance from a measurement origin to the excavation start point displayed by the display means; bucket position detecting means for detecting a current position of the bucket; Based on the current position of the bucket obtained from the throw and the distance to the excavation start point measured by the distance measuring means, The position of Tsu preparative characterized by comprising a control means for controlling to move the drill starting point.

[0012] According to this structure, when the worker takes an image of the point at which the excavation work is started by the bucket by the imaging means and causes the display means to display the image, the distance measuring means:
Measure the distance from the measurement origin to the excavation start point. Then, the control means automatically moves the position of the bucket to the excavation start point based on the current position of the bucket obtained from the bucket position detection hand throw and the distance to the excavation start point.

That is, since the operator can recognize the excavation start point as an image, unlike the conventional art, when the laser distance measuring device is used as the distance measuring means, the brightness of the surrounding environment and the surface color of the irradiation point are different. The excavation start point to be instructed can be clearly recognized with almost no influence of the excavation.

In this case, it is preferable that the imaging means is a CCD camera as described in claim 2, and with such a configuration, the size of the imaging means becomes small, so that the arrangement space can be made very small. it can.

According to a third aspect of the present invention, there is provided a judging means for judging whether or not the distance to the excavation start point measured by the distance measuring means is within the workable range of the bucket, and this judging means. If it is determined by the means that the distance to the excavation start point is not within the workable range, it is preferable to include an alarm generating means for generating an alarm to the operator.

With this configuration, when the excavation start point specified by the operator by the imaging means exceeds the workable range of the bucket, the alarm generation means generates an alarm to the operator. Useless excavation operation can be suppressed.

Further, as set forth in claim 4, there is provided angle setting means for setting an initial angle of the bucket before the start of digging, and the control means moves the position of the bucket to the digging start point. In this case, the initial angle of the bucket may be controlled to the angle set by the angle setting means.

With this configuration, if the operator sets the initial angle of the bucket in advance, when the control means moves the position of the bucket to the excavation start point, the angle of the bucket is set to the set initial angle. Automatic control so that
For example, when it is desired to appropriately set the initial angle of the bucket according to the state of the earth and sand at the excavation start point,
Operation becomes easy.

Further, as set forth in claim 5, there is provided an excavation amount setting means for setting an excavation amount by the bucket, and the control means is controlled in accordance with the excavation amount set by the excavation amount setting means. The bucket may be configured to be controlled to rotate.

According to this structure, if the operator presets the amount of excavation of the bucket by, for example, earth and sand, the control means automatically controls the rotation of the bucket according to the set excavation amount. The user does not need to perform a lever operation or the like to excavate earth and sand, and the operation becomes easier.

In addition, as set forth in claim 6, there is provided a lifting height setting means for setting a lifting height after the excavation of the bucket, and the control means is controlled by the lifting height setting means after the excavation. It is preferable that the bucket is controlled to be lifted in accordance with the set lifting height.

With this configuration, if the operator sets the lifting height of the bucket in advance, the control means automatically controls the lifting of the bucket in accordance with the lifting height set after the excavation. It becomes even easier.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 1, the power shovel 1 includes a lower mechanism 6, an upper swing body 2, a boom 3 as a connecting mechanism, an arm 4 as a connecting mechanism, a bucket (dipper) 5, and a laser distance measuring device (distance measuring means) 7. It is composed of

The lower mechanism 6 has a track 6a and travels on the ground by driving the track 6a.
The lower mechanism 6 supports the upper revolving unit 2 via a revolving part 11 so as to be pivotable in parallel to the upper surface of the lower mechanism 6. The upper swing body 2 is configured to swing 360 ° with respect to the lower mechanism 6 by a hydraulic motor.

A boom 3 is rotatably supported by the upper swing body 2, and a boom cylinder (actuator) 8 is connected between the upper swing body 2 and an intermediate portion of the boom 3. The boom 3 is configured to rotate around a connecting portion 2 a between the boom 3 and the upper swing body 2 based on expansion and contraction of the boom cylinder 8. Arm 4 at the end of boom 3
Is rotatably supported, and an arm cylinder (actuator) 9 is connected between an intermediate portion of the boom 3 and a distal end of the arm 4. The arm 4 is connected to a connecting portion 3 a between the boom 3 and the arm 4 based on the expansion and contraction of the arm cylinder 9.
It is designed to rotate around.

A bucket 5 is rotatably supported at a distal end of the arm 4, and a bucket cylinder (actuator) is provided between an intermediate portion of the arm 4 and a base end of the bucket 5.
10 are connected. The bucket 5 is configured to rotate around a connecting portion 4 a between the arm 4 and the bucket 5 based on expansion and contraction of the bucket cylinder 10. The strokes of the cylinders 8 to 10 are adjusted by the expansion and contraction movements of the piston rods 8a to 10a.
The buckets 5 are individually driven.
The upper revolving unit 2, the lower mechanism 6, and the revolving unit 11 constitute a main body.

An operator cab R is provided in front of the upper swing body 2. A work position setting device A is installed in the front center of the cab R on the roof. The work position setting device A will be described.
A front portion (laser beam irradiation side) of the laser distance measuring device 7 is rotatably supported on the support 12. A movable column 13 that moves up and down is provided on the rear side of the base F, and a rear portion of the laser distance measuring device 7 is supported on the movable column 13.

The lower part of the movable column 13 is connected to a pulse motor 14 via a gear or the like.
It moves up and down based on the rotation operation of. The tilt angle of the laser ranging device 7 is changed based on the vertical movement of the movable column 13. To elaborate,
When the movable column 13 rises, the rear part of the laser distance measuring device 7 rises, and the front side of the laser distance measuring device 7 tilts in the depression angle direction.

Conversely, when the movable column 13 descends, the rear part of the laser distance measuring device 7 descends, and the front side of the laser distance measuring device 7 tilts in the elevation direction. Here, the laser distance measuring device 7 is a known device capable of irradiating a laser beam and measuring a distance to a point where the laser beam is reflected. The laser beam emitted from the laser distance measuring device 7
5, the light is emitted forward.

A CCD is provided above the laser distance measuring device 7.
A camera (imaging means) 80 is attached, and is installed so as to image an irradiation position of laser light from the laser distance measuring device 7. An image captured by the CCD camera 80 is displayed on a screen of a monitor (display means) 81 installed in the driver's cab R.

At the center of the screen of the monitor 81, a cross line 8
2 is superimposed. Then, when the operator rotates the upper swing body 2 and rotates the front side of the laser distance measuring device 7 up and down, CC
The viewpoint of the D camera 80 is also moved, and the crosshair 8
When 2 is set to the excavation start position P, the position P is irradiated with the laser beam emitted from the laser distance measuring device 7.

As shown in FIG. 3, a first operation lever 16 is provided on the right side of the seat 15, and a second operation lever 17 is provided on the left side of the seat 15. Also, sheet 1
On the right side of 5, a setting panel 18 (see FIG. 4) is provided. The first and second operation levers 16 and 17 are levers for driving the boom 3, the arm 4, the bucket 5, and the upper swing body 2, and as shown in FIGS. 5A and 5B, Switching operation can be performed in four directions, front, rear, left and right, respectively.

FIG. 6A is a plan view of the first operation lever 16 as viewed from above, and FIG. 6B is a left side view of the first operation lever 16 as viewed from the second operation lever 17 side. FIG. 6C is a front sectional view of the section of the first operation lever 16 as viewed from the front. The first operation lever 16 has an up switch 16 for moving the movable column 13 up and down.
a, a down switch 16b and a start switch 16c for starting an automatic excavation control process described later. Up switch 16a and down switch 16
b is disposed at the bottom of a concave portion 19a formed on the left side of the grip 19. Also, the start switch 16c
Are arranged at the bottom of a concave portion 19b formed at the top of the grip 19.

Next, a hydraulic system circuit for operating the cylinders 8 to 10 and the hydraulic motor 21 will be described with reference to FIG. This hydraulic circuit includes a boom cylinder 8, an arm cylinder 9, a bucket cylinder 10, a hydraulic motor 21,
Pilot operation switching valves 22 to 25 and proportional control valves 26 to 2 corresponding to the cylinders 8 to 10 and the hydraulic motor 21, respectively.
9, a variable displacement hydraulic pump 32 driven by an engine 31 mounted on the power shovel 1, a constant displacement hydraulic pump 33, and relief valves 34 and 35.

The variable displacement hydraulic pump 32 includes a cylinder 8
Hydraulic oil for operating the hydraulic motor 21 and the hydraulic motor 21 is pumped up from the oil tank 36 and supplied to each of the pilot operation switching valves 22 to 25 through a pipe 37.

The boom pilot operation switching valve 22 is a switching valve for controlling the supply of hydraulic oil to the boom cylinder 8. The switching position of the switching valve 22 is the first switching position 22a.
In this case, the hydraulic oil from the hydraulic pump 32 is supplied to the bottom chamber 8b of the boom cylinder 8, and the hydraulic oil in the rod chamber 8c is discharged to the oil tank 36 via the pipe 38. As a result, the boom cylinder 7 extends.

The switching position of the switching valve 22 is the second switching position 22
In the case of b, the hydraulic oil from the hydraulic pump 32 is supplied to the rod chamber 8c of the boom cylinder 8, and the hydraulic oil in the bottom chamber 8b is discharged to the oil tank 36 via the pipe 38.
Thereby, the boom cylinder 8 contracts. When the switching position of the switching valve 22 is the third switching position 22c, the flow of the hydraulic oil is stopped, and the boom cylinder 8 is kept stationary.

The structure and operation of the arm pilot operation switching valve 23 and the arm cylinder 9, the bucket pilot operation switching valve 24 and the bucket cylinder 10 are the same as those of the switching valve 22 and the cylinder 8. The parts are denoted by reference numerals a, b, and c, respectively, and are shown in FIG.

The turning pilot operation switching valve 25 is provided for controlling the supply of hydraulic oil to the hydraulic motor 21. When the switching position of the switching valve 25 is the first switching position 25a, hydraulic oil from the hydraulic pump 32 is supplied to the hydraulic oil inlet / outlet 21a of the hydraulic motor 21, and hydraulic oil is supplied from the hydraulic oil inlet / outlet 21b via the pipe line 38. And discharged to the oil tank 36. Thereby, the hydraulic motor 21 rotates in the clockwise R direction.

The switching position of the switching valve 25 is the second switching position 25
In the case of b, the hydraulic oil from the hydraulic pump 32 is supplied to the hydraulic oil inlet / outlet 21b of the hydraulic motor 21, and the hydraulic oil inlet / outlet 2b
Hydraulic oil is discharged from 1a to an oil tank 36 via a conduit 38. As a result, the hydraulic motor 21 rotates in the counterclockwise L direction. Switching valve 2
When the switching position of No. 5 is the third switching position 25c, the flow of the hydraulic oil stops, so that the hydraulic motor 21 is kept stationary. The switching positions of the switching valves 22 to 25 are controlled by pilot pressures from the proportional control valves 26 to 29. Note that a relief valve 34 is provided between the pipe 37 and the pipe 38.

The constant displacement hydraulic pump 33 draws oil from an oil tank 36 and supplies the oil to each of the proportional control valves 26 to 29 via a pipe 39. The boom proportional control valve 26 is a control valve for controlling pilot oil sent to the boom pilot operation switching valve 22. When the electromagnetic solenoid SL1b is excited, the control valve 26 changes its switching position to the second switching position 26b. At this time, hydraulic oil from the hydraulic pump 33 is supplied to the boom pilot operation switching valve 22 as pilot oil.
As a result, the boom pilot operation switching valve 22 switches from the first switching position 22a to the third switching position 22c, and further switches from the third switching position 22c to the second switching position 22b.

When the electromagnetic solenoid SL1a is excited, the switching position of the control valve 26 becomes the first switching position 26a. At this time, the operating oil supplied as pilot oil to the boom pilot operation switching valve 22 is discharged to the oil tank 36 via the pipeline 40. As a result, the boom pilot operation switching valve 22 switches from the second switching position 22b to the third switching position 22c, and further switches from the third switching position 22c to the first switching position 22a. When the two solenoids SL1a and SL1b are not excited, the control valve 26 is in the third switching position 26c and the supply of the hydraulic oil is stopped.
The boom pilot operation switching valve 22 can be stopped at the switching position at that time.

Incidentally, the arm proportional control valve 27, the arm pilot operation switching valve 23, the electromagnetic solenoid SL2a, S
L2b; bucket proportional control valve 28, bucket pilot operation switching valve 24, electromagnetic solenoids SL2a, SL3
b: the swing proportional control valve 29, the swing pilot operation switching valve 25, the electromagnetic solenoids SL2a, SL4b; the structure and operation of the boom proportional control valve 26, the boom pilot operation switching valve 22, the electromagnetic solenoid SL1
a and SL1b, and the same corresponding parts are denoted by reference numerals a, b and c, respectively, and are shown in FIG.

That is, when the electromagnetic solenoid SL1a of the boom proportional control valve 26 is excited, the stationary boom cylinder 8 extends and the retracted boom cylinder 8 stops. When the electromagnetic solenoid SL1b is excited, the stationary boom cylinder 8 contracts, and the extended boom cylinder 8 stops.

When the electromagnetic solenoid SL2a of the arm proportional control valve 27 is excited, the stationary arm cylinder 9 extends and the retracted arm cylinder 9 stops. When the electromagnetic solenoid SL2b is excited, the stationary arm cylinder 9 contracts, and the extended arm cylinder 9 stops.

When the electromagnetic solenoid SL3a of the bucket proportional control valve 28 is excited, the stationary bucket cylinder 10 is extended and the retracted bucket cylinder 1 is extended.
0 stands still. When the electromagnetic solenoid SL3b is excited, the stationary bucket cylinder 10 contracts, and the extended bucket cylinder 10 stops.

Further, when the electromagnetic solenoid SL4a of the turning proportional control valve 29 is excited, the hydraulic motor 2
1 rotates counterclockwise in the L direction, and the hydraulic motor 21 rotating in the clockwise R direction stops. When the excitation solenoid SL4b is excited, the hydraulic motor 21
Rotates in the clockwise R direction, and the hydraulic motor 21 rotating in the counterclockwise L direction stops. The pipe 39
A relief valve 35 is provided between the valve and the conduit 40.

Next, an electric circuit for switching and controlling the proportional control valves 26 to 29 will be described with reference to FIG. The operation positions of the first and second operation levers 16 and 17 are detected by lever operation position detection sensors 51 and 52, and the detection signals are digitally converted by A / D converters 53 and 54.
It is input to a controller (control means, determination means) 55 mainly composed of a CPU and the like. When a detection signal corresponding to each position is input from the lever operation position detection sensors 51 and 52, the controller 55 sends an excitation signal to each of the electromagnetic solenoids SL1a to SL4b of each of the proportional control valves 26 to 29 according to the detection signal. Is output. Therefore, each drive unit of the power shovel 1 is operated by the first and second operation levers 16 and 17.

The boom cylinder 8, the arm cylinder 9, and the bucket cylinder 10 are provided with a boom stroke detection sensor 56, an arm stroke detection sensor 57, and a bucket stroke detection sensor 58 as bucket position detecting means, respectively. . Each of the sensors 56 to 58 detects the amount of expansion and contraction of the rods 8 a to 10 a of each of the cylinders 8 to 10, and the detection signals are digitally converted by A / D converters 59 to 61 and input to the controller 55. The controller 55 determines, based on this signal, each rod 8 at that time.
The amount of expansion and contraction of a to 10a is read.

As shown in FIG. 4, the setting panel 18
Power switch SW, bucket angle switches (angle setting means) B1 to B3 for setting bucket angle, digging amount switches (digging amount setting means) K1 to K3 for setting digging amount, lifting height switch (lifting height) for setting lifting height Setting means) M1 to M3 are formed. The signals of the switches SW, B1 to B3, K1 to K3, and M1 to M3 are input to the controller 55.

Here, the bucket angle is the angle of the bucket 5 with respect to the longitudinal axis of the arm 4, and the excavation amount is the rotation of the boom 3 and the arm 4 when the bucket 5 rotates and excavates. Amount to dig deeper or shallower,
The lifting height is a height at which the bucket 5 lifts up the excavated and held earth and sand. Further, in the present embodiment, three stages of bucket angles (90 degrees) are set according to the bucket angle switches B1 to B3.
{45, 0}) are set, and the excavation amount switches K1-
Three levels (shallow, medium, and deep) of excavation amount are set according to K3, and three levels (high, medium, and low) of the lift are set according to the lift switches M1 to M3. ing.

When an ON signal is input from the power switch SW, the controller 55 gives a laser irradiation command signal to the laser distance measuring device 7 to irradiate the laser beam. In addition, when any one of the bucket angle switches B1 to B3, the excavation amount switches K1 to K3, and the lifting height switches M1 to M3 is input, the controller 55 outputs a bucket angle corresponding to the ON signal. ,
The excavation amount and the lifting height are stored in the memory 62, respectively. In the present embodiment, the laser distance measuring device 7, the controller 55 and the memory 62 constitute a position measuring means, and the controller 55 and the memory 62 constitute a control means.

Each signal of the up switch 16a, the down switch 16b, and the start switch 16c provided in the first operation lever 16 is input to the controller 55. When the ON signal of the up switch 16a is input, the controller 55 outputs a pulse signal corresponding to the ON signal to the pulse motor 14. Also, the controller 55
When the ON signal of the down switch 16b is input, the pulse signal corresponding to the ON signal is output to the pulse motor 14.

The controller 55 includes a start switch 1
When the ON signal of 6c is input, the automatic excavation processing is started. In the automatic excavation process, the controller 55 receives a distance Z (see FIG. 2) to a point (excavation start position) where the laser light is reflected in the case where the position of the laser distance measuring device 7 is the measurement origin, and Pulse motor 1
4, the reflection angle θ of the laser beam at that time is obtained.

A buzzer (alarm generating means) 63 is connected to the controller 55. Then, as described later, when the excavation start position P exceeds the work range of the bucket 5, the controller 55 outputs a drive signal to sound the buzzer 63 and issues an alarm to the worker. I have.

Next, the operation of the power shovel 1 configured as described above will be described with reference to FIGS. Now, the engine 31 is driven, and the worker
After moving the power shovel 1 near the work area and stopping it, the upper swing body 2 is rotated to a predetermined position so that the bucket 5 is positioned on the excavation work axis. Then, beforehand, the bucket angle switches B1 to B3, the excavation amount switches K1 to K3, and the lifting height switches M1 to M3 of the setting panel 18 are selectively operated to set each operation state of the automatic excavation.
The automatic excavation process is executed as follows.

FIG. 9 is a flow chart showing the control contents of the automatic excavation processing executed by the controller 55. The program for the automatic excavation processing is stored in the memory 62 in advance. The controller 55 always waits while clearing the watchdog timer in a wait routine (not shown). For example, the controller 55 executes an automatic excavation process every time a predetermined number of timer interrupts by the system timer are counted (for example, every 100 ms). It has become.

In FIG. 9, first, the controller 55
Checks whether the start flag f is set (step S1). The start flag f is a flag that is set when the start switch 16c is turned on in step S6, and is reset in the initial state.
The process moves to S3 and S4.

In determination steps S2 to S4, the controller 55 determines whether the up switch 16a, the down switch 16b, and the start switch 16c have been turned on. In these steps, each switch 16a-1
If none of the switches 6c is turned on, the process is terminated.

First, the operator turns on the up switch 16a or the down switch 16b to determine the excavation start position P. When the up switch 16a is turned on, the controller 55 outputs a pulse signal to the pulse motor 14 so that the front side of the laser range finder 7 is displaced in the elevation direction (step S5), and the down switch 16b is turned on. When turned on, a pulse signal is output to the pulse motor 14 so that the front side of the laser distance measuring device 7 is displaced in the depression angle direction (step S6). In response to these operations, the irradiation angle of the laser beam changes, and the CCD
The viewpoint of the camera 80 also changes.

Then, while watching the screen of the monitor 81, the operator operates the up switch 16a or the down switch 16a.
b is operated to determine the excavation start position P, and when it is determined, the start switch 16c is turned on. Then
The controller 55 determines “YES” in step S4 and proceeds to step S7. When the start flag f is set in the storage area of the memory 62, the switching valve for traveling (not shown) and the switching valve for turning ( The valve 25 is closed (step S8). The reason why these switching valves are closed is to prevent the upper revolving unit 2 from moving and to perform the distance measurement by the laser distance measuring device 7 accurately thereafter.

Next, the controller 55 sends the distance Z measured by the laser distance measuring device 7 to the point indicated on the screen of the The reflection angle θ is obtained from the number of output pulse signals (step S9).

For example, it is assumed that the initial angle of the laser distance measuring device 7 is ± 0 ° with respect to the horizontal (90 ° with respect to the vertical), and the pulse motor 14 rotates 1 ° per one pulse signal. When the laser distance measuring device 7 outputs 30 pulse signals in a fixed phase order so as to rotate downward from the initial angle, the irradiation angle of the laser distance measuring device 7 is 90 ° -30 ° with respect to the vertical. = 60 °, and the reflection angle θ from the irradiation point becomes a 30 ° depression angle with respect to the horizontal.

When the distance Z and the reflection angle θ are obtained as described above, the controller 55 sets the digging start position P (X,
The calculation processing of Y) is performed (step S10). As shown in FIG. 2, the controller 55 obtains a forward distance X with respect to the power shovel 1 from an arithmetic expression of X = Zcos θ (1).

Then, the height Y with respect to the power shovel 1
Is calculated from the arithmetic expression of Y = Zsin θ−G (2) with reference to the connecting portion 2a (where G is the distance between the laser distance measuring device 7 and the connecting portion 2a and is stored in the memory 62 in advance. Value). In this way, the excavation start position P (X,
When Y) is obtained from the forward distance X and the height Y, the process proceeds to a determination step S11.

In the judgment step S11, the controller 55 sets the excavation start position P calculated in step S10.
It is determined whether or not (X, Y) is within the workable range AR of the bucket 5. Here, the workable range AR is physically defined by the sizes and movable ranges of the boom 3, the arm 4, and the bucket 5, when the power shovel 1 is fixed at a certain point, as shown in FIG. Things,
It is grasped as (distance, height) two-dimensional coordinates. The controller 55 has the coordinate data of the workable range AR in the memory 62 in advance, and determines whether the excavation start position P (X, Y) is within the area defined by the coordinate data.

The excavation start position P (X, Y) is within the workable range.
If it is in the AR, the processing is terminated as it is. When the excavation start position P (X, Y) is not within the workable range AR,
The controller 55 sounds the buzzer 63 to alert the worker (step S12). When the start flag f is reset, the process ends.

In the next execution cycle, the excavation start position P
If (X, Y) is within the workable range AR, the start flag f has been set, so the controller 55 determines "YES" in step S1 and determines in step S1.
Move to 4. In the judgment step S14, the step S
If 17 has not been executed, the controller 55 executes the same step.

In step S17, the controller 5
5 is the rods 8a to 1 at that time from the sensors 56 to 58.
When the amount of expansion / contraction of 0a is read, the position (X1, Y1) of the tip 5a of the bucket 5 at that time is obtained. Next, the controller 55 compares the obtained excavation start position P (X, Y) with the position (X1, Y1) of the tip 5a of the bucket 5 and determines the bucket angle of the bucket 5 stored in the memory 62 last time. An excitation signal is output to each of the electromagnetic solenoids SL1a to SL3b of each of the proportional control valves 26 to 28 so that the position of the tip 5a of the bucket 5 reaches the excavation start position P at an angle. Then, the boom 3, the arm 4, and the bucket 5 are driven respectively, and the position of the tip 5a reaches the excavation start position P. Then, the process ends.

In the next execution cycle, the controller 55
Determines “YES” in steps S1 and S14, shifts to step S15, and executes step S18 since step S18 has not been executed. That is, the controller 55
Is the excavation amount (shallow,
(Either medium or deep) so that each of the solenoids SL1 of each of the proportional control valves 26 to 28 is rotated so that the bucket 5 rotates.
a to output the excitation signal to SL3b. Then, the bucket 5 digs down, for example, the ground from the digging start position P to a depth corresponding to the set digging amount, and then rotates toward the near side (the cab R side) so that the inside thereof is filled with earth and sand.

In the next execution cycle, the controller 55
Determines “YES” in steps S1, S14, and S15, and proceeds to step S16. Since step S19 has not been executed, the same step is executed. That is, the controller 55 controls each proportional control valve 2 to move the bucket 5 upward to the lifting height previously stored in the memory 62.
An excitation signal is output to each of the electromagnetic solenoids SL1a to SL3b of Nos. 6 to 28. Then, the bucket 5 is lifted in a state where the inside is filled with earth and sand, and then the processing is terminated.

In the next execution cycle, the controller 55
Is "YE" in steps S1, S14, S15 and S16.
When the turning / running valve is opened, the start flag f is reset (step S21) and the process ends.

In this embodiment, the laser range finder 7 and the bucket 5 are slightly displaced in the left-right direction (perpendicular to the plane of FIG. 1), and the actual digging rule position with respect to the irradiation position of the laser beam. Is slightly shifted in the left-right direction, but the amount of the shift can be predicted in advance. For example, there is no problem if the operator determines the irradiation position of the laser beam in consideration of the amount of the shift in advance.

As described above, according to this embodiment, when the operator turns on the up switch 16a or the down switch 16b, the irradiation angle of the laser beam from the laser range finder 7 is displaced, and the viewpoint of the CCD camera 80 is changed. Change,
When the operator catches and instructs the excavation start position P on the screen of the monitor 81, the laser ranging device 7
Measure the distance Z to the start switch 16
When c is turned on, the controller 55 obtains the excavation start position P (X, Y) based on the reflection angle θ of the laser beam and the distance Z to the excavation start position P, and also obtains the bucket from each of the stroke detection sensors 56 to 58. The position (X1, Y1) of the tip 5a of No. 5 is obtained and compared with the excavation start position P, and control is performed so that the tip 5a is moved to the excavation start position P.

Accordingly, the operator can designate the excavation start position P while viewing the image taken by the CCD camera 80 on the screen of the monitor 81, so that the operator can use the laser light of the laser distance measuring device 7 as in the prior art. When the excavation start position P is marked and specified, the excavation start position P can be easily specified without making it difficult for the operator to visually recognize the point specified by the laser light depending on the working environment. .

Since the bucket 5 can be automatically moved only by designating the excavation start position P and turning on the start switch 16c, it is difficult for the operator to perform the shortest distance operation and the maximum speed operation. Work time is shortened and work efficiency is improved. in addition,
Since the imaging means is the CCD camera 80, the arrangement space can be reduced.

According to the present embodiment, the controller 5
5 is the workable range AR of the bucket 5 when the excavation start position P is
Is determined to be within the workable range AR, the buzzer 63 is sounded and an alarm is issued to the worker. Unnecessary operations can be suppressed.

Further, according to this embodiment, the controller 5
5, the bucket 5 is set to the digging start position P by the angle, digging amount and lifting height of the bucket 5 preset by the bucket angle switches B1 to B3, the digging amount switches K1 to K3 and the lifting height switches H1 to H3. After reaching, it is rotated to excavate and then controlled to move upward, so that the bucket 5 is easily and quickly moved to the excavation start position P to excavate and lift the soil at the point. Can be performed automatically, and the operation becomes easier.

The present invention is not limited to the embodiment described above and shown in the drawings, and the following modifications and extensions are possible. The mounting position of the laser distance measuring device 7 is not limited to the one mounted on the roof of the driver's cab R. For example, as shown in FIG. 11, the side (depth) side (A) of the driver's cab R or the middle of the boom 3 It may be attached to the part (B) or the like together with the drive mechanism. When mounting at the position (B), when measuring the distance Z of the excavation start position P, the boom 3
Is set to the position for measurement (for example, the state closest to the vertical), and then the measurement is performed. The alarm generating means is not limited to the buzzer 63, and may generate an alarm by voice such as "exceeding the workable range". Alternatively, the lamp may be turned on and blinked.

When the start switch 16c is pressed, the controller 55 moves the tip 5a of the bucket 5 to the excavation start position P to perform excavation, and then lifts it upward. P
, Or may be moved and excavated only. Further, the controller 55 may be provided with, for example, a teaching function (for example, a function of storing the position where the bucket 5 has been once moved and moving the bucket 5 to that position by one switch operation). in this case,
When the start switch 16c is pressed, the tip 5a of the bucket 5
Is moved to the excavation start position P, excavated, moved upward (lifting earth and sand, etc.), and a series of steps of moving to the stored position are preferably performed. In addition, an on / off function may be provided so that excavation, upward movement (lifting of earth and sand, etc.), and movement to the stored position can be controlled only when necessary. With such a configuration, automatic control can be performed as needed by the operator.

The laser distance measuring device 7 and the CCD camera 80 are provided so as to be able to turn, and excavation is possible by operating the boom 3, the arm 4, the bucket 5, and the upper revolving unit 2 with respect to the excavation start position captured by the CCD camera 80. When the start switch 16c is pressed while the position is within the range of the appropriate position, the tip 5a of the bucket 5 may be moved to the excavation start position P to perform a series of excavation work. In this case, the controller 5
5 detects the turning angle of the laser range finder 7, determines the excavation start position P including the turning angle, and turns the proportional control valve 29 so that the bucket 5 reaches the excavation start position P.
It is necessary to output an excitation signal also to the electromagnetic solenoids SL4a and SL4b. In this way, the excavation work is further simplified. The distance measuring means is not limited to the laser distance measuring device 7, and for example, an ultrasonic sensor may be used. Although the up switch 16a, the down switch 16b, and the stop switch 16c are arranged at the bottom of the concave portions 19a, 19b formed in the grip 19 of the first operation lever 16, the operation while sitting on the seat 15 is described. It may be arranged at any position that can be operated by a user, or may be configured as a remote controller.

The tilting angle of the laser ranging device 7 is displaced based on the vertical movement of the movable column 13.
4 is configured to move up and down based on the rotation operation. However, if the inclination angle of the laser distance measuring device 7 can be displaced, the pulse motor 1
For example, another motor such as a linear motor may be used in place of the fourth motor. In this case, it is necessary to provide a sensor for measuring the angle θ of the laser light. Excavator 1
1, the bucket 5 is connected via a boom 3 and an arm 4 as a connecting mechanism which rotates on a front, rear, upper and lower plane as shown in FIG. The present invention may be applied to any type of power shovel, such as one in which the bucket 5 is connected via a connection mechanism that can also rotate in the direction. A pilot operation switching valve 22 is used to switch between expansion and contraction of each of the cylinders 8 to 10 and rotation of the hydraulic motor 21.
２５25, and the switching valve 22〜
Although 25 has been operated, the expansion and contraction of each of the cylinders 8 to 10 and the rotation of the hydraulic motor 21 may be controlled by directly receiving an electric signal from the controller using a switching valve provided with an electromagnetic solenoid. In this case, the proportional control valves 26 to 29 become unnecessary, so that the number of parts can be reduced and the hydraulic circuit can be simplified.

The bucket angle switches B1 to B3, the excavation amount switches K1 to K3, and the lifting height switches M1 to M3 are used to set the bucket angle, the excavation amount, and the lifting height in three stages, respectively. The amount and lifting height may be set in any number of steps such as five steps, or may be set continuously by providing a volume knob or the like. Although the bucket angle is defined as the angle of the bucket 5 with respect to the longitudinal axis of the arm 4, the bucket angle is defined as the angle of the bucket 5 with respect to the longitudinal axis of the upper swing body 2, and control is performed. Is also good.

Since the actual excavation start position slightly deviates in the left-right direction with respect to the irradiation position of the laser light, the irradiation position of the laser light may be determined in consideration of the amount of deviation in the left-right direction which can be predicted in advance by the operator. However, the laser ranging device 7 and the CC
The D camera 80 is configured to be rotatable with respect to the upper revolving superstructure 2, and is configured to irradiate a laser beam so as to automatically correct a position where excavation is actually started by the bucket 5 in the left-right direction. Is also good. In this case, the controller 55
Needs to determine the turning angle of the laser range finder 7 according to the distance Z inputted from the laser range finder 7, and determines the turning range of the laser range finder 7 according to the obtained turning angle of the laser range finder 7. It is necessary to control to turn. Further, a motor or the like for turning the laser distance measuring device 7 is required. With such a configuration, the position (irradiation position of laser light) which is imaged by the CCD camera 80 and is designated by the crosshair 82 of the monitor 81 matches the actual excavation position. The present invention is not limited to the type in which the excavation operation is performed by rotating the bucket toward the front side of the main body, and may be applied to a power shovel in which the bucket is rotated to the depth side to perform the excavation operation.

[0085]

Since the present invention is as described above,
The following effects are obtained. According to the power shovel according to claim 1, when the worker takes an image of the point at which the excavation work is started by the bucket by the imaging means and displays the image on the display means, the distance measuring means moves from the measurement origin to the excavation start point. Measure the distance. Then, the control means automatically moves the position of the bucket to the excavation start point based on the current position of the bucket obtained from the bucket position detection hand throw and the distance to the excavation start point. Therefore, since the operator can recognize the excavation start point as an image, unlike a conventional method, when a laser distance measuring device is used as the distance measuring means, the influence of the brightness of the surrounding environment, the surface color of the irradiation point, and the like. It is possible to clearly recognize the excavation start point to be instructed almost without receiving the instruction.

According to the power shovel of the second aspect, since the imaging means is a CCD camera, the size of the imaging means is reduced, so that the arrangement space can be made very small.

According to the power shovel of the third aspect, when the excavation start point specified by the operator by the imaging means exceeds the workable range of the bucket, the alarm generating means generates an alarm to the operator. Therefore, unnecessary excavation operation of the bucket can be suppressed.

According to the power shovel of the fourth aspect,
If the operator sets the initial angle of the bucket in advance, when the control means moves the position of the bucket to the excavation start point, automatic control is performed so that the angle of the bucket becomes the set initial angle. The operation becomes easy even when it is desired to appropriately set the initial angle of the bucket according to the state of the excavation start point.

According to the power shovel according to the fifth aspect,
If the operator presets the amount of excavation such as earth and sand by the bucket, the control means automatically controls the rotation of the bucket according to the set amount of excavation. There is no need to perform an operation or the like, and the operation becomes easier.

According to the power shovel of the sixth aspect,
If the worker sets the lifting height of the bucket in advance, the control means automatically controls the lifting of the bucket according to the lifting height set after the excavation, so that the operation is further facilitated.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a power shovel according to an embodiment of the present invention.

FIG. 2 is a position coordinate diagram for explaining automatic excavation processing.

FIG. 3 is a perspective view of a driving seat arranged in a cab.

FIG. 4 is a plan view of a setting panel.

FIG. 5 (a) is a view for explaining an operating position of a first lever;
(B) is a diagram for explaining the operation position of the second lever.

FIG. 6A is a plan view of a first lever, and FIG.
(C) is a front sectional view of the first lever.

FIG. 7 is a hydraulic circuit diagram of the power shovel.

FIG. 8 is an electric circuit diagram of the power shovel.

FIG. 9 is a flowchart showing control contents of an automatic excavation processing routine executed by the controller.

FIG. 10 is a diagram showing a workable range AR of a bucket.

FIG. 11 is a diagram showing a modification of the mounting position of the laser distance measuring device and the CCD camera.

[Explanation of symbols]

2 is an upper rotating body, 3 is a boom (connecting mechanism), 4 is an arm (connecting mechanism), 5 is a bucket, 6 is a lower mechanism, 7 is a laser distance measuring device (distance measuring means), and 8 is a boom cylinder (actuator). , 9 is an arm cylinder (actuator), 10 is a bucket cylinder (actuator), 1
1 is a swivel part, 55 is a controller (control means, determination means), 56 is a boom stroke detection sensor (bucket position detection means), 57 is an arm stroke detection sensor (bucket position detection means), and 58 is a bucket stroke detection sensor. Sensor (bucket position detecting means), 63 is a buzzer (alarm generating means), 80 is a CCD camera (imaging means),
81 is a monitor (display means), B1 to B3 are bucket angle switches (angle setting means), K1 to K3 are digging amount switches (digging amount setting means), and M1 to M3 are lifting height switches (lifting height setting means). .

Claims (6)

[Claims] 1. A connecting mechanism driven with one end supported by a main body capable of traveling, and a bucket rotatably supported by the other end of the connecting mechanism and driven according to a driving stroke of an actuator. Imaging means for imaging an excavation start point by the bucket; display means for displaying the excavation start point imaged by the imaging means as an image; and a display from the measurement origin to the excavation start point displayed by the display means. A distance measuring means for measuring a distance; a bucket position detecting means for detecting a current position of the bucket; a current position of the bucket obtained from the bucket position detecting hand throw and the excavation start measured by the distance measuring means. Control means for controlling the position of the bucket to move to the excavation start point based on the distance to the point. A power shovel characterized by being provided. 2. The power shovel according to claim 1, wherein said imaging means is a CCD camera. 3. A determining means for determining whether or not the distance to the excavation start point measured by the distance measuring means is within a workable range of the bucket. The power shovel according to claim 1, further comprising: an alarm generating unit configured to generate an alarm for an operator when it is determined that the distance is not within the operable range. 4. An angle setting means for setting an initial angle of the bucket before starting digging, wherein the control means sets an initial angle of the bucket when moving the position of the bucket to the digging start point. The power shovel according to any one of claims 1 to 3, wherein the angle is controlled to an angle set by the angle setting means. 5. An excavation amount setting means for setting an excavation amount by the bucket, wherein the control means controls the rotation of the bucket in accordance with the excavation amount set by the excavation amount setting means. The power shovel according to any one of claims 1 to 4, wherein 6. A lifting height setting means for setting a lifting height after the excavation of the bucket, wherein the control means, after the end of the excavation, according to the lifting height set by the lifting height setting means. The power shovel according to any one of claims 1 to 4, wherein lifting control of the bucket is performed.