JP2000291078A - Automatically operated shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve detection precision by measuring excavated matter load during turning after excavation to calculate an amount of working during automatic operation in which the working of excavation to soil discharge is repeated. SOLUTION: In the case where an amount of working is calculated during the automatic operation of an automatically operated shovel, a working amount calculation part 63 reads the pressure data of pressure sensors 115-118 and the angle data of angle sensors 111-114 from a current pressure calculation part 73 and a current position calculation part 72 to find load by prescribed calculation. Next, a cycle is counted until soil is discharged from excavation and the excavation is performed again, and a cycle number is integrated on calculated load to calculate the amount of the working. Working amount data are stored to the storing part 54 of an operation box 5 or displayed on a display part 55. Thereby the amount of the working can be detected highly precisely, and existing pressure sensors and existing angle sensors can be utilized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly to an automatic driving shovel capable of detecting a work amount with high accuracy.

[0002]

2. Description of the Related Art Conventionally, as a method of calculating the amount of work performed during excavation work of a hydraulic excavator, a method of counting the number of times of earth removal and obtaining the product from a product of a bucket capacity, and a method of calculating the amount of work based on a turning operation switch signal at that time are used. Detect the boom cylinder pressure,
There is a method of calculating from the difference from the holding pressure when the bucket is not loaded.

On the other hand, in recent years, a system for automatically operating a construction machine has been developed.
No. 21, the work taught is repeatedly reproduced,
There has been disclosed a technique for causing a hydraulic excavator to automatically perform a series of operations from excavation to earth removal. In this known technique,
When performing crushing work using a hydraulic shovel, a bulldozer, a hydraulic shovel, and a crushed stone crusher are arranged in series. Bucket dumping, arm dumping, and boom raising are performed to release soil, and the released soil is crushed by a crusher for crushing stone to obtain crushed stone, and the work of turning again to load the soil is repeatedly performed.

[0004]

However, the method of detecting the soil volume of a hydraulic shovel according to the prior art is a simple method, and therefore has a problem in accuracy. Could not be applied.

[0005] The object of the present invention, in view of the above problems,
An object of the present invention is to provide an automatic driving shovel capable of accurately detecting a work amount.

[0006]

The present invention employs the following means in order to solve the above-mentioned problems.

[0007] In an automatic operation shovel for sequentially reading the teaching positions stored and teaching, and repeatedly performing the work from excavation to earth removal, the load of the excavated material is measured during the turning work after the excavation, A work amount calculating means for calculating a work amount based on the measured load is provided.

[0008] Further, in an automatic operation shovel in which a teaching position memorized and stored is sequentially read out and a cycle from excavation to earth removal is repeatedly performed, a load of an excavated object is controlled during a turning operation after the excavation. It is characterized in that a work amount calculating means for calculating an average load by measuring the number of times and calculating a work amount based on the average load is provided.

Further, in any one of claims 1 and 2, the load measurement in the work amount calculation unit is performed by an existing pressure sensor and an angle sensor required for automatic operation of the automatic operation shovel. It is characterized in that measured pressure data and angle data are used.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS.

FIG. 2 is a side view showing an example of the automatic driving shovel according to the present embodiment and its working form.

In FIG. 1, reference numeral 1 denotes an automatic operation shovel body for excavating debris stored in a stock yard 2 and discharging the debris to a crusher 3, and reference numeral 2 denotes soil and the like carried by a dump truck (not shown). A stock yard for storing, 3 is a crusher for crushing debris discharged by the automatically driven shovel body 1, 4 is a wheel loader for loading the crushed crushed stone on a not shown transport dump truck, and 5 is an automatically driven shovel body 1. This is an operation box installed at an arbitrary place suitable for performing the reproduction operation.

The self-driving shovel body 1 includes a traveling body 10.
A revolving body 11 rotatably provided on the traveling body 10, a boom 12 rotatably provided on the revolving body 11, and a boom 12
Arm 13 rotatably provided at the tip of
3, a bucket 14 rotatably provided at the tip of the cylinder 3, cylinders 15, 16, 17 for rotating the boom 12, the arm 13, and the bucket 14, respectively, and automatic operation for controlling an automatic operation function. A controller 6, a teaching operation unit 83 for performing a teaching operation, an electromagnetic control valve 81 for controlling an amount of oil sent to each cylinder by the automatic operation controller 6, and a wireless device for transmitting and receiving signals between the operation box 5 82, and a display unit 84 for displaying measured work amount data and the like.

The self-driving shovel body 1 has an angle sensor 111 for detecting a turning angle of the revolving unit 11 and an angle sensor 11 for detecting a turning angle between the revolving unit 11 and the boom 12.
2, an angle sensor 113 for detecting a rotation angle between the boom 12 and the arm 13, and an angle sensor 114 for detecting a rotation angle between the arm 13 and the bucket 14, and further supplied to a turning motor (not shown). Oil pressure sensor 115 for detecting the hydraulic pressure supplied to the cylinder 15 for rotating the boom, and a hydraulic sensor 116 for detecting the pressure of the hydraulic oil supplied to the cylinder 15 for rotating the boom. And a hydraulic sensor 117 that detects the pressure of hydraulic oil supplied to the cylinder 16 that rotates the bucket.

The crusher 3 includes a traveling body 30, a hopper 31, and a conveyor 32. Reference numeral 33 denotes debris crushed by the crusher 3.

The operation box 5 includes an emergency stop button 52, a reproduction operation section 53 for performing a reproduction operation, a display section 55 for displaying input / output data such as various work amounts, and an automatic driving shovel body 1. And a wireless device 51 for transmitting and receiving signals to and from the wireless device 82.

FIG. 1 shows an in-vehicle device and an operation box 5 mounted on the self-driving shovel body 1 according to the present embodiment.
It is a block diagram showing the outline of.

In the figure, the same reference numerals as those shown in FIG. 2 indicate the same parts.

In FIG. 1, reference numeral 54 denotes a storage unit for storing work amount data and the like transmitted from the automatic operation controller 6;
Reference numeral 56 denotes a command generation unit that generates a command from the reproduction operation unit 53 having the start button 531 and the stop button 532 or the emergency stop button 52 as a command, or sends the transmitted work amount data to the storage unit 54.

Reference numeral 6 denotes an automatic operation controller, which includes a teaching processing unit 67 for storing the current position of the automatic operation shovel body 1 as a teaching position in a teaching position storage unit 68, which will be described later, by operating the teaching operation unit 83, and a teaching processing unit. 67, a teaching position storage unit 68 for storing teaching data at the time of playback, a playback command storage unit 65 for storing a playback command for sequentially executing the procedure of the playback operation, and a teaching position storage unit 68 for interpreting the playback command. Command interpreter unit 66 for instructing the output of predetermined teaching position data, etc., teaching position / target pressure output processing unit 69 for outputting the teaching position data and target pressure, and the operation of the automatic driving shovel body 1 smoothly. The teaching position / target pressure output processing unit 6 operates.
The servo pre-processing unit 70 creates and outputs the teaching position data output from the computer 9 into the teaching position data interpolated by the calculation, and the interpolated teaching position data and the target pressure output from the servo pre-processing unit 70 are described later. Current position calculation unit 72
The drive signal for controlling the automatic operation shovel body 1 to a predetermined position is output to the electromagnetic control valve 81 by comparing the current position data output from the controller with the current pressure data output from the current pressure calculator 73 described later. A command received by the servo control unit 71 and the wireless device 82 is output to a reproduction start / stop processing unit 62 described later, a command from the teaching operation unit 9 is output to the teaching processing unit 67, or a work amount storage unit A command receiving unit 62 that outputs the work amount data from the wireless operating device 64 to the wireless device 82; A stop processing unit 62 and a command interpreter unit 66
During the turning work after excavation, the load W in the bucket 14 is measured based on the position data and the pressure data obtained from the current position calculating section 72 and the current pressure calculating section 73, and the amount of work is calculated. And a work amount storage unit that stores the work amount data calculated by the work amount calculation unit 63.

FIG. 3 is a diagram showing an example of the teaching position data stored in the teaching position storage section 68 shown in FIG.

In the figure, P1 to Pn denote the labels P of the teaching commands stored in the reproduction command storage section 65.
Boom angles to be taken by each part of the self-driving shovel body 1 corresponding to each of the labels P1 to Pn,
The taught values of the arm angle, the bucket angle, and the turning angle are stored.

Next, an example of an arithmetic expression necessary for the load measurement in the work amount calculating section 63 will be described with reference to FIGS.

FIG. 4 is a side view of the front part of the main body 1 of the automatic driving shovel.

In the figure, l ₇ is the position of the center of gravity of the load in the bucket 14 and the horizontal length from the fulcrum F, l ₈ is the horizontal length from the fulcrum F to the fulcrum J, and l ₉ is the load The position of the center of gravity and the length in the horizontal direction from the fulcrum J, l _c1 is the length of the perpendicular from the axis of the boom cylinder 15 to the fulcrum F, and l _c2 is the length of the perpendicular from the extension of the axis of the arm cylinder 16 to the fulcrum J. , W is the load of the load.

FIG. 5 is a diagram showing the dimensions of each part at the front part of the main body 1 of the automatic driving shovel.

[0027] l ₁₀ length between the fulcrum F and point G, l ₁₁ is the length between the fulcrum F and point H, theta ₄ is the angle between the line segment l ₁₀ and the line segment l _11, θ ₅ is a boom cylinder the angle between the axis and the line segment l ₁₀ of 15, l ₁₃ is the length between points K and M, l ₁₄ fulcrum J and the point K
L ₁₅ is the length between the fulcrum J and the point M, θ ₆ is the line segment l
_The angle between ₁₅ and the line segment l ₁₄ , θ ₇ is the line segment ₁₃ and the line segment ₁₄
Α ₁ is the angle between line segment l ₁₁ and the center of gravity of boom 12, W _b is the weight of the boom, R is the center of gravity of arm 13 and bucket 14, l ₅₁ is the fulcrum J and center of gravity R angle, l ₅₂ is the length between the fulcrum F and the fulcrum J, alpha ₂ is the line segment l ₁₅ and the angle of the line segment l _51, beta ₁ horizontal line and the line segment l ₁₀ of
Angle between, beta ₂ is an angle between the line segment l ₅₂ and the line segment l _11, beta ₃ is the angle between the line segment l ₅₂ and the line segment l _14, Wa is the weight of the boom 12 and the arm 13 is there.

Here, the moment due to the load W is W · l
₇ , the moment due to the reaction force Fb of the boom cylinder 12 is Fb · l _c1 , so that Fb · l _c1 = W · l ₇ + w′l ′... 1 Here, w′l ′ = Wb · l ₅₀ cos (θ ₄ + α ₁ −
β ₁ ) −W _a ｛l ₅₂ · cos (θ ₄ −β ₁ −β ₂ ) + l ₅₁ c
os (β ₁ + β ₂ + β ₃ −θ ₄ + θ ₆ + α ₂ −π)｝ The moment due to the load W is W · l ₉ , and the moment due to the reaction force Fa of the arm cylinder 12 is Fa · l _c2 , so Fa L _c2 = W · l ₉ + Wa · l ₅₁ cos (β ₁ + β ₂ + β ₃ -θ ₄ + θ ₆ + α ₂ -π) = W (l ₇ -l ₃ ) + Wa · l ₅₁ cos (β ₁ + β ₂ + β ₃₋ θ ₄ + θ ₆ + α ₂ −π) Expression 2 When solving both equations, detailed calculations are omitted, but W = ｛Fb · l _c1 −Fa · l _c2 −w′l '+ Wa · l ₅₁ cos (β ₁ + β ₂ + β ₃ -θ ₄ + θ ₆ + α ₂ -π)｝ ... The load W can be obtained as Equation 3.

Here, the reaction force Fb = Pb.Sb-P'b.
S′b, reaction force Fa = Pr · Sr−Ph · Sh, where Sb is the head-side cross-sectional area of the boom cylinder 15 and S ′
b is the rod side sectional area, Pb is the head side pressure of the boom cylinder 15, P'b is the rod side pressure, Sr is the rod side sectional area of the arm cylinder 16, Sh is the head side sectional area, Pr
Is the rod side pressure of the arm cylinder 16, and Ph is the head side pressure.

Therefore, the load W is calculated by the angle sensor 112
And 113, θ ₄ , θ ₆ , pressure sensor 116 ′,
116 ", 117 ', 117", Pb, P'b,
Based on Pr and Ph, the work amount calculation unit 63 can obtain the value by calculation.

The angle sensor and the pressure sensor used here may be those already used for automatic operation.

FIG. 6 is a diagram showing a boom cylinder pressure change and a boom cylinder displacement in one cycle of the automatic operation shovel according to the present embodiment.

As shown in the figure, since the rod-side pressure and the bottom-side pressure of the boom cylinder 12 change little during turning, the pressure of the boom cylinder 12 is detected at an appropriate time during this period, so that the A high-precision load can be measured by performing a load calculation based on this.

Although the pressure can be detected at a predetermined position during the turning operation, the pressure may be detected at a plurality of positions during the turning operation, and the average value thereof may be obtained.

Next, the regenerating operation of the automatic driving shovel body 1 and the work amount calculation will be described with reference to FIG.

At the time of reproduction, the reproduction start button 5 of the operation box 5
The command from the command generator 31 and the wireless devices 51 and 8
2. Output to the command interpreter 66 via the command receiver 61 and the playback start / stop processor 62. When receiving the instruction, the command interpreter unit 66 sequentially reads out and interprets the playback command stored in the playback command storage unit 65, and transmits the teaching position data from the teaching position storage unit 68 to the teaching position / target pressure output processing unit 69. Output. The output teaching position data is input to the servo pre-processing unit 70, where the automatic driving shovel body 1 is operated so as to operate at a smooth speed, and the interpolated teaching position data is created as described above. These interpolated teaching position data are input to the servo control unit 71.
Angle sensors 111 to 114 in the current position calculation unit 72
The current position data is obtained by calculating the sensor signal detected in step (1), and is input to the servo control unit 71. The servo control unit 71 performs a predetermined servo control based on the interpolated teaching position data as a target and the detected current position data, and outputs a drive signal to the electromagnetic control valve 81.

Although the description so far relates to the position control, the pressure control is performed in the same manner as the position control, in accordance with the regeneration command relating to the pressure stored in the regeneration command storage unit 65. The value is set in the servo control unit 71, and the servo control unit 71 is instructed to perform pressure control on the axis of the specified actuator. On the other hand, the pressure sensor 11
The current pressure data is obtained by calculating the sensor signals detected at 5-118, and is input to the servo control unit 71. The servo controller 71 performs a predetermined servo control based on the set pressure target value and the current pressure data, and outputs a drive signal to the electromagnetic control valve 81.

The work amount calculation unit 63 performs the work amount calculation unit 63 according to the reproduction command related to the work amount calculation stored in the reproduction command storage unit 65 when it reaches the position where the work amount is to be calculated during the turning work after excavation. Reads the pressure data and angle data of each unit from the current pressure calculation unit 73 and the current position calculation unit 72, and calculates the load W by performing calculations based on the above-described equations. On the other hand, the number of cycles from excavation to earth removal and excavation is counted, and the work amount is calculated by integrating the calculated load W with the number of cycles.

The calculated work amount data is stored in the operation box 5.
And stored in the storage unit 54 or the display unit 55
Can be displayed.

[0040]

As described above, the present invention measures the load of an excavated object during a turning operation after excavation and calculates the amount of operation based on the measured load, so that the amount of operation can be accurately detected. Self-driving shovel that can be provided.

The load measurement uses pressure data and angle data measured by existing pressure sensors and angle sensors required for automatic operation of the automatic operation shovel, so that there is no burden on hardware and the amount of work can be calculated. The amount of work can be easily detected simply by adding software for the operation, and an automatic driving shovel equipped with economical work amount calculating means can be provided.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an outline of a control mechanism of an automatic driving shovel according to an embodiment.

FIG. 2 is a view showing an entire configuration of an automatic driving shovel according to an embodiment of the present invention and a working form thereof.

FIG. 3 is a diagram showing an example of teaching position data stored in a teaching position storage section 68 shown in FIG. 2;

FIG. 4 is a side view of a front portion of the automatic driving shovel 1 according to the embodiment.

FIG. 5 is a diagram showing dimensions of each part in a front part of the automatic driving shovel 1 according to the present embodiment.

FIG. 6 is a diagram illustrating a pressure change of a boom cylinder and a displacement of the boom cylinder in one cycle of the automatic operation shovel according to the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Automatic operation shovel body 2 Stockyard 3 Crusher 4 Wheel loader 5 Controller box 6 Automatic operation controller 62 Playback start / stop processing unit 63 Work amount calculation unit 64 Work amount storage unit 65 Playback command storage unit 66 Command interpreter unit 68 Teaching position storage Unit 69 teaching position / target pressure processing unit 70 servo preprocessing unit 71 servo control unit 72 current position calculation unit 73 current pressure calculation unit 12 boom 13 arm 14 bucket 15 boom cylinder 16 arm cylinder 17 bucket cylinder 111 to 114 angle sensor 115 to 115 118, 116'-116 ", 117'-11
7 "pressure sensor

Claims (3)

[Claims] 1. An automatic operation shovel in which a teaching position stored and taught is sequentially read out, and a round operation from excavation to earth removal is repeatedly performed, wherein a load of an excavated object is measured during a turning operation after the excavation. And an operation amount calculating means for calculating an operation amount based on the measured load. 2. An automatic operation shovel for sequentially reading a teaching position stored and teaching and repeatedly performing a work from excavation to earth removal, wherein a plurality of loads of the excavated material are changed during the turning work after the excavation. An automatic operation shovel comprising an operation amount calculating means for calculating an average load by measuring times and calculating an operation amount based on the average load. 3. The method according to claim 1, wherein
In one embodiment, the load measurement in the work amount calculation unit utilizes pressure data and angle data measured by an existing pressure sensor and angle sensor required for automatic operation of the automatic operation shovel. Automatic driving excavator.