JP2001098586A - Automatic operating shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operating shovel having a function of detecting abnormality of an automatic operating unit. SOLUTION: In an automatic operating shovel having a hydraulic shovel and an automatic operating unit 66 being arranged in this hydraulic shovel and performing prescribed repetitive operation on this hydraulic shovel by successively reading out a teaching position stored by teaching, an abnormality processing means 65 is provided to output an abnormal signal when detecting abnormality in a detecting object signal by monitoring the detecting object signal outputted from the automatic operating unit 66 to detect an abnormal state of the automatic operating unit 66.

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 having a function of detecting an abnormality of an automatic driving unit provided in the automatic driving shovel.

[0002]

2. Description of the Related Art Conventionally, a hydraulic excavator has been known as a typical example of construction equipment. In recent years, it has been considered that an automatic driving excavator is used for a series of monotonous repetitive operations from excavation to dumping by a hydraulic excavator. Have been. However, in this case, further safety is required as compared with manual operation. That is, if an abnormality occurs during the automatic operation, it is necessary to stop the automatic operation without fail and maintain a safe state until an artificial measure is taken.

On the other hand, an automatic operation shovel has a plurality of units for automatic operation control and abnormality processing. For communication between these units, serial communication such as RS-232C (serial communication standard) or LAN is often used. If this communication line goes down, there is no means to notify an abnormality. For this reason, even if the automatic operation unit detects an abnormality, the abnormal state is not transmitted to the abnormality processing unit, and there is a possibility that abnormality processing such as shovel stop, manual continuous rotation switching, and the like may not be performed. To prevent this, Japanese Patent Application Laid-Open
In JP-A-81392, a plurality of wired lines or buses are separately provided as a transmission means for transmitting an abnormal state in addition to a serial communication line, and the transmission line is strengthened. The automatic operation unit that detects the abnormality outputs a command to a normal communication line and outputs an abnormal state to a separately provided transmission line, and the abnormality processing unit receives the signal and performs processing.

[0004]

However, Japanese Patent Application Laid-Open No.
In the method of JP 81392, it is assumed that the automatic interlocking unit is working normally. If the automatic operation unit itself is running away, the abnormal processing unit cannot detect the runaway state. For this reason, even though an abnormality has actually occurred, the automatic operation unit is running away, so that the abnormal state may not be transmitted to the abnormality processing unit, and the processing may not be performed.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to constantly monitor the operation state of the automatic driving unit itself, and if there is a possibility that the automatic driving shovel is going out of control, the automatic operation is immediately performed. An object of the present invention is to provide an automatic operation shovel having a function of stopping operation or switching from automatic operation to manual operation.

[0006]

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

The first means comprises a hydraulic shovel and an automatic operation unit provided on the hydraulic shovel, for sequentially reading out teaching positions stored by teaching and causing the hydraulic shovel to perform a predetermined repetitive operation. The automatic driving shovel includes an abnormality processing unit that monitors a detected signal output from the automatic driving unit and outputs an abnormal signal when an abnormality is detected in the detected signal, and detects an abnormal state of the automatic driving unit. Is detected.

The second means is characterized in that, in the first means, there is provided a stop means for stopping the automatic operation of the automatic driving shovel in response to the abnormality signal output from the abnormality processing means.

The third means is characterized in that in the first means, there is provided switching means for switching the automatic operation shovel from automatic operation to manual operation according to the abnormality signal output from the abnormality processing means.

[0010] The fourth means is any one of the first means to the third means, wherein the abnormality processing means keeps the abnormality processing after the output of the abnormality signal until an abnormality clearing operation is performed. It is characterized by comprising a holding means for holding a signal output state.

A fifth means is the first means according to any one of the first means to the third means, wherein the abnormality processing means is a detected signal output from the automatic operation unit for a predetermined period at the time of initialization. A stopping means for stopping monitoring of the data.

A sixth means is the first means, wherein the abnormality processing means stops monitoring a detected signal output from the automatic operation unit by an external signal. It is characterized by having a stopping means to perform.

[0013]

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

FIG. 1 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 and releasing the excavated soil to a crusher 3, which will be described later. 3 is a crusher for crushing debris discharged by the automatic driving shovel body 1, 4 is a wheel loader for loading the crushed crushed stone on a transport dump truck not shown, and 5 is an automatic driving shovel body. 1 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
An arm 13 rotatably provided at the tip of the arm, a bucket 14 rotatably provided at the tip of the arm 13, a boom 12,
Cylinders 15, 16 and 17 for rotating the arm 13 and the bucket 14, respectively, an engine 80 which is a power source of the self-rotating shovel main body 1, and a main body for controlling functions of the automatic driving shovel main body 1 other than the automatic operation. Control unit 86
An automatic operation device 6 for controlling an automatic operation function, an operation panel 9 for performing a teaching operation, a proportional solenoid valve 81 for controlling an amount of oil that the automatic operation device 6 sends to each cylinder,
Antenna 6 for transmitting / receiving signals to / from operation box 5
1 is provided.

Further, 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 1 for detecting a turning angle between the revolving unit 11 and the boom 12.
12, 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.

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

The operation box 5 includes an emergency stop button 52 for emergency stop of the self-driving shovel body 1,
Between the regeneration operation unit 53 for causing the automatic driving shovel main unit 1 to perform a reproduction operation, the engine operation unit 54 for operating the engine speed of the automatic driving shovel main unit 1, and the wireless device of the automatic driving shovel main unit 1. And a wireless device having an antenna 51 for transmitting and receiving signals.

FIG. 2 shows an operation panel 9, an automatic operation device 6, a proportional solenoid valve 81, a shuttle valve 82, a main control valve 83, and actuators 15 to 17 provided in the automatic operation shovel body 1 according to the present embodiment. It is a block diagram.

In the figure, reference numeral 61 denotes a man-machine unit for teaching a work position, displaying internal data, and the like.
Reference numeral 2 denotes a trajectory generation unit that generates a target trajectory of the automatic driving shovel body 1 based on a stored teaching position as a result of teaching, and 63 denotes a servo unit that performs servo processing according to the target trajectory generated by the trajectory generation unit 62. Yes, man-machine unit 61, trajectory generation unit 62,
The servo unit 63 and the servo unit 63 as a whole constitute an automatic operation unit 66 that controls the automatic operation of the shovel. Further, reference numeral 64 denotes a failure detection unit for detecting various failures of various parts of the automatic driving shovel body 1, and 65 detects a signal to be detected such as a pulse signal output from the servo unit 63, and determines whether the period of the pulse signal is incorrect. When an abnormality is detected, the abnormality processing unit operates the safety device 67 described later, or operates the safety device 67 based on the failure detection detected by the failure detection unit 64. The abnormality processing unit 65 detects the abnormality. Time, for example,
ON / OF via an ON / OFF valve relay 84 described later
A safety device that outputs a signal for shutting off the F valve 85 and performs control for maintaining the automatic operation shovel body 1 in a safe state, 82 is a shuttle valve that controls switching to automatic operation or manual operation, and 83 is a shuttle valve. Main control valve, 6
Reference numerals 62 and 663 denote serial communication lines provided between the automatic operation units 66, and reference numeral 664 denotes a unit for the man-machine unit 61, the trajectory generation unit 62, and the servo unit 63 when the abnormality processing unit 65 detects an abnormality. A line for transmitting an abnormal state, 665 is a line for transmitting a pulse signal for the servo unit 63 to detect an abnormality to the abnormality processing unit 65, and 666 is a signal for controlling the ON / OFF valve from the servo unit 63. 667 is a line for invalidating the detected signal and maintaining the output of the abnormality processing unit 65 in a normal state.

Here, during normal operation, the servo unit 63 outputs a pulse signal of a constant cycle via the transmission line 665. When the servo unit 63 runs out of control or detects an abnormality, the servo unit 63 outputs the pulse signal. When the operation is stopped, the abnormality processing unit 65 detects the stop of the pulse signal or disturbance of the generation cycle, and outputs an abnormality processing signal to the safety device 67.
The N / OFF valve 85 is shut off, so that the proportional solenoid valve 8
1 operation is invalidated.

FIG. 3 is a diagram showing a hardware configuration of the servo unit 63 shown in FIG. 2 and a connection relationship between the servo unit 63 and another configuration.

In the figure, reference numeral 631 denotes a servo unit 6
CP performing arithmetic processing for performing servo control in 3
U and 632 are memories in which servo control programs are stored, 633 is an electromagnetic valve driving circuit that outputs a drive signal output as a result of servo processing to the proportional electromagnetic valve 81, and 634 is digital data representing the values of the angle sensors 111 to 114. 635, a digital output circuit for outputting a pulse signal to the abnormality processing unit 65; and 637, a serial communication input / output unit for performing data communication with the trajectory generation unit 62.

Here, the servo unit 63 controls the CPU 631 based on the target position sent from the trajectory generation unit 62 and the current position fetched from the A / D converter 634.
A drive signal to be output to the proportional solenoid valve 81 is calculated above and output to the proportional solenoid valve 81 via the solenoid valve driving circuit 633. The drive current output from the solenoid valve drive circuit 633 is
Electro-hydraulic conversion is performed by the proportional solenoid valve 81, and transmitted to the actuators 15 to 17 through the main control valve 83 to be driven.

On the other hand, the servo unit 63
The timer in 1 is used to measure time, and a pulse signal having a constant cycle is sent to the abnormality processing unit 65 via the transmission line 665.

FIG. 4 is a diagram showing a specific configuration of the safety device 67, the proportional solenoid valve 81, the shuttle valve 82, the main control valve 83, and the actuators 15 to 17 shown in FIG.

In the figure, reference numeral 84 indicates that the servo unit 63 is closed by an ON signal sent through the abnormality processing unit 65 through a line 666 transmitting a signal b for controlling the ON / OFF valve during normal operation, and the abnormal operation is performed. The ON / OFF valve relay opened by the OFF signal output from the abnormality processing unit 65 at the time, and the pressure oil 85 flows from the pump to the proportional solenoid valve 81 when the ON / OFF valve relay 84 is closed by the ON signal. , When the ON / OFF valve relay 84 is closed by the OFF signal, the ON / OFF valve cuts off the flow of the pressure oil from the pump to the proportional solenoid valve 81. The ON / OFF valve relay 84 and the ON / OFF valve 8
5 constitutes a safety device. Other configurations correspond to the configurations of the same reference numerals shown in FIGS.

In the figure, during manual operation, O
ON / OFF because the N / OFF valve relay 84 is OFF.
The OFF valve 85 is in the OFF state, and the pressure oil of the pump does not flow to the proportional solenoid valve 81. Therefore, only the pressure oil from the manual operation lever flows into the main control valve 83 through the shuttle valve 82 and the actuators 15-1
7 is driven. Therefore, only the operation of the manual operation lever is valid.

During automatic operation, the ON / OFF valve relay 84
Is in the ON state, the ON / OFF valve 85 is in the ON state, and the pressure oil of the pump flows into the proportional solenoid valve 81 for automatic operation. The pressure oil just set by the servo unit 63 flows through the shuttle valve 82 and the main control valve 83 to the actuators 15 to 17, and the automatic operation is performed.

Here, when the abnormality processing unit 65 detects an abnormality, the ON / OFF valve relay 84 is turned off, whereby the ON / OFF valve 85 is also turned off, and the output from the servo unit 63 to the proportional solenoid valve 81 is invalidated. It is said. When the proportional solenoid valve 81 becomes invalid, the automatic operation is stopped, and only the manual operation from the manual operation lever via the shuttle valve 82 becomes possible.

Next, the abnormality processing in the abnormality processing unit 65 will be described with reference to FIGS.

FIG. 5 is a block diagram showing the configuration of the abnormality processing unit 65.

In the figure, reference numeral 651 denotes a servo unit 6
An input unit 652 for inputting a pulse signal and an ON / OFF valve switching signal from 3 is a counter for counting pulse signals, and is periodically reset by a basic pulse output 657 described later. Numeral 653 is a decoder for decoding the counter value output from the counter 652, and 654 is an abnormal state latch for holding an abnormal state, which holds a High output at the rising edge of an input signal.
An output 59 is in a low state, that is, a normal state is maintained for a certain period of time after the power is turned on, regardless of the input state, thereby preventing an error detection error in an unstable rising state. Also, when the invalidation signal 667 is in the invalid state, the normal state is maintained. 655
Is an output unit for outputting a switching signal to the ON / OFF valve relay 84, the ON / OFF valve only when the ON / OFF valve switching signal from the input unit 651 is ON and the output of the abnormal state latch 654 is in a normal state. Outputs a signal to turn on the relay. Reference numeral 656 denotes a basic clock output unit that generates a basic clock, and 657 denotes a basic pulse output unit that outputs a pulse at the rising edge of the clock. The signal from the basic pulse output unit 657 resets the counter 652 at a constant cycle and sets the power to be described later. A clock signal is supplied to the ON counter 658. Reference numeral 658 denotes a power-on counter for measuring a predetermined time after power-on, and 659 denotes a power-on latch for holding a power-on state, and holds a High output at the rising of an input signal.

The numbers shown in the input / output sections of each section of the abnormality processing unit 65 correspond to the signals shown in FIG.

FIG. 6 is a diagram showing the timing of signals at various parts of the abnormality processing unit 65 shown in FIG.

In this example, the period of the basic clock is 100 m
s and the power ON time are set to 5 s. After the power is turned on at time point a, the power ON counter 658 is Lo for 5 seconds.
The w state is maintained, and becomes High at the time point b when 5 seconds have elapsed. At the same time, at the time point c, the power O
The output of the N latch 659 becomes High. Thereafter, the power-on latch 659 keeps the High state until the power is turned off. After a lapse of 5 seconds, a pulse is input from the servo unit 63 as shown at a time point d. At the same time e
In, the pulse input is counted up by a counter 652, and the value is decoded by a decoder 653. Thereafter, at time point f, the decoder output becomes Hi as shown in FIG.
No clock enters the abnormal state latch 654 because of gh, and the abnormal state latch 654 keeps the Low output. At the same time, at the time point f, the counter 652 is reset. At the elapse of the next 100 ms, there is no pulse input from the servo unit 63 and the output of the decoder 653 is in the low state.
ow state is maintained. At the elapse of the next 100 ms, there is no pulse input from the servo unit 63 and the output of the decoder 653 is in the low state, and the invalid signal is also in the valid state. Clock on, High
Output status. Output unit 655 is OFF at time j
And outputs an OFF signal to the ON / OFF valve relay 84, further shuts off the ON / OFF valve 85, and stops automatic operation. Thereafter, even if a pulse is input normally, the abnormal state is held by the abnormal state latch 654, so that ON / OF is performed.
The shutoff state of the F valve 85 is maintained.

[0038]

According to the first aspect of the present invention, there is provided abnormality processing means for monitoring a detected signal output from the automatic driving unit and outputting an abnormal signal when an abnormality is detected in the detected signal. Therefore, the abnormal state of the automatic operation unit can be constantly monitored.

According to the second and third aspects of the present invention, the automatic operation of the automatic operation shovel is stopped by the abnormality signal output from the abnormality processing means.
It is possible to prevent an unexpected operation of the automatic driving shovel due to a runaway of the automatic driving unit.

According to the invention of claim 4 of the present application, even after the output of the abnormal signal, the output state of the abnormal signal is maintained until the abnormality is released, so that the automatic operation shovel is not unexpectedly operated due to runaway of the automatic operation unit. The operation can be more reliably prevented.

According to the fifth aspect of the present invention, since the abnormality processing means stops monitoring the detected signal output from the automatic operation unit for a predetermined period at the time of initialization, the operation at the time of initialization becomes unstable. It is possible to prevent the automatic driving unit from being erroneously determined to be abnormal at the time.

According to the invention of claim 6 of the present application, the abnormality processing means stops monitoring the detected signal output from the automatic operation unit by an external signal, and is therefore effective for checking the operation alone.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of an automatic driving shovel and an operation form thereof according to an embodiment of the present invention.

FIG. 2 shows an operation panel 9, an automatic operation device 6, a proportional solenoid valve 81, a shuttle valve 82, and a main control valve 83 provided in the automatic operation shovel body 1 according to the present embodiment.
FIG. 18 is a block diagram showing actuators and actuators 15 to 17.

FIG. 3 is a diagram showing a hardware configuration of a servo unit 63 shown in FIG. 2 and a connection relationship between the servo unit 63 and another configuration.

4 is a diagram showing a specific configuration of a safety device 67, a proportional solenoid valve 81, a shuttle valve 82, a main control valve 83, and actuators 15 to 17 shown in FIG.

FIG. 5 is a block diagram showing a configuration of an abnormality processing unit 65.

6 is a diagram showing timings of signals in respective units of the abnormality processing unit 65 shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic operation shovel main body 2 Stockyard 3 Crasher 4 Wheel loader 5 Operation box 6 Automatic operation device 9 Operation panel 61 Man-machine unit 62 Trajectory generation unit 63 Servo unit 64 Failure detection unit 65 Abnormality processing unit 66 Automatic operation unit 67 Safety device 81 Proportional solenoid valve 82 Shuttle valve 83 Main control valve 15-17 Actuator 111-114 Angle sensor

Continuing on the front page (72) Inventor Hideto Ishibashi 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. inside the Tsuchiura Plant (72) Inventor Akira Hashimoto 650, Kandamachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Within the Tsuchiura Plant (72) Gen Yasuda, Inventor F-term (reference) 2D003 AA01 AC10 BA03 BA03 BA04 CA03 DA03 DA04 DB04 DC07

Claims (6)

[Claims] 1. An automatic operation shovel comprising: a hydraulic shovel; and an automatic operation unit provided on the hydraulic shovel and sequentially reading a taught and stored teaching position to cause the hydraulic shovel to perform a predetermined repetitive operation. An abnormality processing unit that monitors a detected signal output from the automatic operation unit and outputs an abnormality signal when an abnormality is detected in the detected signal, and detects an abnormal state of the automatic operation unit. An automatic driving excavator characterized by the following. 2. The method according to claim 1, wherein the abnormality signal output from the abnormality processing unit is:
An automatic operation shovel comprising a stopping means for stopping automatic operation of the automatic operation shovel. 3. The method according to claim 1, wherein the abnormality signal output from the abnormality processing unit is
An automatic operation shovel comprising a switching means for switching the automatic operation shovel from automatic operation to manual operation. 4. The abnormality processing device according to claim 1, wherein the abnormality processing unit outputs the abnormality signal even after the abnormality signal is output until an abnormality canceling operation is performed. An automatic driving shovel comprising a holding means for holding a state. 5. The abnormality processing unit according to claim 1, wherein the abnormality processing unit stops monitoring a detected signal output from the automatic driving unit for a predetermined period at the time of initialization. An automatic driving shovel comprising a stopping means. 6. The abnormality processing device according to claim 1, wherein the abnormality processing unit includes a stop unit that stops monitoring a signal to be detected that is output from the automatic operation unit by an external signal. A self-driving shovel characterized in that: