JP2002180504A - Signal processor and monitor display for construction machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the numeric variables of a monitor display without extremely lowering the control precision of automatic control, and to easily recognize a monitor numeric value in a signal processor and the monitor display for construction machinery. SOLUTION: The first and second filter processing arithmetic sections 9d and 9e are installed on a control unit 9, the low-pass filter processing of comparatively high cutoff frequency (such as 10 Hz) for control aiming at the elimination of a noise component is conducted to the numeric data of the position and posture of a front working machine 1A by the first filter processing arithmetic section 9d, the low-pass filter processing of comparatively low cutoff frequency (such as 1 Hz) for a display aiming at the prevention of a numeric variable in the monitor display is conducted by the second filter processing arithmetic section 9e, former processing data are used in control operation, and latter processing data are output to the monitor display 7 for a setter 7, and displayed to indicators 7c and 7d at numerals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a signal processing device and a monitor display device of a construction machine, and more particularly, to a construction device which performs automatic control based on a calculated value of a position and a posture and displays the calculated value on the monitor display device. The present invention relates to a signal processing device of a machine and a monitor display device thereof.

[0002]

2. Description of the Related Art In a bulldozer or a hydraulic excavator, the inclination of a vehicle body is displayed on a monitor display device provided near a driver's seat to prevent a fall accident, and the depth and reach of a work machine such as a bucket are displayed on a monitor. In some cases, it is used as a measuring instrument during excavation work. As this kind of conventional technology, for example, Japanese Utility Model Publication No. Hei 7-21656,
No. 21792 and EX200X level master sold by Hitachi Construction Machinery Co., Ltd.

An example described in Japanese Utility Model Publication No. Hei 7-21656 is to display the front, rear, left and right inclinations of a bulldozer on a monitor display device in a cab.

An example described in Japanese Patent Application Laid-Open No. 9-221792 is to display a bucket depth, a reach, and an offset amount of an offset arm of an offset hydraulic excavator on a monitor display device in a cab.

Further, E sold by Hitachi Construction Machinery Co., Ltd.
The X200_X level master not only monitors and displays the position and orientation of the bucket, but also prevents the bucket from entering below the target excavation surface based on the information on the position and orientation of the bucket and the target excavation surface that is displayed in advance. It is used in combination with automatic excavation control.

[0006]

In the above-mentioned conventional monitor display device, an angle sensor such as an inclinometer or a rotary potentiometer is used as detecting means for detecting a state quantity relating to the position and posture of the vehicle body or the working machine. Values are displayed. Since the output signals of these detecting means are analog signals, when calculating the position and attitude of the vehicle body or the work machine, the analog signals are once A / D converted and input as digital signals to the position and attitude calculating means. The position and orientation calculating means calculates the position and orientation of the vehicle body or the work machine, and the calculated values of the position and orientation are numerically displayed on the monitor display device.

When an analog signal is converted into a digital signal by A / D conversion, even when the operation lever is not operated and the vehicle body is stationary, the influence of noise on the signal line and the A / D conversion are performed. In many cases, the converted digital value does not become a constant value depending on the performance of the device. for that reason,
For example, the value displayed on the monitor of the bucket depth fluctuates and is displayed one by one, and it is difficult for the operator to recognize which value is the actual monitored value, and the display becomes unsightly. Further, when a target value for automatic control such as automatic excavation control is set using the monitor display device, there is also a problem that setting is difficult because the numerical value fluctuates.

In order to solve this problem, it is only necessary to perform a moving average process or a low-pass filter process on the calculated values of the position and orientation on the time axis and to perform a process for suppressing the fluctuation of the numerical value. It can be displayed without any change. However, if the number of samples in the moving averaging process is too large, or if the low-pass filtering process is performed too slowly, signals relating to the position and orientation are delayed, causing a reduction in control accuracy in automatic control such as automatic excavation control. Therefore, conventionally, a moving average process or a low-pass filter process has been performed in which both the numerical fluctuation amount of the monitor display and the control accuracy of the automatic control are gradually sacrificed to make a compromise, or one of them is sacrificed.

SUMMARY OF THE INVENTION An object of the present invention is to provide a signal processing device and a monitor display device for a construction machine which reduce the amount of fluctuation in the numerical value of a monitor display without lowering the control accuracy of automatic control as much as possible and facilitate the recognition of the monitor numerical value. Is to do.

[0010]

(1) In order to achieve the above object, the present invention provides a method for constructing a construction machine based on a detection signal from a detection means for detecting a state quantity relating to the position and posture of a vehicle body or a working machine of a construction machine. Position and orientation calculation means for calculating the position and orientation of the machine, control calculation means for performing calculations for automatically controlling the construction machine based on the calculated values of the position and orientation, and A signal processing device for a construction machine having a monitor display device for displaying a calculated value of the position and the posture, a first smoothing means for performing a smoothing process on the calculated value of the position and the posture, and A second smoothing unit for performing a smoothing process with a higher degree of smoothness than the first smoothing unit, wherein the control arithmetic unit performs an arithmetic operation based on the value processed by the first smoothing unit, and the monitor display device includes: No. It shall display the values treated with smoothing means.

Thus, the first smoothing means and the second smoothing means are provided, and the second smoothing means smoothes the calculated values of the position and orientation with a higher degree of smoothness than the first smoothing means, and displays the monitor display. By using this, the amount of change in the numerical value displayed on the monitor display device is reduced, the operator can easily recognize the monitor numerical value, and the display appearance is also improved.

On the other hand, the first smoothing means smoothes the calculated values of the position and orientation with a lower degree of smoothness than the second smoothing means and uses them for the control calculation. , And a decrease in the control accuracy of the automatic control can be prevented.

(2) In the above (1), preferably,
The first and second smoothing processing means are first and second filter processing calculating means for performing low-pass filtering processing on a time axis, respectively. The lower the cutoff frequency used for the low-pass filtering process.

Thus, the second smoothing means performs a smoothing process on the calculated values of the position and the posture with a higher smoothness than the first smoothing means.

(3) To achieve the above object,
The present invention relates to a position and orientation calculating means for calculating the position and attitude of a construction machine based on a detection signal from a detecting means for detecting a state quantity relating to the position and attitude of a vehicle body or a working machine of a construction machine, and calculating the position and attitude. A signal processing device for a construction machine, comprising: a control calculation unit for performing a calculation for automatically controlling the construction machine based on the values; and a monitor display device installed in a cab of the construction machine and displaying the calculated values of the position and the posture. In, the smoothing processing means for smoothing the calculated values of the position and orientation, it is determined whether or not the automatic control by the control arithmetic means, when the automatic control is less than during automatic control, And a smoothing adjusting means for increasing the smoothness of the smoothing processing performed by the smoothing processing means.

As described above, the smoothing adjustment means is provided so that the degree of smoothness is made higher when the automatic control is not being performed than when the automatic control is being performed, and the smoothing processing means performs the smoothing processing of the calculated values of the position and orientation. Accordingly, when the automatic control is not being performed, the amount of change in the numerical value displayed on the monitor display device is small, and the operator can easily recognize the monitor numerical value, and the display is improved.

On the other hand, during the automatic control, the smoothness is made lower than when the automatic control is not being performed, and the smoothing processing means performs the smoothing processing of the calculated values of the position and the attitude. Thus, the control accuracy of the automatic control can be prevented from lowering.

(4) In the above (3), preferably,
The smoothing processing means is a filter processing calculation means for performing a low-pass filtering process on a time axis, and the smoothing adjustment means is a filter processing calculation means that performs a low-pass filtering process when the automatic control is not being performed during the automatic control. But,
The cutoff frequency used for the low-pass filtering process is reduced.

Thus, the smoothness adjusting means increases the smoothness of the smoothing processing performed by the smoothing processing means when the automatic control is not being performed, compared to when the automatic control is being performed.

(5) In order to achieve the above object,
The present invention relates to a position and orientation calculating means for calculating the position and attitude of a construction machine based on a detection signal from a detecting means for detecting a state quantity relating to the position and attitude of a vehicle body or a working machine of a construction machine, and calculating the position and attitude. A first smoothing means for smoothing the value, and a control arithmetic means for performing an arithmetic operation for automatically controlling the construction machine based on the smoothed value. In the monitor display device for displaying the calculated values, it is assumed that the monitor display device has second smoothing processing means for smoothing the calculated values of the position and orientation with a higher degree of smoothness than the first smoothing processing means.

As a result, as described in the above (1), the amount of change in the numerical value of the monitor display can be reduced without reducing the control accuracy of the automatic control as much as possible, and the monitor numerical value can be easily recognized.

Further, since the second smoothing means is provided in the monitor display device, the processing load on the automatic control side is reduced,
To that extent, the function of automatic control can be improved, and the amount of numerical change in monitor display can be reduced on the monitor display device side, so that the monitor display device can be used for general purposes.

[0023]

Embodiments of the present invention will be described below. The following embodiment is an example in which the present invention is applied to a hydraulic shovel provided with an area-restricted excavation control device capable of easily excavating an area in which a front work machine can move. <First Embodiment> First, a first embodiment of the present invention will be described with reference to FIGS.

In FIG. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, and a swing motor driven by hydraulic oil discharged from the hydraulic pump 2. 3
d and a plurality of hydraulic actuators including left and right traveling motors 3e and 3f, and hydraulic actuators 3a to 3f
And a plurality of flow control valves 5a-5f for controlling the flow rate of the pressure oil supplied to the hydraulic actuators 3a-3f.
And a relief valve 6 that opens when the pressure between the hydraulic pump 2 and the flow control valves 5a to 5f exceeds a set value,
These constitute a hydraulic drive device for driving a driven member of the hydraulic shovel.

The operation lever devices 4a to 4f are electric lever devices for outputting electric signals as operation signals, and the flow control valves 5a to 5f are provided with electro-hydraulic conversion means for converting the electric signals into pilot pressure, for example, both ends of a proportional solenoid valve. Electricity prepared for
It is a hydraulic operation system.

FIG. 2 shows the appearance of the excavator. The hydraulic excavator includes a multi-joint type front work machine 1A including a boom 1a, an arm 1b, and a bucket 1c which rotate vertically, and a vehicle body 1B including an upper revolving unit 1d and a lower traveling unit 1e. The base end of the boom 1a of the working machine 1A is indicated at the front of the upper swing body 1d. The boom 1a, the arm 1b, the bucket 1c, the upper revolving superstructure 1d, and the lower traveling structure 1e are each provided with a boom cylinder 3
a, an arm cylinder 3b, a bucket cylinder 3c, a turning motor 3d, and left and right traveling motors 3e and 3f, respectively.
４4f.

The above-mentioned hydraulic excavator is provided with an area-limited excavation control device as an automatic excavation control device. The control device instructs in advance the setting of a predetermined portion of the front work machine, for example, an excavation area in which the tip of the bucket 1c can move in accordance with the work, and displays a calculated value of the position and orientation of the front work machine 1A. 7 and angle detectors 8a, 8 provided at respective pivot points of the boom 1a, the arm 1b, and the bucket 1c to detect respective pivot angles as state quantities relating to the position and posture of the front work machine 1A.
b, 8c, setting signal of setting device 7, operation lever device 4a
The control unit 9 is configured to receive an operation signal of .about.4f, set an excavation area in which the tip of the bucket 1c can move, and correct the operation signal.

FIG. 3 shows an example of the setting device 7. Setting device 7
Is an area limit start switch 7a for instructing start and end of control, a direct teach switch 7b for instructing setting of an excavation area by direct teach, and an LED 7 which is turned on when control is started by the area limit start switch 7a.
e, and a monitor display device 70 for displaying the calculated values of the position and orientation of the front work machine 1A. The monitor display device 70 includes a display 7c for displaying the bucket depth by a numerical value, a bucket angle (ground angle). ) Is indicated by a numerical value.

FIG. 4 shows a control calculation function of the control unit 9 relating to the area-limited excavation control and monitor display. The control unit 9 includes an area setting unit 9a, a bucket position / posture calculation unit 9
b, area restriction excavation control section 9c, first filter processing operation section 9d, second filter processing operation section 9e, output signal selection section 9
f. The first filter processing operation unit 9d and the second
The filter processing operation section 9e constitutes the signal processing device according to the present embodiment.

The area setting section 9a performs an operation for setting an excavation limited area where the tip of the bucket 1c can move in accordance with an instruction from the direct teach switch 7b of the setting device 7. One example will be described with reference to FIG.

First, a value that is too deep for the front working machine 1A to reach is set as the initial value of the excavation area. Because, if the area limit excavation control is enabled from the time when the control start switch of the setting device 7 is turned on, the front work machine 1A thereafter moves freely within the operable range, and the excavation area is freely set within the operation range. In order to be able to set the excavation area, the initial value of the excavation area must be set far below the position where the excavator is located. Here, as an example, the initial value of the excavation area is set to Y = −20 m in a linear equation.

Next, in FIG. 5, after moving to the operating end position of the point P ₁ of the bucket 1c in the operation by the operator lever device, the tip position of the bucket 1c at that time by pressing the direct teaching switch setter 7 Is calculated.

A storage unit (not shown) such as a ROM of the control unit 9 stores the dimensions of the front working machine 1A and the vehicle body 1B, and the area setting unit 9a stores these data and the angle detectors 8a and 8b. 8b, the rotation angle α detected at 8c,
beta, to calculate the position of P ₁ by using the value of gamma. At this time, P ₁
Is, for example, XY with the pivot point of the boom 1a as the origin.
It is obtained as a coordinate value (X ₁ , Y ₁ ) of the coordinate system. The XY coordinate system is an orthogonal coordinate system fixed to the main body 1B, and is assumed to be in a vertical plane. From the rotation angles α, β, γ, the coordinate values (X ₁ , Y ₁ ) of the XY coordinate system are represented by L ₁ , the distance between the rotation fulcrum of the boom 1a and the rotation fulcrum of the arm 1b, and the rotation fulcrum of the arm 1b. and if the distance between the pivot point of the bucket 1c L _2, the distance between the tip of the pivot point and the bucket 1c of the bucket 1c and L _3, determined from the following equation.

X ₁ = L ₁ sin α + L ₂ sin (α + β) + L ₃ si
n (α + β + γ) Y ₁ = L ₁ cos α + L ₂ cos (α + β) + L ₃ cos (α + β +
The area setting portion 9a of gamma) control unit 9, from the Y-coordinate values of P _1, to calculate the linear equation of the excavation area by using the following formula.

Y = Y ₁ The value calculated in this manner is stored in the storage unit (not shown) such as the RAM of the control unit 9 as the set value of the excavation area.

The bucket position / posture calculation section 9b, the area limit excavation control section 9c, the first filter processing calculation section 9d, the second filter processing calculation section 9e, and the output signal selection section 9f set the above-described areas (hereinafter referred to as appropriate). , A set area) for the area-limited excavation control and an operation for monitor display. Hereinafter, the contents will be described with reference to the flowchart shown in FIG.

First, in step 120, operation signals of the operation lever devices 4a to 4c are input, and in step 130, the rotation angles of the boom 1a, the arm 1b, and the bucket 1c detected by the angle detectors 8a, 8b, 8c are determined. input.

Next, in step 140, the position of the front work machine 1A is determined by the bucket position / posture calculation unit 9b based on the detected rotation angles α, β, and γ and the dimensions of each part of the front work machine 1A input in advance. Then, the position of the tip of the bucket 1c of the front work machine 1A and the angle to the ground of the bucket 1c (the angle of the back of the bucket with respect to the horizontal) are calculated. The calculation of the position of the tip of the bucket 1c is the same as the calculation of the position of the tip of the bucket in the area setting section 9a. In this case, the position of the tip of the bucket is obtained as a value in the XY coordinate system. The angle of the bucket 1c to the ground is calculated by the angle detector 8
b, arm 1b detected by b, 8b, 8c
And the rotation angles α, β, γ of the bucket 1c are calculated by the following equation.

Ground angle = − (α + β + γ) −ANG1 + 180 ° Next, in step 141, the first filter processing operation unit 9d
, A low-pass filter process of a relatively high cutoff frequency (for example, 10 Hz) for control for removing noise components is performed on the numerical data of the position and the posture of the front work machine 1A. Here, the numerical data of the position and orientation subjected to the low-pass filtering is the tip position of the bucket 1c of the front work machine 1A.

Next, in step 142, the second filter processing operation unit 9e displays a relatively large amount of numerical data of the position and orientation of the front work machine 1A on the monitor display for the purpose of suppressing numerical fluctuations. A low-pass filter process with a low cutoff frequency (for example, 1 Hz) is performed. Here, the numerical data of the position and posture subjected to the low-pass filter processing are the tip position of the bucket 1c of the front work machine 1A and the ground angle of the bucket 1c.

Next, in step 150, it is determined whether or not the area limit start switch 7a of the setting unit 7 is ON. If the area limit start switch 7a is ON, the following calculation is performed by the area limit excavation control unit 9c.

First, in step 180, a target speed vector Vc at the tip of the bucket 1c, which is instructed by operation signals of the operation lever devices 4a to 4c for the front work machine 1A, is calculated. Here, the relationship between the operation signals of the operation lever devices 4a to 4c and the supply flow rates of the flow control valves 5a to 5c and the dimensions of each part of the front work machine 1A are stored in advance in a storage unit such as a ROM of the control unit 9, The supply flow rates of the corresponding flow control valves 5a to 5c are obtained from the operation signals of the operation lever devices 4a to 4c, and the hydraulic cylinders 3a to 3c are obtained from the values of the supply flow rates.
, And a target speed vector Vc at the tip of the bucket is calculated using the target drive speed and the dimensions of each part of the front work machine 1A. Then, the target speed vector Vc
And a vector component Vcy in a direction perpendicular to the direction parallel to the boundary of the set area. Here, the X coordinate component Vcx of the target speed vector Vc is a vector component in a direction parallel to the boundary of the setting region of the target speed vector Vc, and the Y coordinate component Vcy is a direction perpendicular to the boundary of the setting region of the target speed vector Vc. It becomes a vector component.

Next, in step 190, it is determined whether or not the tip of the bucket 1c is in the deceleration area which is the area near the boundary in the set area as shown in FIG. 7 set by the area setting section 9a as described above. Is determined, and if the vehicle is in the deceleration region, the process proceeds to step 200, where the target speed vector Vc is corrected so as to decelerate the front work machine 1A. If the vehicle is not in the deceleration region, the process proceeds to step 210.

Next, in step 210, it is determined whether or not the tip of the bucket 1c is outside the set area as shown in FIG. 7 set as described above. Then, the target speed vector Vc is corrected so that the tip of the bucket 1c returns to the set area.

Here, the determination as to whether or not the vehicle is in the deceleration region in step 190, the correction of the target speed vector in the deceleration region in step 200, and the determination as to whether or not the vehicle has entered outside the set region in step 210 are described with reference to FIG. This will be described with reference to FIG.

[0046] in the storage device of the control unit 9, the relationship between the distance D ₁ and the deceleration vector coefficient h between the tip of the boundary and the bucket 1c of the set area as shown in FIG. 8 is the operation and storage. Deceleration vector according to the relationship between the distance D ₁ and the coefficient h when the distance D ₁ is greater than the distance Y _a1 is h = 0, the D ₁ is smaller than the Y _a1, the distance D ₁ is decreased The coefficient h is set to increase so that h = 1 when the distance D ₁ = 0.

In step 190, the calculation is performed in step 140,
Bucket 1c subjected to low-pass filtering in step 141
The distance D ₁ of the boundary of the set area and the tip position of the bucket 1c is calculated from the set value of the set excavation area in the area setting portion 9a as the tip position and above, this distance D ₁ is a distance Y
_If it is smaller than _a1, it is determined that the vehicle has entered the deceleration area. Further, in step 210, the distance D ₁ is determined to have entered outside the set area When a negative value.

In step 200, the vector component in the direction perpendicular to the boundary of the set area, which is the vector component in the direction approaching the boundary of the set area of the target velocity vector Vc at the tip of the bucket 1c calculated in step 180, ie, XY
The target speed vector Vc is corrected so as to reduce the component Vcy of the Y coordinate in the coordinate system. Specifically, calculates the deceleration vector coefficient h corresponding from the relationship shown in FIG. 8 stored in the storage device at a distance D ₁ of the the tip of the boundary and the bucket 1c of the set area at that time, the deceleration vector coefficient h multiplied by the target speed (vector component in the vertical direction) component of the Y coordinate of the vector Vc Vcy, blinking speed vector V _R further multiplied by -1
(= -HVcy) the request, adding the V _R in Vcy. Here, the deceleration vector V _R is the distance D ₁ of the boundary of the tip and the set area of the bucket 1c is increased in accordance with smaller than Y _a1, of Vcy to be V _R = -Vcy at D ₁ = 0 reverse It is a velocity vector. Therefore, by adding the deceleration vector V _R in the vertical vector component Vcy of the target speed vector Vc, the distance D ₁ so that the larger the amount of decrease in the vertical vector component Vcy accordance smaller than Y _a1 vector The component Vcy is reduced,
The target speed vector Vc is corrected to the target speed vector Vca.

FIG. 9 shows an example of a trajectory when the tip of the bucket 1c is decelerated according to the corrected target speed vector Vca as described above. In accordance with the target speed vector Vc is at a constant obliquely downward, its parallel component Vcx is constant, according to the tip of the vertical component Vcy bucket 1c approaches the boundary of the set area (distance D ₁ is less than Y _a1 ) Become smaller. Since the corrected target speed vector Vca is a synthesis of the corrected target speed vector Vca, the trajectory has a curved shape that becomes parallel as approaching the boundary of the set area as shown in FIG. Further, since the h = 1, V _R = -Vcy at D ₁ = 0, target speed vector Vca after modification on the boundary of the set region coincides with the parallel component Vcx.

As described above, in the deceleration control in the procedure 200, the movement of the tip of the bucket 1c in the direction approaching the boundary of the set area is decelerated, and as a result, the moving direction of the tip of the bucket 1c moves to the boundary of the set area. In this sense, the deceleration control in the procedure 200 can also be called direction change control.

The correction of the target speed vector outside the set area in step 200 will be described with reference to FIGS. The process as described above is obtained when the distance D ₁ of the boundary of the set area and the tip position of the bucket 1c is a negative value, for convenience the absolute value of D ₁ will be described by replacing the D _2.

[0052] The storage device of the control unit 9, the absolute value of the distance D ₁ of the the tip of the boundary and the bucket 1c of the set area as shown in FIG. 10, that is, the relationship between D ₂ and restoration vector A _R is stored ing. Relationship of the absolute value of the distance D ₂ and the restoration vector A _R is restored vector A _R is set to increase as the absolute value of the distance D ₂ is reduced. In step 220, the bucket 1 calculated in step 180
The vector component in the direction perpendicular to the boundary of the setting area of the target velocity vector Vc at the tip of c, that is, the target velocity vector Vc such that the component Vcy of the Y coordinate of the XY coordinate system changes to the vertical component in the direction approaching the boundary of the setting area. Is corrected. More specifically, a backward vector Acy of Vcy is added so as to cancel the vertical vector component Vcy,
Extract the parallel component Vcx. This correction prevents the tip of the bucket 1c from moving further out of the set area. And then, the restoration vector A _R corresponding from the relationship shown in FIG. 10 stored in the storage device to the absolute value of the distance D ₂ between the tip of the boundary and the bucket 1c of the set area at that time is calculated and this restoration vector A _R is further added to the vector component Vcy in the vertical direction of the target speed vector Vc. here,
The restoration vector A _R is a velocity vector in the opposite direction that decreases as the distance D ₂ between the tip of the bucket 1c and the boundary of the set area decreases. Therefore, the restoration vector A
_R is the vector component V in the vertical direction of the target speed vector Vc.
by adding to cy, so that the distance vertical vector component Vcy accordance D ₂ decreases decreases, the target speed vector Vc is modified into a target speed vector Vca.

FIG. 11 shows an example of a trajectory when the tip of the bucket 1c is restored and controlled according to the corrected target speed vector Vca as described above. In accordance with the target speed vector Vc is at a constant obliquely downward, its parallel component Vcx is constant, also the vertical component since the restoration vector A _R is proportional to the distance D ₂ is the tip of the bucket 1c approaches the boundary of the set area (as the distance D ₂ is smaller) smaller. Since the corrected target speed vector Vca is a composite of the corrected target speed vector Vca, the trajectory has a curved shape that becomes parallel as approaching the boundary of the set area as shown in FIG.

As described above, in the restoration control in the procedure 220, since the tip of the bucket 1c is controlled so as to return to the set area, a restored area is obtained outside the set area. Also in this restoration control, the movement of the tip of the bucket 1c in the direction approaching the boundary of the set area is decelerated, and as a result, the moving direction of the tip of the bucket 1c is changed to a direction along the boundary of the set area. In this sense, this restoration control can also be called direction change control.

Returning to FIG. 6, in step 230, the corrected target velocity vector V obtained in step 200 or 220 is obtained.
The operation signals of the flow control valves 5a to 5c corresponding to ca are calculated. This is because the target speed vector V
This is the inverse operation of the calculation of c.

Next, in step 240, the output signal selecting section 9f
Outputs the operation signal input in step 120 or the output signal calculated in step 230.

Finally, in step 250, in step 1
Low-pass filtered front work machine 1A at 42
Is output to the monitor display device 70 of the setting device 7, and the process returns to the beginning. The monitor display device 70 of the setter 7 processes these signals as appropriate, displays the tip position data of the bucket 1c as a bucket depth on the display 7c as numerical values, and uses the ground angle data of the bucket 1c as the bucket angle on the display 7d. Is displayed numerically.

When terminating the area limit excavation control, press the area limit start switch of the setting unit 7 again to return to 0F
Change to F. At this time, the set value of the excavation area (the linear expression of the excavation area) that has been set in the area setting unit 9a is reset to the initial value Y = −20 m.

As described above, according to the present embodiment, when the tip of the bucket 1c is separated from the boundary of the set area, the target speed vector Vc is not corrected, and the work can be performed in the same manner as the normal work. When the tip of the bucket 1c approaches the vicinity of the boundary in the set area, correction is performed so as to reduce the vector component of the target velocity vector Vc in the direction approaching the boundary of the set area (vector component in the direction perpendicular to the boundary). Therefore, the movement in the vertical direction with respect to the boundary of the setting area is controlled to be decelerated, and the velocity component in the direction along the boundary of the setting area is reduced. Therefore, as shown in FIG. You can move the tip. Therefore, excavation in which the region where the tip of the bucket 1c can move can be efficiently performed.

When the front end of the bucket 1c is decelerated near the boundary within the set area and the movement of the front work machine 1A is fast, the front end of the bucket 1c may move due to control delay or inertia of the front work machine 1A. In some cases, it may enter outside the setting area. In such a case, in the present embodiment, the target speed vector Vc is corrected so that the tip of the bucket 1c returns to the set area, so that the control is performed so as to return to the set area immediately after entering. Therefore, even when the front work machine 1A is quickly moved, the bucket tip can be moved along the boundary of the set area, and excavation in a limited area can be performed accurately.

According to the present embodiment, numerical data of the position and orientation of the front work machine 1A is displayed on the monitor display device 7.
At the time of displaying on the 0 indicators 7c and 7d, a low-pass filter processing operation with a low cutoff frequency is performed, so that the amount of change in the numerical value displayed on the monitor is reduced, the unsightly on the monitor display is improved, and The operator can easily recognize the monitor value. In addition, when setting the excavation area by direct teaching, a change in the numerical value of the bucket depth displayed on the display 7c is small, and the setting is easy.

On the other hand, when the area-limited excavation control is performed using the values related to the position and posture of the front work machine 1A (the tip position of the bucket 1c of the front work machine 1A), low-pass filter processing with a high cutoff frequency is performed. Therefore, the delay of the signal related to the position and the posture is suppressed as much as possible, and the decrease in the control accuracy can be reduced. <Second Embodiment> FIG. 1 shows a second embodiment of the present invention.
This will be described with reference to FIGS. In the figure, members or functions equivalent to those shown in FIGS. 3, 4, and 6 are denoted by the same reference numerals. In the present embodiment, the cutoff frequency of the display low-pass filter processing is made variable.

In FIG. 12, the setting device 7A used in the present embodiment is the same as the setting device in the first embodiment shown in FIG. 3 except that the monitor display device 70A has a display sensitivity adjusting dial 7f. It is the same as the device 7, and includes an area limit start switch 7a, a direct teach switch 7b, indicators 7c and 7d, and an LED 7e.

FIG. 13 shows the processing functions of the control unit 9A used in the present embodiment. The control unit 9A includes various functions of the control unit 9 according to the first embodiment shown in FIG. 4 (the area setting section 9a, the bucket position / posture calculation section 9b, the area limit excavation control section 9c, and the first filter processing calculation section 9d). , A second filter processing operation unit 9e and an output signal selection unit 9f),
A cutoff frequency setting unit 9g related to the display sensitivity adjustment dial 7f is provided.

That is, in the control unit 9A according to the present embodiment, in the flowchart shown in FIG. 14, in step 140, the bucket position / posture calculation unit 9b calculates the tip position of the bucket 1c of the front work machine 1A and the ground angle of the bucket 1c. Is calculated, in step 143, a signal from the display sensitivity adjustment dial 7f is input.
In 4, the cutoff frequency setting unit 9g sets the cutoff frequency of the display low-pass filter according to the signal from the display sensitivity adjustment dial 7f. Next, in step 142, the second filter processing operation unit 9e performs low-pass filter processing on the numerical data of the position and orientation of the front work machine 1A using the cutoff frequency. In the flowchart shown in FIG. 14, the other processes are the same as those in the first embodiment shown in FIG.

According to the present embodiment configured as described above, the monitor display device 70A is provided with the display sensitivity adjustment dial 7f.
, The cutoff frequency of the display low-pass filter can be freely adjusted, so that the operator can easily set a viewable state. <Third Embodiment> FIG. 1 shows a third embodiment of the present invention.
5 and FIG. In the figure, the same reference numerals are given to members or functions equivalent to those shown in FIGS. This embodiment shows another idea of switching between low-pass filter processing for control and display.

In FIG. 15, the control unit 9B used in the present embodiment includes an area setting section 9a, a bucket position / posture calculation section 9b, an area restriction excavation control section 9c, an output signal selection section 9f, and a cutoff frequency command selection section 9h. , A filter processing operation unit 9i. The cutoff frequency command selector 9h and the filter processor 9i constitute a signal processing device according to the present embodiment.

The processing contents of the bucket position / posture calculation section 9b, the area limit excavation control section 9c, the output signal selection section 9f, the cutoff frequency command selection section 9h, and the filter processing calculation section 9i will be described with reference to the flowchart shown in FIG.

The processing contents in steps 120 to 140 are the same as those in the first embodiment shown in FIG.

In step 140, the bucket position / posture calculating section 9b
After calculating the tip position of the bucket 1c of the front work machine 1A and the ground angle of the bucket 1c, the process proceeds to step 150 in the present embodiment, and the area limit start switch 7 of the setting device 7
a is turned on, and the area limit start switch 7a
Is ON, it is determined that automatic control is being performed, and the following processing is performed.

First, in step 340, the cutoff frequency command selection section 9h selects a relatively high frequency (for example, 10 Hz) for control for removing noise components as a cutoff frequency for the low-pass filter processing. Set.

Next, in step 350, numerical data of the position and orientation of the front work machine 1A (front work machine 1A
Low-pass filter processing of the high cut-off frequency set in step 340 for the tip position of the bucket 1c).

Thereafter, the process proceeds to steps 180 to 250, and the same processing as described in the first embodiment is performed.

On the other hand, if the area limit start switch 7a is not ON in step 150, it is determined that automatic control is not being performed, and
Proceed to step 341.

In step 341, the cutoff frequency command selecting section 9h sets a relatively low cutoff frequency for display (for example, 1 Hz) for the purpose of suppressing numerical fluctuations in monitor display as the cutoff frequency for low-pass filtering. ) And set.

Next, in step 351, numerical data of the position and orientation of the front work machine 1A (the front work machine 1A
Of the bucket 1c and the ground angle of the bucket 1c), the low pass filter processing of the low cutoff frequency set in the step 341 is performed, and the steps 240 and 250 are performed.
Then, the same processing as described in the first embodiment is performed.

According to the present embodiment, when the area limit start switch 7a is OFF and automatic control is not being performed, low-pass filter processing with a low cut-off frequency is performed, so that the indicators 7c and 7d of the monitor display device 70 are used. (See FIG. 3) The amount of change in the numerical value displayed on the display becomes smaller, the appearance on the monitor is improved, and the operator can easily recognize the monitor numerical value. In addition, when setting the excavation area by direct teaching, a change in the numerical value of the bucket depth displayed on the display 7c is small, and the setting is easy.

On the other hand, when the area limit start switch 7a is ON and the automatic control is being performed, low-pass filter processing with a high cutoff frequency is performed, so that the delay of the signal relating to the position and orientation is suppressed as much as possible, and the control accuracy is reduced. Can be prevented.

Therefore, the present embodiment also provides the same effects as those of the first embodiment. <Fourth Embodiment> FIG. 1 shows a fourth embodiment of the present invention.
7 will be described. In the figure, the same reference numerals are given to those equivalent to the functions shown in FIGS. In the present embodiment, another example of how to determine whether or not automatic control is being performed is shown.

The control unit according to the present embodiment is the same as that of the third embodiment shown in FIG. 15, and as shown in FIG. 15, an area setting section 9a, a bucket position / posture calculation section 9b, Area limiting excavation control section 9c, output signal selection section 9
f, a cutoff frequency command selection unit 9h, and a filter processing calculation unit 9i.

FIG. 17 is a flow chart showing the processing contents of the bucket position / posture calculation unit 9b, the area limit excavation control unit 9c, the output signal selection unit 9f, the cutoff frequency command selection unit 9h, and the filter processing calculation unit 9i in this embodiment. It is shown by.

In FIG. 17, if it is determined in step 150 that the area limit start switch 7a of the setting device 7 is ON, the flow advances to step 330 to further determine from the arm operation signal whether the arm cloud is operated. If the arm cloud is operated, the process proceeds to step 340, and if the arm cloud is not operated, the process proceeds to step 341. Step 34
At 0,341, a relatively high frequency for control (for example, 10 Hz) or a relatively low frequency for display (for example, 1 Hz) is selected and set as the cutoff frequency.

That is, in the present embodiment, automatic control is started by triggering that the area limit start switch of the setting device is ON and the operation of the arm cloud is performed. Also,
Since the automatic control is started with the operation of the arm cloud, the cutoff frequency is switched from display to control for display in conjunction with the automatic control. In the flowchart shown in FIG. 17, the other processes are the same as those in the third embodiment shown in FIG.

According to the present embodiment, even if the area restriction start switch 7a is ON, if the arm cloud is not operating and the control is not actually operating, the low-pass filter processing with a low cutoff frequency is performed. Since the calculation is performed, even in such a case, the display unit 7 of the monitor display device 70 is used.
Frequent fluctuations in the numerical values displayed on c and 7d (see FIG. 3) are prevented, and work such as checking the bucket depth with the area limit start switch 7a turned ON is facilitated. <Fifth Embodiment> FIG. 1 shows a fifth embodiment of the present invention.
8 will be described. In the figure, the same reference numerals are given to those equivalent to the functions shown in FIGS. 6, 14, and 16. This embodiment is different from the third embodiment shown in FIG.
It incorporates the idea of the second embodiment shown in FIG.

The display monitor device according to the present embodiment
This is the same as the monitor display device 70A of the setting device 7A according to the second embodiment shown in FIG. 12, and has a display sensitivity adjustment dial 7f as shown in FIG.

The processing function of the control unit according to the present embodiment is the same as that shown in FIG. 15 except that the signal from the display sensitivity adjustment dial 7f is input to the cutoff frequency command selector 9h and the following processing is performed. This is the same as that of the third embodiment shown.

That is, in the control unit according to the present embodiment, in the flowchart shown in FIG.
If it is determined in step 50 that the area restriction start switch 7a of the setting device 7 is not ON, or if it is determined that the arm cloud is not operated even if the area restriction start switch 7a of the setting device 7 is ON, step 143 is performed. To input a signal from the display sensitivity adjustment dial 7f, and then to the procedure 1
At 44, the cutoff frequency selection unit 9h sets the cutoff frequency of the display low-pass filter according to the signal from the display sensitivity adjustment dial 7f. Next, in step 351, a low-pass filter process is performed on the numerical data of the position and orientation of the front work machine 1A by using the cutoff frequency in the filter processing calculation unit 9i.
In the flowchart shown in FIG. 18, the other processes are the same as those in the fourth embodiment shown in FIG.

According to the present embodiment, in the monitor display device according to the fourth embodiment shown in FIG. 16, the cutoff frequency of the display low-pass filter can be freely adjusted using the display sensitivity adjustment dial 7f. It is possible to arbitrarily set a state that is easy for the operator to see. <Sixth Embodiment> FIG. 1 shows a sixth embodiment of the present invention.
9 will be described. In the figure, the same components as those shown in FIG. 4 are denoted by the same reference numerals. In the present embodiment, a part of the function of the control unit according to the first embodiment shown in FIG. 4 is transferred to a display monitor device.

FIG. 19 is a diagram showing a processing function of the control unit 9C according to the present embodiment relating to the area limiting excavation control and a processing function of the monitor display 70C. Control unit 9
In C, the second filter processing operation unit 9e is removed from the control unit 9 shown in FIG. On the other hand, the display monitor device 70C includes the second filter processing operation unit 9e and the display control unit 7
g. The processing content of the second filter processing operation unit 9e is the same as that of the control unit 9 shown in FIG. Relatively low cut-off frequency (for example, 1H
The low pass filter processing of z) is performed. The display control unit 7g performs a process of numerically displaying the data thus processed on the display units 7c and 7d.

According to the present embodiment, the same effects as those of the first embodiment can be obtained, and the processing load on the control unit 9C can be reduced, so that the function of the automatic control of the hydraulic excavator can be improved accordingly. . Also, the monitor display device 70C
Since the numerical value fluctuation amount of the monitor display can be reduced by itself, the monitor display device 70C can be used for general purposes.

As described above, several embodiments of the present invention have been described. However, the present invention is not limited to the above embodiments, and various modifications are possible. For example, in the above-described embodiment, the low-pass filter processing is used as a means for smoothing the operation value, but other smoothing processing such as averaging processing may be used. Further, the bucket depth and the bucket angle (ground angle) are displayed on the monitor display device, but other numerical values such as the inclination angle of the vehicle body may be displayed. Further, the monitor display device has been described as an example of a display that displays only numerical values, but may be a display that simultaneously displays illustrations of a bucket, a front working machine, and the like.

In the above embodiment, the example of the area-limited excavation control has been described as the automatic control using the calculated value.
Other automatic control, for example, trajectory control for the purpose of operating the blade edge of the bucket in a straight line may be used.
In the above embodiment, the operation lever device is an electric lever type, but may be a hydraulic pilot type lever device. Further, although a goniometer for detecting a rotation angle is used as a means for detecting a state quantity related to a position and a posture of the front working machine, a stroke of a cylinder may be detected.

[0093]

According to the present invention, the amount of change in the numerical value displayed on the monitor display device is reduced, the operator can easily recognize the monitor numerical value, and the display is improved. Further, when the display device is also used as a setting device, setting is facilitated. On the other hand, regarding the automatic control, the delay of the signal relating to the position and the posture is suppressed, and the control accuracy of the automatic control can be prevented from lowering.

If the monitor display device itself is provided with a function of reducing the amount of numerical fluctuation of the monitor display, the processing load on the automatic control side is reduced, so that the function of the automatic control can be improved accordingly. Since the amount of change in the numerical value of the monitor display can be reduced on the monitor display device side, the monitor display device can be used for general purposes.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a control system of a construction machine including a signal processing device of a construction machine according to a first embodiment of the present invention, together with a hydraulic drive device.

FIG. 2 is a diagram showing the appearance of a hydraulic shovel to which the present invention is applied and the shape of a setting area around the hydraulic shovel.

FIG. 3 is a diagram illustrating an example of a setting device to which the signal processing device according to the first embodiment is related;

FIG. 4 is a functional block diagram illustrating processing functions of a control unit including the signal processing device according to the first embodiment.

FIG. 5 is a diagram showing a method of setting a coordinate system and an area used in area limited excavation control.

FIG. 6 is a flowchart showing a control procedure for performing a calculation for region-limited excavation control and a calculation for monitor display.

FIG. 7 is a diagram illustrating a method of correcting a target speed vector in a deceleration area and a restoration area in the area limited excavation control.

FIG. 8 is a diagram illustrating a relationship between a distance between a tip of a bucket and a boundary of a set area and a deceleration vector in the area limited excavation control.

FIG. 9 is a diagram illustrating an example of a trajectory when the tip of a bucket is decelerated and controlled as corrected in the area-limited excavation control.

FIG. 10 is a diagram illustrating a relationship between a distance between a tip of a bucket and a boundary of a set area and a restoration vector in the area limited excavation control.

FIG. 11 is a diagram illustrating an example of a trajectory when the tip of a bucket is controlled to be restored as corrected in the area-limited excavation control.

FIG. 12 is a diagram illustrating an example of a setting device to which a signal processing device according to a second embodiment of the present invention is related.

FIG. 13 is a functional block diagram illustrating processing functions of a control unit including the signal processing device according to the second embodiment.

FIG. 14 is a flowchart showing a control procedure for performing a calculation for region-limited excavation control and a calculation for monitor display.

FIG. 15 is a functional block diagram illustrating processing functions of a control unit including a signal processing device according to a third embodiment of the present invention.

FIG. 16 is a flowchart showing a control procedure for performing calculation for region-limited excavation control and calculation for monitor display.

FIG. 17 is a flowchart showing a control procedure for performing a calculation for area-limited excavation control and a calculation for monitor display in the control unit including the signal processing device according to the fourth embodiment of the present invention.

FIG. 18 is a flowchart showing a control procedure for performing a calculation for region-limited excavation control and a calculation for monitor display in a control unit including a signal processing device according to a fifth embodiment of the present invention.

FIG. 19 is a functional block diagram showing a processing function of a control unit including a signal processing device according to a sixth embodiment of the present invention and a processing function of a monitor display device.

[Explanation of symbols]

 Reference Signs List 1A Front work machine 1B Body 1a Boom 1b Arm 1c Bucket 1d Upper revolving structure 1e Lower traveling structure 2 Hydraulic pump 3a-3f Hydraulic actuator 4a-4f Operating lever device 5a-5f Flow control valve 6 Relief valve 7 Setting device (setting means) 7a area limit start switch 7b direct teach switch 7c display 7d display 7e LED 7f display sensitivity adjustment dial 8a, 8b, 8c angle detector 9 control unit 9a area setting section 9b bucket position / posture calculation section 9c area limit excavation control section 9d 1st filter processing operation section 9e 2nd filter processing operation section 9f output signal selection section 9g cutoff frequency setting section 9h cutoff frequency command selection section 9i filter processing operation section 70 monitor display device

Claims (5)

[Claims] 1. A position / posture calculating means for calculating a position and a posture of a construction machine based on a detection signal from a detecting means for detecting a state quantity relating to a position and a posture of a vehicle body or a working machine of the construction machine; Signal processing of a construction machine having control operation means for performing an operation for automatically controlling the construction machine based on the operation value, and a monitor display device installed in a cab of the construction machine and displaying the operation values of the position and the attitude In the apparatus, a first smoothing processing means for smoothing the calculated value of the position and the posture, and a second smoothing processing means for smoothing the calculated value of the position and the posture with a higher smoothness than the first smoothing means A signal processing unit, wherein the control calculation unit performs calculation based on the value processed by the first smoothing processing unit, and the monitor display device displays the value processed by the second smoothing processing unit. Equipment. 2. The signal processing device for a construction machine according to claim 1, wherein said first and second smoothing means are first and second filter processing operation means for performing low-pass filtering processing on a time axis, respectively. A signal processing apparatus, wherein a cut-off frequency used for low-pass filtering in the second filter processing means is lower than that in the first filter processing means. 3. A position and orientation calculating means for calculating the position and orientation of the construction machine based on a detection signal from a detection means for detecting a state quantity relating to the position and orientation of the vehicle body or the working machine of the construction machine; Signal processing for a construction machine having control operation means for performing an operation for automatically controlling the construction machine based on the operation value, and a monitor display device installed in a cab of the construction machine for displaying the operation values of the position and the posture. In the device, smoothing processing means for smoothing the calculated values of the position and orientation, and whether or not automatic control by the control arithmetic means is being performed, when it is not under automatic control than during automatic control A signal processing device comprising: a smoothing adjustment unit that increases a degree of smoothness of the smoothing process performed by the smoothing unit. 4. The signal processing device for a construction machine according to claim 3, wherein said smoothing processing means is a filter processing calculation means for performing low-pass filtering processing on a time axis, and said smoothing adjustment means is said filter processing calculation means. When the automatic control is not being performed during the automatic control,
A signal processing device characterized by lowering a cutoff frequency used for low-pass filtering processing. 5. A position and orientation calculating means for calculating the position and orientation of the construction machine based on a detection signal from a detecting means for detecting a state quantity relating to the position and orientation of the vehicle body or the working machine of the construction machine, and The position and orientation are installed in a cab of a construction machine having first smoothing processing means for smoothing a calculated value and control calculating means for performing a calculation for automatically controlling the construction machine based on the smoothed value. A monitor display device for displaying the calculated values of (1) and (2), further comprising second smoothing processing means for smoothing the calculated values of the position and orientation with a higher degree of smoothness than the first smoothing processing means.