JP2006307436A - Turning system work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform an interference avoiding control controlling a bucket 6 so that its tip does not interfere with an obstacle by using a navigation system 11 in the frame body 1 of a hydraulic shovel in not only the vertical displacement of the tip position of the bucket 6 but also in the turning of an upper structurer. <P>SOLUTION: The coordinate of the tip position of the bucket is calculate by using the present position of the frame body 1, the orientation of the upper structure 3, and the detected rotating angle values of a boom 4, an arm 5, and the bucket 6. When the calculated coordinate comes within a preset interference avoidance range, the moving speeds of the tip part of the bucket in vertical and horizontal directions are reduced and, when it moves by a preset distance from the obstacle, the bucket is controllably stopped. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to the technical field of turning work machines.

2. Description of the Related Art In general, a swivel work machine such as a hydraulic excavator is configured such that an upper swing body having a work attachment such as a bucket attached to a lower traveling body is slidable around a vertical axis. When working using such a working machine, it is required to work so as not to interfere with surrounding obstacles, but there are some things that are difficult to do depending on the manual operation of the operator. Therefore, the current position and direction of the work machine are detected by using GPS (abbreviation of Global Positioning System: Wide area position detection system), and the facility drawing centering on the detected current position is acquired from the stored data. Work while watching or send and receive ultrasonic waves to detect the distance from the current position to the equipment, display the equipment drawing at the work equipment detection position on the work map, and work while watching this Is known (see, for example, Patent Document 1).
JP 2002-339407 A

  By the way, since the said conventional thing is the operation | work which an operator sees the equipment drawing displayed on a monitor, there exists a possibility of interfering with equipment by an operator's judgment mistake, and the problem which this invention should solve here There is.

The present invention has been created in order to solve these problems in view of the above-described circumstances, and the invention of claim 1 enables the upper swing body to be swung freely around the vertical axis on the lower traveling body. Provided in a swing work machine provided with a work attachment that is displaceable with respect to the upper swing body, current position detecting means for detecting the current position of the swing work machine, and detecting the orientation of the upper swing body Azimuth detecting means for detecting, displacement amount detecting means for detecting the displacement amount of the upper attachment of the work attachment, and storing three-dimensional obstacle coordinates corresponding to obstacles such as buildings and facilities based on map data And a work attachment position calculating hand for calculating the three-dimensional coordinates of the work attachment position from the detected current position, orientation, and displacement of the work attachment with respect to the upper swing body. And a work attachment position coordinate determining means for determining whether or not the calculated work attachment position coordinate is within an interference avoidance range set based on the stored obstacle coordinates, and a work attachment position coordinate Moving speed setting means for setting the moving speed of the work attachment in the three-dimensional direction when the movement speed is within the interference avoidance range, and a turning actuator for the upper swing body so as to have the moving speed set by the moving speed setting means And a control command output means for outputting a control command to the speed control unit of the work attachment actuator.
According to a second aspect of the present invention, in the first aspect, the movement speed set by the movement speed setting means is reduced as the work attachment position coordinates approach the obstacle coordinates, and the work attachment position coordinates are preset from the obstacle coordinates. It is set so that it may stop when it comes to a close position.
According to a third aspect of the present invention, there is provided a turning work machine according to the second aspect, wherein the moving speed set by the moving speed setting means and the proximity position to be stopped are configured to be adjustable.
According to a fourth aspect of the present invention, in any one of the first to third aspects, when the work attachment is moving in a direction away from the obstacle, the execution of the deceleration control is prohibited. It is a machine.
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the position coordinates of the work attachment are three-dimensional coordinates of the entire work range set when the work attachment actuator is operated, and a control command output When it is determined that any one of the work ranges is within the interference avoidance range, the means outputs a control command to the corresponding speed control unit so that the movement speed set by the movement speed setting means is obtained. This is a swivel work machine.

According to the invention of claim 1, the interference avoidance control including the turning of the upper turning body can be automatically executed, and the interference avoidance work is performed by looking at the monitor screen as in the past. There is no problem and the certainty of work is improved.
According to the invention of claim 2, the work attachment is decelerated as it approaches the obstacle, and the work attachment is prevented from hitting the obstacle because the work attachment is stopped at a close position before interfering with the obstacle. it can.
According to the invention of claim 3, the speed setting corresponding to the skill of the operator and the surrounding environment and the setting of the proximity position as the stop position can be performed, so that workability is improved.
According to the invention of claim 4, the movement of the work attachment in the direction away from the interference avoidance range is not decelerated, and the escape from the interference avoidance range can be performed quickly.
According to the fifth aspect of the present invention, interference can be avoided without detecting the tip position of the work attachment, and the position detection sensor for the work attachment close to the actual work position can be dispensed with.

  Next, embodiments of the present invention will be described with reference to the drawings. In the figure, reference numeral 1 denotes a main body of a hydraulic excavator which is an example of a turning work machine. The main body 1 is provided on a crawler type lower traveling body 2 and an upper revolving body 3 so as to be turnable around a vertical axis. The base end portion of the boom 4 is pivotally supported on the front portion of the upper swing body 3 via a horizontal shaft, and the arm 5 is supported on the tip portion of the boom 4 via the horizontal shaft. A front end is configured such that a base end portion is pivotably supported, and a bucket (corresponding to the “work attachment” of the present invention) 6 is pivotally supported on a distal end portion of the arm 5 via a horizontal shaft. An attachment 7 is provided. The front attachment 7 performs the necessary swinging operation by the expansion and contraction operation of each corresponding hydraulic cylinder (corresponding to the “work attachment actuator” of the present invention) 8, 9, 10, etc. The work can be performed as usual.

  A navigation system 11 is mounted on the upper swing body 3. The navigation system 11 includes a GPS receiver (corresponding to “current position detection means” of the present invention) 12, and the upper swing body 3. An azimuth sensor (corresponding to “azimuth detecting means” of the present invention) 13, an operation switch 14, a display 15, a communication device 16, a storage device 17, and a navigation control device 18 using a microcomputer connected thereto. Configured.

  The GPS receiver 12 can detect the current position of the machine body 1 as an absolute position based on the position signal transmitted from the GPS satellite 19, and the navigation control device 18 determines the detected current position. It is superimposed on various three-dimensional map data (various data such as road data, place names, street addresses, topography, buildings, facilities, etc.) stored in a storage device (corresponding to “storage means” of the present invention) 17 The display 15 is controlled to be displayed as a three-dimensional image. In the storage device 17, three-dimensional obstacle coordinates are registered in advance corresponding to obstacles such as buildings and facilities of the three-dimensional map data to be stored, and the navigation control device 18 will be described later based on this. Interference avoidance control is performed.

  Further, the navigation control device 18 can input external information through the communication device 13 typified by, for example, a mobile phone. As the external information, information output from a previously registered information input / output means (server computer) 20 is used. Alternatively, there are various kinds of external information such as information input by accessing the information input / output means 20 from the communication device 13, and these input external information includes newly set obstacles, removed obstacles, etc. There are various types of information, and these various types of information can be temporarily registered or rewritten in the storage device 17. Needless to say, the communication device 13 is not limited to a mobile phone, and one or more of various communication means such as PHS, wireless RAN, and satellite communication can be used.

  The display 15 displays the surrounding map including the current position and the direction in which the upper swing body 3 faces. Since the display 15 displays the relationship between the bucket tip position and the facility as will be described later, for example, as shown in a bird's-eye view, the tertiary It is preferable to set the original display. In addition, as the operation switch 14, a switch capable of changing the scale of the display, moving the position, and performing various settings is mounted.

  Further, the navigation control device 18 is configured using a microcomputer and is connected to a main control device 21 for executing various controls of the machine body 1, and the main control device 21 includes a rotation of the boom 4. A boom rotation angle detection sensor 22 that detects the angle, an arm angle detection sensor 23 that detects the rotation angle of the arm 5, and a bucket angle detection sensor 24 that detects the rotation angle of the bucket 6 are connected (the sensors 22, 23, 24 corresponds to the “displacement amount detecting means” of the present invention). Furthermore, the main controller 21 is connected to operation state detection sensors 25 of various operation tools such as an operation lever and an operation switch for operating a hydraulic excavator, and corresponding signals are input from these. . The main control device 21 executes interference avoidance control together with the navigation control device 18 based on these input signals, as will be described later, and sends corresponding control signals to the hydraulic cylinders 8 and 9 for the boom 4 and arm 5 bucket 6. Drive control of the expansion / contraction control devices 26, 27, and 28 for controlling the expansion and contraction of 10 and the turning motor 29a for controlling the turning of the upper turning body 3 (corresponding to the "turning actuator" of the present invention). It outputs to the device 29 (these control devices 26, 27, 28, 29 correspond to the “speed control unit” of the present invention).

Furthermore, the navigation control device 18 determines how far away from the obstacle (position) in the interference avoidance control, that is, the position coordinates of the obstacle closest to the detected position of the body 1. For example, a stop distance setter 30 for setting a position coordinate to be stopped at a position 50 cm away from (vertical and horizontal coordinates X, Z), an interference avoidance range for performing interference avoidance control (for example, from an obstacle) An interference avoidance range setting unit 31 for setting a position coordinate between a position 1.5 m away from the stop position and a stop speed, and a moving speed for setting a moving speed until moving within the interference avoiding range and stopping A setter (corresponding to “moving speed setting means” of the present invention) 32 is connected, but the moving speed set by the moving speed setter 32 is a bucket as shown in FIG. A plurality of relations between the approaching distance to the obstacle at the end (distance between the bucket tip and the stop position) and the change speed (pressure oil supply flow rate to the hydraulic cylinder and the swing motor) are set in advance, and these are set. Any one of a plurality of speed change lines can be selected and set.
Further, the navigation control device 18 can calculate the movement speed of the bucket tip in the X direction and the Z direction from the movement change of the bucket tip coordinates X and Z.

  Next, a procedure of interference avoidance control executed using the navigation control device 18 and the main control device 21 will be described with reference to the flowchart of FIG. These control devices 18 and 21 execute various control routines including an interference avoidance control routine when the engine is started and initialized. In the interference avoidance control routine, the current detection of the main body 1 is performed. Based on the position, the detected orientation of the upper swing body 3, and the sensor values of the rotation angle detection sensors 22, 23, 24 (the vertical displacement amount of the front attachment is detected by these sensor values), Calculation of current position coordinates (vertical coordinate X and horizontal coordinate Z) (sensor value input by main control device 21 may be input to navigation control device 18 and calculated by main control device 21) If the tip position calculation means A corresponding to the “work attachment position calculation means” of the present invention is the former, navigation is performed. The control bucket 18 is provided, and in the latter case, it is provided on the main controller 21 side. These examples are indicated by dotted lines in FIG. 3 and FIG. Outputs the current position coordinates of the tip position. Then, it is determined (determined) whether or not the output current position coordinates are within the set interference avoidance range calculated from obstacle coordinates. A control command is output to the main controller 21 to execute normal control corresponding to the operation tool operation detected by the state detection sensor 25. When the main control device 21 inputs the control command, the cylinder expansion / contraction control devices 26, 27, 28 and the motor drive control device 29 (the control devices 26, 27, 28, 29 are included in the “speed control unit” of the present invention). The control command output means B corresponding to the “control command output means” of the present invention is configured in this way. The movement of the bucket tip position corresponding to the operation tool operation and the turning of the upper swing body 3 are executed. Incidentally, it goes without saying that the calculation of the bucket tip position can be performed not by calculation based on rotation angle detection but also by calculation based on cylinder length detection.

  On the other hand, if it is determined that the current position coordinates X and Z are within the interference avoidance range, is the operation state detection signal by the operation state detection sensor 25 an operation signal in a direction away from the interference avoidance range? If it is determined whether the operation is in the direction of leaving, the normal control is executed. On the other hand, when it is determined that the operation tool is operated in the direction toward the interference avoidance range, that is, in the direction close to the obstacle, the moving speed setting unit 32 further sets the moving speed of the bucket tip. A determination is made whether it is faster than the speed. When it is determined that the speed is not fast, normal control corresponding to the operation tool operation amount is executed. However, when it is determined that the operation tool speed is fast, the moving speed of the bucket tip is not related to the operation tool operation amount. Control commands are output to the cylinder expansion / contraction control devices 26, 27, and 28 (speed control of the coordinate X component) and the turning motor drive control device 29 (speed control of the coordinate Z component) so that the speed is set at It has become.

  In the embodiment of the present invention configured as described above, when bucket work is performed at a site where an obstacle is around, the current detection position of the body 1, the detection orientation of the upper swing body 3, and each rotation angle detection sensor When it is determined that the bucket tip coordinates X and Z calculated from the sensor values of 22, 23, and 24 are within a preset interference avoidance range, the moving speed of the tip of the bucket 6 is reduced as it approaches the obstacle. Then, when the stop position set by the stop distance setting device 30 is reached, the turning of the upper swing body 3 and the vertical movement of the front attachment are stopped and the tip of the bucket 6 is prevented from interfering with an obstacle. Thus, there is no hassle for the operator to perform interference avoidance work while watching the display.

  In addition, this automatically executed interference avoidance control can adjust the interference avoidance range, the stop position from the obstacle, and the deceleration speed when entering the interference avoidance range as necessary. Interference avoidance control can be performed according to the situation, and workability and operability are improved.

  Moreover, when it is determined that the operation tool operation in the direction in which the bucket tip is separated from the obstacle is performed, the interference avoidance control is canceled and the interference avoidance control is quickly performed from the interference avoidance range. Evacuation and operability is further improved.

  Needless to say, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the tip of the bucket 6 that is a work attachment, that is, the tooth tip position is detected by each of the angle detection sensors 22, 23, Although the calculation is based on the sensor value of 24, since the bucket angle sensor 24 is provided in a part close to the actual work position, it is assumed that the bucket angle sensor 24 is likely to break down by hitting an object. As shown in FIG. 6, the entire operation range P of the bucket 6 set by the expansion / contraction stroke of the bucket hydraulic cylinder 10 is calculated as a three-dimensional coordinate (corresponding to the “work attachment position calculation means” of the present invention). If it is determined that some of the calculated solid coordinates interfere with the interference avoidance range Q, it is determined that there is a possibility of interference before It is also possible to execute the interference avoidance control as described it is possible to execute the present invention.

  Furthermore, the detection sensor used when calculating the position coordinates of the work attachment according to the present invention is not limited to the angle detection sensor for detecting the angle. For example, the work attachment actuator to be detected in the embodiment is a hydraulic cylinder. In this case, even a stroke detection sensor that detects the extension stroke of the hydraulic cylinder can be implemented in the same manner.

  In addition, the present invention can also be implemented with a front attachment having a left-right offset type. In this case, the left / right flat amount is detected by using an offset amount detection sensor (for example, an offset angle detection sensor or an offset cylinder stroke detection sensor), and the calculated three-dimensional coordinate of the work attachment is X , Y and Z three-component coordinates.

1 is an overall side view of a hydraulic excavator. It is a block circuit diagram of a navigation system. It is a block circuit diagram of a main controller. It is a graph of the set speed adjusted in the interference avoidance range. It is a flowchart figure of interference avoidance control. It is a schematic explanatory drawing which shows the relationship between the work range of the bucket which shows 2nd Embodiment, and an interference avoidance range.

Explanation of symbols

1 Airframe Body 2 Lower Traveling Body 3 Upper Revolving Body 6 Bucket (Work Attachment)
8, 9, 10 Hydraulic cylinder (actuator for work attachment)
12 GPS receiver (current position detection means)
13 Direction sensor (azimuth detection means)
22, 23, 24 Boom, arm, bucket angle detection sensor (displacement amount detection means)
29a Turning motor (turning actuator)
32 Movement speed setting device (movement speed setting means)
A Tip position calculation means (work attachment position calculation means)
B Control command output means (control command output means)

Claims (5)

  In order to detect the current position of the swivel work machine in the swivel work machine provided with the upper revolving body on the lower traveling body so as to be able to swivel around the vertical axis and provided with a work attachment that can be displaced relative to the upper revolving body. Current position detection means, azimuth detection means for detecting the orientation of the upper swing body, displacement amount detection means for detecting the displacement amount of the work attachment relative to the upper swing body, buildings and facilities based on map data, etc. Storage means for storing the three-dimensional obstacle coordinates corresponding to the obstacle, and the operation for calculating the three-dimensional coordinates of the work attachment position from the detected current position, orientation, and displacement of the work attachment relative to the upper swing body The attachment position calculation means and the calculated work attachment position coordinates are within an interference avoidance range set based on the stored obstacle coordinates. A work attachment position coordinate determining means for determining whether the work attachment position coordinates are within the interference avoidance range, a movement speed setting means for setting the three-dimensional movement speed of the work attachment, and the movement The turning is characterized by comprising control command output means for outputting a control command to the speed control unit of the turning actuator of the upper turning body and the actuator for work attachment so as to achieve the moving speed set by the speed setting means. Work machines.   2. The moving speed set by the moving speed setting means according to claim 1, wherein the moving speed is decelerated as the work attachment position coordinates approach the obstacle coordinates, and the work attachment position coordinates become a preset proximity position from the obstacle coordinates. A turning work machine characterized by being set to stop.   3. The turning work machine according to claim 2, wherein the moving speed set by the moving speed setting means and the proximity position to be stopped are configured to be adjustable.   4. The turning work machine according to claim 1, wherein execution of deceleration control is prohibited when the work attachment is moving in a direction away from the obstacle.   5. The position coordinate of the work attachment according to claim 1, wherein the work attachment position coordinate is a solid coordinate of the entire work range set when the work attachment actuator is operated, and the control command output means When it is determined that any of them is within the interference avoidance range, a control command is output to the corresponding speed control unit so that the moving speed set by the moving speed setting means is obtained. Swivel work machine.

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