JP2673599B2 - Blade position control device for tracked vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention receives a reference laser beam with a vehicle-mounted photodetector, and controls the position of raising and lowering the blade so that the distance between the photodetection position and the blade edge becomes a predetermined value. The present invention relates to a blade position control device for a tracked vehicle such as a bulldozer.

[Conventional technology]

In tracked vehicles such as bulldozers, blade position variable control has been conventionally performed in order to automate ground leveling work.

In this type of conventional technology, a reference laser beam from a projector disposed at a work site is received by a light receiver attached to a blade, and the distance between the laser light receiving position at this light receiver and the blade edge is constant. The blade is moved up and down so that

[Problems to be solved by the invention]

As described above, in the conventional device, the light receiver is fixed to the blade, but the blade is likely to be directly subjected to a vibration impact or mud when the work is performed. There is a problem that it is difficult to secure reliability.

Similarly, when various sensors are installed at locations such as the blade and the blade frame that are affected by the disturbance caused by the severe vertical movement during the work, the blade ascending / descending drive cannot be controlled accurately, and the reliability of the sensor is reduced. It will be difficult to secure.

The present invention has been made in view of the above circumstances, and a blade of a tracked vehicle that can perform highly reliable blade position control by disposing a light receiver and various sensors at positions where environmental conditions are good. An object is to provide a position control device.

[Means and actions for solving the problem]

In this invention, the reference laser beam is received by the light receiver provided on the tracked vehicle main body side, and the blade is moved up and down so that the relative height of the blade edge with respect to the light receiving position of the light receiver becomes a predetermined set value. In the blade position control device for a tracked vehicle, a vehicle body tilt angle sensor for detecting a tilt angle of the tracked vehicle is provided on a tracked vehicle main body side, and a blade frame angle sensor for detecting a rotation angle of a frame of the blade. Is provided on the blunt side of the tracked vehicle, and based on the light receiving position of the light receiver, the detection value of the vehicle body tilt angle sensor, and the detection value of the blade frame angle sensor, the relative height of the blade edge with respect to the light receiving position. Is calculated at any time point of the work, and a deviation between the calculated value at any time point of the work calculated by the calculation means at any time and the predetermined set value. So that the blades are removed, the control means for driving the blade up and down is provided.

That is, in the present invention, the light receiver, various sensors, blades that are affected by the disturbance due to the severe vertical movement during work,
Instead of installing it on the blade frame, it is attached to the tracked vehicle main body side with good environmental conditions, so that the laser light can be reliably received by the light receiver, and the detection error of the sensor can be reduced, It is possible to provide a highly reliable blade position control device to the market, which is capable of accurately performing blade elevation position control.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows the external structure of an embodiment of the present invention, and FIG. 2 shows the structure of a control system.

1 and 2, the projector 1 is arranged at the work site, and the reference laser beam 10 is projected at a constant height while rotating the projector 1.

The light receiver 2 is, for example, a semiconductor position detector (PSD),
A signal corresponding to the distance Δh from the light receiving position to the light receiving device mounting position is output from the light receiving device 2. The light receiver 2 is arranged on the vehicle body Bu of the bulldozer which is a tracked vehicle.

The vehicle body inclination angle sensor 3 is a vehicle body inclination angle sensor that detects the longitudinal inclination angle θ of the vehicle body Bu. The blade frame angle sensor 4 is a rotation angle sensor that detects a rotation angle φ of the frame 9 of the blade 8. The vehicle body tilt angle sensor 3 is provided at an appropriate location on the vehicle body Bu, and the blade frame angle sensor 4 is provided on the vehicle body Bu side where the root of the frame 9 is provided (blade rotation support). Part P).

In the target height setting device 5, the operator appropriately sets a target value Hr for the distance L between the light receiving position of the light receiving device 2 and the cutting edge F of the blade 8.

The output Δh of the light receiver 2, the detection signal θ of the vehicle body inclination angle sensor 3, the detection signal φ of the blade frame angle sensor 4 and the set value Hr of the target height setting device 5 are the controller 6
Is input to

Before explaining the operation of the controller 6, the lengths and angles of the respective parts shown in FIG. 1 are defined below.

Δh: Distance from the lower end of the light receiver 2 to the receiving position of the reference laser beam 10 Hs: Distance from the blade rotation support P to the lower end of the light receiver 2 (fixed value) Ls: From the blade rotation support P Distance to the center line of the light receiver 2 (fixed value) LB: Distance from the blade rotation support portion P to the blade edge F (fixed value) θ: Inclination angle of the vehicle body Bu φ: Passes through the blade rotation support portion P Rotation angle of the frame 9 with respect to the track center line A: Angle between the line segment PF and the frame 9 (fixed value) L: Relative height of the blade edge F with respect to the reference laser beam M: Blade rotation support for the reference laser beam 10 R relative height of P N: relative height of blade edge F with respect to blade rotation support P According to this FIG. 1, the distance M is expressed as M = (Δh + Hs) · cos θ + Ls · sin θ (1) .

Here, Hs and Ls are fixed values that can be determined in advance according to the mounting position of the light receiver 2.

 Further, the distance N is expressed as N = LB · sin (φ + A−θ) (2).

In the equation (2), LB and A are fixed values that can be determined if the vehicle model is determined.

Therefore, the relative height L of the blade edge F with respect to the light receiving position of the reference laser beam 10 at the light receiver 2 is expressed as L = M + N = (Δ + Hs) · cos θ + Ls · sin θ + LB · sin (φ + A−θ) (3) The value L can be measured by detecting the values Δh, θ, φ.

In the controller 6 of FIG. 2, by substituting the output Δh of the light receiver 2, the detection output θ of the vehicle body tilt angle sensor 3, and the detection output φ of the blade frame angle sensor 4 into the above equation (3), the reference laser beam The relative height L of the blade tip F with respect to the light receiving position is calculated at any time at each work point by the ten light receivers 2, and there is no deviation between the calculated value L at each work time point and the setter Hr of the target height setter 5. In this way, the blade 8 is driven up and down by controlling the drive of the blade lifting drive mechanism 7. That is, when the calculated value L is larger than the set value Hr, the blade 8 is raised and the calculated value L is set to the set value Hr.
When it is smaller than the above, the blade 8 is moved up and down so as to be lowered, and the leveling and excavation control while maintaining the target height (set value Hr) are executed.

Thus, in this embodiment, the light receiver 2 is replaced by the blade 8
Instead, the bulldozer is installed on the side of the body Bu of the vehicle body, so that the light receiver 2 can be avoided from a bad environment due to vibration or muddy water. Further, not only the vehicle body inclination angle sensor 3 but also the blade frame angle sensor 4 are arranged not on the blade 8 and the frame 9 which are affected by the disturbance caused by the severe vertical movement during the work, but on the vehicle body Bu side. It is possible to reduce the detection error of the sensor,
The blade elevation position control can be performed accurately. As a result, highly reliable blade position control is realized.

In the embodiment, PSD is used as the light receiver 2, but if the light receiving position can be detected as a result,
Other arbitrary configurations may be adopted.

〔The invention's effect〕

As described above, in the present invention, since the light receiver for receiving the reference laser beam is attached to the tracked vehicle main body side, the light receiver may be subjected to vibration shock or dirt due to muddy water. Less. Further, not only the vehicle body tilt angle sensor but also the blade frame angle sensor, the blade that is affected by the disturbance due to the severe vertical movement during the work,
Since it is arranged not on the frame but on the vehicle body side, the detection error of the sensor can be reduced. As a result, even at a work site where the environmental conditions are not good, it is possible to perform work such as leveling and excavation with the desired leveling, and it is possible to dramatically improve the reliability of the device.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing a configuration of a control system of this embodiment. 1 ... Emitter, 2 ... Receiver, 3 ... Vehicle body tilt angle sensor, 4 ... Angle sensor, 5 ... Target height setting device, 6
...... Controller, 7 …… Blade lifting drive mechanism, 8 ・ ・ ・
… Blade, 9 …… Frame, 10 …… Laser light, Bu …… Bulldozer

Claims (1)

(57) [Claims] 1. A reference laser beam is received by a light receiver provided on the main body of a tracked vehicle, and a blade is raised and lowered so that a relative height of a blade edge with respect to a light receiving position of the light receiver becomes a predetermined set value. In a blade position control device for a driven tracked vehicle, a vehicle body tilt angle sensor for detecting a tilt angle of the tracked vehicle is provided on a tracked vehicle main body side, and a blade frame angle for detecting a rotation angle of a frame of the blade. A sensor is provided on the tracked vehicle main body side, and based on the light receiving position of the light receiver, the detection value of the vehicle body tilt angle sensor, and the detection value of the blade frame angle sensor, the relative height of the blade edge with respect to the light receiving position. Is calculated at any time at each operation, and the deviation between the operation value calculated at any time by the operation means at each operation time and the predetermined set value is A blade position control device for a tracked vehicle, comprising: a control means for vertically moving the blade so that the blade is eliminated.