JP2905065B2 - Excavator excavation position display device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a digging position display device for a power shovel, and more particularly to a digging position display device for a power shovel in which a measurement error based on a value detected by an angle sensor is reduced.

[0002]

2. Description of the Related Art The measurement of the position of the tip of a bucket of a conventional power shovel will be described with reference to FIG. In FIG. 1, reference numeral 1 denotes a power shovel installed on a horizontal surface, and an upper revolving unit 3 is mounted on a traveling cart 2 of the excavator 1, and the upper revolving unit 3 is provided with a boom 4, an arm 5, and a bucket 6. Have been. Then, the horizontal plane at the place where the power shovel 1 is installed is set as the X axis, a straight line orthogonal to the X axis and passing through the boom foot A is set as the Y axis, and the origin of measurement is placed on the boom foot A.

Further, the boom foot A and the boom top B
Is a boom length L ₁ , a line connecting the boom top B and the arm top C is an arm length L _2, and a line connecting the arm top C and the bucket tip D is a bucket length L ₃ . I do. Further, the angle between the Y axis and the boom length L ₁ is a boom angle θ ₁ , and the angle between the extension line of the boom length L ₁ and the arm length L ₂ is the bucket angle θ ₂ and the extension of the arm length L ₂ the angle between the line and the bucket length L ₃ and the bucket angle theta _3. A boom angle sensor 7 for measuring the boom angle θ ₁ is provided at the boom foot A portion, and an arm angle sensor 8 for measuring the arm angle θ ₂ is provided at the boom top B portion, respectively. bucket angle sensor 9 for measuring the theta ₃ is provided to the arm top C site.

[0004] The coordinate positions x and y of the tip portion D of the bucket 6 are obtained by the following equations. x = L ₁ sin θ ₁ + L ₂ sin (θ ₁ + θ ₂ ) + L ₃ sin (θ ₁
+ Θ ₂ + θ ₃ ) (Equation 1) y = y ₀ + L ₁ cos θ ₁ + L ₂ cos (θ ₁ + θ ₂ ) + L
_{3 cos (θ 1 + θ 2} + θ 3) ... (2 expression) Note, y _o refers to the line segment between the points of intersection and Bumufuto A, a perpendicular from the Bumufuto A is the surface.

Here, the boom angle θ ₁ , the arm angle θ ₂
And the bucket angle θ ₃ are calculated by the following equation based on the detection values α ₁ , α ₂ , and α ₃ from the boom angle sensor 7, the arm angle sensor 8, and the bucket angle sensor 9, respectively. θ ₁ = G ₁ α ₁ + δ ₁ (Equation 3) θ ₂ = G ₂ α ₂ + δ ₂ (Equation 4) θ ₃ = G ₃ α ₃ + δ ₃ (Equation 5) Here, δ ₁ , δ ₂ and [delta] ₃ is the angle to correct the mounting error of an angle sensor of each.

The boom angle gain G ₁ , arm angle gain G _2, and bucket angle gain G ₃ are coefficients obtained from theoretical values of an angle sensor, an amplifier, a controller, and the like to be used. It is set at times, and is used without subsequent correction.

[0007]

As described above, in the conventional position measurement of the tip portion of the bucket, the coefficient of the detection value of each angle sensor may not be an appropriate numerical value. In this case, an error occurs in the position measurement result. Occurs. In addition, the value of the error may increase or decrease depending on the measurement angle of the angle sensor, or errors from the respective angle sensors may be added.

Therefore, there arises a technical problem to be solved in order to reduce the measurement error of the coordinate position of the tip portion of the bucket as much as possible, and the present invention has an object to solve the problem. I do.

[0009]

SUMMARY OF THE INVENTION The present invention proposes to achieve the above-mentioned object.
The coordinate position of the tip of the bucket in a power shovel having an arm and a bucket is defined by a line segment boom length L ₁ connecting the boom foot and the boom top, a line segment arm length L ₂ connecting the boom top and the arm top, and an arm top. a segment bucket length L ₃ connecting the bucket tip section, the boom angle theta _1, calculated in the calculating portion with an arm angle theta ₂ and the bucket angle theta _3, drilling position display of displaying a calculated value In the apparatus, the boom angle θ is calculated based on a difference between a calculated value of a coordinate position of a tip portion of the bucket and an actually measured value.
₁ is a means for correcting the coefficient of the detected values of the angle sensor for measuring the arm angle theta ₂ and the bucket angle theta ₃ provides a drilling position display device of a power shovel provided to the arithmetic unit.

[0010]

The operation part of the excavation position display device has a boom length L₁,
Arm length L_TwoAnd bucket length L _ThreeConstant and each angle sensor
Boom angle θ measured by₁, Arm angle θ_TwoAnd ba
Ket angle θ_ThreeOf the tip of the bucket using the variables
The position is calculated, and the calculated value is compared with the actually measured value.
Change the coefficient of the detection value of each angle sensor,
When the calculated value matches the measured value, the coefficient
Is stored in the arithmetic unit.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
This will be described with reference to mathematical expressions described later. Note that the same as the conventional example described above is used.
The same components are denoted by the same reference numerals and description thereof is omitted.
I do. FIG. 1 shows the bucket angle described in the conventional example.
Bucket angle gain G of sensor 9_ThreeExplanation when adjusting
FIG. 1 shows a power shovel 1.
An upper revolving superstructure 3 is mounted on a traveling cart 2 of the vehicle 1. or,
The upper revolving unit 3 includes a boom 4, an arm 5 and a bucket 6.
Is provided. And boom foot A and boom top
The line connecting B to the boom length L₁, Boom top B and ar
Arm top L_TwoAnd arm top
The line connecting the tip C and the tip D of the bucket 6 to the bucket
Length L_ThreeAnd the Y axis and the boom length L₁Boom angle
θ₁, Boom length L₁Extension of arm and arm length L_TwoAngle with
Is the bucket angle θ_TwoAnd arm length L _TwoExtensions and buckets
Length L_ThreeAnd the bucket angle θ_ThreeAnd

Further, an arithmetic unit and a display unit (both not shown) of the excavation position display device are provided in the upper revolving unit 3. The calculation unit calculates the coordinate position of the tip end portion D of the bucket 6, displays the coordinate position on the display unit, and inputs boom angle θ ₁ by inputting display content selection data to the calculation unit. select each of the arm angle theta ₂ and the bucket angle theta _3, it has a configuration that can be displayed on the display unit.
The boom angle gain G ₁ , the arm angle gain G _{2, the} bucket angle gain G _3, and the correction angles δ ₁ , δ ₂ , δ ₃ of the mounting error of each angle sensor are displayed on the calculation unit as described above. By inputting the content selection data, the desired arm angle gain or angle sensor mounting error correction angle is displayed on the display unit, and the data on the display unit is visually checked.
A correction input can be made while checking, and the correction data is rewritten and stored in the memory of the arithmetic unit.

Before starting the description of the specific example, the basic concept will be described with reference to FIG. In FIG.
UV is an isosceles triangle, and sides TU and TV have the same length. Then, the angle θ between the side TU and the TV is the side UV
When the angle θ is obtained, the side UV is automatically obtained. The present invention is an application of the above principle.

Thus, as shown in FIG.
5 is the same position, that is, the boom angle θ₁And arm angle θ_Two
Does not change, and the tip D of the bucket 6 is
The tip of the bucket 6 when the two points on the right touch each other
D at the end_PAnd D_QAnd The D at that time_P, D_Qwhile
, That is, the line segment X_PQIs determined by the following equation. X_PQ= X_P-X_Q = L₁sin θ₁+ L_Twosin (θ₁+ Θ_Two ) + L_Threesin (θ₁+ Θ_Two+ Θ_Three )-｛L₁sin θ₁+ L_Twosin (θ₁+ Θ_Two ) + L_Threesin (θ₁+ Θ_Two+ Θ_3Q) （(Equation 6) Thus, from Equations 5 and 6, X_PQ= L_Threesin (θ₁+ Θ_Two+ Θ_Three) -L_Threesin (θ₁+ Θ_Two+ Θ_3Q) = L_Threesin (θ₁+ Θ_Two + (G_Threeα_Three+ Δ_Three)) -L_Threesin (θ₁+ Θ_Two+ (G_Threeα_3Q+ Δ_Three)) (Equation 7) Thereafter, the calculation is performed by the calculation unit based on the calculation equation of the above-described Equation 7, and
X displayed on the display _PQMeasured by the calculated value of
Said X_PQFind the difference from the measured value of
Therefore, the bucket angle gain G_ThreeIn the arithmetic section
Change by operation.

[0015] Then, when the measured value of the calculated value> X _PQ of X _PQ reducing G _3. Calculated value of X _PQ <When the actual measurement value of X _PQ increasing G _3. And Thus, the calculated value of the X _PQ = X _PQ
Of G ₃ when a measured value is stored in replaced the conventional value in the operation portion. Next, the method of adjusting the arm angle gain G ₂ of the arm angle sensor 8 will be described with reference to FIG. As shown in the figure, when the bucket boom 4 is at the same position, that is, the boom angle θ ₁ does not change and the bucket tip D contacts the ground from the left and right in the figure, the bucket tip portions are denoted by D _R and D _R , respectively.
And D _S. The length between D _R and D _S at that time, that is, X _RS is obtained by the following equation.

X _RS = X _R -X _S = L ₁ sin θ ₁ + L ₂ sin (θ ₁ + θ ₂ ) + L ₃ sin (θ ₁ + θ ₂ + θ ₃ )-｛L ₁ sin θ ₁ + L ₂ sin (θ ₁ + Θ _2S ) + L ₃ sin (θ ₁ + θ _2S + θ ₃ )… (Equation 8) Thus, from equations 4 and 8, X _RS = L ₂ (θ ₁ + θ ₂ ) −L ₂ (θ ₁ + θ _2S ) + L ₃ sin (θ ₁ + θ ₃ + θ ₂ ) −L ₃ sin (θ ₁ + θ ₃ + θ _2S ) = L ₂ (θ ₁ + (G ₂ α ₂ + δ ₂ )) −L ₂ (θ ₁ + (G ₂ α _{2S + δ 2)) + L} 3 sin (θ 1 + θ 3 + (G 2 α 2 + δ 2)) -L 3 sin (θ 1 + θ 3 + (G 2 α 2S + δ 2)) ... (9 type) Thereafter based on the calculation formula of the formula (9), are calculated by the arithmetic unit, arm and calculated values of X _RS displayed by the display unit, it obtains a difference between the actual measurement value of the X _RS, by the following in order to eliminate the difference the angular gain G ₂ is varied by the operation of the arithmetic unit.

[0017] Then, when the measured value of the calculated value> X _RS of X _RS reducing G _2. Calculated value of X _RS <When the actual measurement value of X _RS increasing G _2. And Thus, the calculated value of X _RS = X _RS
Of the G ₂ when a measured value is stored in replaced the conventional value in the operation portion. Furthermore, the method of adjusting the boom angle gain G ₁ of the boom angle sensor 7 will be described with reference to FIG. As shown in the figure, the line segment between B _T and B _U on the Y coordinate, that is, Y _TU is obtained by the following equation.

Y _TU = Y _T -Y _U = Y _O + L ₁ cos θ _1- (Y _O + L ₁ cos θ _1U ) = L ₁ cos θ ₁ -L ₁ cos θ _1U (Equation 10) From equations (3) and (10), Y _TU = L ₁ cos (G ₁ α ₁ + δ ₁ ) −L ₁ cos (G ₁ α _1U +
δ ₁ ) (Equation 11) Thereafter, the difference between the calculated value of Y _TU calculated by the calculation unit based on the calculation formula of Equation 11 and displayed on the display unit and the actually measured value of Y _TU is obtained. next by changing the operation of the arithmetic unit the boom angle gain G ₁ to eliminate the differences.

[0019] Then, to reduce the G ₁ when the measured value of the calculated value> Y _TU of Y _TU. Y calculated value of the _TU <increasing G ₁ when the measured value of Y _TU. And Thus, the G ₁ to be stored therein replaced the conventional value calculation portion when a measured value of the calculated value = Y _TU of Y _TU. The actual measured values of X _PQ in FIG. 1, X _RS in FIG. 3, and Y _TU in FIG. 4 are the bucket in the case of X _PQ , the arm and bucket, and the Y _{TU in} the case of X _RS.
In the case of, the lengths are set in advance in the calculation unit in accordance with the respective lengths of the booms, but the respective lengths are displayed on the display unit by inputting display content selection data, and the lengths are displayed on the display unit. It can be changed by data input while viewing and confirming with.

Thus, the boom angle gain G ₁ , the arm angle gain G _2, and the bucket angle gain G
By performing the correction of ₃ , the measurement error of the coordinate position of the tip part of the bucket is eliminated, so that even when measuring the distance between two points of the installation location of the excavator 1, the measurement accuracy is improved. It is. The present invention can be variously modified without departing from the spirit of the present invention,
And it goes without saying that the present invention extends to the modified one.

[0021]

As described in detail in the above embodiment, the present invention reduces errors in individual rotation angles by reducing errors in the process of calculating each rotation angle from the detection value of each angle sensor. In addition, the combined error due to them is reduced as much as possible. In this way, since the accuracy of the rotation angle calculation can be improved in a simple and economical manner, the coordinate position of the bucket tip portion can be accurately grasped. It is an invention which has the effect of.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is an explanatory diagram of a method of correcting a bucket angle gain.

FIG. 2 is an explanatory diagram of an isosceles triangle which is a principle of the present invention.

FIG. 3 shows an embodiment of the present invention and is an explanatory diagram of a method of correcting an arm angle gain.

FIG. 4 shows an embodiment of the present invention and is an explanatory diagram of a method of correcting a boom angle gain.

FIG. 5 shows a conventional example, and is an explanatory view of a power shovel installed on a horizontal plane.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Power shovel 3 Upper revolving unit 4 Boom 5 Arm 6 Bucket 7 Boom angle sensor 8 Arm angle sensor 9 Bucket angle sensor L ₁ Boom length L ₂ Arm length L ₃ Bucket length θ ₁ Boom angle θ ₂ Arm angle θ ₃ Bucket angle G ₁ Boom angle gain G ₂ Arm angle gain G ₃ Bucket angle gain

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁶ , DB name) E02F 9/26 E02F 3/43 E02F 9/20 G01C 15/00

Claims (1)

(57) [Claims] 1. A coordinate position of a tip end of a bucket in a power shovel having a boom, an arm, and a bucket in an upper revolving unit, a line segment boom length L ₁ connecting a boom foot and a boom top, and a boom top and an arm top. The calculation is performed by the calculation unit using the line segment arm length L ₂ to be connected, the line segment bucket length L ₃ connecting the arm top and the bucket tip, and the boom angle θ ₁ , the arm angle θ _2, and the bucket angle θ _3. In the excavation position display device for displaying the calculated value on the display unit, the boom angle θ ₁ , the arm angle θ based on the difference between the calculated value of the coordinate position of the tip portion of the bucket and the actually measured value.
An excavation position display device for a power shovel, wherein a means for correcting a coefficient of a detection value of each angle sensor for measuring ₂ and a bucket angle θ ₃ is provided in the arithmetic unit.