JP3145027B2 - Automatic control device for hydraulic excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of automatic control of a hydraulic excavator used for various works such as construction and civil engineering work.

[0002]

2. Description of the Related Art This type of hydraulic excavator usually includes a boom, an arm, a bucket, and the like as a working part, and a series of operations such as excavation, loading, earth removal, and return are sometimes performed in the working part. In this case, it is necessary to extend and retract the hydraulic cylinders for the arm, boom, and bucket, and to pivot the upper revolving unit, but these operations require the operator to operate a plurality of operating tools simultaneously. I was going.

For this reason, the prior art has a problem that it is inferior in operability and requires skill. Therefore, it has been proposed that the excavation work by the bucket is automatically performed based on a work locus set in advance. However, in this case, although the excavation work can be performed automatically, the series of works has not been studied yet, and there is a problem that the present invention does not solve.

[0003]

SUMMARY OF THE INVENTION The present invention has been made for the purpose of solving these problems in view of the above-mentioned circumstances, and a first invention is an apparatus for controlling an automatic control unit.
Automatically activates the working unit based on the operation control command
Time series work stored in the automatic control unit
The part position trajectory can be
Data obtained by the
The control unit has a manual operation lever for the work unit in the automatic control state.
Key operation, the operation of the operating lever
The operation of the working unit is performed, and the stored time series is
The working locus of the working part to the one corresponding to the lever operation.
Hydraulic excavator equipped with rewriting means
In the dynamic control device, the automatic control unit is in an automatic control state.
One automatic operation based on manual operation in
Between the end position of the work and the start position of the next automatic operation
If there is, the next position from the end position of the one automatic operation
Control command to compensate to move to the start position of automatic operation
In order to output the correction command,
Must not move away from the end position of the next automatic operation.
That it is set it is an automatic control system for a hydraulic excavator according to claim. The second invention is output from the automatic control unit.
Operation of the working unit automatically based on the operation control command
Therefore, the time-series working unit position stored in the automatic control unit
The trajectory can be used for teaching or computer graphics.
Data obtained by the
The operation of the manual operation lever for the work unit in the automatic control state
When there is a crop, the working unit is operated based on the operation of the operation lever.
And the stored time-series operation is performed.
Rewrite the department position trajectory to one corresponding to lever operation
Control of hydraulic excavator with rewriting means for
In the apparatus, the automatic control unit may perform a teaching process.
Or data obtained using computer graphics.
The end position of one automatic operation and its
If there is a deviation from the start position of the next automatic operation,
One automatic operation end position to next automatic operation start position
Output a control command to correct the
In order to achieve this, the control command for the correction
An automatic control device for a hydraulic shovel, wherein the automatic shovel is set so as not to go away from an end position of the hydraulic shovel. Oite thereto, the automatic control unit, automatic excavation, loading automatic,
Automatically perform each of the automatic operation of automatic earth removal and automatic return
Mode switch to set the mode to execute the program
Start and end by arbitrarily selecting and operating each of the above automatic operations
Each start switch and end switch for (interrupt)
And the automatic control unit
Select and operate the switch and start switch arbitrarily
Arbitrarily select between automatic operation and operation based on manual operation.
Can be combined . Oite to this thing, automatic system
The control unit notes the time of manual operation during automatic control.
When the end time is shorter than the end time of the
When the switch is turned on, automatic operation with manual operation
The end of the dynamic control is determined, and the end point
Is set to control to end automatic operation of
It is can be characterized.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a crawler-type lower traveling body that constitutes a hydraulic excavator, and the lower traveling body 1 is provided with an upper revolving body 2 so as to be freely rotatable. A base end of a boom 3 is pivotally supported on the upper swing body 2, and a bucket is provided on a distal end of an arm 4 whose base end is pivotally supported on a distal end of the boom 3. 5 are swingably supported, and corresponding hydraulic cylinders 6, 7, 8 for operating the boom 3, the arm 4, and the bucket 5 are provided. 2 is provided with a hydraulic motor 9 for turning.

A switch box (not shown) is provided in the driver's seat 10 provided in the upper swing body 2, and the switch box has automatic digging, automatic loading, and automatic discharging as described later. The mode switches 12, 13, 14, 15 for setting the mode for automatically executing each of the automatic operations of the soil and the automatic return;
Each start switch 16, 17, 1 for ending (interrupting)
8, 19 and each end switch 20, 21, 22, 2,
3, and includes teaching switches 24, 25, 26, 27 operated when teaching the trajectories of the excavating operation, the loading operation, the earth discharging operation, and the return operation, respectively, and a teaching cancel switch 28 for canceling the switches. Various switches are provided.

On the other hand, reference numeral 37 denotes a control unit constituted by using a microcomputer or the like. The control unit 37 includes, on an input side, the switches 12 to 28, a boom, an arm, a bucket, and a turning device. Each operating lever 29, 3
Lever operation detection switches 33, 34, 35, and 36 for detecting that the 0, 31, and 32 have been operated, cylinder length detection sensors 38, 39, and 40 for detecting the length of expansion and contraction of the hydraulic cylinders 6 to 8, respectively. Switches and sensors such as a swing angle detection sensor 41 for detecting the swing angle of the upper swing body 2 are connected, and a boom, an arm, and a bucket for controlling the expansion and contraction of the hydraulic cylinders 6 to 8 are provided on the output side. Control valves 42, 43, and 44, and a turning control valve 45 for controlling the turning hydraulic motor 9 to perform forward and reverse driving, and are set so as to output control commands corresponding to these. .

Next, a control procedure for automatic control will be described with reference to flowcharts shown in FIGS. The control unit 37 starts the system based on the ON operation of a main switch (not shown), and performs initial settings. The main routine includes teaching processing control, automatic excavation, automatic loading, automatic discharging, automatic discharging, Each subroutine of each automatic control of return is set. First, the teaching processing control will be described. Here, it is determined whether or not any of the teaching switches 24, 25, 26, and 27 has been turned ON. If it is determined that the ON operation has been performed, the teaching processing control is performed. The routine is started, for example, when the teaching switch 24 for excavation is used.
Is ON operation, it is determined whether or not any of the boom, arm, and bucket lever operation detection switches 33 to 35 has been detected, that is, whether or not the operator is performing excavation operation for teaching. Is determined. When it is determined that the detection has been performed, the cylinder length and the cylinder speed of each of the hydraulic cylinders 6 to 8 are calculated based on the detection values from the cylinder length detection sensors 38, 39, and 40, and the data is calculated for a predetermined time. The data is stored in the memory as intervals, that is, time-series digging trajectory data (when there is already digging data stored in the memory, the data is deleted by turning on the digging teaching switch 24). Then, all the lever operation detection switches 33 to 35 are operated to return to the neutral position, and based on the detection that this state continues for a preset time (for example, several seconds), the teaching operation of the excavation operation is completed. Then, the process proceeds to another operation teaching process. On the other hand, if none of the boom, arm, and bucket lever operation detection switches 33 to 35 is detected and the teaching cancel switch 28 is turned on, the process proceeds to the teaching process of another operation.

[0008] Similarly, teaching of loading operation,
Teaching of the unloading operation and teaching of the return operation can be performed, and the control procedure is described in the flowcharts of FIGS. 5 to 6. In this case, the loading operation and the return operation are performed at the turning angle. The turning angle and turning speed data of the upper turning body 2 obtained based on the detection value from the detection sensor 41 are also set to be stored in a time-series manner.

When the teaching process is completed in this manner, it is next determined whether or not each of the mode switches 12 to 15 for automatic excavation, automatic loading, automatic earth discharging, and automatic return are ON. If there is, a mode for automatically starting the corresponding automatic operation is set.

Subsequently, the automatic excavation start switch 16 is turned on.
It is determined whether or not the operation has been performed. When the operation has been performed, the automatic excavation control command for following the excavation trajectory data stored by the teaching is transmitted from the control unit 37 to the corresponding hydraulic cylinder control valves 42 to 44. , Respectively, whereby the automatic excavation control is executed. Here, the expansion and contraction control of each of the hydraulic cylinders 6 to 8 is feedback-controlled by an independent closed loop circuit as shown in FIG. 8, thereby assuring a reliable reproducibility of the automatic control operation. Further, when the operation levers 29, 30, and 31 for the boom, the arm, and the bucket are operated during the automatic excavation, excavation control based on the operation is performed, and the excavation locus data is based on the lever operation. This routine is rewritten with data. This routine will be described later. If the automatic digging end switch 20 is turned ON during automatic digging, the automatic digging is interrupted and terminated at that time.

Next, it is determined whether or not the automatic excavation has been completed. If it is determined that the automatic excavation has been completed, it is determined whether or not the automatic loading mode switch 13 is ON. Here, when it is determined that it is in the ON state, the control unit 37 issues an automatic loading control command for following the loading trajectory data stored by the teaching, to each of the control valves 42 to 45 for the hydraulic cylinder and the hydraulic motor. , Whereby the automatic loading is executed. On the other hand, if it is determined that the automatic loading mode switch 13 is not on, the automatic loading start switch 17 is turned off.
It is determined whether or not N operations have been performed, and when the switch 17 is turned on, automatic loading is performed in the same manner. Even during the automatic loading, similarly to the case of the automatic excavation, when there is a manual operation, the loading operation corresponding to the manual operation, rewriting of data, and further loading due to interruption based on the operation of the automatic loading end switch 21 are performed. Termination can be performed.

In the same manner, automatic discharging and automatic return can be performed, and the control procedure is described in the flowcharts of FIGS. The end of each automatic operation is determined by judging whether the cylinder length and the turning angle of the boom, arm, and bucket cylinders 6 to 8 are the data values at the end of the operation set by the teaching.

Next, an operation control and a data rewriting control procedure when a manual operation is performed during the automatic operation control of the automatic excavation, automatic loading, automatic earth discharging, and automatic return will be described with reference to FIG. That is, during the automatic operation control, the operation lever 2 for the boom, the arm, the bucket,
When it is detected that at least one of the operation levers 9 to 32 has been operated, the control unit 37 responds to the control command based on the operation of the operated operation levers 29 to 32 in preference to the automatic operation control command. Output to control valves 42 to 45 for hydraulic cylinders and hydraulic motors. On the other hand, as for the trajectory data stored in the data memory, the data in the time range in which the lever operation is not performed is valid, but the data in the time range in which the lever operation is performed is rewritten to correspond to the manual operation. Is set to Thus, the next automatic operation is controlled to follow the rewritten locus data.

As described above, when a manual operation is performed during the automatic operation control, or during a teaching process, the end position of one automatic operation and the start position of the next automatic operation (for example, the excavation end position). Loading start position)
May deviate. In such a case, the control unit 37 controls the control valves 42 to 45 to smoothly move from the end position of one automatic operation to the start position of the next automatic operation.
, A corrected control command is output, but the correction in this case is set so as not to move away from the end position of the next automatic operation. This will now be described by taking the turning angle as an example. As shown in FIG. 9, the stored turning angle data for automatic loading is 10 degrees clockwise in the start of loading, and 10 degrees in the end of loading. Assume that it is 150 degrees clockwise. In this example, it is assumed that the turning angle at the end of excavation is, for example, 20 degrees clockwise. Assuming that control is performed to follow the data as it is when shifting from this excavation end state to automatic loading, the upper revolving unit 2 is moved clockwise 1
Automatic loading is started after returning to the loading start position of 0 degrees. In other words, when transitioning to automatic loading,
Theoretically, the upper revolving superstructure 2 first turns left 10 degrees to the loading start position, then turns over and turns 140 degrees rightward. For this reason, until the time when the time-series data becomes 20 degrees clockwise, the rotation is stopped without outputting any turning command, and the data stored in the memory is followed from the time when this time is reached. It is set to output a right turn command. Of course, such control is similarly set in other control units.

As described above, when the manual operation is performed during the automatic operation control, the time of the manual operation may be longer or shorter than the end time of the stored data. In the case of a long time, the manual operation data after the manual operation may be rewritten and registered as it is, and the end of the operation is determined by determining that all the operation levers are in the neutral state and a preset time has elapsed. Is set to be made by On the other hand, if the operation is short, the control is performed in principle to rewrite the data only during the manual operation. However, if the end of the manual operation is to be ended by the automatic operation, the end switches 20 to 23 are turned on. Just operate
When this operation is performed, the time series data after the rewriting is set to be canceled, whereby it is possible to determine the end of the automatic operation control accompanied by the manual operation, and the end time is set to the time after the next time. The automatic operation ends. The end switches 20 to 2 without manual operation
In the ON operation of No. 3, as described above, only the automatic operation is interrupted, and the time series data is not canceled.

In the apparatus constructed as described above, in performing a series of operations of excavation, loading, unloading, and return, the mode switches 12 to 15 for automatic excavation, automatic loading, automatic unloading, and automatic return are turned on. By turning on the automatic excavation start switch 16 in the state of switching to the side, the control unit 37 controls the expansion and contraction of the hydraulic cylinders 6 to 8 for the boom, the arm and the bucket, and the control valves 42 to 44 and the hydraulic motor 9 for turning. Control valve 45 that performs forward / reverse drive control
, An automatic operation control command is output, whereby the hydraulic cylinders 6 to 8 and the hydraulic motor 9 automatically operate to automatically perform the series of operations.

As a result, the operation of the hydraulic cylinders 6 to 8 and the hydraulic motor 9 by simultaneously operating a plurality of operating levers by the operator himself is troublesome and troublesome, and there is no need for skilled lever operation. As a result, workability is improved.

Further, in this apparatus, by arbitrarily selecting and operating the mode switches 12 to 15 and the start switches 16 to 19, specific operations are automatically performed, but other operations are performed manually by an operation lever. In addition, the automatic operation and the operation based on the manual operation can be arbitrarily selected and combined, and work corresponding to various work sites and work environments can be performed.

Further, during the automatic operation, the operation lever 29
When the control lever 37 is operated, the control command corresponding to the operation of the operation levers 29 to 32 is output from the control unit 37 in preference to the automatic operation control command, and the operation control corresponding to the lever operation is performed. At the same time, the data stored in the memory is rewritten to correspond to the lever operation. As a result, it is possible to easily change the operation trajectory during the automatic operation, thereby contributing to further improvement in workability.

The present invention is, of course, not limited to the above-described embodiment. In creating the operation trajectory data to be stored in the memory of the control unit 37, it is not necessary to perform the above-described teaching by manual operation but to use three-dimensional data. The operation trajectory data can also be created using an image processing device such as computer graphics. In this case, FIG.
As shown in (A), for example, the position of the tip of the bucket in time series is determined by using the turning center of the upper turning body 2 as an origin, a vertical distance (y), a horizontal distance (x), and a turning angle (θ). ), And calculates the cylinder length and the turning angle of each of the hydraulic cylinders for the boom, arm, and bucket for positioning the tip of the bucket at the recognized position, and stores the calculated time-series data in the memory. What is necessary is just to memorize. In such a case, as the time-series data, the data from the start position to the end position is shown in FIG.
As shown in (1), the data amount is stored as a data memory as an intermittent plot instead of a continuous plot, and operation control is performed so that a linear operation is performed between adjacent plots. Further, in recognizing the positions of the boom, the arm, and the bucket, the position of the boom, the arm, and the bucket determined by the angle detection sensor or the like may be used.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing excavation, loading, discharging, and return operations of a hydraulic excavator.

FIG. 2 is a block diagram illustrating input and output of a control unit.

FIG. 3 is a flowchart of automatic control.

FIG. 4 is a flowchart showing a continuation of FIG. 3;

FIG. 5 is a flowchart of teaching process control.

FIG. 6 is a flowchart showing a continuation of FIG. 5;

FIG. 7 is a flowchart of rewriting control at the time of manual operation.

FIG. 8 is a block diagram showing a feedback control system.

FIG. 9 is an explanatory diagram of correction control.

FIG. 10A is an explanatory diagram when computer graphics are used, and FIG. 10B is a diagram illustrating a plot example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Upper revolving unit 3 Boom 4 Arm 5 Bucket 6 Boom hydraulic cylinder 7 Arm hydraulic cylinder 8 Bucket hydraulic cylinder 9 Rotating hydraulic motor 29 Boom operating lever 30 Arm operating lever 31 Bucket operating lever 32 Turning lever 37 Control section 38 Boom cylinder length detection sensor 39 Arm cylinder length detection sensor 40 Bucket cylinder length detection sensor 41 Turning angle detection sensor

Continuation of front page (56) References JP-A-6-280282 (JP, A) JP-A-4-83026 (JP, A) JP-A-1-318621 (JP, A) JP-A-1-105667 (JP) , U) (58) Field surveyed (Int.Cl. ⁷ , DB name) E02F 9/20 E02F 3/43

Claims (4)

(57) [Claims] An operation control command output from an automatic control unit.
The operation of the working unit is automatically performed based on the
The time-series work unit position trajectory stored in the control unit
Requested by touch processing or computer graphics
Data, and the automatic control unit
When the manual operation lever for the working unit is operated in
In this case, the working unit is operated based on the operation of the operation lever.
Together with the stored time-series working unit position trajectory
To rewrite to the one corresponding to the lever operation
Automatic excavator control device with means
Manually operating the automatic control unit in the automatic control state.
And the end position of one automatic operation based on the
If there is a deviation from the start position of the next automatic operation,
One automatic operation end position to next automatic operation start position
Output a control command to correct the
In order to achieve this, the control command for the correction
An automatic control device for a hydraulic excavator, wherein the automatic excavator is set so as not to get away from an end position of the excavator. 2. An operation control command output from an automatic control unit.
The operation of the working unit is automatically performed based on the
The time-series work unit position trajectory stored in the control unit
Requested by touch processing or computer graphics
Data, and the automatic control unit
When the manual operation lever for the working unit is operated in
In this case, the working unit is operated based on the operation of the operation lever.
Together with the stored time-series working unit position trajectory
To rewrite to the one corresponding to the lever operation
Automatic excavator control device with means
The automatic control unit is used for teaching processing or compiling.
Data obtained by computer graphics
Based on the end position of one automatic operation and the next automatic operation
If there is a deviation from the operation start position, the one automatic
Move from the end position of the operation to the start position of the next automatic operation
To output a control command to correct
Or the control command for the correction is the end position of the next automatic operation.
An automatic control device for a hydraulic shovel, wherein the automatic shovel is set so as not to get away from the vehicle . 3. The automatic control unit according to claim 1, wherein
Automatic excavation, automatic loading, automatic earth removal, automatic return
Mode to automatically execute each of the automatic operations of
Mode switch for setting the mode and optional automatic operation
Start and end (interrupt)
Switch and exit switch are connected.
The motion control section assigns these mode switches and start switches.
Select and operate at will, based on automatic operation and manual operation.
Can be arbitrarily selected and combined
An automatic control device for a hydraulic shovel, wherein the automatic control device is set as follows . 4. The automatic control unit according to claim 3, wherein
The data in which the operation time of the manual operation that was
ON operation of the end switch when it is shorter than the end time of the
When the operation is performed, the automatic operation control accompanied by the manual operation ends.
And the end point is determined to be
An automatic excavator automatic controller, wherein the automatic excavator is set to be controlled to end .