JP3154656B2 - Method for setting control constants in construction machine control unit, construction machine control method, and construction machine control unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The method set of the present invention is the control constants in the control unit of the construction machine BACKGROUND OF THE INVENTION relates to a control method and a construction machine control system for a construction machine, in particular, given with reference to the stored control constant in the storage device method of setting control constant in the control unit for a construction machine for performing arithmetic processing, relates to the control method and a construction machine control system of the construction machine.

[0002]

2. Description of the Related Art A typical example of a construction machine is a hydraulic shovel. In a hydraulic shovel, an operator operates a front member such as a boom constituting a front with a respective manual operation lever. Since these front members are connected to each other by joints to perform a rotating motion, it is very difficult to operate these front members to excavate a predetermined area. In addition, there are hydraulic shovels having an offset (second boom) at the front in order to widen the excavation range, and ultra-small turning type hydraulic shovels that can turn within the vehicle width.
Depending on the attitude, the front might interfere with the cab.

Therefore, various proposals have been made for facilitating excavation work and preventing interference with a front cab. The common technical idea of these proposals is to provide a front entry prohibited area and stop the front when the front reaches the entry prohibited area. Also,
A deceleration area is provided in front of the intrusion prohibition area, and the front is decelerated when approaching the intrusion prohibition area, so that the front is reliably stopped near the boundary of the intrusion prohibition area.

[0004] For example, International Publication WO95 / 30059
In the official gazette, the excavation area is set, and when the front approaches the boundary of the excavation area, only the movement in the direction toward the front excavation area is slowed down, and when the front reaches the boundary of the excavation area, the front is outside the excavation area. It does not come out but can move along the boundary of the excavation area.

In Japanese Patent Application Laid-Open No. 4-136324, a deceleration area is set before an inaccessible area, and when the front enters the deceleration area, the operation signal of the operation lever is reduced to decelerate the front. It stops smoothly on the boundary.

[0006] When performing the above control, a control unit is mounted on the hydraulic excavator, and a front or front attachment (bucket) is stored in a storage device of the control unit.
It is necessary to store the control constants such as the specifications of.

By the way, there are various types of hydraulic excavators classified according to their weights, and among them, there are various variations such as a type of a front and a type of a front attachment, which are stored in a storage device of the control unit. The control constants differ depending on these models and variations.

On the other hand, a non-rewritable non-volatile memory (EPROM) is used as a storage device of the control unit, which is mounted inside the control unit, and stores and uses necessary control constants.

For this reason, conventionally, even when the same control is performed, if the model or the variation is different, and if the control constant is different, various types of control units are prepared for each model or variation, and the corresponding one of the units is prepared. Was installed on hydraulic excavators or replaced with existing ones.

In some cases, a plurality of types of data are prepared and are switched by an external signal.
In this case, external switches are required by the number of data combinations, and the control unit also requires input circuits corresponding to the number of switches. Further, as the number of switches increases, the input program and the switching program become complicated. For this reason, actually, only two or three types of data are switched, and in order to cope with many types, after all, a control unit corresponding to the type of data is prepared and supported.

[0011]

As described above, conventionally, even when performing the same control, it is necessary to prepare various types of control units for each model or variation. In addition, work such as replacement becomes extremely complicated, and the work efficiency is reduced, and there is a problem that the control unit is easily erroneously attached or replaced at the time of replacement.

In the control for preventing cab interference for controlling the front, the front end of the front may interfere with the cab simply by replacing the bucket. Therefore, the serviceman must replace the control unit each time. Become. In this case, the number of types of buckets attached to one model is about ten, and it is very complicated to exchange the control unit every time the bucket is exchanged. Also,
The control unit is an expensive part, and it is uneconomical to replace the control unit every time the bucket is replaced.

A first object of the present invention is to provide a method for setting a control constant in a control unit of a construction machine which can perform control using a common control unit regardless of a model or a variation when the same control is performed. it is to provide a control system of the control method and a construction machine of a construction machine using.

[0014] A second object of the present invention is to provide a control unit for a construction machine in which specifications of a used bucket can be set and changed from the outside and the control unit does not need to be replaced even when the bucket is replaced. method of setting control constant is to provide a control system of the control method and a construction machine for a construction machine using the control constant.

A third object of the present invention is to provide a frequently used
For a bucket of about the kind, a method of setting a control constant in a control unit of a construction machine which can easily change the specifications from the outside by switching a switch, a method of controlling the construction machine using the control constant, and a control system of the construction machine To provide.

[0016]

[Means for Solving the Problems]

(1) In order to achieve the first to third objects, the present invention stores a control constant in a non-rewritable and non-volatile first storage device from the outside, and performs a predetermined operation using the control constant. In the method of setting control constants in a control unit of a construction machine that performs processing, a plurality of sets of the control constants are stored in the first storage device in association with different selection codes for each set, and are externally rewritable and nonvolatile. Storing at least one of the different selection codes in the second storage device, and selecting the same selection code among a plurality of sets of control constants stored in the first storage device by the selection code stored in the second storage device And a set of control constants corresponding to.

In the present invention configured as described above,
When the selection code stored in the second storage device is externally rewritten, the set of control constants selected from the first storage device is also changed to the set of control constants corresponding to the rewritten selection code. Therefore, there is no need for an external switch for switching control constants, and no switch function by a program is required. Various types of control constants are stored in the first storage device, and selection codes are stored in the second storage device. The required control constants can be easily selected and set only by writing. Therefore, when the same control is performed, a plurality of sets of control constants different for each model and / or variation are stored in the first storage device as described in (2) and (3) below, so that Control can be performed using a common control unit regardless of variations.

Also, as described in the following (4), by storing a plurality of sets of control constants different for each variation of the front attachment in the first storage device, the specifications of the bucket used can be set from outside. Can be changed, and it is not necessary to replace the control unit even when the bucket is replaced.

Further, as shown in the following (6), one of the two types of selection codes stored in the second storage device is selected by a switch means by an external operation, so that the first storage device performs the selection. A set of control constants corresponding to the selected code is selected and set. For this reason, by associating the two types of selection codes with the specifications (control constants) of the two types of frequently used buckets stored in the first storage device, the two types of frequently used buckets can be stored. ,
The specifications can be easily changed from outside by switching the switch.

(2) In the above (1), for example, a plurality of sets of control constants different for each type of construction machine are stored as the control constants to be stored in the first storage device.

(3) In the above (1), as a control constant to be stored in the first storage device, 1
A plurality of different sets of control constants may be stored for each variation in the model.

(4) In the above (1), preferably, the control constant stored in the first storage device is:
A plurality of different sets of control constants are stored for each variation of the front attachment of the construction machine.

(5) In the above (1), preferably, a code rewriting device is connected to the control unit, and the selection code stored in the second storage device is rewritten by a signal from the code rewriting device to select the code. The set of control constants to be changed.

(6) In order to achieve the third object, according to the present invention, in the above (1) or (4), preferably, the plurality of selection codes stored in the second storage device are the plurality of codes. At least two kinds of selection codes corresponding to at least two sets of the control constants are stored, and one of the two kinds of selection codes is selected by an externally provided selection switch, and the selected one is selected. A corresponding set of control constants is selected by the selection code.

(7) In the above (1), preferably, the plurality of sets of control constants stored in the first storage device are different from each other for each variation of the first structural portion of the construction machine. And a second plurality of sets of control constants that are different for each variation of the second structural portion of the construction machine into a first selection code in which the first plurality of sets of control constants are different for each set, The second plurality of sets of control constants are stored in association with different second selection codes for each set, and the selection codes stored in the second storage device are as follows:
One of the first selection codes and one of the second selection codes are stored, and the same selection codes of the first and second sets of control constants are respectively stored by the stored selection codes. Is selected as a set of control constants.

As described above, the control constant for each of the first structural parts and the control constant for each of the second structural parts of the construction machine are divided into the first and second control constants.
By storing control constants in a storage device and selecting and setting necessary control constants by a combination of those control constants, control of more types of models or variations can be performed without increasing the memory capacity of the first storage device. You can set a constant.

(8) Further, in the above (7), preferably, a variation of the first structural portion of the construction machine is a front form of a hydraulic shovel, and the first plurality of sets of control constants are hydraulic pressure shovels. The specifications for each type of front of the shovel, the variation of the second structural part of the construction machine is the type of front attachment of the hydraulic shovel, and the second plurality of sets of control constants is the front attachment of the hydraulic shovel. The specifications of.

(9) In order to achieve the first and second objects, the present invention provides a construction machine using a set of control constants selected by the setting methods (1) to (8). Control the front operation.

(10) In order to achieve the first to third objects, according to the present invention, a control constant is stored in a non-rewritable and non-volatile first storage device from the outside, and the control constant is stored in the first storage device. A control system for a construction machine comprising a control unit for performing predetermined arithmetic processing using the control unit, wherein the first storage device stores a plurality of sets of the control constants in association with a different selection code for each set; Is provided with a second storage device which is rewritable from the outside and is non-volatile. At least one of the different selection codes is stored in the second storage device, and the first code is stored by the selection code stored in the second storage device. It is assumed that analysis selecting means for selecting a set of control constants corresponding to the same selection code among a plurality of sets of control constants stored in the storage device is provided.

In the present invention thus configured, as described in (1) above, when the same control is performed, a plurality of sets of control constants different for each model and / or variation are stored in the first storage device. By storing the information, control can be performed using a common control unit regardless of the model or variation. By storing a plurality of sets of control constants that are different for each variation of the front attachment in the first storage device as shown in (13) below ,
The specifications of the bucket being used can be set and changed from outside, and even when the bucket is replaced, it is not necessary to replace the control unit.

Further, as shown in the following (15) , one of the two types of selection codes stored in the second storage device is selected by a switch means by an external operation, whereby
In the first storage device, a set of control constants corresponding to the selected code is selected and set. Therefore, the specifications (control) of the two types of frequently used buckets stored in the first storage device are stored with the two types of selected codes. Constant)
About two types of frequently used buckets, the specifications can be easily changed from outside by switching the switches. (11) In the above (10), preferably, the first
In the storage device, as the control constant, for each type of construction machine
A plurality of different sets of control constants are stored. (12) In the above (10), preferably,
In the first storage device, as the control constant, 1
Multiple sets of control constants that are different for each variation in the model
Is stored.

(13) In the above (10), preferably, in the first storage device, as the control constant,
A plurality of different sets of control constants are stored for each variation of the front attachment of the construction machine.

(14) In order to achieve the third object, the present invention according to (10), further comprises a code rewriting device connectable to the control unit, and a signal from the code rewriting device. , The selection code stored in the second storage device is rewritten.

(15) The above (10) or (13)
Preferably, at least two types of selection codes corresponding to at least two of the plurality of sets of control constants are stored in the second storage device as the selection codes, and the two types of selection codes are stored. Switch means for selecting one of the codes by an external operation is provided.

(16) Further, in the above (10), preferably, the first storage device stores, as the plurality of control constants, a first plurality of sets different for each variation of the first structural portion of the construction machine. And a second plurality of sets of control constants that are different for each variation of the second structural portion of the construction machine into a first selection code in which the first plurality of sets of control constants are different for each set, The second plurality of sets of control constants are stored in association with second select codes different for each set, and the second storage device stores one of the first select codes as the select code. One of the second selection codes is stored.

As described above, the control constant for each of the first structural parts and the control constant for each of the second structural parts of the construction machine are divided into the first and second control constants.
By storing the control constants in the storage device and selecting and setting the necessary control constants by a combination of the control constants, as described in (7) above, the first storage device can be stored without increasing the memory capacity. It becomes possible to set control constants for many types of models or variations. (17) In the above (16), preferably, a variation of the first structural portion of the construction machine is a front form of the hydraulic shovel, and the first plurality of control constants is a front form of the hydraulic shovel. The specifications of each
A variation of the second structural part of the construction machine is a type of a front attachment of the hydraulic shovel, and the second plurality of control constants is a specification of the front attachment of the hydraulic shovel .

[0037]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings, taking control of a front operation for preventing cab interference as an example.

First, a first embodiment of the present invention will be described with reference to FIGS.

In FIG. 1, reference numeral 1 denotes a control unit used in the control system according to the present embodiment.
Analog input unit 2, serial interface unit 3, central processing unit (CPU) 4, UV erasable R
OM, ie EPROM5, electrically erasable RO
M, that is, an EEPROM 6, a memory for temporarily storing a value in the middle of calculation by the CPU, that is, a RAM 7, and an output unit 8. The CPU 4 includes a read-only memory, that is, a ROM 9. The EPROM 5 is a non-volatile memory that cannot be rewritten from the outside,
The EPROM 6 is an externally rewritable and nonvolatile memory.

When controlling the front operation for preventing cab interference, an angle sensor (represented by 10 in FIG. 1) is attached to a front member such as a boom, an arm, and an offset, and the boom angle, the arm angle, the offset angle, etc. However, signals from these sensors are taken into the control unit 1 via the analog input unit 2.
On the other hand, a command signal corresponding to the calculation result by the CPU 4 is output from the output unit 8 of the control unit 1 to an electromagnetic proportional valve (represented by 11 in FIG. 1). This electromagnetic proportional valve 11 is, for example,
The electromagnetic proportional pressure reducing valve 11 reduces the pilot pressure of the pilot operating system, and is disposed in a pilot operating system of control valves such as a boom control valve, an arm control valve, and an offset control valve. The front operation is controlled by controlling the flow rate of pressure oil supplied to an actuator such as a cylinder. The configuration of the entire control system including the angle sensor and the electromagnetic proportional pressure reducing valve is described in, for example, the above-mentioned International Publication WO95 / 30.
No. 059.

In FIG. 1, reference numeral 20 denotes a battery. When an ignition switch 21 is turned on, the vehicle body engine 22 is started and the control unit 1 is turned on.

Reference numeral 23 denotes a code rewriting device such as a handy terminal which can be connected to the control unit 1. A signal from the code rewriting device 23 is input to the control unit 1 via the serial interface unit 3, and the EEPROM 6
(See below).

Next, an outline of the cab interference prevention control will be described with reference to FIGS.

In the cab interference prevention control, usually, as shown in FIG.
A stop position A of the front end, usually the arm end, is set at a distance, and a deceleration control start position B is set at a predetermined distance Lc from the cab. in this case,
The stop position A and the deceleration control start distance B are determined by the cab 2 in a rectangular coordinate system with the position C of the boom foot pin as the origin.
5 and the distance Lc,
Ls. Then, when the arm tip reaches the position B, the front deceleration starts, and when the arm reaches the position A, the front stops. This control is performed by the control unit 1
Is performed by the program stored in the ROM 9 by the CPU 4.

FIG. 3 is a functional block diagram showing the arithmetic processing of the cab interference prevention control performed by the CPU 4 of the control unit 1.

In FIG. 3, when signals from a boom angle sensor, an arm angle sensor, and an offset angle sensor attached to the front are input to the CPU 4 of the control unit 1 via the analog input unit 2, the CPU 4 operates the front operation unit 31. Then, the front end positions of the front, the arm end positions in the above example are calculated from these angles, and the deceleration control start position B and the stop position set as described above in the deceleration / stop position setting unit 32 by the position comparison unit 33 Position A and front calculation unit 3
The arm tip positions calculated in step 1 are compared. At this time, a command signal is output from the solenoid valve control unit 34 to the electromagnetic proportional pressure reducing valve to start deceleration when the tip end position of the arm exceeds the deceleration control start position B, and stop when the tip end position of the arm reaches the stop position A. A command signal is output from the electromagnetic valve control unit 34 to the electromagnetic proportional pressure reducing valve so as to perform the operation.

At present, there are many types of construction machines ranging from a class of about 1 ton to a class of about 350 tons depending on work conditions.

Further, as a form of the front, one having an offset mechanism for a trench, shown in FIG. 4, one having a slide arm suitable for a vertical trench as shown in FIG. 5, and turning within the vehicle width shown in FIG. There are various forms such as a very small swivel type.

Here, in FIG. 4, the hydraulic excavator with an offset mechanism for trenching is provided with a front 60 comprising a lower boom 61, an upper boom (offset) 62, an arm 63 and a bucket 64.

Referring to FIG. 5, the hydraulic excavator with a slide arm has a front 70 including a boom 71, a lower slide arm 72, an upper slide arm 73, and a bucket 74.

Referring to FIG. 6, the ultra-small turning hydraulic excavator has a front 80 including a boom 81, an arm 82, and a bucket 83, which are mounted so as to be able to make a very small turning.

Further, as a front attachment, in addition to the standard bucket prepared for each model,
A bucket having a different capacity, a bucket for finishing a slope, a bucket with a leveling plate, a bucket with a reinforcing plate, and the like are attached.

Here, in the control of the front operation represented by the cab interference prevention, the front operation unit 31 shown in FIG.
When calculating the front arm tip position from the boom angle, arm angle, offset angle, etc., the front specifications (dimensions) such as the boom length, arm length, offset length, etc.
is necessary. However, these dimensions vary depending on the model and the form of the front. For this reason, if the model and the form of the front differ, the specifications of the front also need to be changed.
In order to set the deceleration control start position B and the stop position A by the deceleration / stop position setting unit 32, distances Lcx and Lcz to the side surface of the cab 25 shown in FIG.
Since these distances also differ depending on the model and the form of the front, if the model and the form of the front differ, the distances Lcx, Lc
z also needs to be changed.

Further, even if the model and the form of the front are the same, in the control of the front operation represented by cab interference prevention, the dimensions of the bucket actually mounted are smaller than the dimensions of the bucket used in the control. If it is large, the front end may interfere with the driver's seat. That is,
If the size of the arc of the bucket actually used is larger than the size of the bucket used before replacement, the trajectory of the tip of the bucket indicates that the actual size is larger than the set size than the set position. The result is to get inside.

In this case, when the size of the bucket is switched to the size actually used, the deceleration position and the stop position of the tip of the arm are controlled at normal positions.

Therefore, in the present invention, the EPROM 5 which is not rewritable from the outside needs to store necessary basic control data (front data and vehicle body data), bucket data, etc., which are different for each model, each type of front, and each type of front attachment. A plurality of sets of control constants are written in association with different selection codes for each group, and the EPR is written by the selection code written in the externally rewritable EEPROM 6.
Select a set of control constants to be used in OM5.

That is, as shown in FIG. 7, a plurality of sets of basic control data (front data and body data) different for each model and for each type of front are stored in the EPROM 5 as a plurality of sets of control constants. A plurality of sets of bucket data that are different for each type of front attachment are written.

For example, in area 11 of EPROM 5,
Ton-class ditch, 6-ton class slide arm in area 12, 6-ton class ultra-small turning in area 13, ..., 10-ton class ditch in area 21.
The area 22 has a 10-ton class slide arm, the area 23 has a 10-ton class ultra-small turn,..., The area 31 has a 20-ton class gutter, and the area 32 has 20.
In the ton-class slide arm and area 33, front data and vehicle body data (control constants) are written in advance, such as a 20-ton class ultra-small turn,. In addition, these control constants are written in the same arrangement in each area.

Here, the front data includes, for example, a lower boom length, an upper boom (offset) length, and an arm length for a trench ditch, and a boom length, a minimum arm length, and a maximum arm length for a slide arm. The boom length and the arm length are used for ultra-small turning. Further, as the vehicle body data, for example, the above-mentioned cab 2
5 are dimensions such as distances Lcx and Lcz to the side surface.

Similarly, the bucket data also includes a standard bucket, a slope bucket, a reinforcing bucket,...
Standard buckets, slope buckets, reinforced buckets that can be used in the 0-ton class, slope buckets, reinforced buckets, etc. that can be used in the 20-ton class can be used in the area 43. Each bucket data (control constant) is written in the same array.

Here, the bucket data is, for example, the length and width of the bucket.

Further, the plurality of sets of control constants are written in the EPROM 5 in association with different selection codes for each set. These selection codes are written at the beginning of each area for basic control data, and at the beginning of each section in each area for bucket data.

On the other hand, as shown in FIG. 8, in the EEPROM 6, one of the selection codes associated with the basic control data of the EPROM 5 and one of the selection codes associated with the bucket data are written. Basic control data and bucket data to be used in the EPROM 5 are selected by a code.

For example, regarding the selection code associated with the basic control data of the EPROM 5, the 6-ton class gutter trench is 00, and the 6-ton class slide arm is 01, 6.
Ton class ultra-small swivel type is set to 02, ..., 10 ton class gutter moat is set to 10, 10 ton class slide arm is set to 11, 10 ton class ultra-small swivel type is set to 12, ... Similarly, for the selection code associated with the bucket data, the 6-ton class standard bucket is set to 0.
0, 6-ton class slope bucket 01, 6-ton class reinforcing bucket 02, ... 10-ton class standard bucket 10, 10-ton class slope bucket 1
12, 10-ton class reinforced bucket
Set as

On the other hand, if the selection code of the basic control data written in the EEPROM 5 is set to 00 and the selection code of the bucket data is set to 00, the basic control data (front data and body data) of the 6-ton class trench in the EPROM 6 are The bucket data for the standard bucket is selected,
Control is performed by setting these data.

When the bucket is changed to the slope bucket in the setting of the 6-ton class standard bucket, the EEPR
When the selection code of the bucket data of OM5 is rewritten from 00 to 01 by an external interface, control is performed based on the dimension of the slope bucket.

For actual rewriting, the signal is input to the CPU 4 of the control unit 1 via the serial interface 3 as described above using an external code rewriting device 23 such as a handy terminal, and the CPU 4 issues an EEPROM rewriting command. This is for rewriting the EEPROM 6.

FIG. 3 is a functional block diagram and FIG. 9 and FIG. 10 are flowcharts showing the control constant setting process and the selection code rewriting process. These are stored as programs in the ROM 9 of the CPU 4.

In FIG. 3, the CPU 4 analyzes the selection code currently written in the EEPROM 6 by the selection code analysis units 40a and 40b, and then, the data selection units 41a and 41b.
b, the basic control data and the bucket data corresponding to the selection code are selected, and the front data setting unit 43a, the deceleration / stop position setting unit 32, and the bucket data setting unit 43b
To set those data. The data of the setting units 43a and 43b are sent to the front calculation unit 31, and used for calculation of the front arm tip position as described above. The deceleration / stop position setting unit 43 calculates the deceleration control start position B and the stop position from the distances Lcx and Lcz to the side surface of the cab 25 and the distances Lc and Ls stored as a part of the program in the ROM 9 as described above. Calculate and set A.

When a signal from the external code rewriting device 23 is input to the CPU 4 via the serial interface 3, the CPU 4 analyzes the signal (rewrite command) by the external command analysis unit 45 and outputs the selected code to the EEPROM 6. Is rewritten.

In FIG. 9, when the ignition switch 21 shown in FIG. 1 is turned on and the engine 22 is started as described above, the power is turned on to the control unit 1. The control constant setting procedure is as follows. It is executed every time (power is supplied to the control unit). That is, when the engine 2 is started, the selection codes are read from the EEPROM 6 (steps 100 and 110), and these selection codes are analyzed (steps 120 and 130).
The corresponding control data written in OM5 is selected and set (procedures 140 and 150).

The code rewriting procedure shown in FIG. 10 is executed when the power supply of the control unit is turned on.
It is determined whether or not a rewrite command for the EPROM 6 has been input (steps 200 and 210). If a rewrite command has been input, a new selection code to be rewritten is received (220) and written to the EEPROM 6 (step 230). .

In this case, if a rewrite command of the EEPROM 6 is input during the control, the selection code of the EEPROM 6 is rewritten. However, since the control constant setting procedure is performed every time the engine is started, the control is performed before the rewrite. The control is performed using the control constants. Therefore, when the bucket or the like is changed, it is necessary to restart the engine after rewriting the selection code in the EEPROM 6.

As described above, in this embodiment, the EE
When the selection code stored in the PROM 6 is externally rewritten, the set of control constants selected from the EPROM 5 is also changed to the set of control constants corresponding to the rewritten selection code. Therefore, an external switch for switching control constants is not required, and a switch function by a program is not required. Various types of control constants are stored in the EPROM 5 and the selection code is easily written in the EEPROM 6. It is possible to select and set various control constants. Therefore, as described above, when the same cab interference prevention control is performed, it is possible to store a plurality of sets of control constants that are different for each model and / or variation in the EPROM 5, regardless of the model or variation. Can be controlled by using the control unit 1 of FIG.

Therefore, when the hydraulic excavator is assembled and shipped, the common control unit 1 is used, and by writing the selection code of the EEPROM 6, control constants suitable for many models and variations can be set. Work is simplified, and work efficiency is improved. Also, when replacing the front or the front attachment, the control constants can be quickly changed without replacing the control unit. Further, mistakes such as mounting another control unit can be prevented.

In this embodiment, since a plurality of sets of control constants which are different for each variation of the front attachment are stored in the EPROM 5 as described above, the specifications of the bucket used can be set and changed from outside. ,
When the bucket is replaced, it is not necessary to replace the control unit.

Therefore, even when the bucket is replaced on the user side, the serviceman can quickly change the control constant without replacing the control unit, and can respond quickly and inexpensively.

In this embodiment, the control constants are stored in the EPROM 5 separately for each type of front of the hydraulic excavator and control constants for each type of front attachment, and a combination of these control constants is necessary. Since the control constants are selected and set, it is possible to set control constants for more types of models or variations without increasing the memory capacity of the EPROM 5.

FIGS. 11 to 13 show a second embodiment of the present invention.
This will be described below. In this embodiment, the EEPROM can be rewritten by operating a switch from the outside. In the figure, the same components as those shown in FIGS. 1 and 3 are denoted by the same reference numerals.

In FIG. 11, the control unit 1A used in the control system of this embodiment has a switch input unit 13 in addition to the components shown in FIG.
3, a signal from an external switch 11 is input to the control unit 1A.

As shown in FIG. 12, the EEPROM 6A stores one of the selection codes corresponding to the basic control data (front data and vehicle body data) of the EPROM 5.
In each case, two selection codes A and B corresponding to the bucket data are written.

On the other hand, as shown in FIG.
It has the functions of an external signal analyzer 50 and a code selector 51,
As described above, the switch 14 via the switch input unit 13
Is input to the CPU 4, the CPU 4 analyzes whether the signal is ON or OFF in the external signal analysis unit 50, and selects the bucket data selection code A if the signal is ON in the code selection unit 51, If it is OFF, the selection code B of the bucket data is selected.

For example, if the selection code A is set to 00 and the selection code B is set to 01, when the switch is turned on, a standard bucket corresponding to the selection code 00 is selected in the EPROM 5 and the switch is turned on. Is turned off, the slope bucket associated with the selection code 01 is selected in the EPROM 5. Furthermore, if 02 is written in the selection code A selected when the switch is ON, another bucket size is selected when the switch is turned ON. In this way, the size of the bucket to be selected by the ON and OFF of the switch can be changed by the machine,
It can respond to various buckets instantly.

Therefore, according to this embodiment, the same effects as those of the first embodiment can be obtained, and when the bucket is replaced on the user side, the control constant can be changed and responded more quickly. .

[0085]

According to the present invention, since various types of control constants can be stored in the first storage device and necessary control constants can be selected and set, the same key control can be performed regardless of the model or variation. Control can be performed using a common control unit. This simplifies the work of assembling the construction machine, storing and mounting the control unit at the time of shipment, and improves the work efficiency. Also, when replacing the front or the front attachment, the control constants can be quickly changed without replacing the control unit. Further, mistakes such as mounting another control unit can be prevented.

Further, the specifications of the used bucket can be set and changed from the outside, so that even when the bucket is replaced, it is not necessary to replace the control unit. Therefore, even when the bucket is replaced on the user side, the serviceman can quickly change the control constant without replacing the control unit, and can respond quickly and inexpensively.

Also, according to the present invention, the control constants are stored in the first storage device separately into the control constants for each of the first structural parts and the control constants for each of the second structural parts of the construction machine. Since the necessary control constants are selected and set by a combination of the control constants, it is possible to set more types of control constants for each type or variation without increasing the memory capacity of the first storage device.

Further, according to the present invention, one of the two types of selection codes stored in the second storage device can be selected by a switch means by an external operation.
About two types of buckets that are frequently used, the specifications can be easily changed from the outside by switching the switch, and when the bucket is replaced on the user side,
It is possible to change the control constant more quickly and respond.

[Brief description of the drawings]

FIG. 1 is a diagram showing a main part of a control unit and a control system of a construction machine according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a stop position and a deceleration control start position of the cab interference prevention control.

FIG. 3 is a functional block diagram illustrating arithmetic processing performed by a CPU in a control unit.

FIG. 4 is a diagram illustrating a hydraulic excavator with an offset mechanism for trenching from above.

FIG. 5 is a side view of the hydraulic shovel with a slide arm.

FIG. 6 is a side view of the ultra-small turning hydraulic excavator.

FIG. 7 is a diagram showing a memory map of an EPROM.

FIG. 8 is a diagram showing a memory map of an EEPROM.

FIG. 9 is a flowchart showing a procedure for setting a control constant.

FIG. 10 is a flowchart showing a selection code rewriting procedure.

FIG. 11 is a diagram illustrating a main part of a control unit and a control system of a construction machine according to a second embodiment of the present invention.

FIG. 12 is a diagram showing a memory map of an EEPROM.

FIG. 13 is a functional block diagram illustrating arithmetic processing performed by a CPU in a control unit.

[Explanation of symbols]

 Reference Signs List 1 control unit 4 CPU 5 EPROM 6 EEPROM 23 code rewriting device 40a, 40b selection code analysis unit 41a, 41b data selection unit 43a front data setting unit 43b bucket data setting unit

Continued on the front page (72) Inventor Masakazu Haga 650, Kandamachi, Tsuchiura-shi, Ibaraki Pref. Hitachi Construction Machinery Co., Ltd. (72) Inventor Eiji Egawa 650 Kandate-cho, Tsuchiura-shi, Ibaraki Pref. Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (56) References JP-A-6-346489 (JP, A) JP-A-4-136324 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) E02F 9/20

Claims (17)

(57) [Claims] A first nonvolatile non-rewritable nonvolatile memory;
In a method of setting control constants in a control unit of a construction machine, wherein a control constant is stored in a storage device and a predetermined arithmetic process is performed using the control constants, a plurality of sets of the control constants are stored in the first storage device. And storing at least one of the different selection codes in an externally rewritable and non-volatile second storage device. The selection code stored in the second storage device First
A method for setting a control constant, wherein a set of control constants corresponding to the same selection code is selected from a plurality of sets of control constants stored in a storage device. 2. The method according to claim 1, wherein a plurality of sets of control constants differing for each type of construction machine are stored as the control constants to be stored in the first storage device. How to set constants. 3. The control constant setting method according to claim 1, wherein a plurality of sets of control constants that are different for each variation in one type of construction machine are stored as the control constants to be stored in the first storage device. A method for setting a control constant, characterized by the following. 4. The method according to claim 1, wherein a plurality of sets of control constants that are different for each variation of a front attachment of the construction machine are stored as the control constants to be stored in the first storage device. How to set the control constant. 5. A control constant setting method according to claim 1, wherein a code rewriting device is connected to said control unit, and a selection code stored in said second storage device is rewritten by a signal from said code rewriting device to select said code. A method of setting a control constant, characterized by changing a set of control constants to be performed. 6. The control constant setting method according to claim 1, wherein the selection code stored in the second storage device corresponds to at least two of the plurality of sets of control constants. Two types of selection codes are stored, and one of the two types of selection codes is selected by an externally provided selection switch, and a corresponding set of control constants is selected by the selected selection code. How to set control constants. 7. The method according to claim 1, wherein the plurality of sets of control constants stored in the first storage device are different for each variation of the first structural part of the construction machine. And a second plurality of sets of control constants that are different for each variation of the second structural portion of the construction machine into a first selection code in which the first plurality of sets of control constants are different for each set, The second plurality of sets of control constants are stored in association with different second selection codes for each set, and the selection codes stored in the second storage device are as follows:
One of the first selection codes and one of the second selection codes are stored, and the same selection codes of the first and second sets of control constants are respectively stored by the stored selection codes. A set of control constants corresponding to (1) and (2). 8. The method according to claim 7, wherein the variation of the first structural part of the construction machine is a form of a front of a hydraulic shovel, and the first plurality of sets of control constants are hydraulic pressure shovels. The specifications for each type of front of the shovel, the variation of the second structural part of the construction machine is the type of front attachment of the hydraulic shovel, and the second plurality of sets of control constants is the front attachment of the hydraulic shovel. A method for setting control constants, characterized in that: 9. A control method for a construction machine, comprising: controlling a front operation of the construction machine using a set of control constants selected by the setting method according to claim 1. Description: 10. A construction machine control system comprising: a control unit that stores a control constant in a non-rewritable and non-volatile first storage device from the outside and performs a predetermined arithmetic process using the control constant. A plurality of sets of the control constants are stored in a first storage device in association with different selection codes for each set, and the control unit is provided with an externally rewritable and nonvolatile second storage device, and the second storage device And at least one of the different selection codes is stored in the first storage device according to the selection code stored in the second storage device.
A control system for a construction machine, comprising: analysis selection means for selecting a set of control constants corresponding to the same selection code among a plurality of sets of control constants stored in a storage device. 11. The construction machine control system according to claim 10, wherein a plurality of sets of control constants different for each type of construction machine are stored in said first storage device as said control constants. Construction machine control system. 12. The construction machine control system according to claim 10, wherein a plurality of sets of control constants different for each variation of one type of construction machine are stored in said first storage device as said control constants. A control system for a construction machine, comprising: 13. The construction machine control system according to claim 10, wherein a plurality of sets of control constants different for each variation of a front attachment of the construction machine are stored in said first storage device as said control constants. Characteristic construction machine control system. 14. The control system for a construction machine according to claim 10, further comprising a code rewriting device connectable to said control unit, wherein a selection code stored in said second storage device is transmitted by a signal from said code rewriting device. A construction machine control system characterized by rewriting. 15. The construction machine control system according to claim 10, wherein the second storage device is associated with at least two sets of the plurality of sets of control constants as the selection code. A control system for a construction machine, wherein two types of selection codes are stored, and switch means capable of selecting one of the two types of selection codes by an external operation is provided. 16. The construction machine control system according to claim 10, wherein the first storage device stores, as the plurality of sets of control constants, a first plurality of sets different for each variation of the first structural portion of the construction machine. Control constants and the second
The second plurality of sets of control constants are different for each variation of the structural part, the first plurality of sets of control constants are different first selection codes for each set, and the second plurality of sets of control constants are different. Each set is stored in association with a different second selection code, and one of the first selection codes and one of the second selection codes are stored in the second storage device as the selection codes. A control system for a construction machine, characterized in that one is stored. 17. The control system for a construction machine according to claim 16, wherein the variation of the first structural portion of the construction machine is a front form of a hydraulic shovel, and the first plurality of sets of control constants correspond to the hydraulic constant. The specifications for each type of front of the shovel, the variation of the second structural part of the construction machine is the type of front attachment of the hydraulic shovel, and the second plurality of sets of control constants is the front attachment of the hydraulic shovel. construction machine control system, characterized in that of the various types of the original.