JP3226406B2 - Hydraulic excavator linear excavation control device - Google Patents
Hydraulic excavator linear excavation control deviceInfo
- Publication number
- JP3226406B2 JP3226406B2 JP01078594A JP1078594A JP3226406B2 JP 3226406 B2 JP3226406 B2 JP 3226406B2 JP 01078594 A JP01078594 A JP 01078594A JP 1078594 A JP1078594 A JP 1078594A JP 3226406 B2 JP3226406 B2 JP 3226406B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- bucket
- turning
- angle
- angle sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、油圧ショベルのバケッ
トによる掘削深さをレーザ光を基準として制御して直線
掘削する直線掘削制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear excavation control apparatus for excavating a straight line by controlling the excavation depth of a bucket of a hydraulic excavator based on a laser beam.
【０００２】[0002]
【従来の技術】油圧ショベルのレーザ光を基準とした直
線掘削制御装置としては、例えば特開平３−２９５９３
３号公報に示すものが知られている。つまり、掘削地表
面に設置したレーザ発振器と、油圧ショベルの車体に取
付けたレーザ受光器と、このレーザ受光器によるレーザ
光の受光位置によってバケットの掘削深さを制御するコ
ントローラを備えた油圧ショベルの掘削制御装置が知ら
れている。2. Description of the Related Art As a straight excavation control device based on a laser beam of a hydraulic excavator, for example, Japanese Unexamined Patent Publication No. Hei.
No. 3 is known. That is, a hydraulic excavator including a laser oscillator installed on the surface of an excavation ground, a laser receiver mounted on the body of the excavator, and a controller that controls the excavation depth of the bucket based on a laser light receiving position of the laser receiver. Excavation control devices are known.
【０００３】[0003]
【発明が解決しようとする課題】かかるレーザ光を用い
た掘削制御装置はレーザ光によって車体高さを検出し、
その車体高さと設定掘削深さに基づいてバケット先端部
の高さを制御してレーザ光と平行に掘削するので、レー
ザ光が水平に対して傾斜していても車体が旋回せずに走
行しながら掘削する場合には問題がないのが、車体を旋
回して掘削する場合には掘削深さに誤差が生ずる。An excavation control device using such a laser beam detects the height of the vehicle body by the laser beam,
Since the excavation is performed in parallel with the laser beam by controlling the height of the bucket tip based on the vehicle body height and the set excavation depth, the vehicle travels without turning even if the laser beam is inclined with respect to the horizontal. Although there is no problem when excavating while excavating while turning the vehicle body, an error occurs in the excavation depth.
【０００４】つまり、レーザ光が水平に対して傾斜して
いる場合に車体を旋回するとバケットも旋回し、バケッ
ト先端部とレーザ光との距離が変化するが、レーザ光に
より検出した車体高さは同一であるから、旋回前と旋回
後のバケット先端部の高さ指令は同一となり、前述のバ
ケット先端部とレーザ光との距離の差だけ掘削深さに誤
差が生じる。[0004] That is, when the vehicle body turns while the laser light is inclined with respect to the horizontal, the bucket also turns, and the distance between the tip of the bucket and the laser light changes. Since they are the same, the height commands at the tip of the bucket before turning and after the turning are the same, and an error occurs in the excavation depth by the difference between the distance between the tip of the bucket and the laser beam.
【０００５】そこで、本発明は前述の課題を解決できる
ようにした油圧ショベルの掘削制御装置を提供すること
を目的とする。Accordingly, an object of the present invention is to provide a hydraulic shovel excavation control device which can solve the above-mentioned problems.
【０００６】[0006]
【課題を解決するための手段】走行体１に旋回自在に設
けた車体２に設けたレーザ受光器１１と、ブーム３の角
度を検出するブーム角度センサ１３と、アーム５の角度
を検出するアーム角度センサ１４と、バケット７の角度
を検出するバケット角度センサ１５と、前記車体２の旋
回角度を検出する旋回角センサ１２と、コントローラ２
０を備え、このコントローラ２０を、各角度センサの検
出信号によって車体２の基準位置に対するバケット先端
部の高さを演算する機能と、レーザ受光器１１のレーザ
受光位置によってレーザ光Ａと車体２の相対的な高さ変
位を検出する機能と、旋回角センサ１２の車体旋回角度
により車体旋回時のバケット先端部高さ変位量を演算す
る機能と、前記高さ変位と車体旋回時のバケット先端部
高さ変位量に基づいてレーザ光Ａを基準として掘削深さ
を常に一定とすべくブーム３、アーム５、バケット７に
動作指令を出力する機能を有するものとした油圧ショベ
ルの直線掘削制御装置。Means for Solving the Problems A laser light receiver 11 provided on a vehicle body 2 rotatably provided on a traveling body 1, a boom angle sensor 13 for detecting an angle of a boom 3, and an arm for detecting an angle of an arm 5 An angle sensor 14, a bucket angle sensor 15 for detecting an angle of the bucket 7, a turning angle sensor 12 for detecting a turning angle of the vehicle body 2, and a controller 2
The controller 20 has a function of calculating the height of the tip of the bucket with respect to the reference position of the vehicle body 2 based on the detection signal of each angle sensor, and the laser light A and the vehicle body 2 A function of detecting a relative height displacement, a function of calculating a height displacement amount of a bucket tip at the time of turning the vehicle body by the turning angle sensor 12, a function of calculating the height displacement and a bucket tip portion at the time of turning the vehicle body, A linear excavation control device for a hydraulic excavator having a function of outputting an operation command to the boom 3, the arm 5, and the bucket 7 so that the excavation depth is always constant based on the laser beam A based on the height displacement amount.
【０００７】[0007]
【作 用】車体２を旋回した時にはバケット先端部の
高さが、その旋回角度とレーザ光の水平となす角度に応
じて補正されるから、レーザ光が水平に対して傾斜して
いる場合に車体２を旋回して掘削してもレーザ光を基準
とする掘削深さを同一にできる。[Operation] When the vehicle body 2 is turned, the height of the tip of the bucket is corrected according to the turning angle and the angle between the horizontal and the laser light. Even when the vehicle body 2 is turned and excavated, the excavation depth based on the laser beam can be made the same.
【０００８】[0008]
【実 施 例】図１に示すように、走行体１に車体２が
旋回自在に設けられ、この車体２にブーム３をブームシ
リンダ４で上下回動自在に設け、そのブーム３にアーム
５をアームシリンダ６で上下回動自在に設けると共に、
そのアーム５にバケット７をバケットシリンダ８で上下
回動自在に設けて油圧ショベルを構成し、その車体２に
は前後傾斜計９、左右傾斜計１０、レーザ光を受光する
レーザ受光器１１、車体２の旋回角度を検出する旋回角
センサ１２が設けてあると共に、ブーム３の回動支点に
ブーム角度センサ１３、アーム５の回動支点にアーム角
度センサ１４、バケット７の回動支点にバケット角度セ
ンサ１５が設けてあり、掘削地にはレーザ発振器１６が
設置され、このレーザ発振器１６のレーザ光Ａを前記レ
ーザ受光器１１で受光するようにしてある。[Embodiment] As shown in FIG. 1, a vehicle 2 is rotatably provided on a traveling body 1, a boom 3 is provided on the vehicle 2 so as to be vertically rotatable by a boom cylinder 4, and an arm 5 is attached to the boom 3. The arm cylinder 6 is provided so as to be vertically rotatable.
A bucket 7 is provided on the arm 5 so as to be vertically rotatable by a bucket cylinder 8 to constitute a hydraulic shovel. The vehicle body 2 has a front and rear inclinometer 9, a left and right inclinometer 10, a laser receiver 11 for receiving laser light, a vehicle body 2, a boom angle sensor 13 at the pivot point of the boom 3, an arm angle sensor 14 at the pivot point of the arm 5, and a bucket angle sensor at the pivot point of the bucket 7. A sensor 15 is provided, and a laser oscillator 16 is provided at the excavation site. The laser light A of the laser oscillator 16 is received by the laser light receiver 11.
【０００９】次に制御部の一例を図２に基づいて説明す
る。前記前後傾斜計９、左右傾斜計１０、ブーム角度セ
ンサ１３、アーム角度センサ１４、バケット角度センサ
１５の信号は図２に示すようにコントローラ２０の演算
回路２１における自動掘削制御回路２２に入力されて従
来と同様にバケット先端部の高さを車体の所定位置を基
準として演算して制御指令を制御回路２３に出力し、そ
の制御回路２３よりブーム用、アーム用、バケット用の
電磁比例制御弁２４，２５，２６に制御電流を出力して
ブームシリンダ４、アームシリンダ６、バケットシリン
ダ８を伸縮してバケット先端部の高さを目標掘削深さと
して掘削を行なう。Next, an example of the control unit will be described with reference to FIG. The signals from the front and rear inclinometer 9, the left and right inclinometer 10, the boom angle sensor 13, the arm angle sensor 14, and the bucket angle sensor 15 are input to an automatic excavation control circuit 22 in an arithmetic circuit 21 of a controller 20, as shown in FIG. As in the prior art, the height of the tip of the bucket is calculated based on a predetermined position of the vehicle body, and a control command is output to the control circuit 23. The control circuit 23 outputs an electromagnetic proportional control valve 24 for the boom, arm, and bucket. , 25, 26 to extend and retract the boom cylinder 4, the arm cylinder 6, and the bucket cylinder 8 to perform excavation with the height of the bucket tip as the target excavation depth.
【００１０】前記レーザ受光器１１はレーザ光Ａを受光
することでレーザ光Ａに対するレーザ受光器１１の変位
を検出し、その信号を前記演算回路２１における車体高
さの変位量演算回路２７に入力し、前後傾斜計９からの
車体前後傾斜角度及び左右傾斜計１０から車体左右傾斜
角度に基づいて車体２の高さ変位量を演算して自動掘削
制御回路２２にフィードバックして制御指令を補正して
バケット先端部の高さを補正すると共に、その指令値に
基づく掘削深さを表示部２８に表示する。The laser light receiver 11 detects the displacement of the laser light receiver 11 with respect to the laser light A by receiving the laser light A, and inputs the signal to a displacement amount calculation circuit 27 of the vehicle height in the calculation circuit 21. Then, the height displacement amount of the vehicle body 2 is calculated based on the vehicle body front-rear inclination angle from the front-rear inclinometer 9 and the vehicle left-right inclination angle from the left-right inclinometer 10 and is fed back to the automatic excavation control circuit 22 to correct the control command. And corrects the height of the bucket tip, and displays the excavation depth on the display unit 28 based on the command value.
【００１１】以上の様に掘削制御することで掘削深さが
レーザ光Ａを基準として常に同一深さとなるから、レー
ザ光Ａと平行に掘削できるが、図３と図４に実線で示す
ように車体２がレーザ光Ａと平行となった姿勢より走行
体１を停止して仮想線で示すように車体２を旋回すると
バケット７も旋回し、バケット先端部７ａとレーザ光Ａ
との距離がＬだけ変化する。これに対してレーザ受光器
１１のレーザ受光位置は変位しないからバケット先端部
高さ指令が変化せず、レーザ光Ａに対する掘削深さが前
記Ｌだけ異なって誤差となる。By performing the excavation control as described above, the excavation depth is always the same with respect to the laser light A, so that the excavation can be performed in parallel with the laser light A. As shown in FIGS. When the traveling body 1 is stopped from the posture in which the vehicle body 2 is parallel to the laser beam A and the vehicle body 2 is pivoted as indicated by a virtual line, the bucket 7 also pivots, and the bucket tip 7a and the laser beam A
Is changed by L. On the other hand, since the laser receiving position of the laser receiver 11 is not displaced, the height command of the bucket tip does not change, and the excavation depth for the laser beam A differs by the L, resulting in an error.
【００１２】そこで、図２に示すようにコントローラ２
０の演算回路２１にバケット先端部高さ変位量演算回路
２９を設け、旋回角度センサ１２で検出した演算角度に
基づいてバケット先端部高さ変位量を演算し、その値を
自動掘削制御回路２２にフィードバックして制御指令を
補正し、バケット先端部高さを補正する。Therefore, as shown in FIG.
0, a bucket tip height displacement calculating circuit 29 is provided in the arithmetic circuit 21 for calculating the bucket tip height displacement based on the calculated angle detected by the turning angle sensor 12, and the calculated value is used as an automatic excavation control circuit 22. To correct the control command to correct the height of the bucket tip.
【００１３】つまり、バケット先端部の高さ変位量、つ
まり図３における誤差ＬはＬ＝ｔａｎα×Ｌ1 となる。
但し、αはレーザ光Ａの水平となす角度、Ｌ1 は旋回し
た時の車体前後方向に対するバケット移動距離である。
前記レーザ光Ａの水平となす角度αはあらかじめ設定入
力され、バケット移動距離Ｌ1 はＬ1 ＝Ｌ2 （ｃｏｓθ
×Ｌ2 ）となる。但し、Ｌ2 は旋回中心２ａからバケッ
ト先端部までの長さであり、ブーム長さ、アーム長さ、
バケット長さと各角度によりブーム、アーム、バケット
の実際の長さを演算し、その値にブーム枢着点から旋回
中心２ａまでの距離を加算することで求められ、θは車
体２の旋回角度であり、旋回角度センサ１１の車体旋回
前の検出値と車体旋回後の検出値の差により検出され
る。[0013] That is, the height displacement of the bucket tip, i.e. the error L in FIG. 3 becomes L = tan [alpha × L 1.
However, alpha is the angle formed by the horizontal laser beam A, L 1 is a bucket moving distance with respect to the longitudinal direction of the vehicle body when turning.
The angle α between the laser beam A and the horizontal is set and input in advance, and the bucket moving distance L 1 is L 1 = L 2 (cos θ).
× L 2 ). However, L 2 is the length from the turn center 2a to the bucket tip, the boom length, arm length,
The actual length of the boom, arm, and bucket is calculated from the bucket length and each angle, and the distance is calculated by adding the distance from the boom pivot point to the turning center 2a. Θ is the turning angle of the vehicle body 2. Yes, it is detected by the difference between the detected value of the turning angle sensor 11 before the turning of the vehicle body and the detection value after the turning of the vehicle body.
【００１４】このようにして演算したバケット先端部の
高さ変位量を旋回前のバケット先端部高さの値に加算し
て車体２が旋回した時のバケット先端部高さとする。こ
れにより、車体２を旋回してもレーザ光Ａからの掘削深
さを同一にできる。The height displacement of the bucket tip calculated in this way is added to the value of the bucket tip height before turning to obtain the bucket tip height when the vehicle body 2 turns. Thereby, even if the vehicle body 2 is turned, the excavation depth from the laser beam A can be made the same.
【００１５】[0015]
【発明の効果】車体２を旋回した時にはバケット先端部
の高さが、その旋回角度とレーザ光の水平となす角度に
応じて補正されるから、レーザ光が水平に対して傾斜し
ている場合に車体２を旋回して掘削してもレーザ光を基
準とする掘削深さを同一にできる。When the vehicle body 2 is turned, the height of the tip of the bucket is corrected according to the turning angle and the angle between the horizontal and the laser light. Even when the vehicle body 2 is turned and excavated, the excavation depth based on the laser beam can be made the same.
【図１】本発明の実施例を示す全体説明図である。FIG. 1 is an overall explanatory diagram showing an embodiment of the present invention.
【図２】制御回路の説明図である。FIG. 2 is an explanatory diagram of a control circuit.
【図３】掘削動作の説明正面図である。FIG. 3 is an explanatory front view of an excavation operation.
【図４】掘削動作の説明平面図である。FIG. 4 is an explanatory plan view of an excavation operation.
１…走行体、２…車体、３…ブーム、５…アーム、７…
バケット、１１…レーザ受光器、１２…旋回角度セン
サ、１３…ブーム角度センサ、１４…アーム角度セン
サ、１５…バケット角度センサ、２０…コントローラ。DESCRIPTION OF SYMBOLS 1 ... Running body, 2 ... Body, 3 ... Boom, 5 ... Arm, 7 ...
Bucket, 11 laser receiver, 12 turning angle sensor, 13 boom angle sensor, 14 arm angle sensor, 15 bucket angle sensor, 20 controller.
Claims (2)
けたレーザ受光器１１と、ブーム３の角度を検出するブ
ーム角度センサ１３と、アーム５の角度を検出するアー
ム角度センサ１４と、バケット７の角度を検出するバケ
ット角度センサ１５と、前記車体２の旋回角度を検出す
る旋回角センサ１２と、コントローラ２０を備え、 このコントローラ２０を、各角度センサの検出信号によ
って車体２の基準位置に対するバケット先端部の高さを
演算する機能と、レーザ受光器１１のレーザ受光位置に
よってレーザ光Ａと車体２の相対的な高さ変位を検出す
る機能と、旋回角センサ１２の車体旋回角度により車体
旋回時のバケット先端部高さ変位量を演算する機能と、
前記高さ変位と車体旋回時のバケット先端部高さ変位量
に基づいてレーザ光Ａを基準として掘削深さを常に一定
とすべくブーム３、アーム５、バケット７に動作指令を
出力する機能を有するものとした油圧ショベルの直線掘
削制御装置。1. A laser receiver 11 provided on a vehicle body 2 rotatably provided on a traveling body 1, a boom angle sensor 13 for detecting an angle of a boom 3, and an arm angle sensor 14 for detecting an angle of an arm 5. A bucket angle sensor 15 for detecting an angle of the bucket 7, a turning angle sensor 12 for detecting a turning angle of the vehicle body 2, and a controller 20. The controller 20 is used as a reference for the vehicle body 2 based on a detection signal of each angle sensor. A function for calculating the height of the tip of the bucket with respect to the position, a function for detecting a relative height displacement between the laser beam A and the vehicle body 2 based on the laser receiving position of the laser light receiver 11, and a vehicle turning angle of the turning angle sensor 12. A function of calculating the amount of height displacement of the tip of the bucket during turning of the vehicle body,
A function of outputting an operation command to the boom 3, the arm 5, and the bucket 7 so that the excavation depth is always constant based on the laser beam A based on the height displacement and the amount of height displacement of the tip of the bucket during turning of the vehicle body. A linear excavation control device for a hydraulic excavator.
と車体旋回後の旋回角センサ１２の検出値より車体旋回
角度を演算し、この車体旋回角度とレーザ光の水平とな
す角度に基づいて車体旋回時のバケット先端部高さ変位
量を演算するようにした請求項１記載の油圧ショベルの
直線掘削制御装置。2. A body turning angle is calculated from a detected value of the turning angle sensor 12 before turning of the vehicle body and a detected value of the turning angle sensor 12 after turning of the vehicle body, and based on the angle between the body turning angle and the horizontal angle of the laser beam. 2. The linear excavation control device for a hydraulic shovel according to claim 1, wherein the amount of height displacement of the tip of the bucket during the turning of the vehicle body is calculated.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01078594A JP3226406B2 (en) | 1994-02-02 | 1994-02-02 | Hydraulic excavator linear excavation control device |
| KR1019960702803A KR100202203B1 (en) | 1993-11-30 | 1994-11-30 | Linear excavation control apparatus for a hydraulic power shovel |
| EP95902281A EP0731221A4 (en) | 1993-11-30 | 1994-11-30 | Linear excavating control device for a hydraulic power shovel |
| US08/648,107 US5713144A (en) | 1993-11-30 | 1994-11-30 | Linear excavation control apparatus for a hydraulic power shovel |
| PCT/JP1994/002017 WO1995015420A1 (en) | 1993-11-30 | 1994-11-30 | Linear excavating control device for a hydraulic power shovel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01078594A JP3226406B2 (en) | 1994-02-02 | 1994-02-02 | Hydraulic excavator linear excavation control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07216929A JPH07216929A (en) | 1995-08-15 |
| JP3226406B2 true JP3226406B2 (en) | 2001-11-05 |
Family
ID=11759997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP01078594A Expired - Fee Related JP3226406B2 (en) | 1993-11-30 | 1994-02-02 | Hydraulic excavator linear excavation control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3226406B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113720967A (en) * | 2021-07-28 | 2021-11-30 | 中国人民解放军63653部队 | Sand autonomous collection method based on angle discretization |
| CN114164806A (en) * | 2021-12-24 | 2022-03-11 | 青海大学 | Depth-adjustable ditch opener for slag hill drainage ditch in mining area and working method of ditch opener |
-
1994
- 1994-02-02 JP JP01078594A patent/JP3226406B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07216929A (en) | 1995-08-15 |
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