JP3522878B2 - Excavation area setting device for area restriction excavation control of construction machinery - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to area limiting excavation control of a construction machine, and more particularly, in a construction machine such as a hydraulic excavator having a multi-joint type front apparatus, area limitation in which a movable area of the front apparatus is limited. The present invention relates to an excavation area setting device for excavation control.

[0002]

2. Description of the Related Art A hydraulic excavator is a typical example of construction machines. The hydraulic excavator is composed of a front device consisting of a boom, an arm, and a bucket that are vertically rotatable, and a vehicle body consisting of an upper revolving structure and a lower traveling structure, and the base end of the boom of the front device is in front of the upper revolving structure. Supported by the department. Such a hydraulic excavator is a construction machine that is characterized by a wide operating range of the front device.On the other hand, it is convenient, but when it is used for work where the front does not protrude beyond a specific excavation shape, It requires careful operation from the operator. For this reason, it is considered to limit the working range of the front device as disclosed in, for example, Japanese Patent Laid-Open No. 4-136324. In Japanese Patent Application Laid-Open No. 4-136324, as a method of setting a restricted area (inaccessible area), the tip of the front device (toe of a bucket) is moved to the restricted area (inaccessible area) and the position is stored. Alternatively, a method of inputting and setting the restricted area with a numerical value from the operation panel is shown.

Further, in hydraulic excavators, front members such as a boom are operated by respective manual operation levers. However, since each of them is connected by a joint portion to perform a rotary motion, these front members are operated. Excavation of a predetermined area, especially a linearly set area is a very difficult task, and automation is desired. When such a work is configured to be automated, when the vehicle body moves, the posture and height of the hydraulic excavator itself change due to changes in the terrain at the work site, and every time the vehicle body moves within the area set for the vehicle body. Must be reset to. Therefore, Japanese Patent Laid-Open No. 3-295933 proposes an automatic excavation method for facilitating such work. In this automatic excavation method, the height of the vehicle body is detected by the sensor installed on the vehicle body by the laser light of the laser oscillator installed on the surface of the excavation ground, and the excavation depth (of the former example is detected based on the detected vehicle body height. (Equivalent to the restricted area) is determined and linear excavation is performed for a predetermined length with the vehicle stopped, and then the vehicle height is displaced by the laser light when the vehicle travels a predetermined distance and recedes again with the vehicle stopped. The amount of displacement is detected and the excavation depth is corrected by the amount of height displacement.

[0004]

However, the above-mentioned prior art has the following problems.

First, in the prior art disclosed in Japanese Patent Application Laid-Open No. 4-136324, a restriction area (an inaccessible area) is set on the basis of the vehicle body, so that the vehicle body moves and the excavator itself is changed due to the change of the terrain at the work site. When the posture and height change,
The set depth of the restricted area changes accordingly. For example, if the ground is tilted, the set depth changes along the tilted surface of the ground as the vehicle body moves, and the set surface of the restricted area also tilts.

Further, in the prior art described in Japanese Patent Laid-Open No. 3-295933, although the change in the vehicle body height due to the movement of the vehicle body can be corrected, when the excavation depth is set by the operation panel, the vehicle body is used as a reference. Since the digging depth is set, when calculating the tip position of the bucket in digging control, the manufacturing tolerance of the vehicle body, the accuracy of the angle sensor that measures the position and posture of the front device used for control, the mounting tolerance, etc. It is impossible to excavate as set because the accumulated and actual excavation depth differs from the set excavation depth.

Further, since the excavation depth from the vehicle body changes when the vehicle body height changes due to the movement of the vehicle body, the error of the sensor for measuring the position and orientation of the front device also affects the amount of change in the excavation depth. As a result, the excavation depth changes before and after the vehicle body height changes.

Furthermore, in order to ensure that the laser light hits the sensor even if the height of the vehicle body changes and the laser light can be detected, it is necessary to install a number of sensors on the vehicle body side by side in the height direction. Equipment becomes complicated.

Similarly, since the height is corrected by the sensor provided on the vehicle body, the height that can be corrected is limited due to the restriction of the size of the sensor.

A first object of the present invention is to provide an excavation area setting device for area limited excavation control of a construction machine in which the setting of the excavation area does not change even if the height of the vehicle body changes due to movement of the vehicle body. Is.

A second object of the present invention is to provide manufacturing tolerances for the vehicle body,
Alternatively, the accuracy of the sensor that measures the position and orientation of the front device used for control, the influence of errors such as mounting tolerances are small, and it is possible to excavate with a small difference from the set excavation area. A drilling area setting device is provided.

A third object of the present invention is that the setting of the excavation area does not change even if the vehicle body height changes due to the movement of the vehicle body, and it is due to the influence of the error of the sensor for measuring the position and orientation of the front device. An object of the present invention is to provide an excavation area setting device for area limited excavation control of a construction machine with little change in excavation depth.

A fourth object of the present invention is to provide an excavation area setting device for area limited excavation control of a construction machine, which can simplify the structure of the sensor when light is used to correct the movement of the vehicle body. .

A fifth object of the present invention is to provide an excavation area setting device for area limited excavation control of a construction machine capable of correcting movement of a vehicle body in a wide range.

In order to achieve the above first to fifth objects,
The area limiting excavation control system for a construction machine according to the present invention employs the following configuration. That is, a plurality of front members that constitute an articulated front device and are rotatable in the up-down direction, and a vehicle body that supports the front device are provided, and the plurality of front members are drive-controlled to operate the front members. In an excavation area setting device for area limited excavation control of a construction machine that limits and controls a range, (a) an external reference light generation device that is installed outside the construction machine and that generates reference light indicating a reference position for the excavation area; (B) first detecting means provided in the front device for detecting the reference light output from the external reference light generating device; and (c) second detecting means for detecting a state quantity relating to the position and orientation of the front device. When;
(D) first calculating means for calculating the position and orientation of the front device based on the signal of the second detecting means; (e) setting the positional relationship between the reference light generated by the external reference light generating device and the excavation area. in (f) wherein the position and orientation information of the reception device first detecting means calculated by said first calculating means when detecting the generated reference light of the external reference light generator; first setting means and for Based on the vehicle body and the reference light
It calculates the positional relationship, and a second calculating means for calculating a positional relationship between the body and the excavation area from a positional relationship of the reference beam and the excavation area set by the this positional relationship the first setting means;
(G) second setting means for setting the excavation area with the vehicle body as a reference from the positional relationship between the reference light calculated by the second calculation means and the excavation area;

Preferably, the first setting means is means for setting the depth from the reference light generated by the external reference light generator to the boundary between the excavation area and the restricted area.

Further, the first setting means includes a depth from a reference light generated by the external reference light generator to a reference point of the excavation area, a distance from the vehicle body to the reference point, and a boundary of the excavation area. It may be a means for setting the inclination angle of.

Also, preferably, the first setting means is
Based on the data input by the setting device, the reference light and excavation
It is a setting means for setting the positional relationship of the areas .

The first setting means moves the front device, and when the front end of the front device comes to the boundary of the excavation area , the first setting means operates the front on the basis of the position and orientation information of the front device calculated by the first calculating means. Means for calculating the position of the tip of the device, and the first device for moving the front device.
A means for calculating the position of the first detecting means based on the position and orientation information of the front device calculated by the first calculating means when the detecting means detects the reference light generated by the external reference light generating device; , A unit for calculating and storing the positional relationship between the reference light and the excavation region from the position of the tip of the front device and the position of the first detection unit.

[0020]

In the present invention constructed as above, the first
Every time the detection means crosses the reference light, the second calculation means corrects the positional relationship between the reference light and the excavation area set by the first setting means to calculate the positional relationship between the vehicle body and the excavation area, and the second setting means. Since the excavation area is set on the basis of the vehicle body, excavation work can be performed by correcting the height change due to the movement of the vehicle body each time.
Therefore, even if the vehicle body moves and the vehicle body height changes, the setting of the excavation area does not change, and it is possible to always excavate a predetermined depth based on the reference light.

Further, the first detecting means is installed in the front device which actually acts on the ground, and the excavation area is set with reference to the vehicle body based on the position and the posture of the front device when the detecting means detects the reference light. Therefore, in setting the excavation region, the influence of the manufacturing tolerance of the vehicle body, the accuracy of the first and second detecting means, the mounting tolerance, and the like are offset by the excavation region setting calculation and the excavation control calculation. For this reason, when calculating the position of the front device in excavation control, the influence of the above tolerance and accuracy error is reduced compared to the method of detecting the reference light by the sensor installed in the vehicle body, and the difference from the set excavation area is reduced. Can be drilled accurately as set.

Further, since it is hard to be influenced by the error of the first detecting means for measuring the position and posture of the front device, the excavation depth from the vehicle body changes due to the vehicle body moving and the vehicle body height changing. However, the influence of the error of the first detection means on the amount of change in the excavation depth is reduced, and the excavation depth is prevented from changing before and after the vehicle body height changes.

Further, the first detecting means is installed in the front device, and the reference light is detected by the first detecting means crossing the reference light while operating the front device. Even if the installation area is small, the reference light can be reliably captured, and the first detection means can be made small and simple.

Similarly, since the first detecting means detects the reference light by traversing the reference light while the front device is being operated, the movement of the vehicle body in a wide range is possible considering the wide movable range of the front device. Can be corrected.

Further, in the present invention, the first setting means sets the depth from the reference light generated by the external reference light generating device to the boundary between the excavation area and the restricted area, so that the boundary with the restricted area is set. The excavation area can be set as a horizontal plane.

Further, in the present invention, the depth of the reference light generated by the external reference light generator from the reference point of the excavation area, the distance from the vehicle body to the reference point, and the boundary of the excavation area by the first setting means. By setting the inclination angle, it is possible to set the excavation area with a slope.

Further, in the present invention, the first setting means is configured to use the reference light and the excavation based on the data input by the setting device.
By setting the first setting means at the beginning of the work by using the means for setting the positional relationship of the areas , the front device is set to the boundary of the excavation area at the start of the work or each time the vehicle travels and moves. There is no need for an assistant to position it at. Further, the time required for setting by the instruction of the assistant can be eliminated, and the working time can be shortened.

Further, in the present invention, the position of the tip of the front device calculated by the first setting means when the tip of the front device comes to the boundary of the excavation area , and the first detecting means is the external reference light generator. The positional relationship between the reference light and the excavation area is calculated and stored from the position of the first detection means calculated when the reference light generated by is detected, and the excavation area can be set by direct teaching. The desired excavation area can be set accurately according to the situation.

[0029] The present invention will be described the first embodiment with FIGS. 1-11. In FIG. 1, a hydraulic excavator to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a driven by pressure oil from the hydraulic pump 2, an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling. A plurality of hydraulic actuators including the motors 3e and 3f, and a plurality of operation lever devices 4a to 4f provided corresponding to the hydraulic actuators 3a to 3f, respectively.
And the hydraulic pump 2 and the plurality of hydraulic actuators 3a to 3
A plurality of flow rate control valves 5a to 5 which are connected between f and control the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3f.
f, and a relief valve 6 that opens when the pressure between the hydraulic pump 2 and the flow control valves 5a to 5f exceeds a set value, and these are hydraulic drive devices that drive the driven members of the hydraulic excavator. I am configuring.

Further, as shown in FIG. 2, the hydraulic excavator includes a boom 1a and an arm 1 which rotate vertically.
articulated front device 1 including b and bucket 1c
A and a vehicle body 1B including an upper swing body 1d and a lower traveling body 1e, and a base end of a boom 1a of the front device 1A is supported by a front portion of the upper swing body 1d. Boom 1
a, an arm 1b, a bucket 1c, an upper swing body 1d, and a lower traveling body 1e are driven members respectively driven by a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f. And their operations are instructed by the operation lever devices 4a to 4f.

Returning to FIG. 1, the operation lever devices 4a to 4f are hydraulic pilot systems which drive the corresponding flow rate control valves 5a to 5f by pilot pressure, and the operation lever 40 and the operation lever 40 are operated by an operator, respectively.
1 Generates pilot pressure according to the operation amount and operation direction
It is composed of a pair of pressure reducing valves (not shown), the primary port of each pressure reducing valve is connected to the pilot pump 43, and the secondary ports are pilot lines 44a, 44b; 45a, 45.
b; 46a, 46b; 47a, 47b; 48a, 48
b; hydraulic drive units 50a, 50b; 51a, 51b; 52a, 52 of the corresponding flow control valves via 49a, 49b.
b; 53a, 53b; 54a, 54b; 55a, 55b
It is connected to the.

The above-described hydraulic excavator is equipped with the area limiting excavation control apparatus including the excavation area setting apparatus according to this embodiment. This control device has a boom 1a, a setting device 7 for instructing setting of a predetermined portion of the front device, for example, an excavation region in which the tip of the bucket 1c can move in advance according to work.
Angle meters 8a, 8b, which are provided on the respective pivots of the arm 1b and the bucket 1c, and which detect the respective pivot angles as state quantities related to the position and posture of the front device 1A,
8c, an inclinometer 8d for detecting an inclination angle θ in the front-rear direction of the vehicle body 1B, and a boom and arm operation lever device 4
a, 4b pilot lines 44a, 44b; 45a,
Pressure detectors 60a, 60b; 61 provided on 45b for detecting pilot pressures from the operating lever devices 4a, 4b;
a, 61b, a reference light generator 80 (see FIG. 4) which is installed outside the hydraulic excavator and generates a laser beam as a reference light 1 indicating a reference position for the excavation area, and the front device 1
A reference light detector 70 that is attached to the arm 1b of A and detects the reference light 1 output from the reference light generator 80, a setting signal of the setting device 7, angle meters 8a, 8b, 8c, and an inclinometer 8d.
Detection signals, pressure detectors 60a, 60b; 61a, 61
The control unit 9 that inputs the detection signal of b and the detection signal of the reference photodetector 70, sets an excavation region in which the tip of the bucket 1c can move, and outputs an electric signal for performing excavation control in which the region is limited. And proportional solenoid valves 10a, 10b, 11a, 11b driven by the electric signal,
It is composed of a shuttle valve 12. The shuttle valve 12 is installed in the pilot line 44a, selects the pilot pressure in the pilot line 44a and the high pressure side of the control pressure output from the proportional solenoid valve 10a, and guides it to the hydraulic drive unit 50a of the flow rate control valve 5a. Proportional solenoid valves 10b, 11a, 11b
Are installed in the pilot lines 44b, 45a, 45b, respectively, and reduce the pilot pressure in the pilot lines in accordance with the respective electric signals and output.

In the above construction, the excavation area setting device of this embodiment is provided with the setting unit 7, the reference light generator 80, the reference light detector 70, the angle meters 8a, 8b, 8c and the inclinometer 8d, and the control unit 9. It is composed of the following functions.

The setter 7, as shown in FIG. 3, has up / down buttons 7a, 7 for inputting the depth of the excavation area.
b, a display device 7e for displaying the input depth, and an area setting switch 7f for setting the excavation area by outputting the input depth to the control unit 9 as a setting signal.
The buttons of the setting device 7 may be provided on the grip of an appropriate operating lever. Further, other methods such as a method using an IC card, a method using a bar code, and a method using wireless communication may be used.

The reference light generator 80 is installed on the ground so as to emit laser light in a direction horizontal to the excavation area as shown in FIG. The laser light (reference light) 1 emitted from the reference light generator 80 may be a single spot light, a fan-shaped light, or a circular light. The reference light detector 70 is attached to the arm 1b of the hydraulic excavator as described above, detects the reference light 1 generated by the reference light generator 80 while operating the front device 1A, and the arm 1b detects the reference light 1. It is designed to capture the moment of crossing 1. The reference light detector 70 is installed as close as possible to the tip of the arm 1b so as not to hinder the work, and detects the reference light 1 at a position close to the bucket 1c which actually acts on the soil.

The control unit 9 sets the excavation area using the setting signal of the setting device 7 and the detection signals of the reference light detector 70, the angle meters 8a, 8b, 8c and the inclinometer 8d.
A method of setting an excavation area by the control unit 9 will be described with reference to FIG. The setting method is as follows. The excavation area is set by setting a boundary between the excavation area and the restricted area (hereinafter, simply referred to as a boundary of the excavation area), and this embodiment sets a horizontal plane as the boundary of the excavation area.

In setting the excavation area, first, as shown in FIG. 4, a reference light generator 80 is installed outside the main body of the hydraulic excavator so that the reference light 1 emerges in the horizontal direction.

Next, the reference light generator 80 is set by using the setter 7.
The depth hr from the reference light 1 generated by to the boundary of the excavation region to be set is input, and the positional relation between the reference light 1 generated by the reference light generator 80 and the excavation region is set by this depth hr. That is, the excavation area is set based on the reference light 1. This setting is performed by the operator.

Next, the excavation work is started. In excavation work, the position and orientation of the front device 1A is calculated in the control unit 9 based on the signals of the angle meters 8a, 8b, 8c and the inclinometer 8d, and the arm 1b of the front device 1A is calculated.
The reference light detector 70 captures the moment when the reference light 1 crosses the reference light 1, and the reference light 1 from the vehicle body center O based on the position and orientation information of the front device 1A when the reference light detector 70 detects the reference light 1. The height hf up to is calculated. Then, using this height hf as a correction value, the depth hs of the boundary surface of the excavation region with respect to the vehicle body center O is calculated from the previously set depth hr, and the excavation is performed in a positional relationship with the vehicle body center O by this depth hs. Set the area. That is, the excavation area is set with reference to the vehicle body 1B of the hydraulic excavator. This is performed every time the arm 1b crosses the reference light 1, and even if the hydraulic excavator travels and changes its position, a new excavation area is set at that location.

The control unit 9 performs the above-mentioned processing, which is summarized in FIG. In FIG. 5, the control unit 9 includes a first setting unit 100, a first calculation unit 120, a second calculation unit 140, and a second setting unit 16.
It has 0 functions. The first setting unit 100 sets the positional relationship between the reference light 1 and the excavation area based on the depth hr input by the setter 7. The first calculation means 120 calculates the position and orientation of the front device 1A based on the signals from the angle meters 8a, 8b, 8c and the inclinometer 8d. Second calculation means 14
0 is based on the information on the position and orientation of the front device 1A when the reference light detector 70 detects the reference light 1, and the vehicle center O
The height hf from the reference light 1 to the reference light 1 is calculated, and this hf (vehicle body
1B and the reference light 1) and the previously set depth hr
Based on the (positional relationship between the reference light 1 and the excavation area) , the vehicle center O
Calculate the depth hs of the boundary surface of the excavation area with respect to. Second
The setting means 160 has a depth hs (car
The positional relationship between the body 1B and the excavation region) is set as the excavation region with the vehicle body 1B of the hydraulic excavator as a reference. When the setting of the excavation region based on the vehicle body 1B of the hydraulic excavator is completed, the process moves to the region limited excavation control as shown in block 180.

Reference light 1 in the first setting means 100
The details of the function for setting the positional relationship between the excavation area and the excavation area are shown in the processing flow in FIG. In the figure, parts component surrounded by a broken line indicates an operation of the hydraulic excavator operator must take place.

First, the operator determines the depth hd from the surface of the earth to the boundary of the excavation area to be set according to the design and construction drawings, and inputs the numerical value using the buttons 7a and 7b of the setter 7, and the numerical value is input. When it is confirmed on the display device 7e, the area setting switch 7f is pressed. The control unit 9 determines whether or not the area setting switch 7f has been pressed in the processing 101. If the area setting switch 7f is not pressed, the processing 101 is continued, and if it is pressed, the processing shifts to the processing 102. In the process 102,
Depth hr from the reference light 1 to the boundary of the excavation area to be set
Is calculated by the following equation (1).

Hr = hd + ho (1) In the above equation (1), ho is the height of the reference light generator 80 (height from the ground surface to the reference light 1), and this value ho is known and It is stored in the control unit 9. Then, the process moves to step 103 and the depth hr is stored. The operator remembers the height ho of the reference light generator 80,
The height hr including this height ho may be directly input by the operator using the setting device 7. Further, the setting device 7 is provided with a button for inputting the height ho of the reference light generator 80,
The setting of the height ho may be changed by the operation of the operator.

Second calculating means 140 and second setting means 16
The details of the function for setting the positional relationship between the vehicle body and the excavation region at 0 are shown in the processing flow in FIG. 7.

The operator operates the operating lever 40 (see FIG. 1).
When operating the front device 1A by operating, the process 141 first determines whether or not the reference light detector 70 has crossed the reference light 1. If it does not traverse, the process moves to the next region limited excavation control process without changing the excavation region setting. When it is determined in the process 141 that the reference light detector 70 has crossed the reference light 1, the process goes to a process 142.

In step 142, the boom 1 is moved by the angle meters 8a and 8b and the inclinometer 8d provided in the front device 1A.
a, the angles α and β of the arm 1b, and the inclination angle θ of the vehicle body 1B are read. Next, in processing 143, the height hf from the vehicle body center O to the reference light detector 70 when the reference light 1 is detected using the boom and arm angles α and β and the tilt angle θ is calculated.

The calculation is performed by the following equation (2):
Then, the height hb of the joint point between the boom and the arm (the installation point of the arm angle meter 8b) is obtained.

Hb = L1 × cos (α−θ) (2) In the above equation (2), L1 is the joint between the boom 1a and the vehicle body 1B (the installation point of the boom angle meter 8a), and the joint between the boom and the arm. Is a known distance and is stored in the control unit 9 in advance.

Next, the height hfl from the joining point of the boom and the arm to the reference light detector 70 is obtained by the equation (3).

Hfl = Lf × cos ((α−θ) + (β−θf)) (3) In the above equation (3), Lf is from the joint point of the boom and the arm to the installation point of the reference photodetector 70. Θf is a distance, and θf is a mounting angle of the reference photodetector 70 with respect to a straight line connecting a joint point between the boom and the arm and a joint point between the arm and the bucket (installation point of the bucket angle meter 8c), and these values are known. And is stored in the control unit 9 in advance.

Next, the height hf from the vehicle body center O to the reference photodetector 70 is calculated from the heights hb and hfl by the equation (4).

Hf = hb + hfl (4) Next, the process moves to the process 144, and the reference light 1 set by the setter 7 is set.
The depth hr from to the boundary of the excavation area is read.

Next, in processing 145, the height hf from the vehicle body center O to the reference light detector 70 calculated previously is used as a correction value, and this value hf and the boundary between the reference light 1 set by the setting device 7 and the excavation area are set. The depth hs from the center O of the vehicle body to the boundary of the excavation region is calculated by the equation (5) from the depth hs up to.

Hs = hr + hf (5) Finally, in step 161, the depth hr of the boundary of the excavation area calculated in step 145 is stored, and the excavation area with respect to the vehicle body is set.

In the above, the processings 141 to 145 are shown in FIG.
5, and the process 161 corresponds to the second setting device 160 shown in FIG.

When the above is completed, the processing moves to the next area limiting excavation control calculation.

Next, the overall control function of the control unit 9 including the above-mentioned excavation area setting function will be described with reference to FIG. Figure 8
In the control unit 9, the first excavation area setting unit 9
a, front attitude calculation unit 9b, target cylinder speed calculation unit 9c, target tip speed vector calculation unit 9d, direction conversion control unit 9e, corrected target cylinder speed calculation unit 9f, restoration control
Part 9 g, post-modification target cylinder speed calculating portion 9h, a target cylinder speed selector 9i, the target pilot pressure calculating portion 9j, a valve command calculating portion 9k, the functions of the positional relationship calculating portion 9m and the second excavation area setting portion 9n Yes is doing.

The first excavation area setting unit 9a corresponds to the first setting means 100 in FIG. 5, and the depth hr from the reference light 1 to the boundary of the excavation area is set by the processing 101 to 103 in the processing flow shown in FIG. The positional relationship between the reference light 1 and the excavation area is set by.

The front attitude calculating section 9b corresponds to the first calculating means 120 in FIG. 5, and is detected by the angle meters 8a, 8b and 8c and the respective dimensions of the front device 1A and the vehicle body 1B stored in the control unit 9. The position and orientation of the front device 1A necessary for setting and control are calculated using the rotation angles α, β, γ and the tilt angle θ detected by the inclinometer.

The positional relationship calculating unit 9m corresponds to the second calculating means 140 of FIG. 5, and calculates the depth hs from the vehicle body center O to the boundary of the excavation region by the processing 141 to 145 of the processing flow shown in FIG. To do.

The second excavation area setting unit 9n corresponds to the second setting means 160 in FIG. 5, and is based on the vehicle body 1B of the hydraulic excavator with the above depth hs by the processing 161 of the processing flow shown in FIG. Set the excavation area.

In the front posture calculation unit 9b, the position and posture of the front device 1A are calculated in the XY coordinate system with the rotation fulcrum of the boom 1a as the origin. This XY coordinate system is an orthogonal coordinate system fixed to the main body 1B and is assumed to be in a vertical plane. For example, at the tip position of the bucket 1c of the front device 1A, the distance between the rotation fulcrum of the boom 1a and the arm 1b is L ₁ , and the rotation fulcrum of the arm 1b and the bucket 1c.
If the distance between the rotation fulcrum of c and L ₂ and the distance between the rotation fulcrum of the bucket 1c and the tip of the bucket 1c are L ₃ , they can be obtained from the following formula using the XY coordinate system.

X = L1sinα + L2sin (α + β)
+ L3sin (α + β + γ) Y = L1cosα + L2cos (α + β) + L3cos
(Α + β + γ) However, when the vehicle body 1B is tilted as shown in FIG. 4, the relative positional relationship between the bucket, the tip, and the ground changes.
The excavation area cannot be set correctly. Therefore, in the present embodiment, the inclination angle θ of the vehicle body 1B is detected by the inclinometer 8d, and the value of the inclination angle θ is input to the front posture calculation unit 9b, and XY is entered.
The position of the bucket tip is calculated in the XbYb coordinate system in which the coordinate system is rotated by the angle θ. As a result, correct region setting and excavation control can be performed even if the vehicle body 1B is tilted. In addition,
When the vehicle body is tilted, the inclinometer is not always necessary when the work is performed after correcting the vehicle body tilt or when the vehicle body is not tilted.

In the first excavation area setting unit 9a, the positional relationship calculation unit 9m and the second excavation area setting unit 9n, the depths hr and h are set.
s, height hf, etc. are converted into values in the XbYb coordinate system for processing.

In the target cylinder speed calculation unit 9c, the pressure detector 60a, which is an operation signal of the operation lever devices 4a, 4b,
60b: Input the detection signals of 61a and 61b. From the operation signal (pilot pressure), the target discharge flow rate of the flow control valves 5a and 5b (boom cylinder 3a and arm cylinder 3
The target speed of b) is calculated.

In the target tip speed vector calculation unit 9d, the bucket tip position obtained by the front attitude calculation unit 9b, the target cylinder speed obtained by the target cylinder speed calculation unit 9c, and the previous L1 stored in the control unit 9 are stored. , L2, L
A target velocity vector Vc at the tip of the bucket 1c is obtained from the dimensions of each part such as 3. At this time, the target velocity vector Vc
Is obtained as a value in the XaYa coordinate system shown in FIG. This X
The aYa coordinate system is XbY only the depth hs of the boundary surface of the excavation area with respect to the vehicle body center O obtained by the second excavation area setting unit 9n.
The coordinate system is a translation of the b coordinate system in the Yb direction. Here, the Xc coordinate component Vcx of the target velocity vector Vc in the XaYa coordinate system becomes a vector component in the direction parallel to the boundary of the excavation area of the target velocity vector Vc, and the Yc coordinate component Vc
y is a vector component of the target velocity vector Vc in a direction perpendicular to the boundary of the excavation region .

In the direction conversion control unit 9e, when the tip of the bucket 1c is near the boundary within the excavation area and the target velocity vector Vc has a component in the direction of approaching the boundary of the excavation area , the vertical vector component is excavated. It is corrected so that it decreases as it approaches the boundary of the region . In other words, a vector (reverse direction vector) in a direction away from the excavation area smaller than that is added to the vertical vector component Vcy.

By correcting the vertical vector component Vcy of the target velocity vector Vc as described above, the vector component Vcy is reduced so that the reduction amount of the vertical vector component Vcy increases as the distance Ya decreases. , The target speed vector Vc is the target speed vector V
It is corrected to ca. Here, the distance Y from the boundary of the excavation area
The range of a1 can be called a direction change area or a deceleration area.

FIG. 9 shows an example of the locus when the tip of the bucket 1c is subjected to the direction conversion control according to the corrected target velocity vector Vca as described above. Target speed vector Vc
Is constant obliquely downward, its parallel component Vcx
Becomes constant, and the vertical component Vcy is at the tip of the bucket 1c.
It becomes smaller as it approaches the boundary of the excavation region (as the distance Ya becomes smaller). Since the corrected target velocity vector Vca is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the boundary of the excavation region as illustrated.

In the corrected target cylinder speed calculating section 9f,
The target cylinder speeds of the boom cylinder 3a and the arm cylinder 3b are calculated from the corrected target speed vector obtained by the direction change control unit 9e. This is an inverse operation of the operation in the target tip speed vector operation unit 9d.

[0071] In the restoration control unit 9 g, when the tip of the bucket 1c goes out of the excavation area, in relation to the distance from the boundary of the excavation area, the bucket tip to correct the target speed vector to return to the excavation area . In other words, a vector (reverse vector) in the direction approaching the excavation area larger than that is added to the vertical vector component Vcy. Thus, the vertical vector component Vc of the target velocity vector Vc
By correcting y, the target speed vector Vc is corrected to the target speed vector Vca so that the vertical vector component Vcy becomes smaller as the distance Ya becomes smaller.

FIG. 10 shows an example of a locus when the tip of the bucket 1c is restored and controlled according to the corrected target velocity vector Vca as described above. When the target velocity vector Vc is constant obliquely downward, the parallel component Vch thereof is constant, and the restoration vector −KYa is proportional to the distance Ya, so that the vertical component of the vertical component is closer to the boundary of the excavation region as the tip of the bucket 1c approaches ( It decreases as the distance Ya decreases). Corrected target velocity vector Vc
Since a is in its synthesis, excavation territory as trajectory 10
It becomes a curved line that becomes parallel as it approaches the boundary of the area .

In this way, the restoration control unit 9g uses the bucket 1
Since the tip of c is controlled to return to the excavation area, drilling
The restored area is obtained outside the area. Also in this restoration control, the movement of the tip of the bucket 1c in the direction approaching the boundary of the excavation area is decelerated, and as a result, the moving direction of the tip of the bucket 1c is converted to the direction along the boundary of the excavation area. In this sense, this restoration control can also be called direction change control.

In the corrected target cylinder speed calculating section 9h,
The target cylinder speeds of the boom cylinder 3a and the arm cylinder 3b are calculated from the corrected target speed vector obtained by the restoration control unit 9g. This is an inverse operation of the operation in the target tip speed vector operation unit 9d.

Here, when the restoration control is performed, the operation directions of the boom cylinder and the arm cylinder required for the restoration control are selected, and the target cylinder speed in the operation direction is calculated. However, in the restoration control, since the bucket tip is returned to the excavation area by raising the boom 1a , the boom 1a
The direction of raising is always included. The combination is also determined by the control software.

In the target cylinder speed selection unit 9i, the target cylinder speed by the direction change control obtained by the corrected target cylinder speed calculation unit 9f and the target cylinder speed by the restoration control obtained by the corrected target cylinder speed calculation unit 9h Select the larger speed value (maximum value) as the target cylinder speed for output.

In the target pilot pressure calculating section 9j, the pilot lines 44a, 44b; 4 are set as the target pilot pressures.
Calculate the target pilot pressure of 5a, 45b.

The valve command calculation unit 9k calculates a command value according to the target pilot pressure calculated by the target pilot pressure calculation unit 9j, and the corresponding electric signal is transmitted to the proportional solenoid valve 10a,
It is output to 10b, 11a, 11b.

In the present embodiment configured as described above, the positional relationship between the reference light 1 and the excavation area is corrected every time the reference light detector 70 crosses the reference light 1, and the positional relationship between the vehicle body and the excavation area is calculated. Since the excavation area is set based on the vehicle body, excavation work can be performed by correcting the height change due to the movement of the vehicle body each time. Therefore, even if the vehicle body moves and the vehicle body height changes, the setting of the excavation area does not change, and it is possible to always excavate a predetermined depth based on the reference light 1.

Further, the reference light detector 70 is installed near the tip of the bucket of the front device 1A having a bucket which is a member that actually acts on the ground, and the reference light detector 70 detects the reference light 1. Since the excavation area based on the vehicle body 1B is set based on the position and posture of the front device 1A at this time, the manufacturing tolerance of the vehicle body 1B and reference light detection are performed by the excavation area setting calculation and the excavation control calculation when setting the excavation area. The influences of the accuracy of the instrument 70, the angle sensors 8a to 8c, and the like and the error of the mounting tolerance are offset. Therefore, when calculating the position of the tip of the bucket 1c during excavation control, the influence of the above tolerance and accuracy error is set smaller than the method of detecting the reference light 1 by the sensor installed in the vehicle body 1B. The difference from the excavation area is small and the excavation can be performed exactly as set.

Now, this will be further described. JP-A-3-
In the conventional technique disclosed in Japanese Patent No. 295933, the vehicle body height can be corrected by the reference light as described above. When excavating, the height of the vehicle body is corrected, and the tip of the bucket is controlled to move to the set depth hs from the center of the vehicle body. At this time, the control device uses the dimensions L1, L2, L3 of the boom, arm, and bucket set in the control device and the angles α, β, γ of the front members detected by the angle sensor, and the bucket tip is at the position hs. The control calculation is performed so that
However, there are manufacturing errors in the actual front member, for example, the boom has dimensions L1 + εL1, the arm has dimensions L2 + εL2, and the bucket has dimensions L3 + εL3. Further, the angles α, β, γ detected by the sensor include errors εα, εβ, εγ with respect to the true angles α ′, β ′, γ ′ due to sensor mounting errors, sensor detection errors, and the like. Therefore, even if the controller attempts to control the bucket tip to hs (L1, L2, L3, α (hs), β (hs), γ (hs)), in reality hs ′ (L1 ′, L2 ′ , L3 ', α' (hs), β '(hs), γ' (hs)) = hs' (L1 + εL1, L2 + εL2, L3 + εL3, α (hs) + εα, β (hs) + εβ, γ (hs) + εγ) ... It becomes the position of (6).

Here, L1, L2, L3: Design values α, β, γ: Detected values L1'L2'L3 ', α', β ', γ': Actual values εL1, εL2, εL3, εα, εβ, εγ: error L1 ′ = L1 + εL1 L2 ′ = L2 + εL2 L3 ′ = L3 + εL3 α = α ′ + εα β = β ′ + εβ γ = γ ′ + εγ where α (hs), β (hs), γ (hs), α ′ (Hs), β ′ (h
s) and γ '(hs) are the detected value and the actual value of the angle when the front device takes the hs detection posture.

For example, when the target boom angle is 30 °, the control device controls the front device so that the detected value α (hs) = 30 °. At this time, when the detected value α and the actual angle α ′ have an error of εα = 0.5 °, the position is actually controlled to α ′ = 30.5 °.

On the other hand, in this embodiment, since the reference light detector 70 is provided in the front device (arm), the position hf of the detector 70 when the detector 70 crosses the reference light 1 is the inside of the control unit 9. Then, it is recognized as the position calculated by hf (L1, Lfα (hf), β (hf), θf). The actual detector 70 at that time is as follows: hf '(L1', Lf ', α' (hf), β '(hf), θf') = hf '(L1 + εL1, Lf + εLf, α (hf) + εα, β (hf ) + Εβ, θf + εθf). The position of the bucket tip at this time is (L1 ', L2', L3 ', α' (hf), β '(hf), γ' (hf)) = (L1 + εL1, L2 + εL2 , L3 + εL3, α (hf) + Εα (hf), β (hf) + εβ (hf), γ (hf) + εγ (hf)) (7).

Here, εθf: b detector 70 mounting errors α (hf), β (hf), γ (hf): Detected value α ′ (hf of the angle when the front device is in the hf detection posture. ), Β ′ (hf), γ ′ (hf): actual value of the angle when the front device takes the hf detection posture At this time, the reference photodetector 70 is at the position of the true reference light 1, The control unit 9 has detected the position of the true reference light 1 including an error. If this hf is used for the area limiting control, the error between the detected position hf in the control unit 9 and the actual position hf 'includes the same error as when the hf is detected, so that it is actually canceled out and the true hf is eliminated. It matches the position of ′.

For example, suppose that the actual boom angle α ′ = 30 ° when the reference light 1 is detected, and the detected value by the sensor 8a has an error of εα = 0.5 °, α = 2.
Detected at 9.5 °. If this detected value α = 29.5 ° is used, the position of α ′ = 30 °, that is, the reference light 1
Since it matches the true position of, the error is canceled out.

Next, when the area restriction control is performed, this hf
When the bucket tip position is controlled with the target hs corrected by using, the error contained in at least hf is canceled when considering from the actual reference light position as described above.
For the rest, h is the tip of the bucket from the posture when hf is detected.
It is due to the error of the sensor until it moves to s. At this time, the bucket tip is actually hs '(L1', L2 ', L3', α '(hs) , β' (hs), γ '(hs)) = hs' (L1 + εL1, L2 + εL2 , L3 + εL3 , Α (hs) + εα (hs), β (hs) + εβ (hs), γ (hs) + εγ (hs)) (8).

Α (hs), β (hs), γ (hs): Detected values α ′ (hs), β ′ (hs), γ of the angle when the front device takes the hs control posture. ′ (Hs): Actual value of the angle when the front device takes the hs control posture At this time, in this embodiment, the position at the time of hf detection is the true position of the reference light 1 according to the equation (7). Different from the prior art, the deviation α when the attitude is controlled from hf detection to hs
Error relating to (hs) -α (hf), β (hs) -β (hf), γ (hs) -γ (hf), Δεα = εα (hs) -εα (hf) (9) Δεβ = εβ (hs) -εβ (hf) (10) Δεγ = εγ (hs) -εγ (hf) (11) is a slight amount due to the error when the area limiting control is actually performed. Further, in the present embodiment, the reference light detector 7
By equipping the front device with 0, it is possible to minimize posture changes during reference light detection and excavation. In that case, (9)
It is possible to further reduce the error related to equations (11).

In the case of direct teaching which will be described later, an error in setting hr can be taken in at the time of setting and can be operated during control, so that more accurate excavation control can be performed.

Further, in the present embodiment, since it is difficult to be influenced by the error of the angle sensors 8a to 8c for detecting the position and the posture of the front device 1A, the vehicle body is moved and the vehicle body height is changed. Even if the excavation depth changes, the influence of the error of the angle sensors 8a to 8c on the variation amount of the excavation depth is reduced, and the excavation depth is prevented from changing before and after the vehicle body height changes. It

Further, in the conventional technique disclosed in Japanese Patent Laid-Open No. 3-295933, it is necessary that the reference light detector provided in the vehicle body is in a wide range capable of detecting the reference light. In this embodiment, the reference light detector 70 is installed in the front device 1A, and the reference light detector 70 detects the reference light 1 by crossing the reference light 1 while operating the front device 1A. The reference light 1 can be reliably captured even if the installation area of the reference light detector 70 is small, and the reference light detector 70 can be made small and simple.

Similarly, since the reference light detector 70 detects the reference light 1 by crossing the reference light 1 while the front device 1A is being operated, considering the wide movable range of the front device 1A, the reference light 1 is detected. Movement can be corrected in a wide range.

Further, in the conventional technique disclosed in Japanese Patent Laid-Open No. 3-295933, it is necessary that the reference photodetector provided in the vehicle body be in the range capable of detecting the reference light as described above. Considering the size of the vessel, it becomes a big limitation. In the present embodiment, the reference light detector 70 is the front device 1.
A, especially because it is provided in the arm, the installation location of the reference light generator 80 is not subject to any major restrictions, considering the wide movable range of the front device. This means that, for example, as shown in FIG. 11, the reference light generator 80 may be installed in the groove G when there is no suitable installation place for the reference light generator on the ground level with the vehicle body 1B. There are merits such as being able to do it. Further, by this, the reference light generator 80 can be installed so as to reduce the change between the posture at the time of detecting the reference light and the posture at the time of excavation due to the above error problem, and the precision of excavation is improved. be able to.

Further, according to the present embodiment, if the reference light generator 80 is installed at the beginning of the work and the setting is performed using the setting device 7, the work is started or the hydraulic excavator body is run. An assistant is not required to position the tip of the bucket 1c at the boundary of the excavation area each time it moves. Also,
The time required for setting by the instruction of the assistant can be eliminated, and the working time can be shortened.

Further, the reference light generator 80 is installed outside the vehicle body, and once installed, it is not necessary to change its position and can be continuously used as a reference for the excavation area even if the vehicle body moves.

Although the reference light is emitted horizontally in the present embodiment, the reference light does not necessarily have to be emitted horizontally, and the excavation is performed stepwise with an inclination due to the necessity of construction.
Drilling with a rough slope may be used.

A second embodiment of the present invention will be described with reference to FIGS. In this embodiment, an excavation area setting device for area limited excavation control sets an excavation area having an angle as an excavation area.

In FIG. 12, the first excavation area setting unit 9a (see FIG. 8; corresponding to the first setting means 100 in FIG. 5) of this embodiment uses the setting device 7A shown in FIG. The depth hr to the reference point P of the excavation region, the distance hrx from the vehicle body center O to the reference point P, and the inclination angle θr of the boundary of the excavation region are input and set. Therefore, either in this case, the depth hd to the reference point P of the excavation area setting device 7A from the surface, the distance from the body center O to the reference point P hrx, to enter one of the inclination angle θr of the boundary of the excavation area The structure has selection buttons 7c, 7g, and 7d for selecting.

FIG. 14 shows a processing flow of the first excavation area setting unit 9a. When the operator inputs the depth hd, the distance hrx, and the angle θr, it is confirmed whether or not the area setting switch 7f is pressed in the processes 101 and 102 as in the previous embodiment, and the reference light 1 to the reference point of the excavation area are checked. Depth to P hr
The calculation is performed by the above equation (1), and the depth h r and the distance h are calculated in the process 103.
The rx and the angle θr are stored.

In the second excavation area setting unit 9n (see FIG. 8; corresponding to the second setting means 160 in FIG. 5), the processing steps 141 to 145 of the processing flow for excavation area setting shown in FIG.
In the same manner as in the previous embodiment, the depth hs from the vehicle body center O to the reference point P in the excavation area is calculated when the reference light is detected, and the distance hrx and the angle θr are read in the processing 161A to obtain the depth hs. These values are stored and the excavation area is set based on the vehicle body as shown in FIG.

According to this embodiment, the same effect as that of the first embodiment can be obtained when the region limited excavation control is performed while moving the hydraulic excavator in the direction perpendicular to the paper surface. Further, the easily-line operations such as grooving for burial by <br/> Ri water and sewage pipes to set the excavation area where a gradient performing area limiting excavation control
To get

A third embodiment of the present invention will be described with reference to FIGS. In this embodiment, the positional relationship between the reference light 1 and the excavation area in the first setting means 100 (see FIG. 5) of the first and second embodiments is set by direct teaching.

That is, in the first and second embodiments, in the first setting means 100, the depth hr from the reference light 1 to the boundary of the excavation region or the distance hrx from the vehicle body center point O to the reference point P of the excavation region. Up / down button of the setting device 7
Emissions 7a, set using the 7b (see FIG. 3). In the present embodiment, the bucket 1c is operated by operating the operation lever of the operator.
16 is moved to a position to be set as shown by a chain double-dashed line in FIG. 16 and the position is directly taught to set the depth hr or the distance hrx.

FIG. 17 shows the processing flow of the setting method by direct teaching of the excavation area. In the figure, the part surrounded by the broken line shows the operation that the operator of the hydraulic excavator must perform.

First, as shown in FIG. 17, the operator operates the operation lever to move the front device 1A so that the tip of the bucket 1c comes to the reference point P of the excavation area.
When the tip of the bucket 1c reaches the reference point P, the operator pushes the area setting switch 7f (see FIG. 3) of the setting device 7.

In the control unit 9 (see FIG. 1), the process 1
At 90, it is determined whether or not the area setting switch 7f is pressed. If not, the process 190 is continued. When the area setting switch 7f is pressed, the process proceeds to processing 191.

In process 191, the front device 1A at that time is
From the posture, the depth hs from the center O of the vehicle body to the tip of the bucket 1c and the distance hrx are calculated.

Next, as shown in FIG. 17, the operator again operates the operation lever to move the front device 1A so that the reference light detector 70 can cross the reference light 1 and detect the reference light 1.

In the meantime, the control unit continues to determine in process 192 whether the reference light detector 70 has detected reference light 1. Here, if the reference light 1 is detected, the process 19 is performed.
Move to 3.

In process 193, the front device 1 at that time is processed.
The height hfo from the vehicle body center O to the reference photodetector 70 is calculated from the posture of A.

Next, in process 194, the depth hr from the reference light 1 to the boundary of the excavation region is obtained by the calculation of hr = hs-hfo (12).

Finally, in process 195, the depth hr obtained as described above is stored, and the setting is completed. When setting the excavation area having a slope as in the second embodiment, the angle θr is further input by using the setter 7, and the depth hr, the distance hrx, and the angle θr are stored. Then
An excavation area as shown by a chain double-dashed line in FIG. 16 is set.

When the setting of the excavation area based on the reference light 1 is completed as described above, excavation control is started. The configuration other than the first setting means of this embodiment is the same as that of the first embodiment, and the first calculating means 12 shown in FIG.
0, the second calculation means 140, and the second setting means 160, as shown in FIG. 18, hr obtained in the processing 194 (or hrx, hr obtained in the processing 191, 194 and the angle θ).
r), and every time the reference light 1 is detected, hf (vehicle body 1
The depth hs (vehicle body 1 ) is obtained by obtaining the positional relationship between B and the reference light 1.
(Positional relationship between B and the excavation area) is updated, and the area limited excavation control is performed while setting the excavation area based on the vehicle body.

According to the present embodiment, since the excavation area is set by direct teaching, the desired excavation area can be set accurately according to the work situation.

[0115]

According to the present invention, even if the height of the hydraulic excavator changes due to changes in the topography of the work site due to movement of the vehicle body, it is possible to always excavate a predetermined depth based on the reference light. ,
For example, when a horizontal excavation plane is set, even if the ground is inclined, it is possible to excavate a horizontal plane while moving the vehicle body.

Further, in comparison with the method of detecting the reference light by the sensor installed on the vehicle body during excavation, it is less susceptible to the manufacturing tolerance of the vehicle body, the accuracy of the sensor, etc. It is possible to drill with less difference.

Further, since it is not easily affected by the error of the sensor, even if the excavation depth from the vehicle body changes due to the movement of the vehicle body, the reference light is detected near the tip of the bucket to be excavated and the setting is updated. Therefore, it is possible to prevent the excavation depth from changing before and after the vehicle body height changes.

Furthermore, since the reference light can be reliably captured even if the installation area of the first detecting means is small, the first detecting means can be made compact and simple.

Also, considering the wide movable range of the front device having the first detecting means, the movement of the vehicle body can be corrected in a wide range.

Further, according to the present invention, it is possible to set an excavation area having a boundary with the restriction area as a horizontal plane.

Further, according to the present invention, a work such as digging a groove for burying a water and sewer pipe can be easily performed by setting a digging area with a slope and performing area limiting digging control .
Sea urchin made.

Further, according to the present invention, if the setting device is used to set the first setting means at the beginning of the work, the front device is excavated at the start of the work or each time the vehicle travels and moves. There is no need for assistants to position the boundaries of the area. Further, the time required for setting by the instruction of the assistant can be eliminated, and the working time can be shortened.

Furthermore, according to the present invention, since the setting of the first setting means is performed by direct teaching, a desired excavation area can be accurately set according to the working situation.

[Brief description of drawings]

FIG. 1 is a diagram showing an area limiting excavation control device for a construction machine equipped with an excavation area setting device according to a first embodiment of the present invention together with a hydraulic drive device.

FIG. 2 is a diagram showing an external appearance of a hydraulic excavator to which the present invention is applied and a shape of an excavation region around the hydraulic excavator.

FIG. 3 is a diagram showing an appearance of a setting device.

FIG. 4 is a diagram showing a relationship with reference light when setting an excavation region by the excavation region setting device of the first embodiment.

FIG. 5 is a diagram showing the overall configuration of the excavation area setting device of the first embodiment. .

FIG. 6 is a first view of the excavation area setting device of the first embodiment.
It is a figure which shows the processing flow of a setting means.

FIG. 7 is a second view of the excavation area setting device of the first embodiment.
It is a figure which shows the processing flow of a calculating means and a 2nd setting means.

FIG. 8 is a functional block diagram showing an overall control function of a control unit.

FIG. 9 is a diagram showing an example of a trajectory when the tip end of the bucket is subjected to direction change control as calculated in the area limited excavation control.

FIG. 10 is a diagram showing an example of a trajectory when the tip of the bucket is restored and restored as calculated in the area limited excavation control.

FIG. 11 is a diagram showing a state in which the reference light generator is installed in the groove when there is no suitable installation place for the reference light generator at the same height as the vehicle body.

FIG. 12 is a diagram showing a relationship with reference light when setting an excavation region by the excavation region setting device according to the second embodiment of the present invention.

FIG. 13 is a diagram showing an appearance of a setting device used in the second embodiment.

FIG. 14 is a diagram showing a processing flow of a first calculation means in the excavation area setting device of the second embodiment.

FIG. 15 is a diagram showing a processing flow of a second calculation means and a second setting means in the excavation area setting device of the second embodiment.

FIG. 16 is a diagram showing a relationship with reference light when setting an excavation area by the excavation area setting device according to the third embodiment of the present invention.

FIG. 17 is a diagram showing a processing flow of first setting means in the excavation area setting device of the third embodiment.

FIG. 18 is a diagram showing the relationship between the first setting and the subsequent movement when the excavation region is set by the excavation region setting device of the third embodiment.

[Explanation of symbols]

1A front device 1B car body 1a boom 1b arm 1c bucket 1d Upper revolving structure 1e Undercarriage 2 hydraulic pump 3a-3f hydraulic actuator 4a-4f; 204a-204f operation lever device 5a-5f Flow control valve 6 relief valve 7 Setting device 8a, 8b, 8c Angle meter (second detecting means) 8d Inclinometer (second detection means) 9 Control unit 9a First excavation area setting unit (first setting means) 9b Front posture calculation unit (first calculation means) 9c Target cylinder speed calculator 9d Target tip speed vector calculation unit 9e Direction change control unit 9f Target cylinder speed calculation unit after correction 9g Restoration control unit 9h Target cylinder speed calculation unit after correction 9i Target cylinder speed selection section 9j Target pilot pressure calculation unit 9k valve command calculation unit 9m Positional relation calculation unit (second calculation means) 9n Second excavation area setting unit (second setting means) 10a proportional solenoid valve 10b, 11a, 11b proportional solenoid valve 12 Shuttle valve 44a, 44b to 49a, 49b Pilot line 60a, 60b, 61a, 61b Pressure detector 70 Reference light detector (first detecting means) 80 Reference light generator (external reference light generator) 100 first setting means 120 first computing means 140 Second computing means 160 Second setting means

Continuation of the front page (56) Reference JP-A-4-161525 (JP, A) JP-A-4-353126 (JP, A) Actually open 3-111642 (JP, U) (58) Fields investigated (Int .Cl. ⁷ , DB name) E02F 3/43 E02F 9/26

Claims (5)

(57) [Claims] 1. A front body comprising a plurality of vertically movable front members constituting an articulated front device, and a vehicle body supporting the front device, wherein the front members are drive-controlled to control the front. In an excavation area setting device for area limitation excavation control of a construction machine that limits and controls the operating range of a member, (a) External reference light generation that is installed outside the construction machine and that generates reference light indicating a reference position for the excavation area (B) first detecting means provided in the front device for detecting the reference light output from the external reference light generating device; and (c) detecting a state quantity relating to the position and orientation of the front device. 2 detection means; (d) first calculation means for calculating the position and orientation of the front device based on the signal of the second detection means; (e) generation of the external reference light generation device; First setting means and for setting a positional relationship between the reference beam and the excavation area; (f) said first detecting means is calculated by said first calculating means when detecting the generated reference light of the external reference light generator based on said position and orientation information of the reception device, it calculates a positional relationship between the vehicle and the reference light, the position function
A second calculating means for calculating a positional relationship between the body and the excavation area from engagement with the reference light which is set by the first setting means and the positional relationship of the excavation area; (g) said calculated in the second arithmetic means A second setting means for setting an excavation area based on the vehicle body based on the positional relationship between the vehicle body and the excavation area; and an excavation area setting device for area limited excavation control of a construction machine. 2. The excavation area setting device for area limited excavation control of a construction machine according to claim 1, wherein the first setting means comprises:
An excavation area setting device for area limited excavation control of a construction machine, which is means for setting a depth from a reference light generated by the external reference light generating device to a boundary between the excavation area and the restricted area. 3. The excavation area setting device for area limited excavation control of a construction machine according to claim 1, wherein the first setting means comprises:
Means for setting the depth from the reference light generated by the external reference light generator to the reference points of the excavation area and the restricted area, the distance from the vehicle body to the reference point, and the inclination angle of the boundary of the excavation area. An excavation area setting device for area limited excavation control of a construction machine. 4. The excavation area setting device for area limited excavation control of a construction machine according to claim 1, wherein the first setting means comprises:
Based on the data input by the setting device, the reference light and excavation
Excavation area setting device area limiting excavation control in construction machines, which is a means for setting the positional relationship between the regions. 5. The excavation area setting device for area limited excavation control of a construction machine according to claim 1, wherein the first setting means comprises:
The tip of the front device to move the front device is drilling territory
When the boundary of the area is reached, a means for calculating the position of the tip of the front device based on the information on the position and the posture of the front device calculated by the first calculating means, and the first detecting means for moving the front device. When the reference light generated by the external reference light generator is detected, means for calculating the position of the first detecting means based on the information on the position and orientation of the front device calculated by the first calculating means, An excavation area setting for area limited excavation control of a construction machine, including means for calculating and storing the positional relationship between the reference light and the excavation area from the tip position of the front device and the position of the first detection means. apparatus.