JPH0325126A - Device for controlling work on slope face for excavator - Google Patents

Abstract

PURPOSE:To improve work efficiency and work accuracy by controlling cylinders for a boom, an arm and a bucket based on comparison made between a working equipment cutting edge position decided by computing the angles of the boom, the arm and the bucket and preset values for a slope face gradient and a reference position. CONSTITUTION:Values detected with a boom angle detector 7, an arm angle detector 8 and a bucket angle detector 9 are inputted into a position-detecting circuit 29 and the position of the bucket cutting edge point is computed thereby. The result of the computing and values preset in a slope face gradient-setting device 42 and a reference position-setting switch 41 are inputted into a cutting edge trace computing circuit 48, and a trace to be drawn by the bucket cutting edge is computed thereby. Then deviation is sought with expected variation in arm movement obtainable by this computing allowed for present and desirable positions of the bucket cutting edge, and controls for the boom, the arm and the bucket are made based on this deviation.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a construction machine equipped with a bucket, an arm, and a boom, and is designed to maintain the movement locus of the cutting edge of the bucket at a predetermined target inclination value. Regarding the control device. [Conventional technology Koa] An H11-pressure power excavator is equipped with a boom, an arm, a bucket, and hydraulic cylinders such as a boom cylinder, an arm cylinder, and a bucket cylinder that operate these. Each seat is controlled individually by three operating levers located on the seats. When excavating a slope of the ground in a straight line using such a hydraulic power shovel, the tip of the bucket must be maintained so as to move in a predetermined constant direction. Therefore, when performing straight excavation work, the operator should
In this way, two or three operating levers must be operated in a complex manner and simultaneously to make the movement trajectory of the bucket tip become a straight line on the desired plane. Manually controlling the depth of the bucket cutting edge of a hydraulic power excavator requires great skill. In addition, it takes time to control the excavation direction with high precision, which significantly reduces work efficiency. In view of the above-mentioned circumstances, various proposals have been made in the prior art for automatically controlling the depth of the bucket edge to a constant level by simply operating the arm operating lever.

All of the conventional bt technologies focus on the fact that a certain geometric relationship is established between the rotation angles of the boom, arm, and bucket and r5J with the depth of the bucket cutting edge, and utilize this principle to Detects the rotation angle,
The bucket cutting edge depth is calculated from these detected rotation angles, and control is performed so that the calculated cutting edge depth is constant.

For example, in Japanese Patent Publication No. 58-36-1-35, in method 1 of controlling excavation depth in r excavators, the deviation between the current value of the bucket cutting edge depth and the target value of the same cutting edge depth is determined, and this deviation is [Problem to be solved by the invention] Conventionally, the depth of the cutting edge of the bucket was automatically adjusted to the desired target value by simply operating one operating lever for the arm. Although the intended purpose of the setting is certainly achieved, most control methods maintain a constant depth, and do not maintain a constant slope surface, which is one of the important tasks for hydraulic power excavators. There was a problem in finishing it at this angle. Furthermore, in any case, since the control is based on a comparison between the current value of the upper bucket cutting edge position and the target value, the following problems naturally arise due to the characteristics of the hydraulic system. That is, the 11 pressure control system of a working machine of a hydraulic power excavator has a large response delay due to a large load dependence.

In addition, the force for supplying pressure to each cylinder 11 The flow of the pressure operation valve M
Characteristics vary depending on load. Therefore, for example, in the conventional technology, (1) Even if the arm operation lever is operated, the arm does not immediately rotate at a speed corresponding to the amount of lever operation due to the above response delay. Under these circumstances, even if a flow rate command is output to the boom cylinder based on the rotation angle of the arm, etc., there is a response delay before the arm rotates in response to the boom flow rate command, so the arm rotates based on the flow rate command. At this point, the arm has already moved further concave, so the bucket cutting edge movement trajectory does not match the target trajectory. ■ Also, when moving the bucket cutting edge, a flow rate command is given to the boom cylinder according to the deviation between the current position and the target position, but even if the same flow rate command (boom cylinder speed) is given to the boom cylinder, the current The actual rotational angular velocity 4i of the boom that occurs varies depending on the rotation angle of the arm and the rotation angle of the boom, and it is not always possible to reduce the above deviation to zero. For this reason, in the past, it was necessary to set the control gain to zero the above deviation to a value that would not cause the system to become unstable even if the rotation angles of the arm and boom became large. Therefore, it can only be set to a relatively low value. However, this had an impact on the control of the degree of the bucket cutting edge trajectory. The present invention was made in view of these circumstances.
The purpose is to provide a device that can perform slope work accurately and stably with a bucket tip trajectory by improving the delay in response of the control and giving accurate commands to the boom. It is said that

[Means and effects for solving the problem] Therefore, in the present invention, the first
a boom whose rotation is controlled by an actuator; an arm which is rotatably attached to the tip of this boom and whose rotation is controlled by a second actuator; and an arm which is attached to the tip of this arm and whose rotation is controlled by a third actuator. A construction machine having a bucket configured to be rotated, comprising: rotation angle detection means for detecting rotation angles of the boom, arm, and bucket/note; and rotation angle detection means for detecting rotation angles of the boom, arm, and bucket, respectively. and an operation amount detection means for detecting an operation amount of an arm operation lever for operating the arm, and an operation amount detection means for detecting an operation amount of an arm operation lever that operates the arm, and an operation amount detection means that operates the second actuator according to an operation amount of the arm operation lever.
The rate of change in the bucket blade edge position movement direction in the horizontal direction versus the vertical direction is determined based on the output of the rotation angle detection means and the operation amount of the arm operating lever detected by the operation amount detection means. a first drive command value creation means for creating a drive command value for the first actuator that makes the bucket blade edge position constant; a second setting means for setting a rate of change in the horizontal versus vertical direction of movement, and a working method for calculating and outputting a path that the bucket cutting edge should pass from the first setting means and the second setting means. surface setting value creation means, current value calculation means for calculating the current value of the blade edge position of the bucket based on the output of the rotation angle detection means, and current value calculation means for calculating the current value of the blade edge position of the bucket based on the output of the rotation angle detection means storage means for storing the output value of the current value calculation means for calculating the current value; and the output value of the current value calculation means for calculating the current value of the blade edge position of the bucket and the blade edge position of the bucket stored by the storage means. That is, the difference between the working slope calculation means for calculating the horizontal movement distance and the vertical movement distance of the bucket cutting edge, the set target value of the working slope command value creation means, and the output value of the working slope calculation means of the bucket cutting edge. a second drive command value creation means for creating a drive command value for the first actuator to zero the deviation between the set target value and the calculated output value; and and means for driving and controlling the l-th actuator according to the sum of the drive command values respectively created by the command value creation means. According to this configuration, the following effects are achieved. The arm control means controls the second actuator according to the amount of operation of the arm operation lever to rotate the arm.

On the other hand, the first drive command value creation means creates a drive command value for the first actuator to zero the bucket/soto blade edge position, which changes depending on the operation amount. Further, the second drive command value creation means is configured to create a first drive command value for making the deviation between the set target value and the current value of the bucket/litter edge position zero.
Create a drive command value for the actuator. The first actuator is driven and controlled according to the sum of the drive command values described above. After all, the first actuator is not simply controlled according to a drive command value that corresponds to the deviation of the bucket cutting edge position, but rather a drive command that takes into account the predicted change amount of the arm operating lever to the drive command value. It will be driven by the drive command value added to the value. Therefore, even if the arm is rotated by the arm control means with a response delay, the first actuator is driven in anticipation of this response delay, so the boom is rotated so that the deviation becomes zero. It will move. In addition, the present invention includes a boom that is rotatably attached to one point on the vehicle body and rotated by a boom cylinder, an arm that is rotatably attached to the tip of this boom and rotated by an arm cylinder, and a tip of this arm. A construction machine having a bucket attached to a bucket and rotated by a cylinder, a rotation angle detection means for detecting each rotation angle of the boom, the arm and the bucket, and an arm operation lever for operating the arm. operation amount detection means for detecting the operation amount of the arm operation lever; arm control means for rotating the arm by operating the arm cylinder at a speed corresponding to the operation amount of the arm operation lever; arm control means for rotating the arm by operating the arm cylinder at a corresponding speed, and an operation amount of the arm operation lever detected by the operation amount detection means,
arm cylinder speed calculation means for calculating the speed of the arm cylinder corresponding to the operation amount; and the rotation angle of the arm detected by the rotation angle detection means and the speed of the arm cylinder calculated by the arm cylinder speed calculation means. arm rotation angular velocity calculation means for calculating the rotation angular velocity of the arm corresponding to the rotation angle of the arm and the speed of the arm cylinder based on the rotation angle of the arm, and the output value of the rotation angle detection means and the rotation angular velocity calculation means of the arm. a first boom rotation that calculates a rotational angular velocity of the boom to make constant a rate of change in the horizontal direction to vertical direction of the bucket cutting edge trajectory corresponding to the rotational angular velocity of the arm, based on the rotational angular velocity of the arm; an angular velocity calculation means, a first setting means for setting a work reference point indicating the driving direction of the bucket cutting edge, a second setting means for setting a rate of change of the bucket cutting edge position movement direction in the horizontal direction versus the vertical direction; working slope setting value creation means for calculating and outputting a path through which the bucket cutting edge should pass from the first setting means and the second setting means; means for storing the output value of the current value calculation means for calculating the current value of the blade edge position of the bucket; and the output value of the current value calculation means for calculating the current value of the cutting edge position of the bucket and the bucket calculated and outputted by the storage means and stored. a working slope calculation means for calculating the difference between the blade edge position and the horizontal movement distance and vertical movement distance of the bucket cutting edge; a set target value of the working slope command value creation means; and an output of the working slope calculation means. a second step that calculates a rotational angular velocity of the boom to zero the deviation between the set target value and the calculated output based on the set target value and the calculated output;
based on the rotation angle of the boom detected by the rotation angle detection means and the rotation angular velocity of the boom calculated by the first and second boom rotation angular velocity calculation means, respectively. boom cylinder speed calculating means for calculating the speed of the boom cylinder corresponding to the sum of rotational angular velocities and the rotation angle of the boom; and means for operating the boom to rotate the boom. According to this Yokusei, it has the same effect as the above-mentioned Sugi-kai, and also has the following effects. That is, in this invention, the arm rotation angular velocity can take different values depending on the arm rotation angle and the arm cylinder speed, and the boom rotation angular velocity varies depending on the boom rotation angle and the boom cylinder speed. Varies depending on boom rotation angular speed and boom rotation angle>
We are focusing on the fact that it can take values. The arm rotation angular velocity calculation means calculates an accurate arm rotation angular velocity based on the above-mentioned point of interest, and the first boom rotation angular velocity calculation means calculates an accurate boom rotation angular velocity based on the above-mentioned accurate arm rotation angular velocity. Furthermore, the boom cylinder speed calculation means calculates the boom rotation angular velocity taking into account the above-mentioned accurate boom rotation angular velocity.
Calculate accurate boom cylinder speed based on the above points of interest. Since the boom cylinder operates according to the accurate boom cylinder speed obtained in this way, the boom is rotated with high precision so that the deviation of the position of the blade tip of the bucket becomes zero. [Implementation M] Examples of the present invention will be described below with reference to the drawings.

FIG. 1 shows a block diagram of an embodiment of the slope work control device according to the present invention, FIG. 2 is a graph diagram for explaining the arithmetic processing of each circuit in the embodiment, and FIG. 3 is the overall configuration of the embodiment. FIG. 4 shows the configuration of the working machine of the hydraulic power shovel in the embodiment, and FIG. 5 shows the geometrical relationship of the working machine shown in the fourth embodiment. As shown in Fig. 4, the work equipment of the pressure power excavator PS (
The front attachment) includes a boom 1, an arm 2, and a bucket 3, each of which has a pivot point 0.
, B, and C are provided with a boom angle detector 7, an arm angle detector 8, and a bucket angle detector 9, respectively, for detecting their rotation angles α, β, and γ (see FIG. 5). Note that as each of these detectors 7, 8, and 9, for example, a potentiometer is used.

In FIG. 5, the Y axis is a vertical line passing through the fulcrum O, . I)
1 is the length of the line segment OB that connects the fulcrums O and B, 92 is the length of the line segment BC that connects the fulcrums B and C, blade 3 is the length of the line segment CD that connects the fulcrum C and the bucket tip point D, L2 is the fulcrum B
And the length of the line segment BD connecting the bucket tip point D is less than or equal to,
This is called the total length of the arm cutting edge. At this time, the rotation angle α is the rotation angle of the line segment OB with respect to the Y axis,
The rotation angle β indicates the rotation angle of the line segment BC with respect to the extension of the line segment OB-, and the rotation angle γ indicates the rotation angle of the line segment CD with respect to the extension of the line segment BC. And β0 indicates the angle that line segment BD makes with respect to the extension line of line segment OB (hereinafter referred to as arm cutting edge angle). Above L2, . As is clear from Fig. 5, between Q2, J)3 and γ, L2-(.022-JQ32-2.02 blade 3 COSγ
〉Including・・・・・・・・・(1) The following mathematical relationship is established.

here,. 02,. Since Q3 is known, the rotation angle γ
is detected by the detector 9, this detected value is
) By substituting into the equation, it becomes possible to obtain the total length L2 of the arm cutting edge. Furthermore, as is clear from FIG.
β+s i n' (.03 sin7/L2)
・・・・・・・・・(2) The following geometric relationship holds true. Here, since the blade 3 is known and the blade 2 is obtained by the above formula (1), when each rotation angle β, γ is detected by the detectors 8 and 9, these detected values are expressed as the (2) By substituting into the equation, it becomes possible to obtain the arm cutting edge angle β0.

The rotation angle signals indicating the rotation angles α, β, and γ detected by the rotation angle detectors 7, 8, and 9 are sent to the CPU 22 of the controller 20 via the human interface 21 of the controller 20 shown in FIG. is added to. The boom 1, arm 2 and bucket 3 are composed of a boom cylinder 4, an arm cylinder 5 and a bucket cylinder 6.
Each rotation is operated by. Hydraulic power excavator PS
At the driver's seat, there is a boom operation lever (not shown) for rotating the boom 1, arm 2, and bucket 3.
An arm operating lever 10 and a bucket operating lever 11 are respectively provided (see FIG. 1).

The arm operating lever 10 has an operating amount T of the arm operating lever 10, that is, an operating angle T of the arm operating lever 10.
An arm operating lever angle detector 12 is attached to detect the arm operating lever angle. Note that as this detector 12, for example, a potentiometer is used. The operating angle ψ detected by the detector l2 is also applied to the CPU 22 of the controller 20 via the input interface 21 of the controller 20, similarly to the rotation angles α, β, and γ. When the operating levers 10 and 11 are operated, L6 is applied to each operating lever.
Similarly, the spools of the arm operation valve 13 and the bucket operation valve 14 are moved, and the arm cylinder 5 and bucket cylinder 6 are respectively extended or retracted by the operation valves 13 and 14 at speeds corresponding to the respective operation amounts. ．． In other words,
As a result of this telescoping action, the rotation angle β of arm 2 and bucket 3 is
, γ change, and in accordance with this change, the horizontal component X and the vertical component y of the tip position D of the bucket 3 change. On the other hand, an operation panel 40 is provided in the driver's seat of the hydraulic power excavator PS. The operation panel 40 includes a reference position setter switch 41 and a slope slope angle setter 42, which will be described later.
, and an automatic mode switch 43. The automatic mode switch 43 is a switch for selecting whether the boom cylinder 4 is to be extended and contracted manually or automatically. When the switch 43 is not pressed. That is, when the boom l is rotated manually by the operator, a "manual" signal from the automatic mode switch 43 is input to the CPU 22 via the input interface 21. As a result, the CPU 22 determines "manual" and switches the manual automatic switching valve 15 of the hydraulic system of the boom cylinder 4 to the manual side via the driver 23. In this case, when the boom operation lever (not shown) is manually operated, the subroutes of the boom operation valve (not shown) similar to the arm operation valve 13 and the bucket operation valve 14 are moved according to the amount of operation. The boom cylinder 4 is extended or retracted by the boom operation valve at a speed determined by the extraction flow rate in accordance with the above-mentioned operation amount. That is, as a result of this retracting operation, the rotation angle α of the boom l changes, and in accordance with this change, the horizontal component X and the vertical component y of the tip position D of the bucket 3 change.

Therefore, when the operator operates the automatic mode switch 43 on the operation panel 40 to the "manual" side, the boom operation lever (not shown), the arm operation lever 1
0 and the bucket operation lever 11 in a complex manner to move the horizontal direction component X and vertical component y of the tip position D of the bucket 3, that is, the bucket cutting edge positions x and y, to the desired position and perform the desired excavation. It is possible to do this. On the other hand, when the automatic mode switch 43 is pressed, that is, when the automatic mode switch 43 is operated to the "auto °" side, the "auto" signal of the automatic mode switch 43 is input to the CPU 22 via the input interface 21. As a result, the CPU 22 makes a determination of ゜'auto''゜, and the driver 2
3, switch the manual automatic switching valve 15 of the hydraulic system of the boom cylinder 4 to the automatic side. In this case, the boom cylinder 4 is telescopically operated by the boom control valve (electromagnetic proportional control valve) 16, regardless of the operation of the boom operating lever.

At the start of work, the bucket blade edge is positioned at a reference position of a predetermined finished surface, for example, at the most E part of a slope by the manual operation, and a switch closing signal is transmitted via the input interface circuit 21 by pressing the reference position setting switch 42. and is input to the CPU 22. In addition, the slope slope angle setting device 43
Now, set the target slope slope angle θO. This target slope inclination angle θO is input to CP via the input interface circuit 21.
Manpower will be provided by U22.

When setting the reference position in the above explanation, the following calculation process is performed. ? Before starting work, the blade edge position of the power shovel is calculated by the blade edge position calculation circuit 29, which performs the following calculation by bringing the blade edge of the power shovel work equipment to a predetermined position and pushing the reference position setting switch/notch 42. That is, the reference position xo for slope finishing and deafness 0 are set and recorded in the memory circuit 45. The blade edge position calculation circuit 29 described above performs the following calculations. The position of the cutting edge at that time is determined using the measured values α, β, and γ from the boom angle detector 7, arm angle detector 8, and bucket l/angle detector 9, as well as the boom length error recorded in advance. 1. Arm length JJ2, bucket length I3
From the coordinate value XO. whose intersection is the boom attachment position O point.
As YO, it can be calculated using the following formula. X■
=jJ1 − cosa +12 ・cos (α+β) +{3 ・cos(α+β+γ) ・・・・・・・・・〈6x〉 YO=J)1 −sin α −lcl2 ・sin(α→−β〉+E 3
Sin(α+βtoγ) ・・・・・・・・・〈6y)? See Figure 5> Target slope slope angle θ0 set by slope slope angle setting device 43
is input to the inclination angle change rate calculation circuit 46 to calculate the change rate e■ of the horizontal distance to vertical distance and record it in the storage circuit 47. When the automatic mode switch 43 is operated to the "auto" side, the output ψ of the lever angle detector l2, the outputs α, β, and γ of the rotation angle detectors 7, 8, and 9, and the aforementioned The value xo obtained as a result of each setting process. ha
．． Based on eQ, the controller 20 performs a calculation process to be described later, and based on this calculation process, the locus of the blade edge position of the bucket 3 becomes the set value χ0. M.O. An operation command signal i for passing through eO is created and the boom control valve 16 is
It will be added to the solenoid. In this case, as the operator, the arm operating lever 10
Desired excavation work can be performed by simply operating the bucket 3 to maintain a constant trajectory of the cutting edge of the bucket 3. Next, referring mainly to FIGS. 1 and 2, a description will be given of the processing performed by the controller 20 when the automatic mode switch 43 is operated to the "auto" side.

In addition, in the example, the bucket operation lever l1 is in the neutral state! Assume that it is a melon. The arm cutting edge total length calculation circuit 24 shown in FIG. will be held. Here, the Bakut operating lever ■1 is in a neutral state, and γ is a constant value, so the total length L2 is a constant value. On the other hand, the arm cutting edge angle calculation circuit 25 calculates the current angular rotation angles β and γ of the arm 2 and the bucket 3 output from the arm angle detector 8 and the bucket angle detector 9, respectively.
Based on the above formula <2>, the current arm cutting edge angle β0
The process of calculating is performed. Here, the total length L2 and the angle γ
Since is a constant value, the second term on the right side of equation (2) is a constant value. Therefore, the arm cutting edge angle β0 is the value obtained by adding a constant value to the current arm rotation angle β of 2. Therefore, , the outputs L2β0 of the arm cutting edge total length calculation circuit 24 and the arm cutting edge angle calculation circuit 25 are uniquely determined by only the operation of the arm operating lever 10 (only the arm rotation angle β).

On the other hand, as the arm operating lever ■0 is operated, the lever angle detector 12 detects the current lever operating angle T, and the arm cylinder estimated speed calculation circuit 26 detects the estimated arm cylinder speed corresponding to the detected value ψ. A process of calculating the speed VA using the following equation (3) is executed, and the estimated speed 8 is output to the arm link correction circuit 27. Here, the arm cylinder estimated speed ■8 means that if the arm operating lever 10 is currently operated to the lever angle ψ,
This is the speed of the arm cylinder 5 that will eventually be reached.
Furthermore, when the arm operation lever 10 is quickly operated up to the predetermined lever angle ψ, the arm cylinder 5
The speed of is not as high as ■8. There is a slight time delay, and the speed eventually reaches vA. Note that this delay is due to the characteristics of the night pressure system. This arithmetic circuit 267' calculates the arm cylinder estimated speed according to the current lever angle ψ.
8 will be output according to the correspondence shown in equation (3) below. VA=fl ('/} ・・・・・・・・・
(3) (See FIG. 2(a)) Here, the function f1 is a function uniquely determined by the extraction pressure system of the arm cylinder 5, and has the characteristics shown in FIG. 2(a). Next, in the arm link correction circuit 2827, based on the arm cylinder estimated speed VA outputted from the arm cylinder estimated speed calculation circuit 26 and the current detection value β of the arm angle detector 8, speed V
The rotational angular velocity l of arm 2 corresponding to
See figure (b)! FA) and add the obtained rotational angular velocity l to the boom speed calculation circuit 28. In the above equation (4), the function f2 is a function uniquely determined by the link structure of the arm 2, and has the characteristics shown in FIG. 2(b). The above-mentioned rotational angular velocity is the rotational angular velocity of the arm 2 when the arm cylinder 5 is operating at an estimated speed of 18 and the arm rotation angle is β.

Next, the boom speed calculation circuit 28 calculates the arm rotational angular velocity l outputted from the arm link correction circuit 27, the arm cutting edge total length L2 outputted from the arm cutting edge total length calculation circuit 24, and the arm cutting edge angle calculation circuit 25 outputted. Based on the arm cutting edge angle β0 and the current rotation angle α of the boom 1 output from the boom angle detector 7, the four-turn angle attack δ of the boom 1 corresponding to the arm rotation angular velocity l can be calculated using the following formula a-i (L2 sin (a+β0)]/(.
01 sin α+L2 sin(α+βo))...
(5) The calculation process is executed as follows, and the calculated rotational angular velocity δ is outputted to the addition circuit 33, which will be described later.
The commanded cutting edge position of the bucket 3 changes by rotating with x. This is the rotational angular velocity of the boom 1 required to pass through y (a position that satisfies xo..yo.eo; the same applies hereinafter). Furthermore, arm 2 has a rotational angular velocity l
If the boom ■ is rotating at the rotational angular velocity δ, the position of the cutting edge of the bucket 3 passes through x and y. in the end,
From the boom speed calculation circuit 28, the arm operation lever 1
0 required to pass the blade edge command positions x and y of the bucket 3 when the lever is operated at a constant lever angle T? The rotational angular velocity δ of the mul is output. On the other hand, the cutting edge position calculation circuit 29 calculates the bucket position based on the current rotation angle α of the boom 1 detected by the boom angle detector 7, the output L2 of the arm cutting edge total length calculation circuit 24, and the output β0 of the arm cutting edge angle calculation circuit 25. Current value x+ of the blade edge position of 3. As mentioned above, yt is the following formula
12 J) + s i n α + L2 s i n (α +
βO)・・・・・・・・・(6x) y1 Two-blade I COSα-L2cos(α1β0〉・
(6y) The calculation results x1 and y1 are input to the cutting edge trajectory calculation circuit 48. On the other hand, the reference positions XQ, YO recorded in the memory circuit 45 by pressing the JJi IF position setting switch 4l are set by the slope slope angle setter 42, calculated by the change rate calculation circuit 46, and recorded in the memory circuit 47. The calculated e■ is input to the blade edge trajectory calculation circuit 48. The cutting edge locus calculation circuit 48 performs the following calculations based on the above-mentioned human power values to obtain the target digging depth of the cutting edge D (horizontal target position X, which is the current horizontal component position xO plus a predetermined distance).
) in ) is calculated.

Y-eO − (xt-X)+yo・・・・・・
(6) The predetermined distance in the above explanation is a value determined from the controllability and response speed determined by the functions and performance of the power excavator, and the required cleanliness of slope finishing. You may use XQ as is instead of X. The vertical division yl of the current position of the cutting edge of the bucket 3 calculated by the cutting edge position calculation circuit 29 and the target excavation vertical depth h obtained from the above calculation result are manually entered into the comparison subtraction circuit 30 to calculate the deviation △y.
is the calculation formula Δy:=Y−yt ・・・−・・・・・・〈7)
The calculated front difference Δy is output to the coordinate conversion circuit 31.

Next, in the coordinate conversion circuit 3l, the deviation Δy inputted from the comparison subtraction circuit 30, the output I-2 of the arm cutting edge total length calculation circuit 24, the output β0 of the arm cutting edge angle calculation circuit 25, and the boom angle angle detector 7 detect Based on the rotation angle α of the boom 1 at the current 7E, {calculate the angular deviation Δα of the boom 1 corresponding to the flatness Δy using the formula Δα=Δy/(J)1sinα+L2sin(α+βo) ) --- ---
(8), and the obtained angular deviation Δα is added to the proportional gain multiplication circuit 32.

Here, the above angle deviation 8α means that the deviation Δy is zero, that is, the current position of the cutting edge position of the bucket 3 is X1, y1 is the target value X,
Current rotation angle α of boom 1 required to bring it to Y
This is the amount of angular change from . Furthermore, by changing the rotation angle α of the boom 1 by the angular deviation amount Δα, the blade edge position of the bucket 3 reaches the target f axis x, y from the current value x+yt. Next, the proportional gain multiplication circuit 32 calculates the rotational angular velocity of the boom 1 corresponding to the angular deviation Δα outputted from the coordinate conversion circuit 3l using the following formula: 0 = KΔα ・
...... (9), and the obtained rotational angular velocity 0 is added to the addition circuit 33. Note that in the above equation (9), K is a proportional gain.
In the addition concave path 33, the rotational angular velocity δ outputted from the boom speed calculation circuit 28 and the proportional gain multiplication circuit 32
Add the rotational angular velocity command values for the boom 1 based on the rotational angular velocity 0 output from the calculation formulas=δ+aO (10>
The obtained angular velocity command value h is applied to the boom link correction circuit 34. Next, in the boom link correction time B34, the above addition time 1? r
3. Based on the rotational angular velocity command value output from 3 and the current rotational angle α of the boom 1 detected by the boom angular velocity detector 7, the rotational angular velocity command value corresponds to the rotational angle α and the rotational angular velocity command values. The flow rate command position VB for the boom cylinder 4, that is, the speed command value of the boom cylinder 4 is calculated using the formula VB-/f3 (α)...
l 1 ) (see FIG. 2 (C)), and the obtained flow rate command value vB is applied to the control amplifier 35. Here, in the above equation (11), the function f3 is the function f
2, it is a function uniquely determined by the link structure of the boom 1, and has the characteristics shown in FIG. 2(C). The flow rate command value VB is the operating speed of the boom cylinder 4 when the boom is operating at various rotational angular velocities and the boom rotational angle is α. Conversely, if the boom cylinder 4 is operating at a speed vB and the rotation angle of the boom l11 is α, the boom 1 will rotate with the rotational angular velocity. Next, the control amplifier 35 converts the flow rate command value VB outputted from the boom link correction circuit 34 into a predetermined drive current i for applying to the solenoid of the boom control valve l6, and converts the drive converted current i into] Add to rhenoid.

As a result, the boom control valve 16 telescopically operates the boom cylinder 4 at a speed corresponding to the drive current i, that is, the flow rate command value VB. Then, the depth of the blade edge of the bucket 3 at the horizontal position X matches the output value Y of the blade edge trajectory calculation circuit 48. As explained above, according to the embodiment, the arm operating lever I
O is operated to a predetermined operation angle ψ, arm operation valve 13
The arm cylinder 5 is extended and contracted via the arm cylinder 5, and the arm 2 is rotated. At the same time, the position of the cutting edge of the bucket 3 is secured according to the operating angle ψ of the arm operating lever 10. In other words, the rotational angular velocity a of the boom 1 to make the deviation of the cutting edge position zero
Predict. On the other hand, the current value xt of the blade edge position of the bucket 3. Calculate the rotational angular velocity of the boom 1 necessary to make the deviation Δy between yt and Y with respect to the target value X zero. Then, the flow rate command value corresponding to the rotational angular velocity obtained by adding the rotational angular velocity δ predicted based on the operation amount of the arm operating lever 10 and the rotational angular velocity 0 corresponding to the deviation Δy of the blade edge position of the bucket 3 is set to the boom cylinder. I am trying to give as much as possible for 4.

Here, conventionally, a flow rate command value corresponding to the difference between the current value and the target value of the blade edge position of the bucket 3 is simply given to the boom cylinder 4. - In this case, when the arm operating lever 10 is operated, the arm 2 rotates with a delay in response. While the arm 2 is rotating, on the other hand, a flow command value corresponding to the above-mentioned 1 flatness is given to the boom cylinder 4, and the boom 1 is rotated. Since there is a response delay before the boom 1 rotates, the rotation angle of the arm 2 has already reached a different rotation angle when the boom 1 rotates according to the above flow rate command value, so the above deviation is reduced to zero. It was extremely difficult. In particular, the arm operation lever 10
If the blade is operated suddenly, the precision of controlling the blade edge trajectory will deteriorate further. However, according to the embodiment, when the arm operation lever 10 is operated, the rotational angular velocity of the boom 1 to secure the position of the cutting edge of the bucket 3 is estimated according to the amount of operation, and the flow rate command value is set accordingly. is added to the flow rate command value according to the deviation of the blade edge position. Therefore, it is possible to improve the deterioration in precision of the $II control of the blade edge position due to the response delay described above. In addition, in the embodiment, the arm link correction circuit 27 calculates the estimated speed W8 of the arm cylinder 4 and the arm link correction circuit 27.
The accurate rotational angular velocity of arm 2 is calculated according to the rotational angle β. Then, the boom speed calculation circuit 28 can accurately obtain the rotational angular velocity δ of the boom l necessary to ensure the target position of the cutting edge of the bucket 3 based on the above-mentioned accurate rotational angular velocity of the arm 2.

Then, the boom link correction circuit 34 adjusts the rotational angular velocity δ of the boom (2) necessary to make the deviation from the target cutting edge position of the bucket 3 zero, and the rotational angular velocity δ of the boom (1) necessary to make the deviation between the current value and the target position zero. Boom 1, which is the sum of the rotational angular velocity of 0 and
An accurate flow rate command value vB of the boom is calculated according to the rotational angular velocity command value a of the boom 1 and the rotation angle α of the boom 1. Therefore, in the past, the deviation △y of the bucket cutting edge position was directly used as the flow rate command value given to the boom cylinder. However, according to the example, these rotation angles α
, β is calculated, and the boom cylinder 4 is operated in accordance with this accurate flow rate command value VB. Therefore, the bucket edge positions x and y exactly match X and Y. In addition, in the embodiment, an example was explained in which the present invention is applied to a working machine composed of three elements: a boom, an arm lifter, and a bucket. However, the present invention is not limited to this, and for example, Needless to say, the present invention can also be applied to a work machine having a boom.

Further, in the embodiment, an example in which the present invention is applied to an extraction power shovel has been described, but the present invention is not limited to this, but can be applied to, for example, a worker who works by keeping the cutting edge position of a specialized bucket for a backhoe in a fixed path. If it is a construction machine, its application,
Of course it is possible to implement it.

When setting the reference position, it was explained that the power shovel's cutting edge position should be set to a predetermined position and the reference position setting switch should be pressed, but the reference position setting switch could be used as a digital switch in which digital values can be entered and the slope would pass through. It may be possible to directly input the horizontal and vertical coordinate values based on the boom mounting position O point of the power excavator.In that case, the reference position can be set in the internal circuit of the reference position setting switch. It is necessary to add a calculation function to shift the coordinates to the 0 point of the boom attachment position. It is also possible to record not the angle but the rate of change of the horizontal distance to the vertical distance, that is, the tangent value of the slope angle, as a percentage in the standard or slope slope angle setting device. In that case, the above-mentioned inclination angle change rate calculation circuit 46 becomes unnecessary. In addition, a table is created that specifies the target inclination angle using the geometric calculation circuit from the reference position setting switch and the slope angle setting device, and is compared with the outputs of the two cutting edge position calculation circuits, that is, the current value of the bucket cutting edge. However, by creating a table in advance on the diagram that specifies the appropriate work trajectory and recording it in the slope slope angle setting device, it is possible to automatically complete any work surface with high precision. By creating a work trajectory on a table, the trajectory does not necessarily have to be a straight line, but can also be finished in any curved line. [Effects of the Invention] As explained above, according to the present invention, the position of the blade edge of the bucket is controlled based on the deviation that takes into account not only the current value and target value of the position of the bucket blade edge, but also the predicted amount of change in the arm. This improves control responsiveness. Additionally, the boom rotates according to the optimal command corresponding to the rotation angle of the boom and arm. As a result, it becomes possible to accurately and stably match the position of the blade edge of the bucket to the desired target value, resulting in improved work speed and the ability to perform work accurately and stably.

[Brief explanation of drawings]

No. llI2l is a control block diagram showing an embodiment of the slope work control device for construction machinery according to the present invention. Figure 2 (a>,
(b) and (C) are graphs used to explain the calculation processes performed in the boom cylinder estimated speed calculation circuit, arm link correction circuit, and boom link correction circuit shown in No. 11A. FIG. 3 is a block U conceptually showing the overall configuration of the embodiment.
5! I. FIG. 4 is a side view showing the ellipse of the working machine of the hydraulic power excavator in this embodiment. FIG. 5 is a graph showing the geometric relationship of the working machine shown in FIG. 4. PS......Hydraulic power excavator, 1...
......Boom 2 ......Arm, 3 4 5 6 7 8 9 1 0 11 1 2 l3 1 4 l 5 l 6 2 0 21 2 2 23 2 4 2 5 ・...Bucket, ...Boom cylinder, ...Arm cylinder, ...Bucket cylinder, ...・・−
...Boom angle detector, ...Arm angle detector, ...Bucket angle detector, ...
・・・・・・Lever made by arm ・・・・・・Bucket operation lever ・・・・・・
...Arm operation lever angle detector, ...Arm operation valve, ...Bucket operation valve, ...Manual automatic switching valve...・・・・・・Boom control valve (electromagnetic ratio fIA control valve), ・・・・・・・・・Controller, ・・・・・・・・・Manpower interface・・・・・・・・・CP U......Driver......Arm cutting edge total length calculation circuit,...-
...Arm cutting edge angle calculation circuit, 2 6 2 7 2 8 2 9 3 0 31 3 2 33 3 4 4 0 41 4 2 43 4 5, 4 6 4 8 ......Arm Estimated cylinder speed calculation circuit,
・・・・・・Arm link correction circuit, ・・・・・・
...Boom speed calculation circuit, ......Blade edge position calculation circuit, ...Comparison and subtraction circuit, ...Coordinate conversion circuit, ...・・・・・・Proportional gain multiplier circuit, ・・・・・・
...addition circuit, ...boom link correction circuit, ...
...Operation panel...Reference position setting switch...
...Slope inclination angle setting device, ...Automatic mode switch, 47...Memory circuit,

Claims (2)

[Claims] (1) a boom rotatably controlled by a first actuator rotatably attached to one point on the vehicle body; an arm rotatably attached to the tip of the boom and rotatably controlled by a second actuator; A construction machine having a bucket attached to the tip of the arm and whose rotation is controlled by a third actuator, the boom;
rotation angle detection means for detecting the respective rotation angles of the arm and the bucket; operation amount detection means for detecting the operation amount of the arm operating lever for operating the arm; and the second an arm control means for controlling an actuator of the bucket, and an arm control means for controlling an actuator of the bucket, and a control means for determining the horizontal versus vertical direction of the bucket cutting edge position movement based on the output of the rotation angle detection means and the operation amount of the arm operation lever detected by the operation amount detection means. a first drive command value creation means for creating a drive command value for the first actuator that makes the rate of change a constant value; a first setting means for setting a work reference point indicating a driving direction of the bucket cutting edge; a second setting means for setting a rate of change in the horizontal to vertical direction of the blade edge position movement direction, and calculating and outputting a path through which the bucket blade edge should pass from the first setting means and the second setting means. working slope setting value creation means; current value calculation means for calculating the current value of the blade edge position of the bucket based on the output of the rotation angle detection means; and current value calculation means for calculating the current value of the bucket blade edge position based on the output of the rotation angle detection means. storage means for storing the output value of the current value calculation means for calculating the current value of the blade edge position of the bucket; and the output value of the current value calculation means for calculating the current value of the blade edge position of the bucket and the bucket stored by the storage means. a working slope calculating means for calculating the difference between the position of the cutting edge, that is, a horizontal movement distance and a vertical movement distance of the bucket cutting edge, and a set target value of the working slope command value creation means and the working slope calculation of the bucket cutting edge. the first means for reducing the deviation between the set target value and the calculated output value to zero based on the output value of the means;
a second drive command value creating means for creating a drive command value for the actuator; and driving the first actuator according to the sum of the drive command values created by the first and second drive command value creating means, respectively. 1. A slope work control device for construction machinery, comprising: means for controlling. (2) A boom that is rotatably attached to one point on the vehicle body and rotated by a boom cylinder, an arm that is rotatably attached to the tip of this boom and rotated by an arm cylinder, and an arm that is attached to the tip of this arm. In a construction machine having a bucket rotated by a bucket cylinder, a rotation angle detection means detects each rotation angle of the boom, the arm, and the bucket, and detects the amount of operation of an arm operation lever that operates the arm. operation amount detection means; arm control means for rotating the arm by operating the arm cylinder at a speed corresponding to the operation amount of the arm operation lever; an arm control means that operates a cylinder to rotate the arm; and an arm that calculates the speed of the arm cylinder corresponding to the operation amount based on the operation amount of the arm operating lever detected by the operation amount detection means. A cylinder speed calculation means corresponds to the rotation angle of the arm and the speed of the arm cylinder based on the rotation angle of the arm detected by the rotation angle detection means and the speed of the arm cylinder calculated by the arm cylinder speed calculation means. arm rotational angular velocity calculation means for calculating the rotational angular velocity of the arm; and a rotational angular velocity of the arm based on the output value of the rotational angle detection means and the rotational angular velocity of the arm calculated by the arm rotational angular velocity calculation means. a first boom rotational angular velocity calculation means for calculating a rotational angular velocity of the boom to make a rate of change in the horizontal direction to vertical direction of the bucket cutting edge locus corresponding to constant; a first setting means for setting, a second setting means for setting a rate of change of the bucket cutting edge position movement direction in the horizontal direction versus the vertical direction; a working slope setting value creation means that calculates and outputs the path that the bucket cutting edge should pass; and an output value of a current value calculation means that calculates the current value of the bucket cutting edge position based on the output value of the rotation angle detection means. the difference between the output value of the current value calculating means for calculating the current value of the blade edge position of the bucket and the blade edge position of the bucket stored by the storage means, that is, the horizontal movement distance of the bucket blade edge; A work slope calculation means for calculating the vertical movement distance, and a set target value and the calculation output value based on the set target value of the work slope command value creation means and the output value of the work slope calculation means. a second boom rotational angular velocity calculation means for calculating a rotational angular velocity of the boom to zero the deviation of the rotational angle of the boom detected by the rotational angle detection means and the first and second boom rotational angular velocities; boom cylinder speed calculating means for calculating the sum of the rotational angular velocities of the booms and the speed of the boom cylinder corresponding to the rotational angle of the boom, based on the rotational angular velocities of the boom each calculated by the calculating means; and the boom cylinder speed. 1. A slope work control device for construction machinery, comprising: means for rotating the boom by operating the boom cylinder according to a speed of the boom cylinder calculated by a calculation means.