JPH0414531A - Controller for operating machine - Google Patents

Abstract

PURPOSE:To make the correcting operation of lever operation easier by a method in which an attitude sensor is provided to each operating machine for excavator, and an operating amount arithmetic unit to send out detected values by the attitude sensor to an actuator controller and a position corrector are provided. CONSTITUTION:A controller consists of the attitude sensors 7a, 7b and 7c of each operating machine, a position commander 8, an actuator operating amount arithmetic unit 10, and a position operating lever 11. The attitude angles of boom 1, arm 2, and bucket 3 are detected by the sensors 7a, 7b, and 7c and the detected values and a target position command value of the operating machine are put in an actuator operating amount arithmetic unit 9. Data from the unit 9 are put in the commander 8 and a command for excavation is sent out to the actuator controller to excavate sloped ground. Operations can thus be easily matched the operating feeling of driver.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control device for a working machine such as a power shovel, and particularly for correcting a target trajectory of a working machine when controlling each working machine to perform straight excavation. The present invention relates to a control device for a working machine that can effectively correct the above.

[Conventional technology]

As shown in Japanese Patent Application Laid-Open No. 60-33940, a conventional technique regarding trajectory correction during automatic excavation by a working machine such as a hydraulic excavator is to take in a speed command in the direction perpendicular to the excavation surface from a correction lever, and thereby, There was one that corrected the target trajectory by correcting the commanded speed of the tip of the bucket, which is a working machine.

[Problem to be solved by the invention]

In the above conventional technology, when the tip of the bucket is once shifted from the target trajectory for the purpose of overload prevention, etc., it is difficult to accurately return to the original target trajectory because velocity is applied to the bucket in the vertical direction. Met.

The present invention has been developed in consideration of the above-mentioned problems, and during automatic excavation using the tip of a working machine, it sequentially provides a position according to a signal from a lever instead of a speed command in a direction perpendicular to the target trajectory. The trajectory shifts vertically by a distance corresponding to the lever operation amount, and by returning the lever, the command value is returned to the original target trajectory, and the lever operation amount and the amount of trajectory deviation are directly proportional. The object of the present invention is to provide a control device for a work machine that can perform a correction operation that suits the operator's sense of operation, and that also prevents vibration from occurring at the tip of the work machine during correction. .

[Means to solve the problem]

In order to achieve the above object, a control device for a work machine according to the present invention includes a boom rotatably attached to a vehicle body, an arm rotatably attached to the tip of the boom, and a control device rotatably attached to the tip of the arm. A working machine having a tip working machine such as a bucket attached to the machine, and each of the above-mentioned members is rotatably driven by an actuator such as a cylinder, an actuator control means for controlling each of the actuators, the boom,
a work machine attitude detection means for detecting the respective attitude angles of the arm and the tip work machine; a work machine target position command means for giving a target excavation position of the excavation surface to be excavated by the tip work machine; An operation for moving the excavation position given by the work machine target position command means at a determined specific speed in response to a detected value from the machine attitude detection means and a command value from the work machine target position command means. actuator operation amount calculation means for calculating the amount and outputting the value to each of the actuator control means; and vertical position correction means for correcting.

[For production]

The attitude angles of the boom, arm, and tip work are detected by the work equipment attitude detection means, and when this detected value and the command value from the work equipment target position command means are input to the actuator operation amount calculation means, this The actuator operation amount calculation means sends a command to the actuator control means for the tip work machine to move (excavate) the excavation position given by the work machine target position command means at a specific speed determined by the calculation means. The tip working machine excavates the slope along the given position at a determined speed.

At this time, the tip position of the work implement is shifted in a direction perpendicular to the excavation surface according to the input signal from the vertical position correction means, and the excavation locus is corrected in the direction perpendicular to the excavation surface.

〔Example〕

Embodiments of the present invention will be described based on the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. The configuration of the power shovel shown in FIG. 1 is a normal one, with a boom 1. Arm 2゜bucket 3, boom cylinder 4 that drives it, arm cylinder 5. It is equipped with a bucket cylinder 6. And the above boom 1, arm 2
゜Each rotating base of the bucket 3 is equipped with attitude detection means 7a, 7b, and 7(7) for detecting the respective attitude.

Incidentally, for the following explanation, one angular position of each member of the working machine having the above structure is defined as shown in FIG. 2.

That is, the rotation angle of the boom 1 is α, the rotation angle of the arm 2 is β, the rotation angle of the bucket 3 is γ, the inclination angle of the bucket 3 with respect to the horizontal plane (reference plane) is δ, and the length of the boom 1 is II1.
s The length of arm 2 is 92, and the length of bucket 3 is I s
The front-back position of the tip of the s-bucket 3 is x1, the vertical position is y1, and the excavation gradient is φ.

Here, from Figure 2, δ-α+β+γ-□... (1)
From the relationship, the above starting point inclination angle δ. can be found.

Also, the relationship between each rotational angle a, β, γ and the tip position x, y is expressed as follows, so in equation (2) and equation (1) above, the detected angle α of boom 1, arm 2, and bucket 3 is ,,β,
, γ, and the tip angle δ are X
a, )'a, δ, can be determined.

Also, the position of the cutting edge obtained from the detected angle of each axis immediately before the start of excavation is Xo,)'. Then, the target trajectory is (x7.y). However, the gradient command value is φ, -2, and the speed is V.

In the above explanation, the x+V coordinate axis is taken as the vehicle body fixed coordinate x-y, but in this case, the position command (X y (1++
Y yz+) and its current position (x, y) are converted to the X' axis on the coordinate x'-y' with the boom rotation center as the origin and the X axis parallel to the excavation surface. The 'direction position command value becomes a constant, and there is less delay in control in the y' direction than in the X' direction.

Coordinate transformation from x-y coordinates to xLy' coordinates is given by the following equation.

The present invention utilizes the above relationship, and in the configuration shown in FIG.
Position command X' y (
1++ y/y (+1, work machine attitude detection means 7a
, 7b, 7c, the detected boom angle value α, , detected arm angle value β1. The detected bucket angle values γ are respectively input to the actuator operation amount calculation means 10.

Further, a position correction lever 11 is provided to correct the position of the bucket 3 in the y' direction, that is, in a direction perpendicular to the excavation surface. It is added to the position command y', (I) in the y' direction of the work machine target position command means 8. At this time, the position correction signal d+1+) is multiplied by an appropriate gain Kd.

In the above configuration, in the case where the correction lever 11 is not actuated, the actuator operation amount calculation means lO calculates the position command X'yLl)+Y'? The target position of the cutting edge of the bucket 3 is calculated by lIl, and the boom 1. is used to move along the given target position. Arm 2
．． Flow rate command value ■α of fluid supplied to each actuator in bucket 3.

V, , V, is calculated, and based on this, the flow rate control valve 12g
, 12b, 12c to drive each cylinder 4, 5.6.

At this time, each work machine attitude detection means 7a.

Boom angle detection value α, arm angle detection value β from 7b and 7c
, , the detected bucket angle value γ are input to the actuator operation amount calculation means 10, and the actual inclination angle of the bucket 3 and the actual position of the tip of the bucket are fed back.

In the above control operation, when the correction lever 11 is rotated,
The amount of operation is detected by a rotation angle sensor such as a potentiometer provided on the rotating part of the correction lever 11, and a signal d of this is detected.
rll) is output, and this is multiplied by an appropriate gain to obtain a position command y', (perpendicular to the target trajectory) in the y direction (direction perpendicular to the target trajectory).
I, and this is input to the actuator operation amount calculation means 10 as a new position command in the y direction, and the tip position of the bucket 3 is moved perpendicular to the target slope by a distance corresponding to the operation amount of the correction lever 11. The trajectory is corrected.

〔Effect of the invention〕

According to the present invention, the operator rotates the correction lever to correct the position of the bucket cutting edge in order to prevent overload during automatic excavation or to correct the deviation of the bucket cutting edge position from the target trajectory. Since this is a position command, the amount of lever operation and the amount of deviation in the trajectory are directly proportional to each other, so it is easy to match the operating feeling of the operator, and when the correction lever 11 is returned to its original position, the trajectory command value is returned to the original target trajectory.

Also, if you need to make instantaneous fine adjustments to the trajectory, as mentioned above, the amount of lever operation is proportional to the amount of deviation in the trajectory, so
At this time, no vibration occurs at the tip of the working machine.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is an explanatory diagram of the posture of each member of the working machine. 1 is a boom, 2 is an arm, 3 is a bucket, 4°5.6 is a cylinder, 7a, 7b, 7c are attitude detection means, 8 is a work machine target position command means, 9 is a tip inclination angle input means, 10 is an actuator Operation amount calculation means, 11 is a position correction lever Applicant: Komatsu Manufacturing Co., Ltd. Agent, Patent attorney: Masaaki Yonehara

Claims (1)

[Claims] It has a boom rotatably attached to the vehicle body, an arm rotatably attached to the tip of the boom, and an end working device such as a bucket rotatably attached to the tip of the arm, and each of the above In a working machine in which a member is rotationally driven by an actuator such as a cylinder, an actuator control means for controlling each of the actuators, the boom,
a work machine attitude detection means for detecting the respective attitude angles of the arm and the tip work machine; a work machine target command means for giving a target excavation position of an excavation surface to be excavated by the tip work machine; An operation amount for moving the excavation position given by the work machine target position command means at a determined specific speed in response to the detected value from the attitude detection means and the command value from the work machine target position command means. and an actuator operation amount calculation means for calculating the value and outputting the value to each of the actuator control means, and further includes a position command signal in a direction perpendicular to the excavation surface among the command signals from the work equipment target position command means. 1. A control device for a work machine, comprising a vertical position correction means for correcting the position.