JPH07158104A - Excavation controller of hydraulic shovel - Google Patents

Abstract

PURPOSE:To set accurately and easily an excavation locus of a working device even if the body is inclined in an excavation controller of a hydraulic shovel. CONSTITUTION:First of all, a front end position of a working device 1 is moved to P1 of two reference points, and a +/- increasing or decreasing button 7b of a setting 7 is operated at that position to input depth to a corresponding setting P1* from the reference points. A control unit 9 calculates the position of the reference point based on detected data of angle detectors 8a-8c at that time, and a corresponding position of the reference point is calculated from the position of the reference point and inputted depth. After that, the front end position of the working device is moved to the other reference point P2, depth to a corresponding setting P2* is inputted from the reference point, and in the same way, a position of the other setting is calculated. A straight line formula connecting two settings is calculated from positions of obtained two settings, then the excavation locus is set.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic excavator excavation control device, and more particularly to a hydraulic excavator excavation control device that controls the excavation operation of a work device in accordance with the setting of an excavation trajectory.

[0002]

2. Description of the Related Art A hydraulic excavator, which is a typical example of a construction machine, is equipped with a working device including a boom, an arm, and a bucket that rotate in the vertical direction. In such a hydraulic excavator, each arm part such as a boom is operated by each manual operation lever. However, since each arm part is connected by a joint part to perform a rotary motion, a plurality of arm parts are operated. It is a very difficult work to operate the, for example, to move the tip of the bucket along a predetermined trajectory to excavate a predetermined area. Here, examples of the work include straight line excavation on the slope, excavation depth limitation for burying pipes, excavation limitation on the wall, and angle of repose at the foot of the shovel body for safety.

In order to facilitate such work, various types of excavation control devices have been conventionally proposed. For example, in the "linear excavation control device for working machine" described in JP-A-55-119837, the excavation locus of the working device is set by setting the inclination of the excavation trajectory as a gradient angle in advance with a potentiometer. Straight excavation is performed by linearly moving the tip of the working device (working machine) along the inclination angle.

[0004]

However, in the prior art disclosed in Japanese Patent Laid-Open No. 55-119837, the gradient angle of the excavation locus set by the potentiometer, that is, the excavation locus of the working device is set. The angle of the excavation surface must be recognized in advance, and when the vehicle body is tilted, the angle of the excavation surface does not match the set inclination angle, which causes a problem that accurate excavation cannot be performed.

An object of the present invention is to provide an excavation control device for a hydraulic excavator, which enables accurate and easy setting of the excavation locus of the working device even when the vehicle body is tilted.

[0006]

The present invention adopts the following constitution in order to achieve the above object. That is, a hydraulic means for controlling the excavation operation of the working device according to the setting of the excavation locus, the detecting device detecting the tip position of the working device of the hydraulic excavator, and the setting means for setting the excavation locus of the working device. In the excavator excavation control device, the setting means inputs a depth from two reference points serving as a reference of the target trajectory to two set points on the target trajectory.
A manual operation means, and a first setting calculation means for calculating the positions of the two set points from the detection value of the detection means and the depth obtained when the tip of the working device is moved to the two reference points. , A second setting calculation means for calculating the linear equation connecting these two set points from the positions of the two set points and setting the excavation locus.

In the above excavation control device, preferably,
The first setting calculation means indicates a second manual operation means for instructing which of the two reference points is selected and a position of the set point corresponding to each reference point selected by the second manual operation means. And a computing means for computing.

[0008]

In the present invention constructed as described above, the operator first moves the tip end position of the working device to one of the two reference points and operates the first manual operation means at this position to respond from the reference point. Enter the depth to the set point. On the other hand, when the tip of the working device is moved to one of the reference points, the detection means detects the position of the reference point, and the first setting calculation means detects the position of the corresponding set point from the detected value and the input depth. Is calculated. Next, the operator moves the tip end position of the work device to another reference point, inputs the depth from the reference point to the corresponding set point, and similarly the position of the other set point is calculated. The second setting calculation means calculates a linear equation connecting these two set points from the obtained positions of the two set points to set the excavation locus. As described above, in the present invention, since the excavation locus is set by designating the set point of the target locus by the depth from the actual tip position of the working device as a reference point, the excavation locus of the working device can be easily set. It can be performed. Further, since the excavation locus is set using the actual tip position of the working device as a reference point, it is possible to set the accurate excavation locus even if the vehicle body is tilted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1, a hydraulic excavator to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a, an arm cylinder 3b and a bucket cylinder 3c driven by pressure oil from the hydraulic pump 2, and operating levers 4a and 4a.
b, 4c, the hydraulic pump 2 and each cylinder, which are controlled by the operation signals of the operation levers 4a, 4b, 4c, and control the flow rate of the pressure oil supplied to the cylinders 3a, 3b, 3c, respectively. Control valves 5a, 5b, 5c
And a relief valve 6 that opens when the pressure between the hydraulic pump 2 and the flow control valves 5a, 5b, 5c exceeds a set value.

As shown in FIG. 2, the hydraulic excavator has a boom 1a and an arm 1 which rotate in the vertical direction.
The work device 1 including the b and the bucket 1c is provided, and the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c rotate the boom 1a, the arm 1b, and the bucket 1c around their joints.

The excavation control system of this embodiment is provided in the hydraulic excavator constructed as described above. This excavation control device includes a setting device 7 used for setting an excavation locus of the work device 1.
And angle detectors 8a, 8b and 8c for detecting the joint angles of the boom 1a, the arm 1b and the bucket 1c, operation signals from the operation levers 4a, 4b and 4c, and the angle detector 8
The detection signals from a, 8b, and 8c and the setting signal from the setting device 7 are input to set the excavation locus of the working device, and
The flow rate control valves 5a, 5b and 5c are composed of a control unit 9 which outputs an operation signal.

Whether the setting device 7 controls the excavation operation (O
N), ON / OFF switch 7a for the operator to select whether the excavation locus is set (OFF), and 1/2 switching for instructing the operator which of the two reference points to be the reference of the target locus to be selected. The operator designates the button 7b and the depth from the reference point to the set point of the target trajectory +/-
It has an increase / decrease button 7c.

Concept of setting excavation locus in this embodiment
Is roughly as follows. That is, in FIG.
Set the tip position of the device 1 to the reference point P.₁, P₂Move to that place
Depth h₁, H₂Enter and set point P depending on the depth_{1 *}, P
_{2 *}And set point P_{1 *}, P _{2 *}The straight line formula connecting the two points
Calculate and set the excavation trajectory. In the control unit 7,
The excavation trajectory is set based on this idea and the excavation trajectory is set.
The excavation operation of the work device 1 is controlled in accordance with the set rules. Since
The details will be described below with reference to the flowchart shown in FIG.
Reveal

Referring to FIG. 3, first in step 100,
The ON / OFF switching button 7a of the setting device 7 is used to select whether to control the excavation operation (ON) or to set the excavation trajectory (OFF). Since the excavation locus is initially set, the button on the OFF side is pressed and the procedure proceeds to step 110. In step 110, the 1/2 switching button 7 of the setter 7 determines which of the two points P ₁ and P ₂ to be the reference points to be selected (i = 1, 2).
Select with b. Since the reference point P ₁ is initially selected, the button on the “1” side is pressed and the process proceeds to step 120. In step 120, the reference point P ₁ is actually specified at the tip of the work device 1. Specifically, the operator operates the operation levers 4a, 4
b, 4c are operated to move the tip position of the work device 1, that is, the tip position of the bucket 1c to the reference point P1, and the position of the reference point P1 is determined from the joint angle detected by the angle detectors 8a, 8b, 8c. Obtained as the coordinate value (X ₁ , Y ₁ ) of the system. Next, in step 130, the depth h ₁ from the reference point P ₁ to the set point P _{1 *} is input by the +/− increase / decrease button 7c of the setter 7. Then the calculation of the set point P _{1 *} Y coordinate in Step 140, Y ₁ * = Y ₁ performs -h _1, to set point P _{1 *} settings.

When the setting of the set point P _{1 *} is completed in this way, the procedure returns to the beginning, and this time, the above procedure is repeated for the reference point P ₂ . That is, in step 110, 1 / of the setting device 7
2 Press the button on the "1" side of the switching button 7b to
Tip 20 in the working device 1 is moved to the reference point P _2, and obtains the position of the reference point P ₂ as coordinate value of the XY coordinate system (X _2, Y _2), in step 130, the set point from the reference point P ₂ performed in P _{2 *} until the depth h ₂ enter the setting device 7 of +/- decrease button 7c, the calculation of set point P _{2 *} Y coordinate in Step _{140, Y 2 * = Y 2} -h 2 was carried out , Set point P _{2 *} is set.

As described above, the two set points P _{1 *} and P _{2 *}
When the excavation operation is controlled after setting, the ON side of the switching button 7a of the setting device 7 is selected and the process proceeds from step 100 to step 200. In step 200, a linear equation connecting the _two set points P _{1 *} and P _{2 *} is expressed by Y = (Y ₂ −Y ₁ ) X / (X ₂ −X ₁ ) + (X ₂ Y ₁ −X ₁ Y ₂ ) was calculated by / (X ₂ -X _1), to set the drilling trajectory. Then, step 210
At, the excavation operation is controlled according to the setting of the excavation trajectory, and the process returns to the beginning.

In the above construction, the angle detectors 8a, 8
b, 8c and the function of the control unit 9 for calculating the tip position of the working device 1 from the detected angles constitute a detecting means for detecting the tip position of the working device of the hydraulic excavator, and the setting device 7 and the procedure 100 shown in FIG. ˜200 constitutes setting means for setting the excavation locus of the working apparatus 1.

Further, the +/- increase / decrease button 7c of the setter 7 and the steps 100 and 130 shown in FIG. 3 are two reference points P ₁ and P _{2 which} are the reference of the target locus to two set points P on the target locus.
The first manual operation means for inputting the depths up to _{1 *} , P _{2 *} is constituted, and the 1/2 switching button 7b of the setting device 7 and the steps 100, 110, 120, 140 shown in FIG. Two set points P _{1 *} , based on the detection value of the detection means and the depth obtained when the tip is moved to the _two reference points P ₁ and P ₂ .
The first setting calculation means for calculating the position of P _{2 *} is configured, and is shown in FIG.
The procedure 200 shown in ₁₎ constitutes the second setting calculation means for setting the excavation locus by calculating the linear equation connecting the two set points P _{1 *} and P _{2 * from} the positions.

Further, the 1/2 switching button 7b of the setting device 7
Constitutes a second manual operation means for instructing which of the two reference points P ₁ and P ₂ is to be selected, and the procedure 100 shown in FIG.
The reference numerals 110, 120, 140 constitute a calculation means for calculating the position of the set point corresponding to each reference point selected by the second manual operation means.

Next, details of the control of the excavation operation performed in step 210 will be described with reference to FIGS. In this example,
As a control of the excavation operation performed using the excavation locus, Japanese Patent Application No.
As in the prior application of Japanese Patent No. 348534, the boundary surface of the excavation operation range is determined on the excavation locus, and the area limited excavation control for limiting the excavation operation range is performed.

FIG. 4 is a flow chart showing the area limiting excavation control. In step 211, each operation lever 4 is operated.
The operation signals a, 4b, and 4c are input, and then in step 212, the joint angles detected by the angle detectors 8a, 8b, and 8c are input. Next, in step 213, the position and orientation of the work apparatus 1 are calculated based on each joint angle. Next, in step 214, it is determined whether or not the tip position of the work device 1 is within the excavation operation range defined by the excavation trajectory set as described above. This is shown in FIG. In the figure, C is the excavation trajectory set, that is, the boundary surface of the excavation operation range. If the tip end position of the work device 1 is not within the restricted area, the procedure proceeds to step 215, the operation signal is corrected to return to the restricted area, and if it is within the restricted area, the procedure 216 is performed.
Proceed to. Next, in step 216, an operation signal is output,
Return to the beginning.

A method of correcting the operation signal in step 215 will be described with reference to FIGS.

An operation vector A is generated in the working device 1 by the operation signal given by each of the operating levers 4a, 4b, 4c, and when the tip end position of the working device 1 is within the restricted region, the flow rate control valve 5a is kept as it is. , 5b, 5c to be the traveling direction of the working apparatus 1, but when it is outside the restricted area, the operation signal is corrected and output so that the tip position of the working apparatus returns to the inside of the restricted area. The correction method is as follows. First, the operation signal is corrected so as to cancel the component A _V perpendicular to the restricted area boundary surface C with respect to the operation vector A of the tip of the work device 1 given by the operation signal, and only the parallel component A _H is obtained. Extract. By this modification, the tip of the work device 1 is prevented from moving further out of the restricted area. Then, next, a velocity vector proportional to the distance between the tip of the work apparatus 1 and the limit area boundary surface C, that is, the deviation D is obtained, and this is taken as a component A _R that returns to the inside of the limit area perpendicular to the limit area boundary surface C. Figure 6
Shows the relationship between the deviation D and the returning component A _R. Next, the return component A _R and the parallel component vector A _H obtained above are combined to obtain a correction vector A _M , and the flow rate control valves 5a, 5b,
5c and outputs as a corrected operation signal.

FIG. 7 shows an example of a trajectory that returns from outside the restricted area to inside the restricted area. When the operation vector A given by the operation signal is constant diagonally downward, its parallel component A
_H becomes constant, and the returning component A _R is proportional to the deviation D, and therefore becomes smaller as it approaches the limit region. Therefore,
Since the correction vector A _M is a combination thereof, the locus becomes a curved line that becomes parallel as it approaches the restricted area teaching surface C as shown in FIG. 7.

As is apparent from the above, according to the present embodiment, the excavation locus can be set by designating the set point of the target locus by the depth from the actual tip position of the working device as a reference point, so that the work can be performed easily. The excavation locus of the device can be set. Further, since the excavation locus is set using the actual tip position of the working device as a reference point, it is possible to set the accurate excavation locus even if the vehicle body is tilted.

In the above embodiment, the area limiting excavation control using the excavation trajectory as the boundary surface of the excavation operation range has been described as an example of the control of the excavation trajectory using the excavation trajectory. Other excavation control such as trajectory control used as a movement trajectory may be performed.

Further, the angle detectors 8a to 8c for detecting the angles of the joints of the working device are used as the detecting means for detecting the position and the posture of the working device 1, but the hydraulic cylinders 3a, 3 are used.
A displacement detector that detects the strokes b and 3c may be used, and the position and orientation of the work device 1 can be similarly detected and the same effect can be obtained.

[0028]

According to the present invention, since the excavation locus can be set by designating the set point of the target locus by the depth from the actual tip position of the working device as a reference point, the excavation of the working device can be easily performed. The trajectory can be set. Further, since the excavation locus is set using the actual tip position of the working device as a reference point, it is possible to set the accurate excavation locus even if the vehicle body is tilted.

[Brief description of drawings]

FIG. 1 is a diagram showing an excavation control device for a hydraulic excavator according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a concept of setting an excavation trajectory according to the present invention.

FIG. 3 is a flowchart showing a procedure for setting an excavation locus.

FIG. 4 is a flowchart showing a control procedure of excavation operation.

FIG. 5 is a diagram showing a method of correcting an operation signal according to a position and a posture of a work device.

FIG. 6 is a diagram showing a relationship between a distance deviation between a work device and a boundary surface of a restricted area and a returning component.

FIG. 7 is a diagram showing an example of a trajectory that returns from outside the restricted area to inside the restricted area.

[Explanation of symbols]

1 Working device 1a Boom 1b Arm 1c Bucket 2 Hydraulic pump 3a, 3b, 3c Hydraulic cylinder 4a, 4b, 4c Operating lever 5a, 5b, 5c Flow control valve 6 Relief valve 7 Setting device (setting means) 7a ON / OFF switching button 7b 1/2 switching button (first setting calculation means; second manual operation means) 7c +/- increase / decrease button (first manual operation means) 8a, 8b, 8c Angle detector (detection means) 9 Control unit (detection means) : Setting means) Procedures 100 to 200 Setting means Procedures 100, 110, 120, 140 First setting calculation means; Calculation means Procedure 200 Second setting calculation means Procedure 130 First manual operation means

Claims (2)

[Claims] 1. A detection means for detecting a tip position of a working device of a hydraulic excavator, and a setting means for setting an excavation locus of the working device, the excavation operation of the working device according to the setting of the excavation trajectory. In the excavation control device for a hydraulic excavator to be controlled, the setting means includes first manual operation means for inputting a depth from two reference points serving as a reference of a target trajectory to two set points on the target trajectory, First setting calculation means for calculating the positions of the two set points from the detection value of the detection means and the depth obtained when the tip of the work device is moved to the two reference points; and the two set points. An excavation control device for a hydraulic excavator, comprising: a second setting calculation means that calculates a linear equation connecting these two set points from the position of 1 to set the excavation locus. 2. The excavation control device for a hydraulic excavator according to claim 1, wherein the first setting calculation means is a second manual operation means for instructing which of the two reference points is to be selected, and the second manual operation means. An excavation control device for a hydraulic excavator, comprising: a calculation unit that calculates a position of a set point corresponding to each reference point selected by a manual operation unit.