JPH0819697B2 - Excavator load monitoring device for power shovel - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work implement monitor device in a power shovel capable of freely controlling the posture of a work implement such as a boom and an arm, and especially for an unskilled operator. The present invention relates to an excavation load monitor device for a power shovel, which can easily and surely check the work progress of the above.

[Prior Art] As is well known, generally, a power shovel is equipped with a work machine including a boom, an arm, and a bucket that rotate in the vertical direction, and an operator rotates each shaft by a work lever to perform a required work. Is going.

The operator was relying on intuition to monitor the blind spots, or the work machine trajectory was monitored by the TV camera.

[Problems to be Solved by the Invention] In order for an operator to rotate each shaft by a work lever to perform a required work, it is necessary to control the rotational movement of each shaft to perform excavation work with a work machine tip, for example, a bucket. However, such work cannot be freely performed by an unskilled operator, and especially when the excavation position is deep and the operator is in a blind spot, or when the excavation site is underwater when excavation work is performed. If you cannot see it, you have to rely on your intuition and it is a very difficult task.

It is possible to see the excavation motion of oneself by using the TV camera, but there is a problem because the lighting and the installation position of the camera are limited and there is a difference between the self position and the visible image. It was not always an effective means because very complicated data processing was required to convert the information of 1 to be the same as the information from the position viewed by the operator.

Therefore, it is an object of the present invention to provide an excavation load monitor device for a power shovel, which can always confirm the correct tip position of a working machine.

[Means for Solving the Problems] In the first invention of the excavation load monitoring apparatus for a power shovel according to the present invention, a work machine including at least a plurality of arms and respective joints connecting the arms is provided. In an excavation load monitoring device for a power shovel that monitors work during excavation of a power shovel, a detection unit that detects a rotation angle of each of the arms, and the working machine based on each rotation angle detected by the detection unit Calculates the tip position of the work machine, records the obtained work locus of the tip position of the work machine as a pattern on a plane including the work machine, displays the work path on the image display device, and fake the work plane of the work machine. A memory having a storage area that is divided into planar lattice-shaped corner division elements, each storage element is associated with each division element, and includes a passage area of a work locus of the work machine. The apparatus is characterized in that the work locus of the tip end position of the working machine is stored. Further, in the second invention mainly based on the first invention, the work locus of the tip position of the work machine stores a work locus newly generated in association with the work motion of the work machine, and the pattern data of the previous work locus is stored. to erase. Further, in the third invention mainly based on the first or second invention, the work locus at the tip end position of the working machine is more than the plane division pattern than the passage area of the work locus newly generated due to the working motion of the working machine. Delete the pattern data of the previous work locus at the top on the same vertical line in.

[Operation] According to the present invention, the tip position of the working machine is obtained based on the rotation angle of each arm detected by the power shovel, and the obtained locus of the tip position of the working machine is the previous work trajectory. Since it does not overlap and is displayed as a change locus with respect to the previous work locus, the operator can confirm the locus of the work machine tip, that is, the topography of the excavation result in the excavation work, and especially for unskilled operators Not only can you see the resulting terrain, but you can also grasp the work machine trajectory as a result of your own operation,
It is possible to obtain the excellent effect that the work efficiency is improved and the interference with the blind spot dangerous place can be prevented.

[Embodiment] An embodiment of an excavation load monitor device for a power shovel according to the present invention will be described in detail below with reference to the drawings.

1 to 4 show an embodiment of a work implement interference prevention device according to the present invention.

FIG. 1 shows a side surface of a power shovel, and this power shovel includes a boom 2, an arm 3 and a bucket 4 that rotate in a vertical direction with respect to a vehicle body 1 as a working machine. The boom 2 has a center of rotation γ forward from the origin of the vehicle body, and a vertical center h away from it, forms an angle α _{1 with the} vertical axis of the vehicle body, and is connected to the arm 3 at a length l _1. There is. Arm 3 is coupled with the bucket 4 at a length of l ₂ have no boom 2 and alpha ₂ consisting angle.

Bucket 4 the length of the though an angle made arms 3 and alpha ₃ to bucket tip from the center of rotation is in the length of l _3. Therefore, the position of the bucket tip with respect to the vehicle body origin can be easily calculated by the trigonometric function from the above-described lengths of the working machine elements and the mutual angles. By calculating the bucket tip position, it can be grasped as the movement trajectory of the bucket tip position. Further, since the power shovel body makes an angle of α _{4 with} respect to the horizon, by including this angle with respect to the horizon in the calculation formula, the bucket tip position with respect to the horizon, that is, the distance x, y in FIG. 1, is grasped. You can also do it.

The rotation angle of each work machine shaft described above can be measured by connecting a potentiometer to each rotation shaft,
The length of each work machine axis can be set from the design reference value.

The angle of the power shovel body with respect to the horizon is measured by an inclinometer that is a combination of a pendulum and a potentiometer and is used for calculation.

That is, in FIG. 2, as shown in FIG. 1, 1 is the body of the power shovel, 2 is a boom, 3 is an arm,
4 is a bucket, 21 is a potentiometer for detecting the rotation angle between the body and the arm, 22 is a potentiometer for detecting the rotation angle between the boom and the arm, and 23 is a potentiometer for detecting the rotation angle between the boom and the arm. Reference numeral 24 is a potentiometer for detecting a rotation angle between them, and reference numeral 24 is an inclinometer for measuring the inclination of the vehicle body.

Information about the posture of the vehicle body and the relative position of each work machine is input to the microcomputer 20. The microcomputer has data on the above-mentioned power shovel mechanism, that is, various constants and coefficients required for calculating the boom length, arm length, bucket length, etc., and the arithmetic expressions and triangles required for the calculation. A table or the like necessary for calculating the function is stored, the above-mentioned calculation is performed to record the movement trajectory of the bucket tip position, and the trajectory information is a video display device such as a CRT as a monitor provided in the driver's seat or a liquid crystal display. Is displayed in.

By using the result of the calculation and storing the calculation formula in the microcomputer on the monitor, it is possible to calculate and display the trajectory based on any desired posture.

That is, for example, in order to store and display the work trajectory based on the horizon rather than the vehicle body reference, the power shovel is used to correct the boom center position and the bucket tip position with respect to the vehicle body in absolute coordinates with respect to the horizon. By rotating the coordinate axis by the vertical angle α ₄ of the power shovel with respect to the horizontal line measured by the inclinometer with reference to the origin of, the position on the coordinate axis with respect to the horizontal line can be grasped, and further, for example, the boom rotates. When the value of α ₁ changes with the potentiometer, the boom 2
It can be grasped as the movement of the bucket tip position from the distance between the turning center and the tip of the bucket 4 and the attitude of the vehicle body.

The distance between the center of rotation of the boom 2 and the tip of the bucket 4 is the length l _{1 of the} boom determined by design, and the angle α between the boom 2 and the arm 3 measured with a potentiometer.
₂ , the length l ₂ of the arm 3 determined by the design, the angle α between the arm 3 and the bucket 4 measured by the potentiometer
₃ and the bucket length l ₃ defined by the design.

As shown in FIG. 3, the above-described calculation result is recorded as the obtained work trajectory of the tip position of the bucket as a pattern on a plane including the bucket. That is, in FIG. 3, the lattice stripes shown at 10 for the power shovel 1 are fictitious stripes drawn at regular intervals in the vertical and horizontal directions with respect to the main body of the power shovel, and display is necessary for the work. The line interval is defined in accordance with the display resolution while including the range that covers the bucket tip locus, and the above calculation result is calculated in correspondence with the mesh of this checkered pattern.

Therefore, by giving an address to each mesh of the checkered pattern, the trajectory of the bucket tip can correspond to the address assigned to each mesh of the checkered pattern.

In the storage device of the microcomputer as the processing device for the above-mentioned calculation in the present excavation load monitoring device, the storage element is secured corresponding to the addresses named in each mesh of the above-mentioned checkered pattern. Although each storage element is set to zero in the state of resetting, when the bucket tip position of the power shovel passes through the position corresponding to the specific storage element of the above-mentioned calculation, the corresponding storage element is inverted to Can be stored as the locus of.

The monitor by the image display device provided in the driver's seat, that is, the display screen of the monitor 25 in FIG. 2 is divided corresponding to the mesh of the above-mentioned lattice stripes, and the lattice stripes are one-to-one with the imaginary lattice stripes provided on the work locus. The trailing edge of the bucket can be displayed on the video display device by making the above correspondence.

Next, as an example of the operation of the present excavation load monitoring device,
The operation of the microcomputer 20 when the previous locus is displayed as it is when it is above the previous bucket tip locus and a new locus is displayed when it passes below will be described in detail with reference to the flowchart of FIG.

The microcomputer first takes in the angle information of each of the above-mentioned rotation axes, that is, the measured values of α ₁ , α ₂ , α ₃ , and α ₄ , and then performs geometrical calculation by various constants and calculation formulas stored in advance. And the bucket tip positions x and y are calculated.

A storage address is obtained in the memory space of the storage device corresponding to the above calculation results x and y.

Next, is there a memory in the same column as the address and in a row after the address, that is, in the position of the work machine, which is already inverted at the corresponding memory address below the new data in the work machine space? That is, it is determined whether a new bucket tip locus is lower than the previous bucket tip locus.

In the above judgment, as shown in FIG. 5, if there is a memory which has already been inverted at the memory address corresponding to the row same as the address as the newly fetched data and the row after the address, at the beginning of the flow. Return, if there is no inverted memory, invert all memory corresponding to the same column as the address of the newly fetched data and the row before that address, that is, erase the data and respond to the new address The memory is inverted, that is, stored as the passing position of the bucket tip position and the position on the display device corresponding to the address is illuminated.

In the above-mentioned storage in the storage device, new data is additionally stored and the display color is changed to the display color corresponding to the repetitive locus, or the display dot is not a simple point but one point is sharp. It is possible to display how the work result has changed by repeating the work by making dots like this, and it is possible to display the newly entered position on the vertical axis in the checkered mesh below the previously stored position. Only the position is stored and displayed, or a rewriting command is issued by a switch operation each time repetitive work is performed, or a rewriting operation is automatically performed as a result of a specific operation so that the dump track is not displayed and excavation work is performed. It is possible to display the latest trajectory of the bucket tip at that time.

If there is a danger of interference with the body of the power shovel or the target work area, causing a danger, the danger area is stored in advance and an alarm is displayed when the calculation result approaches the danger area. The operator can confirm the cause of the alarm from the display device and execute a safe operation.

As described above, according to the present invention, the tip position of the working machine is obtained based on the rotation angle of each arm detected in the power shovel, and the obtained tip position of the working machine is calculated. The locus does not overlap with the previous work locus and is displayed as a change locus with respect to the previous work locus, so that the operator can confirm the locus of the work machine tip, that is, the topography of the excavation result in the excavation work, in particular, An unskilled operator not only can see the topography of the excavation result, but also can grasp the work machine trajectory as a result of his / her own operation, improving the work efficiency and interfering with a dangerous place that is a blind spot. It is possible to obtain an excellent effect that the above can be prevented.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a power shovel according to an embodiment of the present invention. FIG. 2 is an operation explanatory view of the power shovel of the embodiment shown in FIG. FIG. 3 is a graph showing the dangerous area of the embodiment shown in FIG. FIG. 4 is a schematic flowchart of one embodiment according to the present invention. FIGS. 5A and 5B are views for explaining an example of the determination according to the present invention. 1 ... Power shovel body 2 ... Boom 3 ... Arm 4 ... Bucket 5 ... Ground 10 ... Lattice stripes 20 ... Microcomputer 21 ... Potentiometer 22 ... Potentiometer 23 ... Potentiometer 24 ...... Inclinometer 25 …… Monitor

Claims (3)

[Claims] 1. A digging load monitor device for a power shovel, which monitors work during digging of a power shovel, comprising: a working machine having at least a plurality of arms and joints connecting the respective arms; Detecting means for detecting the rotation angle of each part, and calculating the tip position of the working machine based on each rotation angle detected by the detecting means, and calculating the work locus of the tip position of the working machine obtained by the work. Recorded as a pattern on the plane including the machine and displayed on the image display device, and divide the work plane of the work machine into each grid stripe division element of the imaginary plane, and correspond each storage element to each division element. In addition, the power excavator is characterized in that the work locus of the tip position of the work machine is stored in a storage device having a storage area including a passage area of the work locus of the work machine. Drilling load monitoring device. 2. The excavating load monitoring device for a power shovel according to claim 1, wherein the work locus at the tip position of the work machine stores a work locus newly generated in association with the work motion of the work machine, and the work locus of the previous work locus is stored. An excavation load monitoring device for a power shovel, which is characterized by erasing pattern data. 3. The excavating load monitoring device for a power shovel according to claim 1 or 2, wherein the work locus of the tip end position of the work machine is more than the passage area of the work locus newly generated with the work operation of the work machine. An excavation load monitoring device for a power shovel, wherein the pattern data of the previous work locus at the upper part on the same vertical line in the plane division pattern is erased.