JPH10183665A - Automatic operative shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel in which the operation stroke of playback can be changed according to the heap condition of quarried stones. SOLUTION: The automatic operative shovel is equipped with an actuator for driving each member of a hydraulic shovel, solenoid control valve 132, an angle sensor 134 for sensing rotational angle between the members, and an automatic operation controller 131 including a teaching means which successively stores angle signals, as teaching position data, in a plurality of posture of the hydraulic shovel and a regenerating means which successively reads out stored teaching position data to control the valve 132. And a truck entry sensor 10 is provided and in the controller 131, the initial value of the stored teaching position data is set to an optimum position for excavating transported matters when they are discharged from a truck, and when the entry of the truck is sensed, a playback is started from the initial value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly to an automatic driving shovel that works in cooperation with a transport machine such as a truck.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Publication No. 54-7121 is known as a method of teaching and playback of a hydraulic excavator, that is, a so-called teaching and reproducing means. This is a self-contained system in which the same operation is repeatedly performed by storing and reproducing information such as the angle and position of a sensor mounted in a working machine by teaching.

[0003]

In an actual work site,
Hydraulic excavators are often operated in cooperation with other work machines such as trucks and crushers. To automate hydraulic excavators in order to save labor and improve efficiency, it is indispensable to grasp the work status of other work machines. is there.

[0004] In particular, when a conveyed material such as earth and sand, quarry, etc. carried by a conveying machine such as a truck to a predetermined position is put into another place such as a hopper of a crusher by using a hydraulic shovel, the conveyed material for the hydraulic shovel. The piled shape is restored to a constant level each time a truck carries in a load. Therefore, it is necessary to reset the excavation start position of the excavator to an appropriate position at the timing when the truck enters.

[0005] However, conventional hydraulic excavators include:
Efficient work could not be performed because there was no function to notify the information about when the truck dumped.

Accordingly, an object of the present invention is to provide an automatic excavator capable of performing efficient excavation control by detecting the entry of a truck and correcting the excavation locus of the excavator.

[0007]

In order to achieve the above object, the present invention provides an actuator for operating a boom, an arm, a bucket and a revolving unit, an electromagnetic control valve for driving the actuator, and the revolving unit. Between the boom, between the boom and the arm, between the arm and the bucket, an angle detector for detecting the rotation angle and the turning angle of the revolving unit, and the hydraulic excavator in any plurality of postures, the angle An automatic operation controller having teaching means for sequentially storing angle signals from the detector as teaching position data, and playback means for sequentially reading out the teaching position data and controlling the electromagnetic control valve; In an automatic driving shovel, a truck that detects the entry of a truck is placed at the entry position of the truck that carries the cargo. An entry detector, wherein the automatic operation controller sets an initial value of the stored teaching position data to an optimal position for collecting a conveyed article when the truck is carried in, and When the entry detector detects the entry of the track, playback is started from the initial value.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIG.
This will be described with reference to FIG.

FIG. 5 and FIG. 6 are views showing the entire configuration of the automatic operation shovel according to the present embodiment and the state of excavation thereof.

In these figures, 1 is a hydraulic excavator,
Reference numeral 2 denotes a revolving body which can be pivoted in the horizontal direction, 3 denotes a boom connected to the revolving body 2, 4 denotes an arm connected to the boom 3, 5 denotes a bucket connected to the arm 4, 6 is carried in by a truck, Conveyed objects such as earth and sand, quarry and the like excavated and carried out by the excavator 1, 7 is a crusher, 8 is a hopper, 9
Is provided at the entry position of the truck 9,
Truck entry detection sensor for detecting entry of truck, 1
1 a teaching / reproducing device having a teaching box and a playback operation panel;
, The position A, position B,... Position D are the excavation positions of the excavator, and the trajectories G1, G2, G3,. Shows the trajectory when you go.

The track entry detection sensor 10 uses an ultrasonic wave, a laser, or the like, and its operation principle is based on a comparison between the track entry detection sensor 10 and a certain distance.
It outputs the F signal.

As shown in these figures, at a quarry site or the like, a hydraulic excavator 1 excavates a quarry 6 at a position A by a bucket 5 at a locus A1 shown in FIG. After that, the soil is discharged to the hopper 8 of the crusher 7, then turned again, excavated along the locus G1 at the position B, and turned. Further, after excavating the locus G1 at the positions C and D, excavating again along the locus G2 at the position A,
Similarly, excavation is performed along the locus G2 at other positions, and the same operation is performed while increasing the excavation depth.

FIG. 2 is an overall configuration diagram of a control mechanism of the automatic driving shovel according to the present embodiment.

In the figure, reference numeral 111 denotes a teaching operation unit for performing teaching, 112 denotes a reproduction operation unit for performing playback, and 113 and 135 denote a teaching / reproduction device 11 and an automatic operation controller which respectively perform serial communication and the like. A teaching / reproducing device-side wireless device and a vehicle-side wireless device for transmitting and receiving data between the devices, 13 is a vehicle-mounted device mounted on the excavator 1, 131 is an automatic driving controller,
132 is an electromagnetic control valve that is driven by the drive current output from the automatic operation controller 131 and controls the amount of oil or oil pressure flowing into the actuator, 133 is an actuator for operating each part of the hydraulic shovel such as the bucket 5, and 134 is It is an angle sensor that detects a rotation angle between the revolving unit 2 and the boom 3, between the boom 3 and the arm 4, between the arm 4 and the bucket 5, and a revolving angle of the revolving unit 2. The same parts as those shown in FIGS. 5 and 6 are denoted by the same reference numerals, and description thereof will be omitted.

At the time of teaching by the teaching / reproducing device 11, teaching is performed via the wireless devices 113 and 135 by an operation from the teaching operation unit 111, and the automatic operation controller 131 controls the angle sensors 134 of the hydraulic shovel 1. Each detection output is input and operated, and teaching data and a teaching command are stored in a predetermined storage area. At the time of playback, a playback instruction is output via the wireless devices 113 and 135 by an operation from the playback operation unit 112, and when the automatic driving controller 131 receives the instruction,
The stored teaching position data is called out, and the angle sensor 1
Each electromagnetic control valve 132 for operating the swing body 2, the boom 3, the arm 4, and the bucket 5 so as to match the teaching position data while comparing with the angle information from 34.
To output the driving current. Each electromagnetic control valve 132 controls the hydraulic pressure of each actuator 133 to automatically operate the hydraulic excavator 1.

FIG. 1 is a functional block diagram of an automatic driving shovel during playback according to the present embodiment.

In the drawing, reference numeral 1311 denotes a teaching position storage unit for storing teaching position data taught by an operation from the teaching operation unit 111 of the teaching / reproducing device 11 during teaching, and 1312 a teaching / reproducing device for teaching. A teaching command storage unit 131 for storing a teaching command taught by an operation from the eleventh teaching operation unit 111;
Reference numeral 3 denotes a command interpreter unit for interpreting a teaching command and instructing output of predetermined teaching position data from the teaching position storage unit 1311; 1314, a teaching position output processing unit for outputting the teaching position data; and 1315, a hydraulic shovel 1 The servo preprocessing unit 1316 creates and outputs the teaching position data output from the teaching position output processing unit 1315 into interpolated teaching position data segmented by calculation so that the unit operates smoothly. A servo control unit that outputs a drive current for controlling each part of the excavator to a predetermined position by comparing the interpolation teaching position data output from the controller with the current position data output from the current position calculation unit; An excavation initialization processing unit 1318 that calculates predetermined excavation initialization data from the detection output of the entry detection sensor 10, The output from the angle sensor 134 provided to each part of the excavator 1 is a current position calculator for calculating the predetermined current position data.

The same portions as those shown in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 3 is a diagram showing an example of a teaching command at the time of excavation stored in the teaching command storage unit 1312.

In the figure, v is a command for instructing an excavation speed, move is a command for instructing an operation, and P1 to Pn.
Are move command revolving unit 2, boom 3, arm 4,
And a label indicating angle information of each joint of the bucket 5, and teaching position data, which is a parameter of each of the labels P <b> 1 to Pn, is stored in the teaching position storage unit 1311.

Next, the operation of the automatic driving shovel during playback will be described mainly with reference to FIG. At the time of playback, an instruction for automatic driving is output to the command interpreter unit 1313 from the reproduction operation unit 112 of the teaching / reproduction device 11. Upon receiving the instruction, the command interpreter unit 1313 sequentially reads and interprets the teaching commands stored in the teaching command storage unit 1312. For example, at the time of excavation, as shown in FIG.
At the time of a command, the teaching position data as a parameter corresponding to each of the labels P1 to Pn of the teaching command is transmitted from the teaching position storage unit 1311 to the teaching position data output processing unit 1314.
Output to The output teaching position data is output to the servo pre-processing unit 1315, and the data is further interpolated teaching position data obtained by interpolating data between the teaching position data by operation so that the excavator 1 operates at a smooth speed. Is created. Further, the interpolation teaching position data is input to the servo control unit 1316, while the current position calculation unit 1318
, The current position data is obtained by calculating the angle data obtained from the angle sensor 134, and is input to the servo control unit 1316. The servo control unit 1316 performs predetermined servo control based on the target interpolation teaching position data and the detected current position data, and outputs a drive current from the electromagnetic control valve 132.

On the other hand, when the truck 9 enters the excavation initialization processing unit 1317, a detection output is input from the truck entry detection sensor 10 via the teaching / reproduction device 11, and the excavation initialization data is calculated and obtained. The command is input to the command interpreter 1313. Command interpreter 131
When the excavation initialization data is input, the excavation work 3 interprets the excavation work and executes the excavation operation at the position A and the trajectory G of the first teaching position data.
The state is returned to 1 and playback is resumed.

Next, a work procedure at the time of playback of the automatic hydraulic excavator of the present embodiment will be described with reference to a flowchart shown in FIG.

First, when the automatic driving controller 131 receives a playback instruction from the playback operation unit 112 of the teaching / playback device 11, the playback operation procedure is initialized in step S1, and 1 is added to n in step S2. And
In step S3, the value of n is determined. In the case of n = 1, excavation along the locus G1 is performed.

Next, 1 is added to m in step S4, the presence or absence of entry of the track 9 is confirmed in step S5, and the value of m is determined in step S6. When m = 1, the excavation of the locus G1 starts at the position A from step S7. Excavation is performed in step S7, turning is performed in step S8, earth discharging to the hopper 8 is performed in step S9, and turning is performed again to the excavation position in step S10.

Next, in step S4, 1 is added to m, and
When m = 2 in step S11 through steps S5 and S6 in the same manner as described above, excavation is performed at the position B along the trajectory G1. Similarly, in step S12, the position C
When the excavation along the trajectory G1 and a series of operations are completed,
As indicated by X2, steps S12 to S
Returning to 2, 1 is added to n. When n = 2, excavation and a series of operations are performed in the order of position A, position B, position C,... on the locus G2 in step S13. When the excavation on the trajectory G2 and a series of operations are completed in this way, the process further proceeds to the trajectory G3 as shown in step S14, and the playback proceeds.

During such a series of playback operations,
When the truck 9 enters and attempts to dump, the entry is detected in step S5, and if it is detected, the excavator turns and retreats in step S15, and moves to step S1.
After the evacuation release in step 6, the work procedure is initialized in step S1, and the playback work is restarted again.

As described above, according to the present embodiment, the working position of the excavator can be returned to the position where the quarry discharged by the truck is excavated by detecting the entry of the truck, so that the efficiency is improved. Excavation work can be performed, and the entire process from excavation of the excavator to unloading can be unmanned.

Further, the truck entry detection sensor is inexpensive and highly reliable because of its simple structure, and can be freely laid out in its installation location, so that it can be applied to various work sites. Also, since there is no need to provide additional parts for the truck, the application is easy.

[0030]

As described above, according to the present invention, when the track entry is detected by the track entry detector, the playback is started from the initial value of the teaching position data. Work can be avoided, and efficient work can be performed.

[Brief description of the drawings]

FIG. 1 is a functional configuration diagram of an automatic driving shovel during playback according to an embodiment of the present invention.

FIG. 2 is an overall configuration diagram of a control mechanism of the automatic driving shovel according to the embodiment.

FIG. 3 is a diagram showing an example of a teaching command stored in a teaching command storage unit 1312 shown in FIG.

FIG. 4 is a flowchart showing an operation procedure during playback of the automatic hydraulic excavator according to the embodiment.

FIG. 5 is a diagram showing an entire configuration and an excavation position of the automatic hydraulic excavator according to the embodiment.

FIG. 6 is a diagram illustrating an entire configuration and an excavation locus of the automatic hydraulic excavator according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Revolving body 3 Boom 4 Arm 5 Bucket 9 Truck 10 Truck entry detection sensor 11 Teaching / reproducing device 13 On-board device 131 Automatic operation controller 1311 Teaching position storage unit 1312 Teaching command storage unit 1313 Command interpreter unit 1314 Teaching position output Processing unit 1315 Servo preprocessing unit 1316 Servo control unit 1317 Excavation initialization processing unit 1318 Current position calculation unit 132 Electromagnetic control valve 133 Actuator 134 Angle sensor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuhiro Sugawara 650, Kandate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. (72) Inventor Akira Hashimoto 650, Kandate-cho, Tsuchiura-shi, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. (72) Inventor Hajime Yasuda 650, Kanda-cho, Tsuchiura-shi, Ibaraki Hitachi Tsuchiura factory

Claims (1)

[Claims] 1. An actuator for operating a boom, an arm, a bucket, and a swing body, respectively, an electromagnetic control valve for driving the actuator, between the swing body and the boom, between the boom and the arm, between the arm and the bucket. An angle detector for detecting a rotation angle of the revolving body and a rotation angle of the revolving body, and teaching means for sequentially storing angle signals from the angle detector as teaching position data in any of a plurality of postures of the excavator. , An automatic operation controller having a playback means for controlling the electromagnetic control valve by continuously reading the teaching position data, wherein the automatic operation shovel comprises: A truck entry detector for detecting entry of the truck is provided; The initial value of the stored teaching position data is set to an optimum position for excavating the conveyed object when the truck has conveyed the conveyed object, and the truck entry detector has detected the entry of the truck. An automatic driving shovel characterized in that playback starts from the initial value at the time.