JPH10204925A - Automatic operating shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm the operation of an automatic hydraulic shovel efficiently after teaching. SOLUTION: An automatic operating shovel is provided with hydraulic selector valves 161 to 164 which drive hydraulic cylinders 17 to 19 to operate component members such as a boom and hydraulic motors 20 to operate a swing body, solenoid selector valves 151 to 154 which control the hydraulic selector valves, angle detectors 9 to 12 which detect the rotating angle between each component member and the swing body, a teaching means 1441 to store in order the angle signals from the angle detectors as position data when a hydraulic shovel is in any multiple positions, and an automatic operating controller 14 which reads position data 1451 stored by the teaching means in order, repeatedly, and continuously, and is provided with the automatic operating means 1443 which controls the solenoid selector valves. Also it is provided with a confirmation means 144 to control the solenoid selector valves 151 to 154 on the automatic operating controller 14 so that the position data stored by the teaching means is read out in order and the hydraulic shovel can be operated at a lower speed than the operation by the automatic operating means 1443.

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 provided with means for preventing collision with peripheral devices.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Publication No. Sho 54-7121 is known as one method of teaching and reproducing means of a hydraulic shovel. 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]

However, usually, at the work site, the excavator is operated together with another work machine such as a truck or a crusher. In order to automate the excavator, the excavator must be connected to another work machine. Contact and collision must be prevented.

However, in the above-mentioned self-contained system, if there is no relative displacement with other work machines, collisions cannot occur, so that prevention of contact or the like is not considered. On the other hand, in order to prevent contact and the like, there are systems that actively use an external sensor such as a visual sensor to recognize the position of another work machine and systems that use a GPS or the like. The apparatus becomes expensive, and the processing load for processing the detected data to obtain desired data is large, which is not practical.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic driving shovel having a contact prevention function using an inexpensive sensor and reducing the processing load in view of the above problems.

[0006]

In order to achieve the above object, the present invention provides a hydraulic switching valve for driving a hydraulic cylinder for operating a boom, an arm and a bucket and a hydraulic motor for operating a revolving unit, respectively. An electromagnetic switching valve that controls the hydraulic switching valve; and an angle detection that detects a rotation angle between the revolving unit and the boom, between the boom and the arm, between the arm and the bucket, and a revolving angle of the revolving unit. Teaching means for sequentially storing angle signals from the angle detector as attitude data in a plurality of attitudes of the excavator and the hydraulic excavator; and continuously and repeatedly reading out attitude data stored by the teaching means, An automatic operation controller having a playback means for controlling a switching valve; and The rotation controller is provided with teaching operation confirmation means for sequentially reading out the posture data stored by the teaching means and controlling the electromagnetic switching valve so as to automatically operate at a lower speed than during operation by the playback means. And

In the case where new teaching data is stored in the automatic driving controller by the teaching means, the automatic driving by the playback means is performed unless the teaching operation checking means confirms the operation for one cycle or more. It is characterized in that a protection means for prohibition is provided.

[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 FIGS.

FIG. 1 is an overall configuration diagram of a control mechanism of the automatic driving shovel according to the present embodiment, and FIG. 2 is a diagram illustrating an entire configuration of the automatic driving shovel and a teaching locus and a playback locus of the automatic driving shovel.

In these figures, 1 is a traveling body of a hydraulic shovel, 2 is connected to a traveling body 1 through a joint portion, and a revolving body that can be turned horizontally by rotation of a hydraulic motor, and 3 is a revolving body 2. The boom to be connected, 4 is an arm that is pin-connected to the boom 3, 5 is a bucket that is pin-connected to the arm 4, 6 is a crusher, 7 is quarry, 8 is crushed stone, 9
Is an angle detector for detecting a relative angle between the swing body 2 and the boom 3, 10 is an angle detector for detecting a relative angle between the boom 3 and the arm 4, and 11 is a relative angle between the arm 4 and the bucket 5. An angle detector, 12 is an angle detector for detecting a relative angle between the traveling unit 1 and the revolving unit 2, 13 is an operation box provided with a mode switch for setting each mode such as automatic operation of the hydraulic excavator, and 14 is an operation box. Automatic operation controller, 141 is an interface, 142 is a data bus,
143, a CPU for performing required arithmetic processing; 144, a memory storing programs for performing arithmetic processing according to various setting modes; 1441, a program for executing a teaching mode; 1442, a program for executing a confirmation mode;
1443 is a program for executing the automatic operation mode,
5 is a memory for storing attitude data and the like, 1451 is stored attitude data, 146 is a driver for driving the electromagnetic switching valve, 151 to 154 are electromagnetic switching valves, 161 to 164 are hydraulic switching valves, and 17 is the revolving unit 2. A hydraulic cylinder that changes the relative angle between the boom 3 and 18, a hydraulic cylinder that changes the relative angle between the boom 3 and the arm 4, 19 is a hydraulic cylinder that changes the relative angle between the arm 4 and the bucket 5, and 20 is the traveling body 1
, A hydraulic motor that changes the relative angle between the rotating body 2 and the revolving unit 2, a hydraulic pump 21, an oil tank 22, a trajectory of the tip of the bucket 5 of the hydraulic shovel in the teaching mode and the automatic mode, Ka, Kb... Are the teaching points on the trajectory 23 set in.

FIG. 3 is a detailed view of the operation box 13 shown in FIG.
A manual mode 1312 selected by the mode changeover switch 131 to operate the excavator manually is a teaching mode 1313 selected by the mode changeover switch 131 to perform teaching for automatically operating the excavator.
A check mode 13 is selected by the mode changeover switch 131 after the teaching, and the hydraulic excavator is automatically operated at a low speed prior to the automatic operation. A reference numeral 1314 is selected by the mode changeover switch 131 to automatically perform the playback operation of the hydraulic excavator. 132 is an emergency stop switch, 132 is a display device that displays the teaching position number corresponding to the posture data of the excavator when the teaching mode is selected, 134 is the teaching mode panel, and 1341 is pressed once. A teaching position selection button for changing the teaching position number by one (return) direction, a teaching position selection button for changing the teaching position number by one when pressed once (next), and a teaching button for 1343 1344 is a teaching end button, 135 is a confirmation mode panel, 1351 is an operation button, and 1352 is Set button, 1353 automatic operation OK lamp, 1354 is an error display lamp.

FIG. 4 is a diagram showing the contents of the attitude data 1451 stored in the memory 145 shown in FIG.
45 in each memory area.
1n and end code 1451z are sequentially stored.

Next, the operation of the automatic driving shovel of this embodiment will be described with reference to FIGS.

In the manual mode, the operation box 1 shown in FIG.
The manual mode is set by setting the mode changeover switch 131 of No. 3 to the manual mode 1311. In this mode, the hydraulic excavator can be manually operated by operating an operation lever (not shown) in the cab without using the automatic operation controller 14.

The teaching mode is an operation box 1 shown in FIG.
The teaching mode is set by setting the mode switching switch 131 of No. 3 to the teaching mode 1312. When this mode is selected, the teaching position number is displayed on the display device 133. First, an arbitrary position K on the locus 23 shown in FIG.
Set the starting point of the automatic operation to a and set the teaching position number to a
Set to. Next, the posture of the hydraulic shovel is controlled so that the tip of the bucket 5 becomes the teaching point Ka on the trajectory 23, and when the teaching point Ka is reached, the teaching button 1343 is pressed.
The automatic operation controller 14 recognizing that the teach button 1343 has been pressed, inputs each detection output of each of the angle detectors 9 to 12, calculates the attitude data, and corresponds to the teaching position number a as shown in FIG. The posture data 1451a is stored in a predetermined memory area. Next, in order to teach the next teaching point Kb, the posture of the hydraulic excavator is moved, the teaching position number is set to b, and the teaching button 1343 is pressed. Then, the posture data 1451b is stored in a predetermined memory area.
Similarly, the posture data is stored in the memory 145 in the operation order of the hydraulic shovel, and the posture data 1451n of the teaching point Kn immediately before the first teaching point Ka is stored in the memory area. Finally, the teaching end button 1344 is pressed to store the end code 1451z in the memory area, and the teaching ends. When the teach button 1343 and the teach end button 1344 are pressed, the posture data 1451 is displayed.
Is rewritten, the automatic operation OK lamp is turned off.

The confirmation mode is the operation box 1 shown in FIG.
The confirmation mode is set by switching the third mode changeover switch 131 to the confirmation mode 1313. This mode is a mode for automatically operating the excavator at a low speed. When the confirmation button 1351 is continuously pressed, the automatic operation controller 14 detects this, reads out the attitude data 1451a from the memory 145 first, and determines the attitude of the excavator. An operation command is output to the hydraulic cylinders 17 to 19 and the hydraulic motor 20 so as to match the attitude data 1451a. The posture of the excavator is monitored by the angle detectors 9 to 12, and when the posture of the hydraulic shovel matches the posture data 1451a, the automatic operation controller 14 transmits the next posture data 145.
1b is read, and the excavator is moved to that position. In this way, while the operation button 1351 is kept pressed, the excavator continues to operate and the en
When the d code 1451z is read, the attitude data 1451a of the start point is read again, and the same operation is repeated. When the pressing of the operation button 1351 is stopped, the automatic operation controller 14 stops the moving operation of the hydraulic shovel. again,
When the operation button 1351 is pressed, the automatic operation controller 14
Resumes operation. Here, when the reset button 1352 is pressed, the automatic driving controller 14 detects this, and sets the starting posture of the confirmation operation from the memory area to the posture data 1451.
Read a, and control the posture of the excavator at that position. When at least one round of the confirmation operation from the posture data 1451a to the posture data 1451n is performed in the confirmation mode, the automatic operation OK lamp is turned on.

Next, in the automatic mode, the mode changeover switch 131 of the operation box 13 shown in FIG.
Switching to 14 sets the automatic mode.

In this mode, the attitude data 1451a to 1451n stored in the memory 145 are sequentially read out, and the automatic operation is performed at high speed. When the automatic operation controller 14 detects the automatic mode, the automatic operation controller 14 reads the attitude data 1451a from the memory 145. , The hydraulic cylinder 1 so that the posture of the hydraulic shovel matches the posture data 1451a.
Operation commands are output to 7 to 19 and the hydraulic motor 20.
Since the position of the hydraulic shovel is monitored by the angle detectors 9 to 12, when the position of the hydraulic shovel matches the position data 1451a, the automatic operation controller 14 sets the next position data 145.
1b, and moves to the position of the posture data.
In this way, the excavator continues to move, and when the end code 1451z is read from the memory area,
The posture data 1451a of the start point is read again, and the same operation is repeated again. The automatic operation is stopped by changing the mode changeover switch 131 to a mode other than the automatic mode 1314 or by turning on the emergency stop switch 132. However, the automatic mode is set so that the automatic operation controller 14 does not operate unless the automatic operation OK lamp 1353 is lit.

In this embodiment, since the operation is performed using the operation box in the cockpit, the operator needs to be in the hydraulic excavator. However, by using the radio box for the operation box, the hydraulic excavator can be used. It is also possible to drive automatically and unattended from outside.

Next, a processing procedure in the automatic operation controller according to the present embodiment will be described with reference to flowcharts shown in FIGS.

This flowchart shows the procedure of the teaching mode, the confirmation mode, and the automatic mode in the automatic operation controller 14 when the mode switch 131 is not set to the manual mode.

In FIG. 5, if the teaching mode 1312 is set in step S1, if the teaching is not completed in step 2, the excavator is moved to an arbitrary posture for teaching the excavator in step S3. When the teaching point Ka is reached, the teaching button 1343 is pressed in step S4, and the posture data 1451a is stored in the memory 145 in step S5. Similarly, the excavator is moved to the next teaching point Kb in step S3, the teaching button 1343 is pressed in step S4, and the posture data 1451b is stored in step S5. When the teaching is completed in this manner, the teaching end button 1344 is pressed in step S6, and the automatic operation protection variable A is set to 0 in step 7, and the value is stored. When the automatic operation protection variable A is set to 0, the automatic operation of the hydraulic shovel is prohibited. In step S8, the excavator is moved to the first teaching point K.
The posture is returned to a, and the teaching mode is ended.

Next, in FIG. 6, when the confirmation mode 1313 is set in step S9 and the operation button 1351 is pressed in step S10, automatic operation starts. The automatic operation controller 14 reads the posture data 1451 stored in the memory 145 in step 11, and in step 12, reads the posture data 14
The posture is controlled so as to match 51. Step S13
It is confirmed whether or not the confirmation operation has completed one cycle. If the confirmation operation has not been completed, it is determined in the same manner in step S11 that the next posture data 1
451 is read, and this posture data 1
The posture of the excavator is controlled so as to coincide with 451. Such a confirmation operation is repeated, and when the confirmation operation completes, the automatic operation OK lamp 1353 is determined in step S14.
Lights up, and in step S15, the automatic operation protection variable A is set to 1 and stored. When the automatic operation protection variable A is set to 1, automatic operation becomes possible.
When the confirmation mode ends in step 16, step S1
At step 7, the posture of the excavator is returned to the first teaching point, and the confirmation mode is ended.

Next, in FIG. 7, in step S18, the automatic mode 1314 is set and the emergency stop switch 1
If the switch 32 is off, the automatic operation controller 14 first checks in step 19 whether or not the automatic operation protection variable A = 1. Reads the posture data 1451 stored in the memory 145, and in step 21, the hydraulic shovel controls the posture so as to match the retrieved posture data 1451. In step S22, it is checked whether the automatic mode has ended. In step 23, it is checked whether the emergency stop switch 132 has been turned on. If the automatic mode has ended or the emergency stop switch has not been turned on, The same operation is repeated in 20, 21 and the automatic operation is repeatedly and continuously performed. If the emergency stop switch 132 is turned on, the operation of the excavator is stopped in step 24. When the automatic mode has been completed, in step 25, the excavator is returned to the initial position, and the automatic mode is completed.

As described above, once the posture mode is changed by operating the teaching mode, the automatic operation protection variable A is set to 0. In this state, the automatic operation is controlled so that the automatic operation cannot be performed. In the mode, the automatic operation protection variable A is changed to 1 on condition that at least one round of the confirmation operation has been performed, and control is performed so that the operation can be shifted to automatic operation.

As described above, according to the present embodiment, the confirmation mode in which the operation is performed at a lower speed than during the automatic operation in the automatic mode is provided. Can be given time to execute.

Also, in the confirmation mode, if the confirmation operation for at least one cycle is not performed, it is set so that the automatic operation cannot be performed. Therefore, the operation is always confirmed using the confirmation mode. In addition, it is possible to prevent an accident caused by automatic driving without performing the checking operation. Further, since the confirmation mode operates only while the operation button is pressed, the operation from the recognition of the operation failure to the stop can be quickly executed.

[0028]

As described above, according to the present invention, the teaching data is read out by the teaching means, and the teaching operation confirmation means which operates at a lower speed than the playback operation is provided. When the failure is recognized, the stop operation can be appropriately performed.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a control mechanism of an automatic driving shovel according to an embodiment.

FIG. 2 is a diagram showing an automatic driving shovel according to the embodiment, and a teaching trajectory and a playback trajectory thereof.

FIG. 3 is a diagram showing details of an operation box 13 shown in FIG. 1;

FIG. 4 is a diagram showing attitude data 1451 stored in a memory 145 shown in FIG.

FIG. 5 is a flowchart showing a processing procedure in the automatic driving controller 14 shown in FIG.

FIG. 6 is a flowchart showing a processing procedure in the automatic driving controller 14 shown in FIG.

FIG. 7 is a flowchart showing a processing procedure in the automatic driving controller 14 shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 2 Revolving body 3 Boom 4 Arm 5 Bucket 9, 10, 11, 12 Angle detector 13 Operation box 1312 Teaching mode 1313 Confirmation mode 1314 Automatic mode 1353 Automatic operation OK lamp 14 Automatic operation controller 1451 Teaching data 151, 152, 153,154 Solenoid switching valve 161,162,163,164 Hydraulic switching valve 17,18,19 Hydraulic cylinder 20 Hydraulic motor

 ──────────────────────────────────────────────────の Continuing on the front page (72) Yoshiyuki Nagano, 650 Kandamachi, Tsuchiura-shi, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant, Ltd. (72) Inventor Moto Yasuda 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant, Ltd. Tsuchiura factory

Claims (2)

[Claims] 1. A hydraulic switching valve for driving a hydraulic cylinder for operating a boom, an arm, and a bucket and a hydraulic motor for operating a revolving unit, an electromagnetic switching valve for controlling the hydraulic switching valve, An angle detector for detecting a rotation angle between the boom, the boom and the arm, a rotation angle between the arm and the bucket, and a turning angle of the revolving unit; and the angle detector in any of a plurality of postures of a hydraulic shovel. An automatic operation controller having teaching means for sequentially storing the angle signal from the as attitude data, and repeatedly and continuously reading out the attitude data stored by the teaching means, and playback means for controlling the electromagnetic switching valve, An automatic driving shovel comprising: the automatic driving controller, wherein the teaching means stores the Sequentially reading out the energization data, to automatic operation at a lower speed than during operation by the playback means, automatically operated shovel, characterized in that a teaching operation confirmation means for controlling the electromagnetic switching valve. 2. The playback device according to claim 1, wherein when new teaching data is stored in the automatic driving controller by the teaching means, the playback operation is performed unless the teaching operation checking means confirms operation for one cycle or more. An automatic driving shovel comprising a protection means for prohibiting automatic driving by means.