JPH11140911A - Device and method for controlling construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reliably set the proper working state of a hydraulic source according to each attachment easily through simple operation without mistaking a corresponding relation, in a device and a method for controlling a construction machine to which a plurality of attachments are attached. SOLUTION: Through control of hydraulic sources 5 and 6 attached to a construction machine body, working oil fed to an attachment 2 for a work removably attached to a construction machine body is controlled. In this case, this control device comprises a bar code 23 arranged on the attachment 2 side for a work and storing inherent information for setting a working condition necessary to the attachment 2 for a work as binary-coded information; a bar code reader 30 to read binary-coded information of the bar code 23 by receiving light having binary-coded information to irradiate the bar code 23 with running light and be reflected by the bar code 23; and a control part 12 to control the hydraulic sources 5 and 6 by using inherent information obtained by reading binary-coded information by the bar code reader 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a bucket,
The present invention relates to a control device and a control method for a construction machine such as a hydraulic excavator to which a plurality of work attachments such as a breaker (hammer) can be attached. And control method and control method for a construction machine.

[0002]

2. Description of the Related Art Conventionally, in construction machines such as hydraulic shovels, which are a type of working machine, various work attachments such as breakers (hydraulic hammers) and buckets are mounted so as to be relatively easily detachable. Various tasks can be performed. Here, a construction machine such as a hydraulic shovel equipped with a breaker 2 as a work attachment will be described with reference to FIG.

As shown in FIG. 4, in a construction machine 1 such as a hydraulic shovel, an upper swing body (construction machine main body) 101 is provided on a lower traveling body 100 so as to be swingable in a horizontal plane. The upper revolving superstructure 101 includes a main frame 102
And an operation room 103, an engine room 104, and the like provided on the main frame 102. A boom 105 is rotatably connected to the upper swing body 101 by a pin (not shown).
A stick 106 is rotatably connected to a tip end of the pin 5 by a pin 105A.

[0004] Further, a work attachment (hereinafter simply referred to as an attachment) 2 such as a breaker (hydraulic hammer) 2 is attached to a pin 106 at the tip of the stick 106.
A is rotatably connected. This attachment 2 is detachably attached to the tip of the stick 106. FIG. 4 shows an attachment 2 with a breaker attached.

The distance between the upper revolving unit 101 and the boom 105 expands and contracts, so that the boom 1
Boom drive hydraulic cylinder (boom drive actuator) 1 for rotating drive 05 relative to upper revolving superstructure 101
07 is interposed. Further, between the boom 105 and the stick 106, a stick driving hydraulic cylinder (stick driving actuator) 108 for rotating the stick 106 with respect to the boom 105 due to expansion and contraction of the distance between the ends is interposed. ing.

An attachment driving hydraulic cylinder 109 for rotating the attachment 2 with respect to the stick 106 when the distance between the ends expands and contracts is interposed between the stick 106 and the attachment 2. The hydraulic cylinder 109 for driving the attachment
Is pivotally attached to the stick 106 and the attachment 2 via rods 110 and 111.

Further, each of the hydraulic cylinders 107,
In order to supply hydraulic fluid for driving the attachments 108 and 109 and the attachment 2, as shown in FIG.
1 is provided with hydraulic pumps 5 and 6. FIG.
Here, among the hydraulic cylinders 107, 108 and 109, only the boom driving hydraulic cylinder 107 is shown. The hydraulic oil from the hydraulic pumps 5, 6 is supplied to the attachment 2 via the oil passages 20a, 20b. In addition, a control valve 3 is interposed in these oil passages 20a and 20b so that supply and discharge of hydraulic oil to and from the attachment 2 can be controlled.

[0008] The control valve 3 is pilot operated by, for example, a pedal type operating device 21 through pilot oil passages 29a and 29b. Also,
Hydraulic oil from hydraulic pumps 5 and 6 is supplied to oil passages 28a and 28b.
And is supplied to the boom drive hydraulic cylinder 107 via the. In addition, these oil passages 28a, 28b
Is provided with a control valve 4 so that supply and discharge of hydraulic oil to and from the hydraulic cylinder 107 for boom driving can be controlled.

The control valve 4 is pilot operated by, for example, a lever type operating device 22 via pilot oil passages 29c and 29d. By the way, the discharge flow rates of these hydraulic pumps 5 and 6 are controlled by adjusting the engine speed of the pump driving diesel engine 7 adjusted by moving the accelerator position by the accelerator actuator 8 and the pump regulators 9 and 10. It is supposed to be.

The hydraulic pumps 5, 6, the engine 7, the accelerator actuator 8, and the pump regulators 9, 1
A hydraulic pressure source is constituted by 0, and this hydraulic pressure source is provided in the construction machine main body. For this reason, an accelerator dial 15 for setting the engine speed of the pump driving diesel engine 7 is provided, so that the operator can manually set the engine speed. A signal from the accelerator dial 15 is transmitted to the controller. 12 is input.

Also, a pump driving diesel engine 7
Is also provided with an engine speed sensor 16, which can detect the actual engine speed of the diesel engine 7 for driving the pump. A signal from the engine speed sensor 16 is input to the controller 12. It has become so. Then, the controller 12 compares the target engine speed set by the accelerator dial 15 with the actual engine speed detected by the engine speed sensor 16, and drives the accelerator actuator 8 so that they match. Calculate the control amount,
The signal corresponding to this control amount is the accelerator actuator 8
Is output to As a result, the engine speed is controlled to the target speed, and the discharge flow rates of the hydraulic pumps 5 and 6 are controlled.

Further, in order to control the pump output so that the work can be performed efficiently according to the engine speed and the work load, the controller 12 controls the hydraulic pump 5 based on the engine speed and the accelerator dial position. A signal for output control of No. 6 is output to the electromagnetic proportional valves 13 and 14. The signal from the controller 12 is converted into hydraulic pressure by the electromagnetic proportional valves 13 and 14, and the converted hydraulic pressure is output to the pump regulators 9 and 10 to control the discharge flow rates of the hydraulic pumps 5 and 6. It has become.

For example, if the accelerator dial position is maximum and the engine speed is equal to or higher than the rated value, a signal for increasing the pump output is sent from the controller 12 to the electromagnetic proportional valves 13 and 14.
The hydraulic pressure converted by the electromagnetic proportional valves 13 and 14 is sent to the pump regulators 9 and 10 so that the flow rate from the hydraulic pumps 5 and 6 is controlled to increase, while the engine speed is reduced. If it is less than the rating, a signal to lower the pump output is sent from the controller 12 to the electromagnetic proportional valve 13,
The hydraulic pressure converted by the electromagnetic proportional valves 13 and 14 is sent to the pump regulators 9 and 10 so that the flow rate from the hydraulic pumps 5 and 6 is reduced so as not to exceed the engine output. Will be controlled.

A flow control valve 11 is provided downstream of the center bypass line of the control valve 3.
Is installed, and the pressure signal on the upstream side is connected to the pump regulators 9 and 10, and the pump regulators 9 and
According to 10, so-called negative flow rate control is performed such that the pump flow rate decreases when the pressure is high and the pump flow rate increases when the pressure is low. In FIG. 5, these connections are omitted.

The attachment 2 is a kind of hydraulic actuator, and has a specific operating condition (rated supply oil pressure and flow rate). For example, even if the attachments 2 are of the same type, the required rated oil supply pressure and the required flow rate are different if the manufacturers and the capacities are different, and the optimum operating conditions are also different. For this reason,
The hydraulic oil supplied from the hydraulic pumps 5 and 6 needs to be controlled so as to correspond to operating conditions specific to each attachment.

Therefore, in the conventional construction machine control device, as shown in FIG. 5, registers 17a and 17b corresponding to the variety of rated pressure and flow rate of the attachment (here, breaker) 2 are provided. , 17
b is connected to a battery 18 and this electric signal (current in this case) is input to the electromagnetic proportional valves 13 and 14 via manual changeover switches 19 and 19, and is converted into hydraulic pressure by the electromagnetic proportional valves 13 and 14. Input to the pump regulators 9 and 10.

And, these pump regulators 9,
Reference numeral 10 controls the horsepower supplied from the engine 7 to the hydraulic pumps 5 and 6 to be constant in response to the discharge pressure from the hydraulic pumps 5 and 6, and is controlled by the hydraulic oil discharged from the hydraulic pumps 5 and 6. The attachment 2 is operated in a rated state.

[0018]

As described above, in the conventional construction machine as shown in FIGS. 4 and 5, when the pedal type operation device 21 is operated to operate the attachment 2, the pilot oil passages 29a, A pilot oil pressure corresponding to the stepping operation amount is output via 29b, whereby the control valve 3 is pilot-operated, and the discharge pressure oil of the hydraulic pumps 5, 6 is supplied to the attachment 2 according to the operation amount. It has become.

However, in the conventional construction machine control device, each time the attachment 2 is operated, the manual changeover switches 19, 19 are set in advance to the registers 17a, 17b where necessary supply oil pressure and flow rate can be obtained. It is necessary to switch, and the operation is troublesome, which in turn degrades work efficiency. Also, in the conventional construction machine control device, the registers 17a and 17b are provided with only one attachment (here, one for a breaker), and therefore can correspond to only one attachment. If the attachment is replaced with a different type of attachment or the same type of attachment from another manufacturer, the rated pressure and the flow rate are different.
It is necessary to replace b, and the operation is very troublesome, and the working efficiency is deteriorated.

It is also conceivable to mount the required number of registers 17a, 17b and changeover switches 19, 19, but in this case, the registers 17a, 17b corresponding to the attachment 2 are separately prepared, and It is necessary to replace the registers 17a and 17b together with the replacement of 2 and manually switch the changeover switch 19, but this operation is troublesome and troublesome, and there is a possibility of erroneous setting.

When the attachment 2 is replaced, the engine speed is set to a value corresponding to the attachment 2 by manually adjusting the accelerator dial 15, but this adjustment is also complicated and troublesome. As described above, it is not easy to appropriately set the operating state of the hydraulic source constituted by the hydraulic pumps 5 and 6 and the pump driving engine 7 according to each attachment.

The present invention has been made in view of the above points, and it is possible to easily and appropriately operate the hydraulic power source in accordance with each work attachment with a simple operation without erroneous correspondence. An object of the present invention is to provide a control device and a control method for a construction machine, which can be set reliably.

[0023]

According to the present invention, a control apparatus for a construction machine according to the present invention controls a hydraulic source provided on the construction machine main body and is detachably attached to the construction machine main body. In the control device of the construction machine that controls the hydraulic oil supplied to the work attachment, the unique information for setting the operating conditions required by the work attachment is provided as binary information. A barcode to be stored, a barcode reader that reads the binary information of the barcode by irradiating the barcode with scanning light and receiving light having binary information reflected by the barcode, Using the unique information obtained by reading the binarized information with a code reader,
It is characterized by comprising a control unit for controlling the hydraulic pressure source.

According to a second aspect of the present invention, there is provided a method for controlling a construction machine according to the present invention, wherein a hydraulic source provided on the construction machine body is controlled so as to be supplied to a work attachment detachably attached to the construction machine body. In a control method for a construction machine that controls oil, a bar that is provided on a work attachment side and stores unique information for setting operating conditions required by the work attachment as binary information using a barcode reader. By irradiating the code with scanning light and receiving light having the binarized information reflected by the bar code, a reading step of reading the binarized information of the bar code, and reading the binarized information in the reading step It is characterized by comprising a control step of controlling the hydraulic pressure source using the unique information obtained by reading.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 3 show a control device and a control method for a construction machine according to an embodiment of the present invention. The control device for a construction machine according to the present embodiment includes:
First, the construction machine such as a hydraulic shovel will be described because it is provided in a construction machine such as a hydraulic shovel.

The construction machine 1 such as a hydraulic excavator includes a lower traveling body 100 as described in the prior art (see FIG. 4).
An upper revolving superstructure (construction machine body) 101 is provided on the upper side so as to be rotatable in a horizontal plane. The upper revolving superstructure 101 includes a main frame 102, a driving operation room 103, an engine room 104, and the like provided on the main frame 102.

A boom 105 is rotatably connected to the upper swing body 101 by a pin (not shown), and a stick 106 is rotatably connected to a tip end of the boom 105 by a pin 105A. Further, an attachment (work attachment) 2 such as a breaker (hydraulic hammer) is rotatably connected to the tip of the stick 106 by a pin 106A. This attachment 2 is detachably attached to the tip of the stick 106. FIG. 4 shows an attachment 2 to which a breaker is connected.

The distance between the upper revolving superstructure 101 and the boom 105 expands and contracts, so that the boom 1
Boom drive hydraulic cylinder (boom drive actuator) 1 for rotating drive 05 relative to upper revolving superstructure 101
07 is interposed. Further, between the boom 105 and the stick 106, a stick driving hydraulic cylinder (stick driving actuator) 108 for rotating the stick 106 with respect to the boom 105 due to expansion and contraction of the distance between the ends is interposed. ing.

Between the stick 106 and the attachment 2, an attachment driving hydraulic cylinder 109 for rotating the attachment 2 with respect to the stick 106 by expanding and contracting the distance between the ends is interposed. The hydraulic cylinder 109 for driving the attachment
Is pivotally attached to the stick 106 and the attachment 2 via rods 110 and 111.

Further, each of such hydraulic cylinders 107,
As shown in FIG. 1A, hydraulic pumps (hydraulic sources) 5 and 6 are provided on the upper swing body 101 to supply hydraulic oil for driving the attachments 108 and 109 and the attachment 2. The hydraulic oil from the hydraulic pumps 5 and 6 is supplied to an oil passage 20
a and 20b to the attachment 2. In addition, a control valve 3 is interposed in these oil passages 20a and 20b so that supply and discharge of hydraulic oil to and from the attachment 2 can be controlled.

The control valve 3 is pilot-operated by, for example, a pedal type operating device 21 via pilot oil passages 29a and 29b. Also,
Hydraulic oil from hydraulic pumps 5 and 6 is supplied to oil passages 28a and 28b.
And is supplied to the boom drive hydraulic cylinder 107 via the. In addition, these oil passages 28a, 28b
Is provided with a control valve 4 so that supply and discharge of hydraulic oil to and from the hydraulic cylinder 107 for boom driving can be controlled.

The control valve 4 is pilot-operated by, for example, a lever type operating device 22 via pilot oil passages 29c and 29d. In addition,
In FIG. 1A, each hydraulic cylinder 107, 108, 10
9 shows only a configuration for supplying and discharging hydraulic oil to and from the hydraulic cylinder 107 for boom driving, the supply and discharge of hydraulic oil to and from the other hydraulic cylinders 108 and 109 are also performed in the same manner.

The discharge flow rates of the hydraulic pumps 5 and 6 are adjusted by moving the accelerator position by an accelerator actuator 8, and the engine speed of the pump driving diesel engine 7 and the pump regulators 9 and 10 are controlled by the control unit. The adjustment is performed by controlling by the controller 12.

The accelerator actuator 8, the pump regulators 9 and 10, and the controller 12 for controlling them constitute a control device for controlling the hydraulic oil supplied to the attachment 2. For this reason, the construction machine is provided with various sensors and the like, and signals from these sensors and the like are input to the controller 12 as a control unit constituting the control device.

That is, an accelerator dial 15 for setting the engine speed of the pump driving diesel engine 7 is provided so that the operator can manually set the engine speed.
Signals from 5 are input to the controller 12. The pump driving diesel engine 7 is also provided with an engine speed sensor 16 so that the actual engine speed of the pump driving diesel engine 7 can be detected. Is input to the controller 12.

The controller 12 compares the target engine speed set by the accelerator dial 15 with the actual engine speed detected by the engine speed sensor 16 and drives the accelerator actuator 8 so that they match. Is calculated, and a signal corresponding to the control amount is output to the accelerator actuator 8. As a result, the engine speed is controlled to reach the target speed, and the hydraulic pumps 5, 6 are controlled.
Is controlled.

In order to control the pump output so that the work can be performed efficiently according to the engine speed and the work load, the controller 12 controls the hydraulic pump 5 based on the engine speed and the accelerator dial position. A signal for output control of No. 6 is output to the electromagnetic proportional valves 13 and 14. The signal from the controller 12 is converted into hydraulic pressure by the electromagnetic proportional valves 13 and 14, and the converted hydraulic pressure is output to the pump regulators 9 and 10 to control the discharge flow rates of the hydraulic pumps 5 and 6. It has become.

For example, if the accelerator dial position is at the maximum and the engine speed is equal to or higher than the rating, a signal to increase the pump output is sent from the controller 12 to the electromagnetic proportional valves 13 and 14.
The hydraulic pressure converted by the electromagnetic proportional valves 13 and 14 is sent to the pump regulators 9 and 10 so that the flow rate from the hydraulic pumps 5 and 6 is controlled to increase, while the engine speed is reduced. If it is less than the rating, a signal to lower the pump output is sent from the controller 12 to the electromagnetic proportional valve 13,
The hydraulic pressure converted by the electromagnetic proportional valves 13 and 14 is sent to the pump regulators 9 and 10 so that the flow rate from the hydraulic pumps 5 and 6 is reduced so as not to exceed the engine output. Will be controlled.

A flow control valve 11 is provided downstream of the center bypass line of the control valve 3.
Is installed, and the pressure signal on the upstream side is connected to the pump regulators 9 and 10, and the pump regulators 9 and
According to 10, so-called negative flow rate control is performed such that the pump flow rate decreases when the pressure is high and the pump flow rate increases when the pressure is low. Note that these connections are omitted in FIG.

The pilot oil passages 29a and 29b are provided with pressure switches ( _PSW ) 24 and 25, respectively, so that the operation state of the control valve 3 can be detected by the presence or absence of operation. Switches 24, 2
Signals from 5 are input to the controller 12. Then, when the signals from the pressure switches 24 and 25 are signals indicating that there is an operation, the controller 12 outputs a signal corresponding to the operating condition of the attachment 2 to the electromagnetic proportional valves 13 and 14 via the pump driver 47. At the same time, the signal is output to the accelerator actuator 8 via the engine driver 48.

A pressure sensor (P) 26 is provided in each of the pilot oil passages 29c and 29d so that the operation state of the control valve 4 can be proportionally detected. The signal is input to the controller 12. The controller 12 operates, for example, simultaneously with the attachment 2 and simultaneously operates another actuator (here, a boom driving hydraulic cylinder), and contracts the boom driving hydraulic cylinder 107 (lowers the boom 105). At this time, the output to the electromagnetic proportional valves 13 and 14 via the pump driver 47 is increased so that the pump discharge flow rate is increased so that the drive speed of the boom drive hydraulic cylinder 107 according to the signal of the pressure sensor 26 is obtained. And the accelerator actuator 8 via the engine driver 48.
Output to

In this embodiment, the type of the attachment 2 attached to the construction machine body 101 is automatically determined by the controller 12, and the operating conditions (supply oil pressure, flow rate, etc.) required by the attachment 2 are determined.
Can be set. For this reason, FIG.
As shown in FIG. 1, the attachment 2 of the construction machine 1 is provided with a bar code 23.

The barcode 23 stores unique information for setting operating conditions required by the attachment 2 as binarized information. That is, bar code 2
3 is usually a plurality of black bars (hereinafter referred to as black bars)
And white bars (hereinafter, referred to as white bars) are alternately arranged, and predetermined data is represented based on the width of each black bar and each white bar.

The unique information stored in the barcode 23 is used to obtain unique operating conditions (supply oil pressure, flow rate, etc.) necessary for operating the attachment 2 properly. , The position of an accelerator actuator 8 that controls the engine speed of an engine 7 that drives the engine 7 (accelerator position), the pump regulators 9, 1
Hydraulic source drive data (hereinafter, unique information) such as a pump set horsepower and an increase coefficient controlled by 0. In addition,
The increase coefficient is the accelerator position correction coefficient A or the pump horsepower correction coefficient B shown in step S4 of FIG.

As an example of the unique information stored in the barcode 23, for example, the accelerator position of the engine 7 is set to the engine speed = 1600 rpm. p. m. like,
The pump setting horsepower is set such that pump torque = 60%. On the other hand, the construction machine 1 has its driving operation room 1
03, a bar code reader 30 as a bar code reader is provided.
Thereby, the binarized information of the barcode 23 provided on the attachment 2 can be read by manual operation.

The bar code reader 30 irradiates the bar code 23 with scanning light and receives the light having the binarized information reflected by the bar code 23, thereby converting the binarized information of the bar code 23. It reads the binarized information and wirelessly transmits the binarized information to the controller 12. The hardware configuration of the barcode reader 30 is, for example, as shown in FIG.
As shown in FIG. 1, the optical system includes an optical system 31, an A / D converter 35, and a transmitter receiver 36.

The optical system 31 irradiates the bar code 23 with the laser beam L2 and receives the reflected light R1 of the laser beam L2 reflected from the bar code 23. Light emitting section 32,
It comprises a scanning mechanism 33 and a photoelectric conversion unit 34.
Here, the laser light emitting section 32 is configured to include a semiconductor laser that emits a laser beam L1.

The scanning mechanism 33 is composed of, for example, a polygon mirror rotated and driven by a motor. The scanning mechanism 33 reflects the laser beam L1 from the laser light emitting section 32 to convert the laser beam L1 into a laser beam L2. Has a function of irradiating a plurality of black bars and white bars constituting the barcode 23, and moving and scanning the barcode 23 at a constant speed in a direction intersecting the black and white bars.

The scanning mechanism 33 reflects the reflected light R1 of the laser beam L2 from the bar code 23 to thereby move the reflected light R1 moving with the scanning of the laser beam L2.
1 also has a function of making the reflected light R2 incident on the photoelectric conversion unit 34. Further, the photoelectric conversion unit 34 includes a photoelectric conversion element such as a photodiode, for example, and converts the reflected light R2 (optical input signal) received via the scanning mechanism 33 into an electric signal corresponding to the light amount. (Analog value) and output.

The A / D conversion section 35 digitizes the electric signal from the photoelectric conversion section 34, and the A / D conversion section 35
The conversion unit 35 digitizes the electric signal from the photoelectric conversion unit 34 to correspond to a black level signal corresponding to each black bar portion forming the barcode 23 and a black level signal corresponding to each white bar portion forming the barcode 23. This is converted into a binary signal with a white level signal.

As the binarized signal, the amount of reflected light R2 from each white bar portion is generally larger than the amount of reflected light R2 from each black bar portion. And a black level signal is obtained as a low level signal. Transmitter receiver 3
6 is a transmitter receiver 4 on the controller 12 side
1 is a wireless transceiver as a transmission means for wirelessly transmitting and receiving data to and from the wireless communication device 1. The transmitter / receiver 36 is provided with a transmitting / receiving antenna 30a.

The bar code reader 3 configured as described above
0 is transmitted and received, and predetermined data is extracted and demodulated from the binarized signal of the barcode 23 read by the barcode reader 30. The type of the attachment 2 is automatically determined, and the attachment 2 is required. The controller 12 has a hardware configuration as shown in FIG. 2 so that the operating conditions (supply oil pressure and flow rate) can be set.

That is, the controller 12 is a wireless transceiver (transmission / reception device) as a transmission means for wirelessly transmitting / receiving between the central processing unit (hereinafter referred to as CPU) 40 and the transmitter / receiver 36 of the barcode reader 30. The transmitter / receiver 41, the transmitting / receiving antenna 12a, and the transmitter / receiver 4
Input / output device (interface, I / O) connected to 1
42, a bar width counter 43, a clock generator 44, a read-only memory (hereinafter, referred to as a ROM) 45 storing a processing program, and a type, a rated flow rate and a type specific to each attachment 2 obtained from the barcode 23. A random access memory (hereinafter referred to as RAM) 46 for storing information such as pressure (referred to as unique information);
The pump regulators 9 and 10 of the hydraulic power source are
It is provided with a pump driver 47 that drives the pump set horsepower by driving through the pumps 3 and 14, and an engine driver 48 that drives the accelerator actuator 8 of the hydraulic power source to control the rotation speed of the engine 7. I have. The controller 12 also includes a power supply unit (also referred to as a power unit) 49 for operating the controller 12.

The bar width counter 43 counts a clock signal from the clock generator 44. The bar width counter 43 stores the bar code 2
The time width of the black level signal portion and the white level signal portion of the binarized signal of No. 3, that is, the value corresponding to the width of each black bar and each white bar of the actual barcode 31 is output as the count value of the clock signal. Things. For this reason, the bar width counter 43 receives the binarized signal of the barcode 23 received via the transmission / reception antenna 12a and the transmitter receiver 41 via the interface 42 and the bus line.

The bar width count value of the bar width counter 43 is stored in the RAM 46.
Then, the CPU 40 calculates the bar width count value (the value corresponding to the width of each black bar and each white bar) stored in the RAM 46.
, The unique information of the attachment 2 of the barcode 23 is extracted and demodulated. Also, C
The PU 40 is connected to a ROM 45 and a RAM via a bus line.
The data is exchanged with the attachment 46, the type of the attachment 2 is determined based on the extracted and demodulated unique information of the attachment 2, and the operating conditions (supply oil pressure and flow rate) required by the attachment 2 to be used are determined. ) Is set.

FIG. 1B shows the hydraulic pumps 5 and 6.
FIG. 3 is a pump horsepower characteristic diagram showing the relationship between the discharge pressure and the discharge flow rate of the pump. Curve data of various constant pump horsepower PS1 = b1, b2,..., BN as shown in FIG. 1 (B) are stored in the ROM 45 of the controller 12. Then, the CPU 40 reads a curve specified by the unique information of the currently used attachment from among a plurality of constant horsepower curves as shown in FIG. 1 (B), and the pressure and the flow rate of each attachment 2 based on the curve. The operating conditions required by the attachment 2 are set by selecting a set value such as the above.

The operating conditions thus set are such that when the signals from the pressure switches 24 and 25 are signals indicating that there is an operation, the solenoid proportional valve 13 and
14 and to the accelerator actuator 8 via the engine driver 48. When the pressure sensor 26 detects that the lever type operating device 22 has been operated to lower the boom as shown in FIG. 3, the controller 12 sends the hydraulic oil to the boom driving hydraulic cylinder 107. It also has a function of adding the correction control condition calculated according to the operation state of the control valve 4 for controlling the supply and discharge to the operating condition required by the attachment 2 set as described above.

Since the control device for a construction machine according to the present embodiment is configured as described above,
effective. That is, at the construction site, the construction machine body 10
When attaching the attachment 2 to the attachment 1, the attachment (for example, a breaker) is used by using the barcode reader 30.
By irradiating the scanning light onto the bar code 23 provided in the scanner 2 and receiving the light having the binary information reflected by the bar code 23, the binary information of the bar code 23 is read (reading step). ).

The binary information of the barcode 23 read by the barcode reader 30 in this manner is sent to the controller 12 by radio, and
In this example, the operating condition (accelerator position and pump setting horsepower) required by the attachment 2 stored in the controller 12 in advance is set based on the unique information of the attachment as the binarized information. Based on this set value, the hydraulic pumps 5, 6 constituting the hydraulic power source are controlled (control step).

As described above, in the present embodiment, the simple operation of reading the unique information of the attachment 2 stored as the binarized information in the barcode 23 provided on the attachment 2 by the barcode reader 3 is performed. The operating conditions required by the attachment are set in the controller 12. Here, FIG.
2 is the unique information (accelerator position AC) transmitted from the barcode reader 30 to operate the attachment 2.
C1, the pump horsepower PS1) is used as it is,
Or, for example, when operating another actuator other than the attachment 2 at the same time as the attachment 2 in order to press the attachment 2 against the object, a flowchart for explaining the operation when the accelerator position ACC or the pump horsepower PS is arithmetically processed. It is.

Here, in the case of simultaneous operation, the controller 12 sets the lever position of the lever operating device 22 for pilot-operating the control valve 4 of the hydraulic cylinder 107 for boom driving to the accelerator position ACC1 or the pump horsepower PS1 when only the attachment 2 is operated. A constant accelerator position correction coefficient A for a function f (BM) related to the amount of operation to lower the boom
Or a correction value A · f obtained by multiplying by a pump horsepower correction coefficient B.
(BM) or B · f (BM) are added to obtain a correction value ACC or PS, and these are output.

Next, the controller 1 shown in FIG.
1 will be described with reference to FIG. FIG.
As shown in FIG. 7, the unique information (accelerator position ACC1 and pump horsepower PS1) transmitted from the barcode reader 30
Etc.) are received by the controller 12 (step S
1 and YES), and stores the unique information (step S
2) If the boom drive hydraulic cylinder 107 is stopped (NO in step S3), the accelerator position AC
C1 and pump horsepower PS1 are output from the controller 12.

This will be described with reference to FIG. 1. The operation of the attachment 2 is performed by a pedal-type operation device 21. When the pedal-type operation device 21 is depressed, the operation is performed through pilot oil passages 29a and 29b. A pilot oil pressure corresponding to the stepping operation amount is output, whereby the control valve 3 is pilot-operated, and the discharge pressure oil of the pumps 5, 6 is supplied to the attachment 2 according to the operation amount.

At this time, an operation signal detected by the pressure switches 24 and 25 is input to the controller 12 from the pilot oil passages 29a and 29b of the pedal type operating device 21, and the controller 12 operates the pedal type operating device 21. Is detected, and a set value (for example, ACC1, P
S1) is output.

The accelerator signal output by the controller 12 is input to the accelerator actuator 8 to control the accelerator position of the engine 7. On the other hand, the pump drive signal output by the controller 12 is input to the electromagnetic proportional valves 13 and 14, converted into hydraulic pressure, and input to the pump regulators 9 and 10 to control the horsepower of the hydraulic pumps 5 and 6.

Next, a case where another actuator, here the boom cylinder 107, is operated simultaneously with the attachment 2 will be described. When the attachment 2 is used, it is efficient to move the boom 105 downward and press the attachment (the breaker in this case) 2 against the object, which is efficient, and the demand for such an operation is high.

In such a case, a signal from the pressure sensor 26 installed in the boom lowering-side pilot oil passage 29d of the manual lever type operating device 22 for driving the boom driving hydraulic cylinder 107 is input to the controller 12. The pilot oil passage 29d of the lever type operation device 22 is connected to the control valve 4, drives the control valve 4, and supplies the discharge pressure oil of the hydraulic pumps 5, 6 to the boom driving hydraulic cylinder 107 according to the operation amount. I do.

Then, the boom driving hydraulic cylinder 107
Is reduced (boom 105 is lowered), the pump discharge flow rate is increased so that the drive speed of the boom drive hydraulic cylinder 107 according to the signal of the pressure sensor 26 is obtained. That is, as shown in FIG. 3, when the boom drive hydraulic cylinder 107 is operated at the same time as the attachment 2 (YES in step S3), the accelerator position ACC1 selected in step S2 is added to the accelerator position increase A · f ( BM) to calculate the corrected accelerator position ACC, and add the pump horsepower increase B · f to the pump horsepower PS1 selected in step S2.
The corrected pump horsepower PS is calculated by adding (BM) (step S4). Note that A and B are increase factors, and f (BM) is a function of the operation amount of the lever type operation device 22. The correction value (A
CC, PS) from the controller 12,
The pump discharge flow rate increases, and it is possible to cope with the simultaneous operation of the attachment 2 and the boom drive hydraulic cylinder 107.

Therefore, according to the control device and the control method for a construction machine according to the present embodiment, only the simple operation of reading the binarized information of the bar code 23 provided on the attachment 2 by the bar code reader 30 is performed. Since the unique information of the work attachment stored in the unique information storage member can be taken out, the unique information relating to the operating conditions required by the attachment 2 can be easily and reliably stored without error. There is an advantage that it can be input to the controller 12.

Since the hydraulic pumps 5 and 6 are controlled by the controller 12 based on the unique information of the attachment 2 stored as binarized information of the barcode 23, the hydraulic pumps 5 and 6 are provided on the construction machine main body 101 by the controller 12. Hydraulic pumps 5 and 6 can be appropriately controlled according to each attachment 2, and there is also an advantage that appropriate hydraulic pressure, flow rate, and the like required for each attachment can be automatically supplied.

The bar code reader 30 is configured to transmit and receive data to and from the controller 12 wirelessly, is provided in the operation room 103, and reads the information of the bar code 23 by manual operation. Therefore, there is also an advantage that the cost can be kept low. In the control device and the control method of the construction machine according to the present embodiment, the barcode reader 30 is provided in the operation room 103, the information of the barcode 23 is read manually, and the barcode reader 30 and the controller 12 communicate with each other. Are transmitted and received wirelessly. However, transmission and reception between the barcode reader 30 and the controller 12 may be performed by wire, and if dust-proofing and waterproofing can be reliably performed, the barcode is used. The reader 30 may be provided in the attachment 2, and transmission and reception between the barcode reader 30 and the controller 12 may be performed by wire or wirelessly.

In the control device and the control method for a construction machine according to the present embodiment, the controller 12
3, a clock 44 is provided, and the CPU 40 extracts and demodulates the binarized information of the barcode 23. The barcode receiver 30 is configured to include a CPU, a bar width counter, and a clock. The binarized information of the barcode 23 may be extracted and demodulated on the receiver 30 side.

In the control device and the control method of the construction machine according to the present embodiment, the A / D converter 35 controls the optical system before the binary information of the barcode 23 is transmitted from the barcode receiver 30 to the controller 12. Although the electric signal from the system 31 is digitized and then transmitted digitally, the electric signal may be transmitted from the barcode receiver 30 to the controller 12 in analog form and digitized on the controller 12 side.

The construction machine according to the present invention is not limited to the construction of the construction machine in the present embodiment.
The present invention can be widely applied to a work attachment that is driven by supplying hydraulic oil from a hydraulic source and that is detachably attached to a construction machine body.

[0075]

As described above in detail, according to the control apparatus for a construction machine according to the first aspect of the present invention and the control method for a construction machine according to the second aspect of the present invention, the work attachment is provided. By simply performing the simple operation of reading the binarized information of the barcode with the barcode reader, the unique information of the work attachment stored in the unique information storage member can be taken out, thus requiring the work attachment. Easily provide unique information on operating conditions,
In addition, since the correspondence can be reliably input to the control unit without error, the hydraulic pressure source is controlled by the control unit based on the unique information of the attachment stored as the binary information of the barcode. This unit has the advantage that the hydraulic pressure source on the machine side can be appropriately controlled according to each work attachment, and the appropriate oil pressure and flow rate required for each work attachment can be automatically supplied. is there.

[Brief description of the drawings]

FIG. 1 is a view for explaining a control device for a construction machine according to an embodiment of the present invention, in which (A) is a schematic diagram showing the entire configuration, and (B) is a discharge pressure and a discharge flow rate of the hydraulic pump. FIG. 4 is a pump horsepower characteristic diagram showing the relationship between the pump horsepower characteristics.

FIG. 2 is a control block diagram of a control device for a construction machine according to the present embodiment.

FIG. 3 is a flowchart illustrating a control procedure in a control device and a control method for a construction machine according to the present embodiment.

FIG. 4 is a schematic view showing a construction machine in which a work attachment is mounted on the body of a general hydraulic excavator.

FIG. 5 is a schematic view showing a conventional control device for a construction machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Construction machine 2 Work attachment (breaker) 5, 6 Hydraulic pump which forms a hydraulic power source 7 Engine 8 Accelerator 9, 10 Pump regulator 12 Controller (control part) 12a, 30a Transmitting / receiving antenna 13, 14 Electromagnetic proportional valve 23 Bar code Reference Signs List 30 bar code reader 31 optical system 32 laser emitting unit 33 scanning mechanism 34 photoelectric conversion unit 35 A / D conversion unit 36, 41 transmitter receiver 40 CPU 42 interface 43 bar width counter 44 clock 45 ROM 46 RAM 47 pump driver 48 engine driver

Claims (2)

[Claims] 1. A construction machine control device for controlling a hydraulic oil source provided in a construction machine main body to control hydraulic oil supplied to a work attachment detachably attached to the construction machine main body. A barcode that is provided on the work attachment and stores unique information for setting operating conditions required by the work attachment as binarized information; and a barcode that irradiates scanning light to the barcode. By receiving the light having the binarized information reflected at,
A bar code reader that reads the binarized information of the bar code, and a control unit that controls the hydraulic pressure source using the unique information obtained by reading the binarized information with the bar code reader. A control device for a construction machine, comprising: 2. A construction machine control method for controlling a hydraulic oil source provided in a construction machine main body to control hydraulic oil supplied to a work attachment detachably attached to the construction machine main body. Using a code reader, a bar code that is provided on the work attachment side and stores unique information for setting operating conditions required by the work attachment as binary information is irradiated with scanning light, A reading step of reading the binarized information of the barcode by receiving light having the binarized information reflected by the barcode; and reading the binarized information in the reading step. And a control step of controlling the hydraulic pressure source using the obtained unique information.