JPH11190042A - Automatic operation shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation shovel for preventing the incursion into the peripheral dangerous area. SOLUTION: In an automatic operation shovel, it is constituted of a front end position operating device for performing operations of an front end position of an arm 13 and a front end position of a boom 12 and a sensing position operating device for performing operations of sensing positions s1-s3 set in a position of a bucket length L of the automatic operation shovel in a plurality of directions based on the calculated front end position 114 of the arm and, at the same time, for performing operations of sensing positions s4-s6 set in a position of the radius of rotation in the rear end of the arm of the automatic operation shovel in a plurality of directions based on the calculated front position of the boom 12. It is equipped with a sensing threshold value storing device for storing threshold value dividing a dangerous area set in a plurality of directions from a specific position of the automatic operation shovel and a dangerous area decision device for stopping the operation of the automatic operation shovel when the calculated sensing positions are in excess of the threshold 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 provided with an area control means for preventing a collision with another work machine or a peripheral device during automatic driving.

[0002]

2. Description of the Related Art As one method of automation using a hydraulic excavator, a system based on teaching and regeneration is disclosed in Japanese Patent Publication No. 54-7121. This conventional technique stores operating state quantities such as an angle and a position obtained by a teaching operation, and performs a regenerating operation of a hydraulic shovel using the above-described stored values at the time of reproducing. It is a self-contained system that does not take into account.

Further, Japanese Patent Publication No. 6-81376 discloses that
In order to perform area control, an angle detector was provided at the pivot point of the bucket, arm, and boom, and the position of the lowest part from each detection value was provided at a certain depth from the boom rotation point. When the vehicle reaches the quasi-dangerous zone, the operation speed is reduced, and when the vehicle reaches the danger zone set deeper, the stop process is performed.

[0004]

Generally, at a work site,
Construction machines such as hydraulic shovels are often operated in cooperation with other work machines such as trucks and crushers.In order to automate this, it is necessary to prevent contact and collision with other work machines and peripheral devices. No.

However, since the first prior art is a self-contained system, a collision cannot occur if there is no relative displacement with another working machine or the like. No special measures have been taken.

In the second prior art, the lowest part of the bucket varies depending on the shape, size, and attitude of the attached bucket, and depending on the distance from the bucket pivot point. In addition, this control involves a large amount of stored data for controlling the area, and also burdens the calculation. further,
When the bucket is changed, it is necessary to replace the stored data with that of the new bucket, and when performing area control with the bucket blade, the back of the bucket is lower than the bucket blade due to the angle of the bucket. There were drawbacks such as getting lost.

The present invention has been made in view of the various problems described above,
An object of the present invention is to provide an automatic driving shovel provided with an area controlling means capable of preventing contact with other work machines and peripheral devices by relatively simple means.

[0008]

The present invention employs the following means in order to solve the above-mentioned problems.

In a self-driving shovel that repeatedly operates a series of operations from excavation to earth removal by a regenerating operation, a boom arm tip position calculation for calculating a tip position of an arm and a tip position of a boom of the self-driving shovel. Means, based on the calculated tip position of the arm, calculate a sensing position set at a position of a bucket length of the automatic driving shovel in a plurality of directions;
Sensing position calculating means for calculating a sensing position set at a position of a turning radius of a rear end of the arm of the automatic driving shovel in a plurality of directions based on the calculated tip position of the boom; and a predetermined position of the automatic driving shovel. A sensing threshold value storing means for storing a threshold value for partitioning the danger area set in the plurality of directions from the position, and stopping the operation of the automatic driving shovel when the calculated sensing position exceeds the threshold value. And a danger area determination unit that performs the determination.

[0010] Further, in the automatic driving shovel according to claim 1, the boom / arm tip position calculating means is calculated based on an elevation angle of the boom and a rotation angle of the arm. .

Further, in the automatic driving shovel according to any one of claims 1 and 2, the plurality of directions are three above, below, and forward of a surface formed by the lowering of the boom. Direction.

[0012]

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. 1 is an overall configuration diagram of a hydraulically driven shovel (hereinafter referred to as an automatically driven shovel) according to the present embodiment.

In the drawing, reference numeral 1 denotes a hydraulic shovel for excavating debris stored in a debris storage (not shown) and discharging the excavated stone to a lithotripter 2 to be described later, and 2 a lithotripter for crushing debris dropped from the excavator 1. Reference numeral 3 denotes an operation box installed at an arbitrary place suitable for performing a regeneration operation of the excavator 1.

The hydraulic excavator 1 includes a traveling body 10, a revolving body 11 rotatably provided on the traveling body 10, and a revolving body 1
A boom 12 provided so as to be capable of raising and lowering;
Arm 13 rotatably provided at the tip of
3, a bucket 14 rotatably provided at the tip of the cylinder 3, cylinders 15, 16, 17 for raising and lowering the boom 12, the arm 13, and the bucket 14 respectively; And an antenna 19 for transmitting and receiving signals to and from the operation box 3.

The hydraulic excavator 1 also includes an angle sensor 111 for detecting the turning angle of the revolving unit 11, an angle sensor 112 for detecting the elevation angle between the revolving unit 11 and the boom 12, and rotation of the boom 12 and the arm 13. Angle sensor 11 for detecting an angle
3. An angle sensor 114 for detecting a rotation angle between the arm 13 and the bucket 14 is provided.

The crusher 2 includes a traveling body 20, a hopper 21, a crusher 22 provided below the hopper 21,
The crusher 2 comprises a conveyor 23 provided below the crusher 22. Numeral 24 denotes debris crushed by the crusher 2.

The operation box 3 includes a support 30 and
A teaching reproduction operation device 31 fixed to the support 30;
A playback stop button 312, an emergency stop button 313, a teaching operation unit 314 which is provided so as to be mechanically and electrically connectable to the main body of the teaching playback operation device 31 and is operated at the time of teaching, and a display for displaying a teaching result. Antenna 315 that transmits and receives signals between the unit 3141 and the antenna 19 of the excavator 1
And

Yh is the distance from the boom elevation axis where the angle sensor 112 is provided to the upper danger area, Yl is the distance from the boom elevation axis where the angle sensor 112 is provided to the lower danger area, and Xf is the boom where the angle sensor 112 is provided. Distance from the elevation axis to the front danger zone, L is the bucket length,
s1 is an upper sensing position provided at a position of the bucket length L above the arm tip position, s2 is a lower sensing position provided at a position of the bucket length L below the arm tip position, and s3 is forward from the arm tip position. Bucket L
Represents the front sensing position provided at the position of.

L 'is the radius of rotation of the rear end of the arm, s4
Is an upper sensing position provided above the arm rear end at a position of the arm rear end rotation radius L ', s5 is a lower sensing position provided below the arm rear end at a position of the arm rear end rotation radius L', s6. Represents a front sensing position provided at the position of the arm rear end rotation radius L 'forward from the rear end of the arm.

Next, a control mechanism of the hydraulic shovel according to the present embodiment will be described with reference to a block diagram shown in FIG.

In the figure, portions corresponding to the configurations of the excavator 1 and the operation box 3 shown in FIG.

In the figure, reference numeral 316 denotes a reproduction operation unit operated at the time of reproduction, 317 denotes a dangerous area operation unit, and 318 denotes signals output from the teaching operation unit 314, the reproduction operation unit 316, and the dangerous area determination unit 513. An external signal generator 319 and an external signal generator 319 for generating a predetermined signal to be output to the automatic driving controller 50 are an external wireless device and an internal wireless device for transmitting and receiving data between the teaching reproduction operation device 31 and the automatic driving controller 50, respectively. Device.

The out-of-vehicle signal generation unit 318 is constituted by a general controller using a microcomputer, and has a function of generating a command code corresponding to an input signal.

Reference numeral 5 denotes an in-vehicle device, 50 denotes an automatic operation controller, 51 denotes an auxiliary control valve driven by a drive current output from the automatic operation controller 50, 52
Is a main control valve that is controlled by a hydraulic signal output from the auxiliary control valve 51 to control the amount of oil or hydraulic pressure flowing into the actuator, and 53 is a cylinder 15 for operating each part of the hydraulic excavator 1 shown in FIG. Actuators such as 16, 17 and 314 'are teaching operation units.

At the time of teaching, teaching is usually performed by an operation from a teaching operation unit 314 'mounted in the cab 18, and the automatic operation controller 50 follows the operation to detect data from the angle sensors 112 to 115. Is input and calculated, and stored as a teaching position data and a teaching command in a predetermined storage area as described later. In the drawing, the teaching operation unit 314 is shown as being detached from the teaching operation unit 314 ′ in the cab 18 and being mounted on the teaching reproduction operation device 31. During playback, the playback operation unit 316
Then, by turning on the reproduction start button 311, the predetermined signal generated by the outside signal generation unit 318 is transmitted to the automatic driving controller 50 via the wireless devices 315 and 19, and the reproduction process is started. When the regeneration process is started in the automatic driving controller 50, the stored teaching position data is called up, and the angle sensors 112 to 11 are read.
5 and the revolving unit 11 and the boom 1 so as to match the teaching position data while comparing with the current position information obtained from
2. A drive current is output to an auxiliary control valve 51 for operating the arm 13 and the bucket 14, respectively. Auxiliary control valve 5
1 through the main control valve 52.
The hydraulic excavator 1 is automatically operated by controlling the hydraulic pressure of the hydraulic excavator 3.

Next, the functional configuration of the automatic driving shovel according to the present embodiment, in particular, the details of the automatic driving controller 50 will be described with reference to the block diagram shown in FIG.

In FIG. 3, parts corresponding to those shown in FIGS. 1 and 2 are denoted by the same reference numerals and description thereof is omitted.

Reference numeral 501 denotes a current position calculation unit for calculating angle signals detected by the angle sensors 111 to 114 into current position data. Reference numeral 502 denotes a teaching command and an instruction from the teaching operation unit 314 or 314 'during teaching. A teaching processing unit 503 for outputting the current position of the excavator 1 obtained from the current position calculation unit 501 as teaching position data;
Is a teaching command storage unit for storing a teaching command output from the teaching processing unit 502; 504, a teaching position storage unit for storing teaching position data output from the teaching processing unit 502; 505, activation from the reproduction operation unit 316 When activated by a signal, the teaching command stored in the teaching command storage unit 503 is sequentially interpreted, and the teaching position storage unit 504 is interpreted.
A command interpreter unit 506 for instructing the output of predetermined teaching position data from a command interpreter unit 505;
A teaching position output processing unit 507 that outputs teaching position data from the teaching position storage unit 504 in response to a command from
Before the servo that generates and outputs the teaching position data interpolated between the teaching position data from the teaching position data output from the teaching position output processing unit 506 so that the hydraulic excavator 1 operates smoothly between the teaching positions. Processing unit, 50
Reference numeral 8 denotes a drive for controlling each part of the excavator 1 to a predetermined position by comparing the interpolated teaching position data output from the servo preprocessing unit 507 with the current position data output from the current position calculation unit 501. It is a servo control unit that outputs a current.

Reference numeral 509 denotes an arm rear end turning radius in which the value of the arm rear end turning radius L 'is set and stored from the danger area operation section 317 of the operation box 3 in accordance with the size of the arm constituting the hydraulic excavator 1. The storage unit 510 is a bucket length storage unit in which the value of the bucket length L is set and stored from the danger area operation unit 317 of the operation box 3 in accordance with the size of the bucket to be used. The sensing threshold value storage unit 512 in which upper, lower, and front sensing threshold values Yh, Yl, and Xf are set and stored from 317 is an elevation angle α between the revolving unit 11 and the boom 12.
Arm position calculating section 513 for calculating the boom tip position and the arm tip position based on the current angle data from the angle sensor 112 for detecting the angle of rotation and the angle sensor 113 for detecting the rotation angle β of the boom 12 and the arm 13.
Is the bucket length L stored in the bucket length storage section 510 and the arm rear end rotation radius L ′ stored in the arm rear end rotation radius storage section 509 and the boom / arm position calculated by the boom / arm tip position calculation means 512. Sensing positions s1, s2, s based on arm tip position data
The sensing position calculator 514 for calculating 3, 3, s4, s5, and s6 includes the sensing thresholds Yh, Yl, and Xf and the sensing positions s1, s2, s3, s4, s5, and s6 calculated by the sensing position calculator 513. And a risk area determination unit that outputs a determination result to the command interpreter unit 505 and the servo preprocessing unit 507.

The value of the bucket length L changes when the bucket is changed. Further, the sensing thresholds Yh, Yl, Xf change depending on how the range of the dangerous area is set.

The positions of the boom tip position, the arm tip position, and the sensing position are determined by a boom / arm tip position calculating section 512 and a sensing position calculating section 51.
3, the values are obtained by calculating the following equations.

FIG. 4 shows the positional relationship between the boom, the arm, and the bucket.
The boom tip position, C is the arm tip position, L ₁ is the boom length, L ₂ represents an arm length.

The boom tip position B is obtained by the following equation from the above-described relationship between the elevation angle α and the rotation angle β.

X _B = L ₁ sinα (Equation 1) Y _B = L ₁ cos α (Equation 2) Similarly, the arm tip position C can be obtained by the following equation.

X _C = L ₁ sin α + L ₂ sin (α + β) (Equation 3) Y _C = L ₁ cos α + L ₂ cos (α + β) (Equation 4) Further, from the arm tip position C, upward, downward and forward directions The sensing position s set at the position of the length of the bucket length L is obtained by the following equation.

X _s1 = L ₁ sin α + L ₂ sin (α + β) (Equation 5) Y _s1 = L ₁ cos α + L ₂ cos (α + β) + L (Equation 6) X _s2 = L ₁ sin α + L ₂ sin (α + β) (Equation 7) Y _{s2 = L 1 cosα + L 2} cos (α + β) -L ( wherein _{8) X s3 = L 1 sinα} + L 2 sin (α + β) + L ( wherein _{9) Y s3 = L 1 cosα} + L 2 cos (α + β) ( equation 10) X _s4 = L ₁ sin .alpha (equation _{11) Y s4 = L 1 cosα} + L '( wherein _{12) X s5 = L 1 sinα} ( equation _{13) Y s5 = L 1 cosα} -L' ( wherein _{14) X s6 = L 1 sinα} + L '( wherein 15) Y _s6 = L ₁ cosα (Equation 16) Next, the operation of the excavator 1 of the present embodiment will be described with reference to FIG.

The teaching operation is performed by the teaching operation unit 314 or 31
Operated from 4 '. Usually, the teaching operation unit 314 'is mounted in the cab 18 of the excavator 1, and the teaching operation is performed from the cab.

When the teaching operation unit 314 'is mounted in the cab 18 and a teaching operation is performed, the instruction is sent to the teaching processing unit 5
02, and the current position calculation unit 5
From 01, the current position data is input, and a teaching command and teaching position data corresponding to each teaching point are generated. The generated teaching command and teaching position data are stored in the teaching command storage unit 503 and the teaching position storage unit 504, respectively.

Here, the teaching command is, for example, v =
Command command of speed like 0.7, move P1, mo
.., and move Pn. Where v is a command representing speed,
move is a command representing an operation, and P1... Pn represent labels. The parameters of these teaching commands correspond to labels indicating the angle information of the joints of each part of each excavator, and the label information is stored in the teaching position storage unit 504 as teaching position data.

In the reproduction process, when the reproduction start button 311 is turned on, the command interpreter unit 505 sequentially reads out and executes the teaching commands stored in the teaching command storage unit 503 according to the start instruction. If the teach command is a move command, the teaching position output processing unit 506
The corresponding parameters are output from the teaching position storage unit 504 and transferred to the servo pre-processing unit 507. The servo preprocessing unit 507 performs angle interpolation calculation so that each joint operates at the target speed given from the command interpreter unit 505, and outputs an angle target value to the servo control unit 508. The servo control unit 508 performs feedback control based on the current position calculated by the current position calculation unit 501, and outputs a drive current for driving the auxiliary control valve 51. As a result, the main control valve 52 is controlled and the actuator 53
, A predetermined pressure oil is supplied to drive each joint of the excavator 1.

On the other hand, the determination of the dangerous area is performed as follows.

First, in the boom / arm tip position calculating unit 512, the angle sensor 112 and the angle sensor 113 are used.
The angle data α and β detected by the above are input, and the calculations shown in Equations 1 and 2 are performed to obtain the boom tip position B and Equation 3
Then, the calculation shown in Expression 4 is performed to obtain the arm tip position C. Further, in the sensing position calculation unit 513,
The bucket length L obtained from the bucket length storage unit 510;
Based on the arm rear end rotation radius L ′ obtained from the arm rear end rotation radius storage unit 509 and the boom tip position B and the arm tip position C already obtained, the calculations shown in Expressions 5 to 16 are performed, whereby Sensing positions s1, s2,
s3, s4, s5, and s6 are calculated. Next, in the danger area determination unit 513, each of the sensing threshold values Yh, Yl, Xf stored in the sensing threshold value storage unit 511 and the calculated sensing positions s1, s2, s
3, s4, s5, and s6.

That is, the determination of the upper danger area compares the upper sensing threshold value Yh with the sensing positions s1 and s4, and when Yh < _Ys1 or Yh < _Ys4 , exceeds the allowable range of the upper sensing threshold value Yh. , A stop signal is output to the command interpreter unit 505 and the servo pre-processing unit 507.

[0045] Similarly, the determination of the lower critical region, and comparing the lower sensing threshold Yl and the sensing position s2 and s5, when in the Yl <Y _s2 or Yl <Y _s5 has a tolerance lower sensing threshold Yl If so, a stop signal is output to the command interpreter 505 and the servo preprocessor 508.

Further, the determination of the forward danger area compares the forward sensing threshold value Yf with the sensing positions s3 and s6. When Yf> _Ys3 or Yf < _Xs6 , the forward sensing threshold value Xf exceeds the allowable range of the forward sensing threshold value Xf. , A stop signal is output to the command interpreter 505 and the servo preprocessor 507.

When the above stop signal is output, the command interpreter 505 stops the next processing and
The servo pre-processing unit 507 stops the processing and stops the excavator 1
Is stopped to prevent the excavator 1 from entering the danger area.

As a result of the determination, the sensing positions s1,
s2, s3, s4, s5, s6 are sensing data Y
If it is within the range of h, Yl, Xf, a normal signal is sent to the command interpreter 505, and the command interpreter 505 reads the next command and continues the processing. Further, the stop of the movement of the automatic driving shovel due to the stop signal can be released by turning on a stop release switch (not shown).

As described above, according to this embodiment, in order to perform the area control, the sensing position is set in three directions from the arm tip position and the arm tip position, and the dangerous area is determined. As long as the arm tip position B and the arm tip position C are obtained using the angle data α and β of the sensor 112 and the angle sensor 113, the sensing positions s1 and s1 can be quickly obtained regardless of the rotation position of the bucket.
s2, s3, s4, s5, s6 can be calculated, and as a result,
The determination of the dangerous area can also be performed quickly.

Further, in the case of controlling the area with the conventional bucket cutting edge, the back of the bucket may be lower than the bucket cutting edge depending on the rotating position of the bucket, and the bucket may enter the dangerous area. According to the area control described above, such an adverse effect can be avoided.

When the bucket is replaced, the sensing position can be easily changed by setting the data of the bucket length L again.

[0052]

As described above, according to the present invention, in an automatic driving shovel, area control can be performed by a relatively simple method, and less equipment is required for area control means. Calculation data for area control can be reduced, and it is possible to quickly avoid entering a dangerous area.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an automatic driving shovel according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a control mechanism of the automatic driving shovel according to the embodiment.

FIG. 3 is a block diagram showing a functional configuration of the automatic driving shovel according to the embodiment.

FIG. 4 shows a boom tip position B, an arm tip position C, and sensing positions s1, s2, s3, according to the present embodiment.
It is explanatory drawing for calculating | requiring each position of s4, s5, and s6.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Stone crusher 3 Operation box 31 Teaching reproduction operation device 5 In-vehicle equipment 50 Automatic operation controller 111-114 Angle sensor 314, 314 'Teaching operation part 316 Reproduction operation part 317 Danger area operation part 501 Current position calculation part 503 Teaching Command storage unit 504 Teaching position storage unit 505 Command interpreter unit 507 Servo preprocessing unit 508 Servo control unit 509 Arm rear end rotation radius storage unit 510 Bucket length storage unit 511 Sensing threshold storage unit 512 Boom / arm tip position calculation unit 513 Sensing position Arithmetic unit 514 Danger zone determination unit

 ──────────────────────────────────────────────────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 (3)

[Claims] 1. An automatic driving shovel in which a series of operations from excavation to earth removal taught are repeatedly operated by a regenerating operation. A boom arm tip for calculating a tip position of an arm of the automatic driving shovel and a tip position of a boom. Position calculating means, based on the calculated arm tip position, calculates a sensing position set at a bucket length position of the automatic driving shovel in a plurality of directions, and calculates the calculated boom tip position. Sensing position calculating means for calculating a sensing position set at a position of a turning radius of an arm rear end of the automatic driving shovel in a plurality of directions, based on the plurality of directions from a predetermined position of the automatic driving shovel; A sensing threshold value storing means for storing a threshold value for defining a dangerous area to be determined; But when exceeding the threshold value, automatic operation shovel, characterized by comprising a critical region judging means for stopping the operation of said automatic operation shovel. 2. The automatic driving shovel according to claim 1, wherein said boom / arm tip position calculating means is calculated on the basis of the elevation angle of said boom and the rotation angle of said arm. 3. The method according to claim 1, wherein
The self-driving shovel according to any one of the preceding claims, wherein the plurality of directions are three directions: above, below, and in front of a surface formed by raising and lowering the boom.