JPH11293711A - Positioning device for revolving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately and smoothly decide a halt position of a revolving body by a remote control and improve a loading workability by providing a plurality of photodetectors at the revolving body side such as a hydraulic back hoe or the like and providing a laser radiator at a dump truck side. SOLUTION: A transmitted control signal is received by a receiver equipped in a working machine such as a hydraulic back hoe or the like and outputted to a controller mounted on the machine to rotate the upper revolving body 3 or actuate a working section 4 composed of a boom 5, an arm 6, a bucket 7, etc., by the controller. A first - a third light photodetectors 16A, 16B, 16C are provided at the front end of the upper revolving body 3 to receive laser beam from the dump truck 17. When the third photodetector 16C receives laser during the revolving movement, a deceleretion instruction is issued and when the first photodetector 16A receives laser, the movement is brought to a stop so as not to abruptly stop the revolving body 3. In this way, even when a loading work is carried out by a remote control, the upper revolving body 3 is acculately brought to a stop to improve the working efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a working machine having a revolving unit such as a hydraulic shovel.

[0002]

2. Description of the Related Art Generally, a working unit is attached to a revolving unit provided in a working machine such as a hydraulic shovel or the like. For example, the working unit is an attachment for excavation and loading composed of a bucket or the like. For example, when loading the dump truck into a dump truck, excavate it with a bucket, rotate the revolving structure to position the bucket above the dump truck bed, and then put the earth and sand on the dump truck bed. It will be dropped and loaded. By the way, when the digging and loading work is performed in a place with a bad working environment, a so-called remote control type which can operate the working machine at a place away from the work place may be used.
In this case, the user works at a remote place while watching the screen or watching the screen of a monitor television or the like.

[0003]

However, in the remote control type, when the work unit and the dump truck are aligned to perform the loading operation, the work machine or the dump truck is located away from the work place. Since it is performed while watching, there is a problem that it is difficult to adjust the turning position and the workability is poor, and there is a problem to be solved by the present invention.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has been created with the object of solving these problems. Transmitting means for transmitting a beam toward the target turning position, the transmitting means being provided on a work receiving side for receiving work from a working unit when positioning the revolving structure to be turned to a preset target turning position; And receiving means for receiving the transmitted beam, and turning control means connected to the receiving means and outputting a turning stop command to the turning drive means in the judgment that the beam has been received. is there. By doing so, the revolving superstructure automatically stops at the revolving target position, and the work efficiency is improved when the revolving superstructure is rotated by remote control. In this, the receiving means further includes a second receiving unit adjacent to the first receiving unit for turning stop command output,
The turning control means can prevent the turning body from suddenly stopping by setting the turning drive means to output a turning deceleration command when the second receiving unit is receiving a beam. A smooth stop at the turning position can be performed. Furthermore, the second receiving unit is divided into a plurality of parts, and the turning control unit is configured such that the beam receiving position in the second receiving unit is set such that the deceleration increases as the position is closer to the first receiving unit. A smooth stop can be performed. Also, by setting the beam to be long in the vertical direction or one that is scanned in the vertical direction, the beam can be reliably received even if the beam transmitting means and the receiving means are slightly displaced in the vertical direction. .

[0005]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a hydraulic excavator. The hydraulic excavator 1 is a crawler-type lower traveling body 2, an upper revolving body 3 rotatably supported by the lower traveling body 2, and attached to the upper revolving body 3. The working part 4 is composed of a boom 5 which is supported at the front center of the upper swing body 3 so as to be able to swing up and down, and which is supported at the tip of the boom 5 so as to be able to swing back and forth. And a member device such as a bucket 7 supported at the tip of the arm 6 to be able to swing back and forth.

The operation of the lower traveling body 2, the turning of the upper revolving body 3, and the swinging of the boom 5, the arm 6, and the bucket 7 are performed by operating tools of a driver's seat portion 8 provided on the upper revolving body 3. You can do this by operating
Remote control can also be performed in a wireless manner using the transmitter 9.

That is, the excavator 1 is provided with a receiver 10 for receiving a control signal transmitted from the transmitter 9, and the receiver 10 mounts the received control signal on the excavator 1. Is output to the controller 11. The controller 11 outputs a control command based on an input signal or the like from the receiver 10 to perform turning of the upper swing body 3 and operation of the work unit 4. Taking the example of turning the body 3, FIG.
In FIG. 3, reference numeral 12 denotes a turning motor, 13 denotes a turning control valve, and 1 denotes a turning control valve.
Numerals 4 and 15 denote electromagnetic proportional pressure reducing valves for turning left and right, and control commands from the controller 11 are output to solenoid excitation circuits of the electromagnetic proportional pressure reducing valves 14 and 15. The electromagnetic proportional pressure reducing valves 14 and 15 are located at the neutral position N where the pilot pressure oil is not supplied to the control valve 13 in a state where the stop control command is output from the controller 11, but the counterclockwise rotation from the controller 11 is performed. By outputting the operation command twice, the electromagnetic proportional pressure reducing valve 14 for the left turn is switched to the pilot supply position X for supplying the pilot pressure oil to the control valve 13, and the right turn operation command is output from the controller 11. By being output, the electromagnetic proportional pressure reducing valve 15 for turning right is switched to the pilot supply position X. Further, the control valve 13 is located at the neutral position N in which no pressure oil is supplied to the turning motor 12 in a state where the pilot pressure oil is not supplied from both the electromagnetic pressure reducing valves 14 and 15. When the pilot pressure oil is supplied from the valve 14 or 15, the configuration is switched to the left turning position X or the right turning position Y for supplying the pressure oil to the turning motor 12.

On the other hand, a laser light receiver 16 for receiving a laser beam is mounted on the left side of the boom 5 mounting portion of the upper rotating body 3, that is, on the left front end of the upper rotating body 3. In the present embodiment, reference numeral 16 denotes a first light receiving portion 16A disposed at the center, second light receiving portions 16B respectively disposed on the left and right of the first light receiving portion 16A, and left and right of the second light receiving portion 16B. And a third light receiving section 16C disposed outside. The laser light receiver 16 receives the laser light reception signal from the controller 1.
1 is output.

Reference numeral 17 denotes a dump truck for transporting excavated materials such as earth and sand excavated by the hydraulic excavator 1, and the dump truck 17 is provided with a laser emitter 18 for emitting a laser beam. . The laser emitter 18 and the laser receiver 16 provided on the hydraulic excavator 1 are arranged so that the bucket 7 is positioned substantially at the center of the loading platform of the dump truck 17 when the excavated material is loaded on the dump truck 17. At the position where the upper swing body 3 is swung, that is, at the loading swivel position, the laser beam emitted from the laser emitter 18 is aligned so as to be received by the first light receiving unit 16A. The laser beam emitted from the laser emitter 18 is received by the first light receiving portion 16A when the upper swing body 3 is at the loading swing position, and is located at a swing position slightly shifted left and right from the loading swing position. Is received by the second light receiving unit 16B, and the third light receiving unit 1
The light is received at 6C, and is not received when it is located at a turning position further deviated left and right from here.

[0010] Here, the laser light emitting device 18 of the present embodiment.
Employs a laser beam that emits a laser beam in a width direction in the vertical direction (vertical direction), so that the laser light receiver 16 is slightly displaced in the vertical direction with respect to the laser light emitter 18. When the upper swing body 3 is located at the loading swing position, it can receive a laser beam. In order to emit a laser beam with a certain width in the vertical direction, means for reciprocating or rotating the laser emitter in the vertical direction or modulating the laser beam in the vertical direction can be appropriately employed.

Further, the controller 11 performs an automatic turning stop control for automatically stopping the positioning of the upper turning body 3 at the loading turning position based on an input signal from the laser light receiver 16. The turning stop control is executed when the mode changeover switch 19 provided in the transmitter 9 is set to “automatic turning stop mode”,
It is set not to be executed when not set.

The automatic turning stop control will be described with reference to the flowchart shown in FIG. 4. First, the controller 11 determines whether or not the turning operation lever 20 provided on the transmitter 9 is operated. . Here, the operation signal of the operation lever 20 is input to the controller 11 via the transmitter 9 and the receiver 10 as described above. When it is determined that the operation lever 20 is operated, the first, second, and third light receiving units 16A, 16A,
It is determined whether any one of 6B and 16C receives the laser beam emitted from the laser emitter 18.
Here, if it is determined that none of the light receiving sections 16A, 16B, 16C has received the laser beam, the flag F
1 (the flag F1 is initially set to "0"), and then set to "0".
Control commands are output to the control units 4 and 15 so as to output pilot pressure oil corresponding to the operation amount of the operation lever 20. Thus, when the upper swing body 3 is located at a swing position where the upper swing body 3 does not receive a laser beam, the upper swing body 3 swings at a speed corresponding to the operation amount of the operation lever 20. On the other hand, the first, second, and third light receiving sections 16A, 16B,
If it is determined that any one of 16C is receiving the laser beam, it is next determined whether or not the flag F1 is set to "0". Here, the flag F1 determines whether the turning is performed toward the loading turning position to perform the loading operation after the excavation, or the turning is performed to return the loading operation from the loading turning position to the excavation turning position after the loading operation is completed. It is set to “0” when turning toward the loading turning position, and is set to “1” when turning toward the excavation turning position. Then, by determining whether or not the flag F1 is “0”,
If it is determined that the value is not “0”, that is, it is set to “1”, the controller 11
Control commands are output to the control units 4 and 15 so as to output pilot pressure oil corresponding to the operation amount of the operation lever 20. Thereby, when the turning is toward the excavation turning position,
Even when the laser light receiver 16 is receiving a laser beam, the upper swing body 3 turns at a speed corresponding to the operation amount of the operation lever 20. If it is determined that the flag F1 is set to "0", it is next determined whether or not the first light receiving unit 16A receives the laser beam. Here, when it is determined that the first light receiving unit 16A is not receiving light, that is, it is determined that the light is received by any of the second and third light receiving units 16B and 16C, the controller 11 performs the electromagnetic proportional pressure reduction. After outputting an operation command to the valves 14 and 15 to output pilot pressure oil corresponding to the light receiving position of the laser beam and the operation amount of the operation lever 20, the flag F2 (the flag F2 is initially set to "0") Is set to “1”. In this case, when the second and third light receiving portions 16B and 16C located on the left side of the first light receiving portion 16A are receiving light, an operation command is output to the left-hand turning electromagnetic proportional pressure-reducing valve 16 and the right side is turned to the right. When the second and third light receiving portions 16B and 16C located receive light, an operation command is output to the right-handed electromagnetic proportional pressure reducing valve 17, but at this time, as shown in the graph of FIG. The light receiving position of the laser beam is
The output pressure of the pilot pressure oil is controlled such that the output pressure of the pilot pressure oil becomes smaller as the position approaches A, that is, when the light is received by the second light receiving portion B than by the third light receiving portion 16C. Furthermore, operation lever 2
The output pressure is controlled to decrease as the operation amount of 0 decreases. Thereby, the second and third light receiving sections 16B, 1
6C is receiving a laser beam, that is, the upper revolving unit 3 is located at a turning position slightly shifted left and right from the loading turning position, and is turning toward the loading turning position. In other words, the upper revolving unit 3 automatically turns in a decelerated state as it approaches the loading turning position. On the other hand, when it is determined that the first light receiving unit 16A is receiving the laser beam, the controller 11 subsequently determines whether or not it is within the predetermined time T after the first light receiving unit 16A receives the laser beam. Judge. Here, the predetermined time T is a time that is set in advance as a time sufficient for an operator to recognize that the upper swing body 3 is stopped at the loading swing position, and after the predetermined time T has elapsed. Assumes that the operator has recognized that the upper swing body 3 has stopped at the loading swing position. The upper revolving unit 3 may be notified by a lamp or the like so that the operator can easily recognize that the revolving superstructure 3 is stopped at the loading and revolving position. When it is determined that the time is within the predetermined time T after the first light receiving unit 16A receives the laser beam, the controller 11 outputs a stop command to the electromagnetic proportional pressure reducing valves 14 and 15, and then outputs the flag F2 Is set to “1”. Accordingly, the first light receiving unit 16A may receive the laser beam, that is, the upper swing body 3 may be located at the loading swing position, and the operator may not recognize that the loading swing position is at the loading swing position. Within the predetermined time T, even if the operation lever 20 is operated, the upper revolving unit 3
Stops automatically. Here, the flag F2 is for determining whether or not the automatic control state for automatically decelerating or stopping is performed as described above.
It is set to be set to "1" when in the automatic control state, and to be set to "0" when not in the automatic control state. When it is determined that the predetermined time T has elapsed since the first light receiving unit 16A received the laser beam,
The controller 11 sets the flag F1 to “1”,
After setting the flag F2 to “0”, the process returns. Accordingly, when it is determined that the upper swing body 3 is located at the loading swing position and the operator recognizes that the upper swing body 3 is stopped at the loading swing position, the automatic control state is released. At the same time, the turning to the excavation turning position can be performed based on the operation of the operation lever 20. On the other hand, when it is determined that the operation lever 20 has not been operated, the controller 11 determines whether or not the flag F2 has been set to “1”. Here, when the flag F2 is set to "0", that is, when the automatic control state is not established, the controller 11 outputs a stop command to the electromagnetic proportional pressure reducing valves 14, 15. On the other hand, when the flag F2 is set to “1”, that is, when the automatic control state is set, the controller 11 sets the automatic control state to the above-described state after the first light receiving unit 16A receives the laser beam. The process is continued until the predetermined time T has elapsed. Thereby, in the automatic control state, although the upper swing body 3 has not yet swung to the loading swing position,
Even when the operator mistakenly recognizes that the loading swing position has been reached and stops operating the operation lever 20, even if the upper swing body 3 is stopped.
Automatically turns to the loading and turning position and stops at the loading and turning position.

In the structure constructed as described above, when loading the excavated material excavated by the bucket 7 into the dump truck 17, the upper swing body 3 is swung to the loading swing position and stopped. In this case, Operation lever 20
When the upper revolving superstructure 3 is turned to a position near the loading revolving position by operating the laser, the laser receiver 16 provided on the upper revolving superstructure 3 side is operated.
Receives a laser beam emitted from a laser emitter 18 provided on the dump truck 17 side, and based on the reception signal being input to the controller 11, the controller 11 A control command having a higher priority than the operation of the operation lever 20 is output, whereby the upper swing body 3 automatically decelerates and stops at the loading swing position.

As a result, the positioning of the upper swing body 3 is automatically stopped at the loading swing position, so that even when the loading operation is performed by remote control, the upper swing body 3 is stopped.
Can be stopped accurately at the loading and swiveling position, thereby improving work efficiency.

In addition, the laser receiver 16 is
A first light receiving unit 16 </ b> A arranged in the center, and the first light receiving unit 1
6A, second and third light receiving sections 16B, 1
6C, and when light is received by the first light receiving unit 16A, a stop command is output from the controller 11 to the drive circuit of the turning motor 12, and the second and third light receiving units 16B,
When the light is received at 16C, the turning deceleration command is output so that the deceleration becomes larger as the position is closer to the first light receiving unit 16A. Therefore, the upper turning body 3 stops suddenly or the loading turning position is exceeded. It is possible to avoid stopping at the loading / swiring position smoothly. In the above embodiment, the laser light receiver is constituted by three light receiving units, but is not limited to this, and may be constituted by an appropriate number of light receiving units.

In the above embodiment, the turning position of the upper turning body 3 is determined by transmitting and receiving the laser beam. However, a beam other than the laser beam, such as a radio wave, can be used as appropriate. Furthermore, if the positioning of the revolving unit at the target revolving position is stopped based on the reception of the beam transmitted from the transmitting unit on the work side by the receiving unit on the revolving unit, for example, an operation of an automatic switch , The revolving superstructure automatically pivots to a target pivot position and stops, or the like, and can be used in combination with various automatic controls.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an excavation loading operation of a hydraulic shovel.

FIG. 2 is an explanatory diagram showing transmission and reception of a laser beam,
(A) shows a state where the third light receiving unit receives light, and (B) shows a state where the first light receiving unit receives light.

FIG. 3 is a diagram showing input / output of a controller and a hydraulic circuit of a swing motor.

FIG. 4 is a diagram showing a control procedure of automatic turning stop control.

FIG. 5 is a graph showing a relationship between a laser beam receiving position and a pilot pressure oil output command.

[Explanation of symbols]

 REFERENCE SIGNS LIST 3 upper rotating body 4 working unit 11 controller 12 rotating motor 16 laser light receiver 16A first light receiving unit 16B second light receiving unit 16C third light receiving unit 17 dump truck 18 laser light emitter

Claims (4)

[Claims] 1. A work unit provided with a work unit, which is provided on a work side to receive work from the work unit when positioning a revolving body that revolves based on driving of a revolving drive unit at a preset target revolving position; Transmitting means for transmitting a beam toward the target turning position, receiving means provided on the revolving body side for receiving the transmitted beam, and the receiving means are connected, and the turning is stopped upon determination that the beam has been received. A turning positioning device provided with turning control means for outputting a command to turning driving means. 2. The method according to claim 1, wherein the receiving unit further includes a second receiving unit adjacent to the first receiving unit for turning stop command output, wherein the turning control unit is configured to:
A turning positioning device that is set to output a turning deceleration command when the second receiving unit is receiving a beam. 3. The second receiving unit according to claim 2, wherein the second receiving unit is divided into a plurality of parts, and the turning control unit controls the deceleration to increase as the beam receiving position of the second receiving unit is closer to the first receiving unit. Swivel positioning device that has been set. 4. The swivel positioning device according to claim 1, wherein the beam is set to be long in the vertical direction or to be scanned in the vertical direction.