JPS6183727A - Gradient excavation control device for hydraulic shovel - Google Patents

Abstract

PURPOSE:To facilitate rectilinear excavation at a given gradient, by a method wherein a gradient, at which excavation is progressed, is compared with a reference gradient, and when the gradient in progress is deviated from the reference gradient, it is alarmed by sound, and the gradient, at which excavation is in progress, is determined from a detecting value to display it. CONSTITUTION:In a hydraulic shovel, slewing angles alpha, beta, gamma, of a boom 2, an arm 3, and a bucket 4 are detected by detectors 10, 11, and 12, and detecting signals Ealpha, Ebeta, and Egamma are inputted to a computing memory part 13. The computing memory part 13, based on Ealpha, Ebeta, and Egamma, computes the position of the forward end of a bucket, and computes the locus gradient of the forward end of the bucket with a horizontal plane. Further, a reference position is stored according to an instruction from a reference position setting switch 14, and a given gradient is stored according to an instruction from a reference gradient setting switch 15. When deviation between the reference gradient and the detecting gradient exceeds a specified range, an alarm signal is outputted from the computer 13. This enables execution of excavation at a given gradient.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a slope excavation control device for a hydraulic excavator that controls excavation when excavating and forming a slope with a hydraulic excavator.

[Background of the invention]

During excavation work using a hydraulic excavator, an operator moves the hydraulic excavator packet by manually operating a control lever while following the packet on the hydraulic excavator with his or her eyes to perform excavation. In this way, excavation work relies exclusively on human vision, so
For example, when forming a slope on an excavation surface such as slope shaping work, it is extremely difficult to form a slope to a specified slope, so it is necessary to add some additional measures such as installing a water system with a standard slope. I needed the means. Furthermore, if the work site is dark, or if you are excavating below the ground level where the vehicle body is,
When the operator is unable to see the packet, such as when excavating under water, it is almost impossible to form the packet at a predetermined slope even if an additional means is provided.

[Purpose of the invention]

The present invention has been devised in consideration of these circumstances, and its purpose is to provide a hydraulic mushroom slope excavation F'j11 control device that can easily form an excavation surface to a predetermined slope. There is something to do.

[Summary of the invention]

In order to achieve the above object, the present invention calculates the position of a predetermined part on the front of a hydraulic cylinder based on the detected value of a detection device such as an angle detector, and sets any position of the predetermined part to a reference position. At the same time, specify a reference gradient with respect to a predetermined plane from this reference position, and on the other hand, calculate the gradient of the movement locus of the predetermined location with respect to the predetermined plane from the position of the predetermined location, and calculate this calculated value and the reference gradient with respect to the predetermined plane. It is characterized in that a signal is output when the deviation from the above is out of a predetermined range.

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 1 is a block diagram of a slope excavation control device for a hydraulic excavator according to an embodiment of the present invention. In the figure, 10 is a boom angle detector for detecting the boom angle of a hydraulic excavator, 11 is an arm angle detector for detecting an arm angle, and 11 is a packet angle detector for detecting a packet angle. Each detector 10, 11, 12
, the detected boom angle α, arm angle β, and packet angle r
Signals Eα, Eβ, and ET are output according to. Reference numeral 13 denotes a calculation storage unit, which stores a position calculation unit that calculates the position of the packet tip based on the signals Eα, Eβ, and E, a gradient calculation unit that calculates the gradient of the trajectory of the packet tip with respect to the horizontal plane, and required values. It is equipped with a storage section, etc. 14 is a reference position setting switch for setting the selected reference position in the storage unit;
Reference numeral 15 denotes a reference slope setting switch for setting a predetermined slope in the storage section. Reference numeral 16 denotes a display unit that displays the slope calculated by the calculation storage unit 13, and the slope is displayed as a digital value on, for example, a liquid crystal display.

Reference numeral 17 denotes a sound device such as a buzzer that operates according to the comparison result of the calculation storage section 13.

Here, the calculations of the calculation storage section 13 will be explained with reference to FIGS. 2, 3, and 4. FIG. 2 is a side view of the schematic configuration of the hydraulic excavator during slope shaping work.

In the figure, 1 is the main body of the hydraulic excavator, 2 is a poom that is rotatably attached to the main body 1 around the rotation fulcrum B, and 3 is an arm that is rotatably attached to the poom 2 around the rotation fulcrum B. , 4 is a packet rotatably attached to the arm 3 about a rotation fulcrum C. D is the tip of packet 4,
H indicates the ground surface, and K indicates the slope slope. A front link mechanism is composed of the poom 2 and the arm 3, and the arm 3
If the hydraulic excavator does not have one, only the poom 2 has Freon)
Configure the IJ link mechanism. 5 is a poom cylinder that raises the poom 2 with respect to the main body l; 6 is a poom cylinder that moves the arm 3 to the poom 2
The arm cylinder 7 is a packet cylinder that rotates the packet 4 relative to the arm 3.

Each cylinder 5, 6.7 is manually operated by an operating lever (not shown). In such a hydraulic excavation bell, if the movement of the tip of the packet 3 is known, the position and slope K of the excavation point can be accurately grasped.

FIG. 3 is a diagram showing the front link mechanism and the coordinates of the packet. These coordinates have the rotation fulcrum of Poom 1 as the origin, and from this origin, the X axis is in the horizontal direction, and the h axis is in the vertical direction.
The axis is indicated by taking the axis. 11 is the distance between the rotation fulcrum and the rotation fulcrum 8, 12 is the distance between the rotation fulcrum B and the rotation fulcrum C, MU is the distance between the rotation fulcrum C and the edge of the packet tip, and Let the coordinates be (xD, hD). Also, α is the angle that the poom 2 makes with the X axis, that is, the boom angle, β is the angle that is obtained by subtracting 90° from the angle that the arm 3 makes with the poom 2, that is, the arm angle, and r is the angle that the tip of the packet makes with the arm 3. , that is, the packet angle. Here, the angle α is based on the X axis, and the angle β
is based on the perpendicular line of line segment AB, and angle γ is based on line segment BC
is the standard, and the angle measured in the direction of the arrow ■ is positive. Therefore, the angle α has a negative value, and the angles β and r have positive values.

When determined as above, the position of the edge of the packet (xD
, hI)) is given by the following equation.

hD= l, sin α-4, cog (α+β')+
l, cos (α+β+r)・・・・・・・・・(1
) XEI = l, cosα+1ffisin (α+
β)-JI Sin (α+β0r)・・・・・・・・・
-(2) FIG. 4 is a diagram showing the slope formed by the edge of the packet. In the figure, Do is the position of the tip of the packet which is the reference when forming the gradient, and its coordinates are (Xno,
ht+o). K! is the slope (reference slope) of the colossal image formed starting from the reference position D0, and K1
is an actual gradient formed starting from the reference position Do. Assume that the toe of the packet is now located at t.
Let the intersection of the perpendicular line drawn from Dt to the reference slope and the reference slope be, . The coordinates of position tD+ are (x
D 1 ehol), position tt, Dt coordinates (xD2
hD2).

Qo is the position, passing through the line parallel to the h axis and the slope! , Po is the intersection point of the above line and a line passing through the reference position D0 and parallel to the X axis, Ql is the position, and the line segment P extended from. Qo
The intersection point between the perpendicular line and the slope, P□ is the intersection point between the line parallel to the h-axis passing through the intersection point Q1 and the line segment Did0.

Here, if the line segment Po is X and the line segment D1F is H, then the actual slope is 1, which is K1=T...
・・・・・・・・・・・・・・・It is expressed as (3). By the way, the values X and H are the position Do.

From the coordinates of Dl, X=xko+xX11…l・song−…song…song…−・(4)
H= h,, -h, l ・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・(5) Since each of these coordinate values is obtained from the above equations (1) and (2), the actual slope , can be obtained.

By the way, as shown in Figure 1, when the actual excavation slope 1 deviates from the reference slope, the positional error at the actual excavation position with respect to the reference slope 2 is represented by a line segment D. Here, the length of D is expressed as ΔYj line segment D
If we calculate the position error ΔY by setting the length of IQt as ΔX and the length of line segment DsQo as ΔH, we can see from the figure that the length of line segment DoP is ・The length of H2 line segment PoQo is X/Kt From, the length ΔX.

ΔH is ΔX=X−X,・H・・・・・・・・・・・・・・・
......(6), and in the end, the position error 4Y can be obtained as follows, and thereby the position error ΔY can be obtained.

From the above, in order to ensure that the actual excavation slope does not deviate from the reference slope, it is important to always maintain the above-mentioned slope during the slope formation process. It is sufficient to monitor the i error ΔY to be within the allowable range.

The above calculations and the monitoring of the position 'lkt and the error ΔY are executed by the calculation storage section 13 shown in diagram ta1.

The operation of this embodiment will be described below with reference to the flowchart shown in FIG. First, when a reference position is set and a predetermined gradient is to be formed from that position, the leading edge of the packet is moved to the reference position and the reference position setting switch 14 is turned on. The calculation storage unit 13 judges the state of the reference position setting switch 14 in step S.
, ), when it is switched to the ON state, the numerical value stored in the predetermined address of the storage unit is calculated as the digit of the calculated packet tip! The coordinate values are changed to those of the reference position Do (step St). Note that if it is determined in step S that the reference position setting switch 14 is not switched to the ON state, the reference position 11Do is stored at the above address and the next position is used as the reference position. Next, while moving the edge of the packet almost along a predetermined slope, calculate 1 for the slope using the previous formula based on the angles α, β, and γ at that time (step Ss), and display the calculated value on the display. 16 (step 84). While viewing the value displayed on the display section 16, the operator switches the reference slope setting switch 15 to the ON state when the value reaches the reference slope. The switching of the reference gradient setting switch 15 is performed by the calculation storage section 13.
(hand 111+ii Sg), and the slope displayed on the display section 16 at that time is stored as a reference slope at another predetermined address in the storage section (step S). In addition,
If it is determined in step Ss that the reference gradient switch 15 has not been switched, the value previously stored at the other predetermined address is used as the reference gradient.

Thereafter, as the packet tip moves and the gradient forming work progresses, the position error ΔY with respect to the reference gradient at each position (corresponding to position D1) is calculated using the above equation (hand I * s, t ).

This wL error ΔY is compared with a set value in the comparator section of the calculation storage section 13. In this embodiment, different set values Yl, Y, , Y, are used as the set values.

The relationship between these set values is Yr<Yz<Ys. Therefore, the calculated digit error ΔY is first compared with the largest set value Y (step S). When the positional error ΔY is larger than the set value Y (ΔY>Y, ), the slope being formed at that time deviates considerably from the reference slope.
output a signal to position c 17 (step Se) and make it sound. The signal output in this case is a continuous signal, and in response, the acoustic device 17 emits a continuous sound to warn the operator that the slope currently being formed deviates significantly from the reference slope. . In step S, when the position error ΔY is less than or equal to the set value Y as a result of the comparison,
This time, the position error ΔY is the set value Y! A comparison is made to see if the set value Y exceeds the set value Y and is within the range below (Ya≧ΔY>Yt) (steps S, o). When the position error ΔY is within the range, the calculation storage unit 13 outputs a signal that is intermittent at equal intervals (step S1.), and the sound device 17 is activated to make an intermittent sound (for example, a sound of 0.3 seconds, a sound of 0.3 seconds). (second pause) to alert the operator that the slope being formed is about to deviate significantly from the standard slope. In step S, o, position f
If it is determined that the t error ΔY is not within the range, a comparison is made to determine whether the position error ΔY exceeds the set value Y and is within the range of the set value Y2 (Yt≧JY)Yl). Step SI. When the position error ΔY is within the range, the calculation storage unit 13 outputs a signal intermittent at irregular intervals (step S1.), causing the acoustic device 17 to emit an intermittent blast (for example, 0
．． (blows for 3 seconds, pauses for 1 second) to notify that the slope being formed is slightly deviated from the standard slope. Procedure Sl! If it is determined that the position error ΔY is not within the range, the procedure returns to the first step S1. While the above-mentioned move II is being repeated, 1 is always displayed on the display section 16 for the slope at that time.

Note that it is not necessary to provide three setting values, and one or more setting values may be provided. Furthermore, by selecting an appropriate set value, it is also possible to notify which side of the reference slope the slope being formed has shifted to. Furthermore, the slope displayed on the display unit is not a numerical value, but the reference slope and the slope being formed can also be displayed as line segments. Furthermore, the setting of the reference slope does not necessarily have to be determined by moving the packet from its reference position; it can also be determined by moving the packet in space, or it can be determined by directly moving the packet without moving it. You can also set the desired value.

Further, it is not always necessary to use the packet toe as a reference for position calculation, and other appropriate locations may be used as a reference.

In this way, in this embodiment, the slope being formed is calculated and displayed, and this slope is compared with the reference slope, and if it deviates from the standard slope, an acoustic notification is given. The slope being formed can be known, deviation from the reference slope can be easily prevented, and even an unskilled person can form the correct slope.

Also, you can form an accurate slope by looking at the slope display or listening to the sound.
Work can be carried out even if the slope forming part cannot be visually recognized. Furthermore, since there is no need to install additional means such as a water system, work efficiency can be significantly improved.

In addition, in the above description of the embodiment, a hydraulic fender bell having a backhoe front was described, but the present invention can be similarly implemented with a hydraulic excavator having a loader front. Moreover, it is applicable not only to frown face shaping work but also to any work that involves gradient formation.

〔Effect of the invention〕

As described above, in the present invention, the slope from the reference position is calculated by calculation, this is compared with the reference slope, and a signal is output when the slope deviates from the reference slope outside a predetermined range. The gradient inside can be easily formed to a predetermined gradient. Furthermore, since the above-mentioned signals can be used for work, work can be carried out even in places where the slope forming part cannot be visually recognized. Furthermore, since there is no need to install additional means such as a water system, work efficiency can be significantly improved.

[Brief explanation of drawings]

Fig. 1 is a block diagram of an excavation slope detection device for a hydraulic excavator according to an embodiment of the present invention, Fig. 2 is a side view of the schematic configuration of the hydraulic excavator, and Figs. 3 and 4 are the calculation storage section shown in Fig. 8g1. FIG. 5 is a flowchart illustrating the operation of the excavation slope detection device shown in FIG. 1. 10...Boom angle detector, 11.4.Arm angle detector, 12.....Packet angle detector, 13.
...Calculation storage unit, 14...Reference position setting switch, 15...Reference gradient setting switch, 1
6...Display unit, 17...Audio device. Figure 1 Figure 2

Claims (1)

[Claims] 1. A position detection device for detecting the position of each of the swinging parts in a hydraulic excavator that includes a main body and a front that is rotatably attached to the main body and has a plurality of swinging parts. and,
a position calculation unit that calculates the position of a predetermined part of the front based on the detected values of each of these position detection devices; a reference position designation means that designates an arbitrary position of the predetermined part as a reference position; and a movement trajectory of the predetermined part. a gradient calculation unit that calculates a slope with respect to a predetermined plane of the plane; a reference slope designation unit that specifies a reference slope; A slope excavation control device 2 for a hydraulic excavator, characterized in that a signal output means is provided for outputting a signal. A subtraction unit that calculates the difference from the slope; and a subtraction unit that compares the subtraction value calculated by this subtraction unit with a predetermined set value, and generates an alarm signal when the subtraction value is outside the range determined by the set value. A slope excavation control device 3 for a hydraulic excavator is characterized in that the comparator is configured with a plurality of comparators having different set values. A slope excavation control device for a hydraulic excavator characterized by: