JPS63194031A - Controller for service machine for power shovel - Google Patents

Abstract

PURPOSE:To improve the efficiency of work, by arranging an arithmetic means computing the respective rotational angles of a bucket, an arm, and a boom on every excavating section, an arithmetic means computing discharge command to each service machine, and an arithmetic means keeping and varying a distribution ratio. CONSTITUTION:From the detected value of an angle detecting means, an excavation starting position is found, and the position of a locus set by a first arithmetic means, to a car body is gradually computed. At the computed position, a bucket is put in a set posture, and the respective rotational angles gamma, beta, alpha of the bucket, an arm, and a boom on every excavating section required for moving a bucket cutting edge to a following desired position in order are found. Besides, by a second arithmetic means, from the found rotational angles gamma, beta, alpha, the distribution ratio of pressure oil discharge fed to each service machine is determined, and discharge command is computed. Then, by a third arithmetic means, the output of the discharge command keeping the distribution ratio and varying the sum of the discharge command is directed to a driving system. As a result according to the tread angle of an operating pedal, the speed of the service machine can be arbitrarily varied, and the service machine can be driven at a desired speed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a working machine control device for a power shovel, and particularly to technology for automatic excavation.

[Conventional technology]

As is well known, a power excavator has a bucket, an arm, and a boom as working machines, and these parts are each driven by a bucket cylinder, an arm cylinder, and a boom cylinder to move the bucket in a desired trajectory and posture. It is essential to control the expansion and contraction of each cylinder simultaneously.

Therefore, in order to move the bucket in the desired position, the operator must operate the control levers for the bucket, arm, and boom simultaneously or alternately, which requires skill. .

Additionally, unskilled workers do not point the bucket blade in the direction of travel when scraping, or they interfere with the excavated surface after scraping the bottom plate of the bucket, causing an unnecessary increase in digging resistance.

On the other hand, there is a power shovel control device in which the movement trajectory of the r-shaped bucket cutting edge and the bucket posture relative to these trajectories are set, and the bucket, arm, and boom are automatically controlled so that the bucket cutting edge moves along this trajectory. Various proposals have been made.

[Problem that the invention attempts to solve]

However, these conventional automatic drilling equipment are generally
These are designed for digging work, and there are few that are designed for excavation and planting work. Furthermore, even with equipment intended for excavation and planting work, it is still incomplete in terms of work efficiency, operability, digging time, etc., and the technology has not been able to be installed in actual equipment. Furthermore, in conventional devices, the speed of the work machine in the automatic mode is fixed, and there is no device that allows the speed of the work machine to be arbitrarily varied by a simple operation.

This invention was made in view of these circumstances, and enables automatic excavation with the optimum working machine posture and trajectory by simply scanning the operation pedal, improving work efficiency, and
It is an object of the present invention to provide a work machine control device for a power shovel that can arbitrarily vary the speed of the work machine according to the depression angle of an operating pedal.

[Means for solving problems]

In this invention, the reference movement locus of the bucket tip approximated by the number of stages and each bucket posture when the bucket tip is located at these multiple points are set, and the automatic mode selection and excavation start time are specified. an operating pedal; a pedal angle detection means for detecting a depression angle of the operating pedal; an angle detection means for detecting a bucket angle, an arm angle, and a boom angle; and a depression angle detection means for detecting a depression angle of the operating pedal; The detected values are taken in, the position of the bucket blade relative to the vehicle is determined based on these detected values, the position of the point of the set number of stages relative to the vehicle is calculated based on the determined excavation start position regarding the bucket blade, and the bucket blade is placed at the calculated position. a first calculation means for calculating a bucket rotation angle, an arm rotation angle, and a boom rotation angle for each of the excavation sections required to move the bucket and bring the bucket into the set bucket attitude for each point; Based on the calculated bucket rotation angle, arm rotation angle, and boom rotation angle, determine the distribution ratio of the pressure oil flow rate to be supplied to each work equipment, and calculate the total flow rate of the pressure oil supplied to the work equipment using the distribution ratio determined above. a second calculating means that calculates a flow rate command for each working machine by distributing the flow rate; The third calculating means changes the distribution ratio by ++J while maintaining it, and the drive system drives the bucket, arm, and boom based on the flow rate command output from the '3rd calculating means.

[Effect]

When the automatic mode is selected by pressing the operating pedal, the first calculation means takes in the detected value of the angle detection means at this point in time, and determines the excavation start position. The first calculation means sequentially calculates the position of the set trajectory relative to the vehicle from this excavation start position, causes the bucket to take the set attitude at these calculated positions, and sequentially moves the bucket cutting edge to the next target position. The bucket rotation angle, arm rotation angle, and boom rotation angle required for each excavation section are determined. The second calculation means determines the distribution ratio of the pressure oil flow to be supplied to each working machine from these determined rotation angles, and calculates the flow rate command for each working machine based on these distribution ratios. On the other hand, the depression angle of the operating pedal detected by the depression angle detection means is manually inputted to the third calculation means, and the third calculation unit calculates the second pressure angle according to the detected pedal angle detected by the human input. The flow rate for each work machine calculated by the calculation means is varied by changing the sum of the commands while maintaining the distribution ratio, and by outputting the obtained flow rate command to the drive system, the six work machines are controlled at a speed according to the pedal depression angle. Drive with.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to an embodiment shown in the accompanying drawings.

Figure 2 shows the schematic configuration of a power shovel.
On the traveling body 1.1-, an L section rotating body 2 is supported by a rotating body I:, one end of a boom 3 is pivotally supported on the rotating body 2, and an arm 4 is pivotally supported on the other end of the boom 3. Furthermore, a bucket 5 is pivotally supported at the other end of this arm 4, and these boom 3, arm 4, and bucket 5 are connected to a boom cylinder 6,
The arm cylinder 7 and the bucket cylinder 8 rotate each cylinder separately.

Here, the lengths, angles, etc. of each part of the working machine are defined as shown in FIG. That is, point A is the boom rotation point, point B is the arm rotation point, point C is the bucket rotation point, point is the bucket tip point, and 11 ; Length between points A and B/! 2 ; Length between points B and C 3 Length between two points C and D α ; Angle (boom angle) β between line segment AB and the vertical axis;
Angle between line segment BC and an extension of line segment AB (arm angle) γ ; Angle between line segment CD and an extension of line segment BC (bucket angle) δ ; Angle between excavation direction U and the bottom plate of the bucket (Excavation angle) ε is the angle formed by the excavation direction U and the line segment CD. Note that the bucket attitude is defined by an angle ε, etc.

First, we will explain how to set the excavation trajectory during automatic excavation. In this embodiment, an excavation locus for the bucket cutting edge as shown in FIG. 4 is set. This trajectory is a circular arc trajectory with a radius R centered on a predetermined point O, and this arc trajectory is divided into n points pl, p? ,..., approximate by P. When setting the trajectory, one excavation 1: QV (hatched part in the figure) is the fullness of the bucket multiplied by a predetermined number k (-1 to 3), and the excavation depth d is the length of the line segment CD - 73
) multiplied by a predetermined number e (-0, 1 to 1.5), and the angle ψ is an appropriate value between 10° and 180°. In addition to these values, e, ψ, and the radius R of the circular arc are values determined according to the soil quality, bucket shape, work content, etc., and by specifying these values, the basic excavation trajectory is determined. In addition, as described above, n points P1 to P are approximated to the excavation trajectory determined in this way, and each of these points P1 to P
Single n
This is the target position of the bucket cutting edge for each nth excavation section.

The positions of points P1 to P1 are set based on the position of excavation start point P1. And each of these target positions P, -P
The bucket posture, that is, the angles ε1 to ε are determined in advance for each case. When determining this bucket posture ε, the digging angle δ is made small at the start of digging, and the digging angle δ is made small so that the back of the bucket does not interfere with the soil as much as possible during digging, thereby increasing the digging resistance. Try to make it as small as possible. That is, in this excavation, by simultaneously driving the boom, arm, and bucket, the imaginary line OD is set at a unit angle Δφ (-ψ/n) so that the bucket follows the target position p, -p with a posture 81~ε. Make sure to rotate it one by one.

Automatic excavation in this embodiment is executed according to the procedure shown in FIG. 5, and its outline will be explained below. In this device, in addition to two operating levers 11 and 12 that give rotation commands and turning commands for the boom, arm, and bucket, an operating pedal 10 that instructs automatic excavation mode is provided, and the operation of the operating pedal 10 By (continuing to depress the pedal) automatic excavation is performed along the circular arc trajectory.

This operation pedal 10 has the following functions.

(1) Select automatic mode by stepping on the operating pedal 10 and instruct the time point to start excavation.

(2) The work machine speed can be varied according to the pedal angle.

(3) During automatic excavation, the automatic excavation is terminated by depressing the pedal 10 at a predetermined angle or more.

(4) When unloading soil (when automatic mode is canceled), by depressing the pedal 10 at a predetermined angle or more, the arm angle and boom angle at that time are memorized. During the next excavation, press pedal 1 after excavation is completed.
0, the arm and boom automatically move to positions corresponding to the memorized arm angle and boom angle while holding the bucket horizontally. This is to ensure that the soil is discharged at the same location.

In FIG. 5, the operator first operates the operating lever 11.
After moving the blade edge of the bucket to the desired excavation start position by operation 12 (FIG. 5(a)), by depressing the operation pedal 10, the automatic excavation mode is selected and the excavation start position is specified (Fig. 5(a)). Figure 5(b)). That is, when the operation pedal 10 is stepped on, the bucket cutting edge position at that time is determined, and the determined position is set as the excavation start position during the current excavation.

Now, the excavation start position Pl with respect to the boom rotation point A is (X
+ % Yt), then this position (X +, Yt)
are the boom angle α1 and the arm angle β at the time the pedal 10 is depressed! and the bucket angle γ1, it can be determined by the following formula (% formula %).

In addition, in this embodiment, the plurality of points P, −P
Rather than calculating all the positions n with respect to the vehicle (boom rotation point A) at the start of excavation, the next target position is determined each time in each unit section to reduce memory capacity. .

When the start of excavation is specified, the next target position P2 is advanced by +1 in position angle Δψ on the excavation trajectory determined according to the excavation start position.
The coordinates of are found. Furthermore, since the attitude of the bucket is also determined according to the target position P2, the boom angle α2, arm angle β2, and bucket angle γ at this target position P2 are
2 can be uniquely determined. Once the target angles α2, β2, and γ2 of these working machines are determined, the deviation from the current actual angle of each working machine is calculated to obtain the target angle of each working machine to move the bucket cutting edge to the 1-marked point P2. The rotation angles Δα, Δβ, Δγ can be determined.

Figure 6 is for explaining the calculations for determining Δα, Δβ, and Δγ, where ψ1 is the angle between the horizontal line and the line segment OD, and w
1 is the angle between the line segment CD and the line segment OD at the excavation starting point P1, and W2 is the angle between the line segment CD and the line segment OD at the next target position P2.

If the coordinates of P2 are (X2, Y2), then X2-It
cos (α1 + Δα) ten 2 CO6 (α1 + β1
+Δα+Δβ) ten 5 cos (α1 +βl +γ1
+Δα+Δβ+ Δγ) =x, +Yl Δα+()2cos(a++β1)tenno3cos(α1+β1+71))Δβ+βcono
s(cz +β1 +γ1)Δγ...(2), and X2 is Xt=X(+R fight Δ ψ fist 5in(ψ 1+〇,
5Δψ) ... (3), which can be expressed as not cos(α 1 + β
I) 10 x cos (α 1 + β 1
+ 71 )■ノ1 ノ3cos(α1 +β1 +
71)・Δγ厘ノ, then from the above equations (2) and (3), Y, conflict Δα+ノ Δβ+lbΔγsan−R−Δψ・
5ln(ψ++0.5Δψ)... (4) is achieved.

Similarly, Y2−Y+ +xl Δα−()tsln(a++
β1) 10s 5in (α! 10β1 + γI )) Δ
β −ノ: +5ln(α l + β i +
71)Δγ...(5)
-Y, -R・Δψ・cos (ψ100, 5Δψ)...(6) is completed q
Then, 22sln(α1+β1) tenoko5 of the above formula (5)
ln(al +βI +71) -ノ, 1s
If sln (αI+βI+γl)Δγ−nod, then x, Δα+ノΔβ+nodΔγ厘RΔψ·cos(ψl+o, 5Δψ) (7) holds true from the above equations (5) and (6).

Also, ψ1 +W 1α1 +β1 +γl −π/2...
・(8) ψ1 +Δψ+Wλ−α1 +β1 +γ1 +Δα+
Δβ+Δ γ −π/2 ... (9) Since the following holds true, from these equations (8) and (9), Wl-W
l−Δα+Δβ+Δγ−Δψ (10) is achieved.

In the above formulas (4), (7), and (10), Δα, Δβ,
Since everything except Δγ is specified, these (4), (7),
By solving the equation (lO), the rotation angles Δα, Δβ, and Δγ of each working machine for moving the bucket cutting edge from the excavation starting point P1 to the next target point P2 can be determined.

The flow rate command for each work equipment cylinder is determined based on the rotation angles Δα, Δβ, and Δγ thus obtained. At this time, the sum Q of the pressure oil flow rates supplied to each work equipment, (-
Q +Q +Q, t;s bm
am Q, flow ffl to boom, Q, bm to arm
The flow rate relative to bm, Q, the flow rate relative to the bucket) are varied according to the depression angle of the operating pedal 10.

That is, the flow distribution ratio (Q:Qbm:Q) required by each work machine is determined based on the rotation angles Δα, Δβ, Δγ, and the operation pedal am
Detect the stepping angle θ of bt 10 (see FIG. 7), and select an appropriate horse power constant curve according to the detected value θ based on the detected value θ (see FIG. 8). That is, a plurality of constant force curves consisting of the relationship between the pump flow mQ and the pump pressure P are set according to the pedal depression angle θ, and the detected pedal depression angle θ
A constant horse power curve corresponding to is selected. Then, the pump flow rate Q corresponding to the current actual pump pressure P is determined based on the selected horse constant curve, and this pump flow rate Q is distributed according to the determined distribution ratio, thereby providing a flow rate command value for each work machine. Determine. That is, in this case, depending on the pedal depression angle θ, the total flow r:! Although Qs is varied, the determined distribution ratio power is not varied.

In addition, this bonito, boom, arm, and bucket simultaneously have target angles α2 and β! , γ2, the actual flow rate supplied to the work machine is calculated based on the boom angle, arm angle, and bucket angle at each point in time, and the distribution ratio is adjusted as needed based on the calculated actual flow rate. do. This excavation for each unit section ends when the arm reaches the target angle β2,
When the arm angle reaches the target value β2, control shifts to the next section. In the next section, the same control as described above is performed, and when the arm reaches the target angle β3, the control for this section ends, and the control shifts to the next section. By repeating this kind of control up to the end point P, the bucket cutting edge moves to the initial position P+ (α1
．． 11 mark position on the arc trajectory from β1゜γ1)...Ps
(α8゜βB, γg) -PH5(α15.β1
5. γ! 5)...-P20 Cat o, β2
0,720) (Figure 5 (C)
)).

FIG. 10 shows the conceptual structure of the above calculation control.

In other words, in this automatic excavation, the coordinate position of the next target point is calculated at the beginning of each unit section to reduce memory capacity, and the actual flow rate value is appropriately applied to the flow rate command obtained from these target positions. The flow rate command for each work machine is corrected as needed by providing feedback at regular intervals.
This allows the bucket cutting edge to move accurately along the set excavation trajectory in an appropriate posture.

In addition, if the operation pedal 10 is returned during excavation,
The flow rate command for each work machine is set to zero, and the operation lever 11.
12, each working machine immediately stops unless manual operation is performed.

In addition, if the operating pedal 10 is moved by more than a predetermined angle during excavation, scooping (rotating the bucket to the tilt side and raising the boom) will be performed automatically even if the excavation section has not been completed to the end. By forcing the excavation to end, it makes wasteful digging a defense of 1. In other words, the relationship between the pedal force on the operating pedal 10 and the pedal angle θ has two stages as shown in FIG. Make sure to press hard at an angle of 01 or more. If the pedal 10 is depressed at an angle of 01 or more during automatic excavation, the bucket is tilted and the boom is raised from that point on, and automatic excavation is forcibly terminated. can be prevented.

In addition, if a command is input using the manual lever 11 or 12 during automatic excavation, priority is given to the manual lever for safety, and automatic excavation is restarted from the point where the lever operation was stopped. The remaining sections will then be excavated.

In addition, in this case, the end of excavation is detected based on the pump pressure value of the hydraulic pump, and the end of excavation is detected at the point when the pump pressure of the hydraulic pump exceeds a predetermined value in the latter half of excavation when the excavation section has progressed to a certain extent. I try to recognize it when it ends. After recognizing this, the boom is raised and the bucket is tilted to a squirting position to complete the excavation. In this way, since the end of excavation is detected by detecting the load based on the hydraulic pump pressure, wasteful digging can be prevented.

After this excavation is completed, the mode shifts to a bucket horizontal holding mode in which the bucket inclination angle is always held horizontally (FIG. 5(d)).

When in this bucket horizontal holding mode, the bucket angle γ is adjusted to satisfy α+β+γ−3/2π according to manual commands from the boom operating lever and arm [ff lever.
is automatically controlled to keep the top surface of the bucket horizontal at all times.

Further, when in this water hand holding mode, the operation of the automatic excavation operation pedal is disabled. Such control prevents the cargo from spilling and also simplifies the operation during the planting work (eliminating the need for bucket operation).

This automatic mode is canceled when the bucket is manually rotated by a predetermined amount toward the dumping side during the bucket horizontal holding mode. That is, when the operator rotates the bucket toward the dump side by a predetermined amount or more for dumping during the bucket water east holding mode, the automatic excavation mode is canceled (FIG. 5(e)).

By the way, when automatic mode is canceled, operation pedal 1
0 is stepped on by a predetermined angle θ1 or more as described above (see FIG. 11), the boom angle α and arm angle β□ at this time are stored. Then, during the next excavation, after the automatic excavation is completed, the operation pedal will be rotated at an angle of θ.
~ When stepped in the range of angle θ1, in the bucket horizontal holding mode, the boom and arm automatically move to the positions corresponding to the memorized boom angle α□ and arm angle β while maintaining the horizontal state of the bucket. Moving. In this way, earth and sand are discharged to the same position during each excavation. Note that during this control, if a manual command is input regarding the boom and arm, automatic operations regarding the boom and arm are stopped, and thereafter the boom and arm are driven in accordance with the manual command. Thereafter, the bucket is automatically driven in response to manual commands for the boom and arm so that its -1-plane is always maintained horizontally.

In addition, in this excavation, the bucket posture is not necessarily the optimal posture at the start of excavation, but in this case, rather than suddenly correcting the bucket posture to the optimal one by the next section, it is necessary to adjust the bucket posture appropriately. Several sections are provided, and the angle is gradually corrected to the optimum angle between these sections.

FIG. 1 shows an example of a control configuration for realizing each of the above-mentioned functions. The depression angle θ of the automatic excavation mode designation pedal 10 is detected by a pedal operation detector 17, and the detection signal θ is input manually to the controller 20. In addition, the operating direction and operating amount of the bucket boom operating lever 11 are determined by the lever position detector 1.
3 and 151; are detected, and bucket rotation command 9 and boom rotation command a are input from these detectors 13 and 15 to switches 30 and 32, respectively.

Further, the operating direction and operation of the arm operating lever 12 are detected by the lever position detector 14, and the detected signal, arm rotation command β, is manually inputted to the switch 31.

These operating levers 11.1220 are also operated manually.

Switches 30, 31 and 32 are connected to controller 20, respectively.
Since the switching operation is performed based on the switching control signals S L 1 , SL2, and SL3 that are manually input from the controller 20, the command signal text during automatic excavation that is manually input from the controller 20 is
, /3, a and the manual excavation command signals i, β, 5 which are manually inputted from the lever position CCC detector 13.14.15.

The bucket control system 40 includes an angle sensor 41 that detects the bucket angle γ, a differentiator 42 that differentiates the bucket angle γ to detect the actual bucket rotation speed, and a differentiator 42 that differentiates the bucket angle γ to detect the actual bucket rotation speed. An addition point 43 that takes the deviation of the signal indicating
and a flow control valve 44 that supplies pressure oil to the bucket cylinder 4 at a flow rate corresponding to the deviation signal in order to make the deviation signal from the addition point 43 zero.

Similarly, the arm control system 50 and the boom control system 60 are
Similar to the bucket control system 40, each angle sensor 51.
61, a differentiator 52, 62, an addition point 53, 63, and a flow rate control valve 54, 64, and controls the rotation of the arm and boom to match the command value.

Incidentally, the bucket angle r and arm angle detected by the angle sensor 41.51°61 of the flow control system.

β and boom angle α are also input to the controller 20. Further, the pump pressure of a working machine pump (not shown) is detected by a hydraulic sensor 70, and the detected pressure is manually input to the controller 20. In addition, the memory 21 in the controller 20 stores the operating pedal 1 when the automatic mode is canceled.
0 is stepped on at an angle of θ1 or more, the boom angle α□ and arm angle β at that time are stored.

The operation of this configuration will be explained with reference to the flowchart shown in FIG. Assuming that the operating pedal 1o is depressed, the pedal angle θ is detected by the pedal operation detection record 17,
This detected angle θ is manually input to the controller 20, and the controller 20 starts control in automatic excavation mode (step 100).

When the automatic mode is started, the controller 2° detects the angle sensors 41.51.61. output γ, β.

The bucket cutting edge position P1 at the starting point is determined based on α (see equation (1)). Next, the controller 20
The calculated excavation start position P1 is calculated using (4) (7) (
10) Substitute the equation into the calculation program created and calculate the required rotation angles Δα, Δβ, and Δγ of each work machine for the bucket to take the bucket attitude ε2 at the next target position P2 and to move the bucket cutting edge from Pl to P2. (step 110). Next, the controller 20 controls these rotation angles Δα,
The distribution ratio of oil to be supplied to each working machine is determined from Δβ and Δγ. (Step 120).

Next, the controller 20 takes in the detected value θ of the pedal operation detector 17, selects the constant horse power curve corresponding to the detected value θ, and further calculates the pump pressure Pd from the output of the oil pressure sensor 70 at this time. , the pump flow QQ,1 corresponding to the pump pressure P is determined from the selected constant force curve, and the command signal signal β i for each working machine is obtained by distributing this pump flow Q Q a using the distribution ratio. Find the c'c' c command signal 5 and β te at the switch 32.31° CC
'C 30 (step 130). Note that when the automatic mode is selected, each contact of the switches 30, 31, 32 receives switching control signals SLI, SL2, .
The command signal a β i from the controller 20 is switched to the controller 20 side by the SL controller.
The boom control system 60° arm control system 50. The bucket control system 40 is manually operated.

In the next step 140, the controller 20 determines whether or not the pedal 1O is depressed based on the output of the pedal operation detector 17, and if the return of the pedal 10 is detected, the controller 20 sends a command signal to the control system manually. a, βi
Immediately set to zero c c' c (step 150). Further, in step 160, the manual command is inputted by operating the operating lever 11.12, and if the manual command is input, priority is given to the manual command (step 170).
). That is, when a manual command is input, the command signal from the operating lever side is responded to by switching the switch of the work equipment corresponding to the manually inputted manual command among the switches 3G and 31.32 to the operating lever side. supply to the flow rate control system.

Further, in step 180, the operating pedal 10 is set to 0.
It is specified whether the bucket has been stepped on to an angle greater than 1, and if it has been stepped on, the excavation is finished by scooping up the bucket to a horizontal state and raising the boom (step 190). Thereafter, the mode shifts to bucket water holding mode (step 230). In this way, unnecessary digging is prevented.

In this way, a command signal is sent from the controller 20 according to the operation mode of the operation pedal 10 and the operation lever 11, 12;
B, rC (zero when CCC operation pedal is off) or command signal from manual lever 11.12 corresponds to flow rate control system r
r r 60.40.50, which causes the bucket, arm, and boom to rotate (step 180). The controller 20 determines the actual flow rate of oil supplied to each cylinder 8, 7, 6 based on the output of the angle sensor 41.51.61, and sequentially adjusts the distribution ratio according to these actual flow values. ing.

Next, the controller 20 outputs the detection output β of the angle sensor 51.
Based on this, it is determined whether the arm has reached the target angle β2 (step 210). If the arm has not reached the target angle β2, the process returns to step 120 and the same control as described above is repeated. If the arm reaches the target angle β2, it is determined whether or not the excavation is finished (step 220). If not, the process returns to step 110, and the calculation control for moving the bucket cutting edge position to the next target position P3 is performed as described above. Let's do it. Thereafter, the bucket cutting edge is similarly moved along the target positions P4, P5, . . . until it is determined in step 200 that the excavation has ended. In this case, the time when the output value of the oil pressure sensor 70 exceeds a predetermined value in the second half of the excavation section is detected as the end of excavation. Further, when a manual command is input during automatic excavation, the controller 20 returns the procedure to step 110 when the manual command is canceled, and switches the switch corresponding to the work machine to which the manual command was input to the controller. 20 side, the point where manual operation was started is set as a restart point, and all the working machines are driven again by command signals from the controller 20.

When the end of excavation is determined in step 220, the controller 20 shifts to a bucket horizontal holding mode in which the bucket inclination angle is horizontally controlled (step 230). In this horizontal holding mode, the switches 31 and 32 are switched to the manual lever 11 and 12 side, the switch 30 is connected to the controller 20 side, and the boom and arm are driven according to the movement command. .

Regarding the bucket, the controller 20 outputs a command signal i so as to satisfy α10β pass γ−3/2π, so that the bucket inclination angle is always horizontal even if the boom and arm are manually operated. . During this bucket water holding mode, the crab bucket has a predetermined color amount of 1. If it is turned to the dump side, the controller 20 cancels the automatic mode (step 240).

When canceling the automatic mode, it is determined whether the operating pedal 10 is depressed to an angle exceeding 01 (step 250), and when the operating pedal 10 is depressed, the controller 20 detects the angle sensors 51 and 61 at this time. The outputs β and α of m are taken in, and the arm angle β and boom angle α are stored in the memory 21
m memorize (
step 260). During the next excavation, when the operation pedal 10 is depressed within the range of angle O to angle varus 1 after automatic excavation is completed, the boom and arm maintain the bucket in the horizontal state during the bucket horizontal holding mode 1. while corresponding to the boom angle α and arm angle β stored above m m
automatically move to the desired position. In this way, the earth and sand are always discharged to the same position during each excavation. Note that during this control, when a manual command is given regarding the boom and arm, the controller 20 switches the switch 31.3.
2 to the operating lever side, and the boom and arm are driven according to manual commands.

In the above embodiment, when the pump pressure exceeds a predetermined set value in the latter half of excavation, that is, when the load on the work equipment exceeds a certain value, excavation is considered to be completed and the procedure is shifted to bucket horizontal holding mode. However, it is also possible to simply count the number of divided sections and end the excavation when a predetermined number of sections have been excavated.Alternatively, the absolute attitude of the bucket can be determined, and the absolute attitude of the bucket can be determined when the absolute attitude of the bucket approaches almost horizontal. It may be determined that the excavation has ended.

In addition, in the embodiment described in 2, depression of the operating pedal up to the second step is detected by detecting that the operating pedal 10 is depressed deeper than the predetermined angle θ1. Depression up to the second step may be determined by detecting that the pedal has been depressed up to the angle θ2 shown in FIG.

Furthermore, the method for varying the sum of the flow rate commands for each work machine according to the pedal depression angle is not limited to that shown in the above embodiment, and the method for varying the sum of the flow rate commands for each working machine according to the pedal depression angle is The constant curve may be shifted by calculation,
Any method may be used as long as the sum of the flow rate commands for each work machine can be varied as a result while maintaining the distribution ratio.

[Effects of the Invention] As described above, according to the present invention, automatic excavation control can be performed by operating only the operation pedal, and the operation is simplified. In addition, during this excavation, the work equipment is controlled so that the excavation resistance is low and the load is not spilled.
It is possible to improve work efficiency and shorten excavation time. Furthermore, since the speed of the work machine is changed i11 according to the depression angle of the operating pedal, the operator can drive the work machine at a desired speed during automatic excavation.

In addition, automatic excavation can be forcibly terminated by pressing down on the automatic excavation path creation pedal, so the operator can stop automatic excavation early or mid-IL when the bucket has scooped up enough sand. It is possible to prevent unnecessary digging. Furthermore, by strongly pressing the operation pedal when unloading soil, the soil unloading position 1 is memorized, and from next time onwards, the work equipment is automatically moved to this ÷÷ soil position, so it is always discharged at the same position. I can do it without doing anything.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing an embodiment of the present invention, Figure 2 is an external view of a power shovel, Figure 3 is a diagram used to define the length, angle, etc. of the working machine, and Figure 4 is a diagram showing an example of the present invention. Figure 5 is a diagram used to explain the automatic excavation trajectory setting method, Figure 5 is a process diagram used to explain the automatic excavation procedure, Figure 6 is a diagram used to explain the method for determining Δα, Δβ, and Δγ. Fig. 7 is a diagram showing an example of the operation pedal, Fig. 8 is a diagram showing a constant horse force curve, Fig. 9 is a diagram showing an example of movement of each working machine during automatic excavation, and Fig. 10 is a diagram showing an example of movement of each working machine during automatic excavation.
The figure conceptually shows the calculation of the target position and the output mode of the command signal, Fig. 11 shows the relationship between the depression force and the depression angle of the operating pedal, and Fig. 12 shows the operation of the controller in Fig. 1. This is a flowchart used for explanation. 1...Crawler track, 2...Upper rotating body, 3...Boom,
4... Arm, 5... Bucket, 6... Boom cylinder, 7... Arm cylinder, 8... Bucket cylinder, 10... Automatic excavation operation pedal, 11...
Bucket arm operating lever, 12...Arm rotation operating lever, 13°14.15...Lever position detector, 1
7... Pedal operation detector, 20... Controller,
21...Memory, 30.31.32...Switch,
40...Bucket control system, 41.51.61...Angle sensor, 42,52.62...Differentiator, 43.53
．． 63... Addition point, 44.54.64... Flow rate control valve, 50... Arm control system, 60... Boom control system, 70... Oil pressure sensor Figure 2 Figure 5 Figure 8

Claims (1)

[Claims] When the reference movement locus of the bucket cutting edge approximated by a plurality of points and each bucket posture when the bucket cutting edge is positioned at these plurality of points are set in advance, and the automatic mode is selected, the specified movement trajectory is set in advance. Each excavation in which the bucket, arm, and boom are divided by the plurality of points such that the bucket cutting edge moves along the plurality of points from the excavation start position, and the bucket assumes the set posture at the plurality of points. A work equipment control device for a power shovel that automatically drives in sections, comprising: an operating pedal for selecting the automatic mode and specifying when to start digging; a pedal angle detection means for detecting a pedal angle of the operating pedal; and a bucket angle. , an angle detection means for detecting an arm angle, and a boom angle; and a detection value of the angle detection means at the time when the operation pedal is depressed, and based on these detection values, the position of the bucket cutting edge with respect to the vehicle is determined; The above-mentioned steps required to calculate the positions of the plurality of set points relative to the vehicle based on the excavation start position regarding the bucket cutting edge, move the bucket cutting edge to the calculated positions, and bring the bucket into the set bucket attitude for each point. a first calculating means for calculating a bucket rotation angle, an arm rotation angle, and a boom rotation angle for each excavation section; and a first calculation means for calculating a bucket rotation angle, an arm rotation angle, and a boom rotation angle for each excavation section; a second calculation means that calculates a flow rate command for each working machine by calculating a distribution ratio of a flow rate of pressure oil supplied to the working machine and allocating the full wave amount of pressure oil supplied to the working machine using the determined distribution ratio; a third calculation means for varying the sum of flow rate commands for each working machine calculated by the second calculation means according to the detected value of the step angle detection means while maintaining the distribution ratio; and the third calculation means. A work equipment control device for a power shovel, which includes a drive system that drives a bucket, an arm, and a boom based on a flow rate command output from a means. (2) The operating pedal is configured to require a greater pedal force than the pedal force up to the predetermined angle when the pedal angle exceeds a predetermined angle, and the third calculating means is configured to detect the pedal angle detecting means during automatic excavation. The working machine control device for a power shovel according to claim 1, which forcibly stops automatic excavation when the detected value exceeds the predetermined angle. (3) The reference movement locus of the bucket tip approximated by multiple points and each bucket posture when the bucket tip is located at these multiple points are set in advance, and when the automatic mode is selected, the specified excavation starts. an automatic excavation mode in which the bucket, the arm, and the boom are automatically driven so that the bucket cutting edge moves from the position along the plurality of points, and the bucket assumes the set posture at the plurality of points; In a power shovel work equipment control device that has a bucket horizontal mode that holds the bucket horizontally in response to manual commands regarding the arm and boom when excavation is completed, when the pedal angle exceeds a predetermined angle, the pedal force is lowered to the predetermined angle. an operating pedal configured to require a large pedal force and for selecting an automatic mode and specifying when to start digging when the pedal angle is below the predetermined angle; storage means for storing the arm angle and boom angle at the time when the operating pedal is depressed by the predetermined angle or more; and means for automatically moving the boom and arm to positions corresponding to the boom angle and arm angle stored in the storage means while holding the bucket horizontally when the pedal is depressed. Machine control device.