KR19990085974A - Excavator Control Method to Prevent Underground Destruction - Google Patents

Abstract

It is designed to prevent accidents such as water pipes and gas pipes from being lost or destroyed during excavation work.

According to a preferred embodiment, the lower traveling body, the upper swinging body rotatably mounted on the lower running body, mounted on the cab, and mounted on the upper swinging body and discharged from the hydraulic pump within a predetermined angle range A control method of an excavator comprising a work device including a boom, an arm and a bucket driven in the control unit and a control means for controlling the operation of the work device according to a driver's command, A first step of mounting a sensor for detecting the presence of the buried in a predetermined position in the rear of the lower running body, by measuring the distance and direction of the underground buried material by the sensor to convert it into a predetermined electrical signal to the predetermined position of the cab A second step of applying each of the screen display unit and the controller to be installed; Stopping the excavation work if it is determined to be buried in, and if it is determined that the underground buried material is not buried within the rotation radius of the work device, including the third step of performing the excavation work by turning the upper pivot body. Provided is an excavator control method having a feature for preventing landfill destruction.

Due to this, when the excavation work is equipped with an underground buried detector to check whether there is underground buried within the excavation work range to the rear of the equipment, it is possible to perform the excavation work and confirm whether the underground buried buried in parallel, the ground buried is not confirmed In this case, the excavation work can be performed immediately by turning the equipment with the underground buried sensor installed.

Description

Excavator Control Method to Prevent Underground Destruction

The present invention relates to an excavator control method having a function of preventing underground buried material, and more particularly, to prevent an accident in which underground buried materials such as water pipes and gas pipes are lost or destroyed during an excavation work. The present invention relates to an excavator control method having a function of preventing landfill destruction.

In general, during the excavation work using an excavator or the like, most of the drivers perform a predetermined work in a state in which the underground situation around the workplace is not accurately known in advance. In particular, the underground situation in urban areas is often complicated by various pipes, including water pipes, gas pipes, and telephone lines, and these pipes collide with the bucket of the excavator during the excavation work, causing damage and destruction recently. It is happening frequently.

In the event of damage or damage to the various pipes caused by the excavation work, the excavation work should be stopped and the repair work of the pipes should be accompanied. Accordingly, in large cities, traffic jams and air (工事 期限) There was a problem that is considerably delayed. In particular, when a pipe, such as an LPG gas pipe, is damaged, LPG gas may be in a leaky or leaky state, and there may be a serious accident that involves a lot of casualties and property damage.

Therefore, although a measurement system for scanning underground buried materials has been developed and used recently by underground radar and the like, the application of the excavation work is only a long time.

Therefore, an object of the present invention, by mounting the underground buried detection device to check whether the underground buried in the excavation work within the excavation work in the rear of the equipment can perform the operation of confirming the excavation work and whether the underground buried buried in parallel It is to provide an excavator control method having a function of preventing the destruction of the buried ground, which can be carried out immediately by turning the equipment if the buried material is not confirmed.

1 is a schematic diagram of an excavator applied to an excavator control method having a function of preventing buried soil according to the present invention;

FIG. 2 is a schematic block diagram of an underground buried material detecting apparatus used in an excavator control method having an underground buried material destruction preventing function according to the present invention; FIG.

3 is a schematic diagram of a scanning method used in an excavator control method having a function of preventing buried soil according to the present invention.

* Explanation of symbols used in the main part of the drawing

1: undercarriage

2: upper swing structure

3: boom

4: arm

5: bucket

6: control means

6A: Display

6B: controller

7: boom joint sensor

8: arm joint sensor

9: Stroke sensing cylinder

10: sensing device

11: transmitter

12: receiver

M: underground burial

P: center frame

The object of the present invention described above is a predetermined angle by a lower circumferential body, an upper pivot body rotatably mounted on the lower circumferential body and mounted on the cab, and a discharge oil from the hydraulic pump mounted on the upper pivot body. A control method for an excavator comprising a work device including a boom, an arm, and a bucket driven within a range, and a control means for controlling the operation of the work device in accordance with a driver's command, wherein the ground is operated within the rotation radius of the work device. A first step of mounting a detection device for detecting the presence of buried goods in a predetermined position behind the lower running body, and by measuring the distance and direction of the underground buried material by the detection device to replace the predetermined electrical signal to the predetermined cab A second step of applying each of the screen display unit and the controller to be installed at the position; And stopping the excavation work if it is determined to be buried, and performing the excavation work by turning the upper pivot when it is determined that the underground buried material is not buried within the rotation radius of the work device. It is achieved by providing an excavator control method having a function of preventing the buried ground.

According to a preferred embodiment, the third step further includes alarm sound generating means for generating a predetermined alarm sound according to the command of the controller when it is determined that the underground embedding is buried within the rotation radius of the work device.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are intended to assist the understanding of the present invention and do not limit the technical scope of the present invention.

1 is a schematic diagram of an excavator applied to an excavator control method having a function of preventing buried ground according to the present invention, FIG. 2 is a schematic diagram of an underground sensing device used in an excavator control method having a function of preventing buried land according to the present invention. In block diagram, Figure 3 is a schematic diagram of a scanning method used in the excavator control method having a function of preventing the buried ground according to the present invention.

As schematically shown in the drawings, the excavator control method having a function of preventing the buried ground buried according to the present invention, the lower running body (1), and is mounted on the lower running body (1) so as to turn in both directions, the cab A work device including an upper swing structure 2 on which (C) is mounted, and a boom 3, an arm 4, and a bucket 5 which operate within a predetermined angle range by driving a hydraulic cylinder by the discharge oil from the hydraulic pump. And control the operation of the above-described work device according to the driver's command, and output the prime mover mode, that is, the medium excavation mode (H), the standard excavation mode (S), the light excavation mode (L) and the fine operation mode (F). The control means 6 which controls this is provided. The above-described joints of the boom 3, the arm 4 and the bucket 5 have a boom joint sensor 7, an arm joint sensor 8 and a stroke sensing cylinder for detecting their current rotation angle (position). 9) is installed.

Therefore, according to a preferred embodiment of the present invention, the predetermined sensing device 10 for detecting the presence or absence, the distance and the direction of the buried underground (M) within the rotation radius of the above-described working device before the excavation work described above Removably mounted to the center frame (P) of the lower running body (1) by a fixing means, the above-described sensing device 10 includes a transmitter 11 and a receiver 12 for generating an ultrasonic wave (SONER) It is connected to the control means 6 described above, and the wheel 13 is mounted to enable its own movement.

The above-described control means 6 is the screen display unit 6A for displaying the measured position information of the underground buried M to the driver by the sensing device 10 described above, and the measured position information of the underground buried M. It includes a controller 6B (with a built-in microcomputer) that stores and calculates the excavation work range accordingly, and stops work and confirms the driver when the above-mentioned underground works M are identified within the rotation radius of the work device described above. Waiting for the command, if the above-mentioned underground buried material (M) is not confirmed within the rotation radius of the above-mentioned work device is to perform the function of performing the excavation work by turning the above-mentioned upper swing body (2).

When explaining an excavator control method having a ground buried destruction function according to the present invention as follows.

First, before starting the excavation work, the transmitter 11 and the receiver 12 built in the above-described sensing device 10 mounted on the center frame P of the lower traveling body 1 are described above. The entire underground area within the rotation radius of the work device is scanned, and when the underground works M are detected at this stage, the distance and direction (distance) thereof are measured, and the control means 6 are replaced with predetermined electrical signals. Are input to the screen display section 6A and the controller 6B, respectively.

Accordingly, the above-described controller 6B stores a signal corresponding to the distance and direction of the underground works M and calculates the excavation work range. In other words, the electrical signal for the location of the underground buried M measured by the sensing device 10 is calculated by the function f (x, y, z), and this value is calculated by the boom 3 and the arm 4 of the excavator. And the bucket 5 is calculated in the form of the value f (θ₁, θ₂, θ₃) that each joint can move, and then the value is stored in the controller 6B described above.

In other words, f (x, y, z) → f (θ₁, θ₂, θ₃).

The above-described sensing device 10 repeats the process of shifting the value from Σ0 to ΔΣ with respect to the excavation work area within the rotation radius of the above-mentioned work device, thereby recognizing the position of the underground buried material M and controlling the aforementioned controller 6B. Will be stored in.

Therefore, when the presence or absence of underground buried material M in the excavation work area is confirmed by the controller 6B described above, the driver displays the underground buried material M in advance by displaying it on the screen display part 6A. , A predetermined excavation work will be performed.

That is, when it is determined that the underground works M are buried within the excavation range within the rotation radius of the work device described above, the excavation work is interrupted (while the underground works M are excavated work within the rotation radius of the work device described above). If it is determined that it is not buried within the range, the above-mentioned upper swinging structure 2 is pivoted to perform a predetermined excavation.) At this time, the alarm sound is generated to the driver through the aforementioned alarm sound generating means and the screen is displayed. The display unit 6A asks for the progress of subsequent work. Accordingly, after receiving the confirmation command from the driver, it is determined whether the work is in progress. At the time of resuming work, for example, if the excavation work is being carried out in the middle digging mode (H), the output mode may be automatically adjusted to the fine manipulation mode (F).

At this time, the scanning method of the above-mentioned underground deposit (M) is shown in Figure 3, in order to measure the position and direction of the underground deposit (M) in the moving range of the above-described sensing device 10 in the excavation workshop Continue to move in the Y-axis direction while increasing Δxi (i = 1 mm) in the X-axis direction.After Σ0, move in the X- and Y-axis directions to determine the position of Σ ₁ and proceed in the same manner as described above. Done.

At this time, scanning is performed for the entire area so that there are no missing areas in each measurement area. In the controller 6B, a slight deviation is made according to the surface irregularities of the excavation site in which the underground works M are measured. Absorption, and the errors are corrected for these values.

As described above, according to the preferred embodiment, when the excavation work is equipped with a underground buried detection device to check the presence of the underground buried within the excavation work range to the rear of the equipment can perform the excavation work and confirm the presence of the underground buried material And, if the buried ground is not confirmed has the advantage that can be carried out immediately by turning the equipment in the state equipped with the buried ground detection device.

Claims (2)

A lower boom, an upper swivel mounted on the lower circumferentially in both directions and mounted with a cab, and a boom and arm mounted on the upper swivel and driven within a predetermined angle by discharge oil from a hydraulic pump. And a control device for controlling the operation of the work device in accordance with a command of a driver and a work device including a bucket, the control method comprising: A first step of mounting a sensing device for detecting the presence of underground burial in a rotation radius of the work device at a predetermined position behind the lower running body; A second step of measuring a distance and a direction of the underground buried material by the sensing device and converting the same into a predetermined electric signal and applying the same to a screen display unit and a controller installed at a predetermined location of the cab; And The excavation work is stopped when it is determined that the underground works are buried within the rotation radius of the work device, and when the underground works are not buried within the rotation radius of the work device, the excavation work is turned by turning the upper swing structure. Excavator control method having a buried ground destruction prevention function comprising a third step of performing. The method of claim 1, wherein the third step further comprises an alarm sound generating means for generating a predetermined alarm sound according to the command of the controller when it is determined that the underground buried material is buried within the rotation radius of the work device. Excavator control method having a feature to prevent underground buried destruction.