KR970705678A - EXCAVATION AREA SETTING SYSTEM FOR AREA LIMITING EXCAVATION CONTROL IN CONSTRUCTION MACHINES - Google Patents

EXCAVATION AREA SETTING SYSTEM FOR AREA LIMITING EXCAVATION CONTROL IN CONSTRUCTION MACHINES

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Publication number
KR970705678A
KR970705678A KR1019970701094A KR19970701094A KR970705678A KR 970705678 A KR970705678 A KR 970705678A KR 1019970701094 A KR1019970701094 A KR 1019970701094A KR 19970701094 A KR19970701094 A KR 19970701094A KR 970705678 A KR970705678 A KR 970705678A
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South Korea
Prior art keywords
excavation
setting
area
external reference
vehicle body
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KR1019970701094A
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Korean (ko)
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KR100191392B1 (en
Inventor
히로시 와따나베
도오이찌 히라따
마사까즈 하가
가즈오 후지시마
Original Assignee
오까다 하지메
히다치 겡끼 가부시키가이샤
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Publication of KR100191392B1 publication Critical patent/KR100191392B1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

차체(1B)를 기준으로 하여 프론트장치(1A)의 제어용 목표속도벡터(Vc)를 계산하며, 이 목표속도벡터를 보정함으로써 프론트장치가 미리 설정한 굴삭영역의 경계에 근접하면, 프론트장치의 해당 경계에 접근하는 방향의 이동속도를 제한하고, 해당경계를 따라 프론트장치를 움직이는 건설기계의 영역제한굴삭제어용 굴삭영역 설정장치에 있어서, 해당 굴삭영역을 설정하기 위하여 먼저 유압셔블본체의 외부에 수평한 방향으로 외부기준(80)을 설치하고, 설정기(7)를 사용하여 외부기준으로부터 굴삭영역의 경계까지의 깊이(hr)를 설정한다 다음에 프론트장치(1A)를 움직여 프론트기준(70)이 외부기준과 위치가 일치하였을 때 외부기준설정스위치(71)를 누르면, 제어유닛(9)은 차체기준점(0)으로부터 외부기준까지의 높이(HF)를 연산하여 이 높이(hf)를 보정치로서 깊이(hr)로부터 차체기준점(0)에 대한 굴삭영역의 경계면의 깊이(hs)를 연산하며 이 깊이(hs)에 의하여 목표속도벡터(Vc)의 계산과 동일한 차체(1B)를 기준으로 한 굴삭영역을 설정한다. 이로써 차체기준으로 연산을 행하는 굴삭제어에 적합한 굴삭영역의 설정을 행할 수 있어 신뢰성높은 제어를 행할 수 있다.When the front device is close to the boundary of the excavation area set in advance by calculating the control target velocity vector Vc of the front device 1A based on the vehicle body 1B and correcting the target velocity vector, A method of setting an excavation area for an area limiting excavation control of a construction machine for limiting a moving speed in a direction approaching a boundary and moving a front device along the boundary, And the depth hr from the external reference to the boundary of the excavation area is set by using the setting device 7. Next, the front reference 70 is moved by moving the front device 1A The control unit 9 calculates the height HF from the vehicle body reference point 0 to the external reference and calculates the height hf as a correction value by operating the external reference setting switch 71 when the external reference and the position coincide with each other The depth hs of the interface of the excavation region with respect to the vehicle body reference point 0 from the depth hr is calculated and the excavation is performed based on the same body 1B as the calculation of the target speed vector Vc by this depth hs Set the area. This makes it possible to set an excavation area suitable for excavation control for performing calculations on the basis of the vehicle body, and to perform highly reliable control.

Description

건설기계의 영역제한 굴삭제어용 굴삭영역 설정장치(EXCAVATION AREA SETTING SYSTEM FOR AREA LIMITING EXCAVATION CONTROL IN CONSTRUCTION MACHINES)EXCAVATION AREA SETTING SYSTEM FOR AREA LIMITING EXCAVATION CONTROL IN CONSTRUCTION MACHINES

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.

제1도는 본 발명의 제1실시예에 의한 굴삭영역설정장치를 구비한 건설기계의 영역제한 굴삭제어장치를 유압 구동장치와 함께 나타낸 도, 제2도는 본 발명이 적용된 유압셔블의 외관과 그 주위의 설정영역의 형상을 나타낸 도, 제5도는 제1실시예의 굴삭영역 설정장치의 전체구성을 나타낸 도, 제12도는 본 발명의 제2실시예의 굴삭영역 설정장치에 의하여 굴삭영역을 설정할 때의 외부기준과의 관계를 나타낸 도.The present invention relates to a hydraulic excavator and a hydraulic excavator, and more particularly, to a hydraulic excavator and a hydraulic excavator of a construction machine having an excavation area setting device according to a first embodiment of the present invention. Fig. 12 is a view showing the overall configuration of the excavation area setting device of the first embodiment, Fig. 12 is a view showing the configuration of the excavation area setting device of the second embodiment of the present invention, A diagram showing the relationship with standards.

Claims (6)

다관절형의 프론트장치(1A)를 구성하는 상하방향으로 회동가능한 복수의 프론트부재(1a,1b,1c)와, 상기 프론트장치를 지지하는 차체(1B)를 구비하고, 상기 차체를 기준으로 하여 프론트장치의 제어용 목표속도벡터(Vc)를 계산하고, 상기 목표속도벡터를 보정함으로써 프론트장치가 미리 설정한 굴삭영역의 경계에 근접하면, 프론트장치의 해당 경계에 접근하는 방향의 이동속도를 제한하고, 해당 경계를 따라 프론트장치를 움직이는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, (a) 상기 건설기계의 외부에 설치되어 굴삭영역에 대한 기준위치가 되는 외부기준을 부여하는 외부기준부재(80)와, (b) 상기 프론트장치(1A)에 구비되어 상기 외부기준(80)에 상기 프론트장치를 맞추는 목표가 되는 프론트기준을 부여하는 프론트기준부재(70)와, (c) 상기 프론트장치(1A)의 위치와 자세에 관한 상태량을 검출하는 검출수단(8a, 8b, 8c)과, (d) 상기 검출수단의 신호에 의거하여 상기 차체(1B)를 기준으로 한 프론트장치(1A)의 위치와 자세를 연산하는 제1연산수단(9b,120)과, (e) 상기 외부기준(80)과의 위치관계(hr)에 의하여 상기 굴삭영역을 설정하는 제1설정수단(9a,100)과, (f) 상기 프론트기준(70)이 상기 외부기준(80)과 일치하였을 때 상기 제1연산수단(9b,120)에서 연산한 상기 프론트장치(1A)의 위치 및 자세정보에 의거하여 상기 차체(1B)와 상기 외부기준(80)과의 위치관계(hf)를 연산하여 이 차체와 외부기준과의 위치관계(hf)와, 상기 제1설정수단(9a,100)에서 설정한 외부기준과 굴삭영역의 위치관계(hr)로부터 상기 차체와 굴삭영역과의 위치관계(hs)를 연산하는 제2연산수단(9m,140)과, (g) 상기 제2연산수단(9m,140)에서 연산한 상기 차체(1B)와 굴삭영여과의 위치관계(hs)로부터 상기 차체를 기준으로 한 굴삭영역(hs)을 설정하는 제2설정수단(9n,160)을 구비하는 것을 특징으로 하는 건설기계의 영역제한 굴삭제어용 굴삭영역설정장치.A plurality of front members (1a, 1b, 1c) which are vertically rotatable and constitute a multi-joint type front apparatus (1A), and a vehicle body (1B) for supporting the front apparatus The target speed vector Vc for control of the front apparatus is calculated and the target speed vector is corrected to limit the moving speed of the front apparatus in the direction approaching the boundary when the front apparatus approaches the boundary of the excavation area set in advance And an external reference member provided outside the construction machine for providing an external reference to be a reference position for the excavation area, the apparatus comprising: (B) a front reference member 70 provided on the front unit 1A to give a front reference to be a target for aligning the front unit with the outer standard 80, and (c) 8B and 8C for detecting a state quantity relating to the position and attitude of the front wheel device 1A; and (d) a front device (hereinafter referred to as " (E) a first setting means (9a) for setting the excavation region by a positional relation (hr) between the external reference (80) and first calculation means (9b, 120) And (f) calculating a position and attitude information of the front apparatus (1A) calculated by the first calculating means (9b, 120) when the front reference (70) (Hf) between the vehicle body (1B) and the external reference (80) by calculating the positional relationship (hf) between the vehicle body (9m, 140) for calculating a positional relation (hs) between the vehicle body and the excavation region from a positional relationship (hr) between an external reference and an excavation region; and (g) 140) And second setting means (9n, 160) for setting an excavation region (hs) based on the vehicle body from a positional relation (hs) of the vehicle body (1B) An excavation area setting device for controlling a limited excavation area. 청구한 1기재의 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, 상기 프론트기준(70)이 상기 외부기준(80)과 일치하였을 때 조작되는 외부기준설정스위치(71)을 더욱 구비하고, 상기 제2연산수단(9m,140)은 상기 외부기준설정스위치(71)가 조작되었을 때에 상기 연산을 행하는 것을 특징으로 하는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치.An excavation area setting apparatus for area limiting excavation control of a construction machine according to claim 1, further comprising an external reference setting switch (71) operated when the front reference (70) coincides with the external reference (80) And the second calculation means (9m, 140) performs the calculation when the external reference setting switch (71) is operated. 청구항 1기재의 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, 상기 제1설정수단(9a,100)은 상기 외부기준(80)으로부터 굴삭영역의 경계까지의 깊이(hr)를 설정하는 수단인 것을 특징으로 하는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치.The apparatus according to claim 1, wherein the first setting means (9a, 100) comprises means for setting a depth (hr) from the external reference (80) to the boundary of the excavation region Wherein the excavation area setting device is configured to set the excavation area for the limited excavation control of the construction machine. 청구항 1기재의 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, 상기 제1설정수단(9a,100)은 상기 외부기준(80)으로부터 상기 굴삭영역의 기준점(P)까지의 깊이(hr), 상기 차체(1B)로부터 상기 기준점까지의 거리(hrx), 상기 굴삭영역의 경계의 경사각도(θr)를 설정하는 수단인 것을 특징으로 하는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치.The first setting means (9a, 100) adjusts the depth (hr) from the external reference (80) to the reference point (P) of the excavation region, , The distance (hrx) from the vehicle body (1B) to the reference point, and the inclination angle (? R) of the boundary of the excavation area. 청구항 1기재의 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, 상기 제1설정수단(9a,100)은 설정기(7:7A)에 의하여 입력된 데이터를 기초로 상기 외부기준(80)과 설정영역의 위치관계(hr)를 설정하는 수단인 것을 특징으로 하는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치.The apparatus according to claim 1, wherein the first setting means (9a, 100) is configured to set the external reference (80) based on the data input by the setting device (7: 7A) And setting a positional relation (hr) of the setting area with respect to the predetermined area. 청구한 1기재의 건설기계의 영역제한굴삭제어용 굴삭영역설정장치에 있어서, 상기 제1설정수단(9a,100)은 상기 제1연산수단(9b,120)에서 연산한 상기 프론트장치(1A)의 위치 및 자세정보에 의거하여, 상기 프론트 장치를 움직여 프론트장치의 선단이 설정영역의 경계에 도달하였을 때의 상기 프론트장치의 선단의 위치(hs)를 연산하는 수단(190,191)과, 상기 제1연산수단(9b,120)에서 연산한 상기 프론트장치(1A)의 위치 및 자세정보에 의거하여 상기 프론트장치를 움직여 상기 프론트기준(70)이 상기 외부기준(80)에 일치하였을 때의 상기 프론트기준의 위치(hfo)를 연산하는 수단(192,193)과, 상기 프론트장치의 선단위치(hs)와 상기 프론트기준(70)의 위치(hfo)로부터 상기 외부기준과 굴삭영역의 위치관계(hr)를 연산하고 기억하는 수단(194,195)을 포함하는 것을 특징으로 하는 건설기계의 영역제한굴삭제어용 굴삭영역설정장치.The first setting means (9a, 100) is a device for setting the excavation area of the front elevator (1A) calculated by the first arithmetic means (9b, 120) Means (190, 191) for calculating a position (hs) of the front end of the front apparatus when the front end of the front apparatus reaches the boundary of the setting region by moving the front apparatus based on the position and attitude information, The front reference device 70 moves the front device 70 based on the position and attitude information of the front device 1A calculated by the means 9b and 120 so that the distance between the front reference 70 and the front reference 70, Means (192,193) for calculating the position hfo and a positional relation (hr) between the external reference and the excavation region from the front end position hs of the front apparatus and the position hfo of the front reference 70 Characterized by comprising means (194,195) for storing Digging excavation area setting control device is limited in the area of construction machinery. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is disclosed by the contents of the first application.
KR1019970701094A 1995-08-14 1996-08-08 Excavation area setting system for area limiting excavation control in construction machines KR100191392B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP7-207023 1995-08-14
JP20702395A JP3609164B2 (en) 1995-08-14 1995-08-14 Excavation area setting device for area limited excavation control of construction machinery
PCT/JP1996/002251 WO1997007296A1 (en) 1995-08-14 1996-08-08 Excavation region setting apparatus for controlling region limited excavation by construction machine

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KR970705678A true KR970705678A (en) 1997-10-09
KR100191392B1 KR100191392B1 (en) 1999-06-15

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JP (1) JP3609164B2 (en)
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WO1997007296A1 (en) 1997-02-27
JP3609164B2 (en) 2005-01-12
CN1157020A (en) 1997-08-13
JPH0953253A (en) 1997-02-25
EP0790355B1 (en) 2006-08-30
KR100191392B1 (en) 1999-06-15
EP0790355A4 (en) 1999-09-15
DE69636494D1 (en) 2006-10-12
CN1064426C (en) 2001-04-11
EP0790355A1 (en) 1997-08-20
DE69636494T2 (en) 2007-02-15

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