JP2592428B2 - Automatic attitude control system for construction machinery - Google Patents
Automatic attitude control system for construction machineryInfo
- Publication number
- JP2592428B2 JP2592428B2 JP20975390A JP20975390A JP2592428B2 JP 2592428 B2 JP2592428 B2 JP 2592428B2 JP 20975390 A JP20975390 A JP 20975390A JP 20975390 A JP20975390 A JP 20975390A JP 2592428 B2 JP2592428 B2 JP 2592428B2
- Authority
- JP
- Japan
- Prior art keywords
- construction machine
- support cylinder
- water level
- control system
- construction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、建設機械の姿勢を検出し、アウトリガーの
支柱シリンダーを伸縮制御することにより、建設機械を
設定した姿勢に保持するようにした自動姿勢制御システ
ムに関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention detects an attitude of a construction machine and controls expansion and contraction of a support cylinder of an outrigger to automatically maintain the construction machine in a set attitude. The present invention relates to an attitude control system.
［従来の技術］ 建設機械は、整地されていない場所で使用することが
多く、そのため使用中に転倒しないように前後左右にア
ウトリガーが設けられている。[Related Art] Construction machines are often used in a place where the ground is not leveled. For this reason, outriggers are provided on the front, rear, left and right so as not to fall down during use.
従来、建設機械を水平あるいは一定の姿勢に保持する
場合は、建設機械に気泡管あるいは傾斜計を取り付けて
傾斜角を検出するとともに、レベル装置で高さを検出
し、それら検出値に基づき運転者がアウトリガーの各支
柱シリンダーを伸縮操作している。また、建設機械は、
その使用中に地盤が沈下したり建設機械が動作して姿勢
や高さが変化するため、姿勢を修正する必要がある。こ
のため定期的に運転者が計測器を見ながら、なおかつレ
ベル装置等で建設機械の各部所の高さを見ながら支柱シ
リンダーを手動操作している。Conventionally, when a construction machine is held horizontally or in a fixed posture, the inclination angle is detected by attaching a bubble tube or an inclinometer to the construction machine, and the height is detected by a level device. Is working to extend and retract each support cylinder of the outrigger. Also, construction machinery
Since the ground sinks or the construction machine operates during use, the posture and height change, so it is necessary to correct the posture. For this reason, the driver manually operates the support cylinder while periodically looking at the measuring instrument and also looking at the height of each part of the construction machine using a level device or the like.
［発明が解決しようとする課題］ 従来は、建設機械を所定の姿勢と高さに保持させるた
め、傾斜計などに基づきアウトリガーの各支柱シリンダ
ーを手動で伸縮操作させている。しかし、建設機械の使
用中に地盤が沈下したり、建設機械が動作した場合に、
建設機械を所定の姿勢と高さに迅速に修正することな容
易ではなく、手動操作によりリアルタイムに復帰させる
ことは困難であった。[Problems to be Solved by the Invention] Conventionally, in order to hold a construction machine at a predetermined posture and height, each column cylinder of an outrigger is manually operated to expand and contract based on an inclinometer or the like. However, if the ground sinks or the construction machine operates while using the construction machine,
It was not easy to quickly correct the construction machine to a predetermined posture and height, and it was difficult to return the construction machine in real time by manual operation.
また建設機械を使用して自動化施工を行う場合、使用
中に地盤沈下などがなければ、傾斜計に基づきアウトリ
ガーの支柱シリンダーを伸縮操作するだけでよい。しか
し、実際には建設機械の使用中にほとんどの場合、地盤
が沈下したり建設機械が動作するので、自動化施工は困
難であり、あるいは施工誤差が生じてしまう。In addition, when performing automatic construction using a construction machine, if there is no land subsidence during use, it is only necessary to extend and retract the support cylinder of the outrigger based on the inclinometer. However, in practice, in most cases, the ground sinks or the construction machine operates during the use of the construction machine, so that the automatic construction is difficult or a construction error occurs.
そこで本発明は、建設機械の使用中に地盤沈下や動作
が生じても、自動的にアウトリガーに支柱シリンダーを
伸縮制御することにより、建設機械を初期の設定高さ、
姿勢に保持できるようにすることを目的とする。Accordingly, the present invention provides an initial setting height of the construction machine by automatically controlling the extension and contraction of the support cylinder to the outrigger even if land subsidence or movement occurs during use of the construction machine,
The purpose is to be able to maintain the posture.
［課題を解決するための手段］ 本発明は、上記目的を達成するため、建設機械に、傾
斜計と、複数の水位センサとを設けるとともに、各水位
センサで検出する水位を基準水位と比較するための基準
水槽を地盤変化のない位置に配置する。そして、各水位
センサとそれに対応する基準水槽との水頭差を水準測定
器により検出して、傾斜計と水準測定器とからの検出信
号に基づきコンピュータにより、建設機械の前後左右の
アウトリガーに設けた各支柱シリンダーを伸縮制御する
ようになっている。Means for Solving the Problems In order to achieve the above object, the present invention provides a construction machine with an inclinometer and a plurality of water level sensors, and compares a water level detected by each water level sensor with a reference water level. A reference aquarium is located at a position where there is no change in the ground. Then, a water level difference between each water level sensor and the corresponding reference water tank is detected by a level measuring device, and a computer is provided based on a detection signal from the inclinometer and the level measuring device to be provided on front, rear, left and right outriggers of the construction machine. Each support cylinder is controlled to expand and contract.
［作用］ 上記の建設機械の自動姿勢制御システムによれば、地
盤変化のない位置の基準水槽と各水位センサとの間の水
頭差で建設機械の各部所の高さ変化を測定し、それに基
づきリアルタイムに各支柱シリンダーを伸縮操作する。
このため地盤沈下が生じたときでも、最初の設定高さ、
姿勢に確実に建設機械を保持することができ、建設機械
に自動化施工を精度よく行わせることができる。[Operation] According to the automatic attitude control system of the construction machine described above, a height change of each part of the construction machine is measured based on a head difference between a reference water tank at a position where there is no change in ground and each water level sensor, and based on the measurement, Extend and retract each support cylinder in real time.
Therefore, even when land subsidence occurs, the initial set height,
The construction machine can be reliably held in the posture, and the construction machine can be subjected to the automatic construction with high accuracy.
［実施例］ 本発明の実施例を第１〜４図により説明する。Embodiment An embodiment of the present invention will be described with reference to FIGS.
走行可能な建設機械１の前側の左右にアウトリガー２
が設けられ、その各アウトリガー２の先端部に支柱シリ
ンダー３、４が設けられ、さらに建設機械１の後側の中
央に支柱シリンダー５が設けられて、建設機械１の転倒
を防止できるようになっている。なお、本実施例の建設
機械の後方には１本の支柱シリンダー５を設けただけで
あったが、前方と同様にアウトリガー２を設けて左右両
側に支柱シリンダーを設けるようにしてもよく、その場
合も各支柱シリンダーの伸縮は建設機械が所定の姿勢と
なるように伸縮制御すればよい。また建設機械１の中央
部に傾斜計６が設けられ、建設機械の前後方向と左右方
向の傾斜を測定した後記するマイコン９に送信するよう
になっている。Outriggers 2 on the left and right of the front side of the movable construction machine 1
Are provided, and the support cylinders 3 and 4 are provided at the tip of each outrigger 2, and the support cylinder 5 is provided at the center on the rear side of the construction machine 1, so that the construction machine 1 can be prevented from tipping over. ing. Although only one support cylinder 5 is provided behind the construction machine of the present embodiment, the outrigger 2 may be provided similarly to the front, and the support cylinders may be provided on both left and right sides. Also in this case, the expansion and contraction of each support cylinder may be controlled so that the construction machine takes a predetermined posture. An inclinometer 6 is provided at the center of the construction machine 1 to measure the inclination of the construction machine in the front-rear direction and the left-right direction, and transmit the measured inclination to a microcomputer 9 described later.
各支柱シリンダー３、４、５には、それぞれ水位セン
サ3a、4a、5aが設けられ、各水位センサには各支柱シリ
ンダーの伸縮長さに応じた検出信号を、水準測定器７に
送信するようになっている。また各水位センサ3a、4a、
5aに対応した基準水槽3b、4b、5bが建設機械１から離れ
た地盤変化のない位置に配置され、各基準水槽からの水
位信号は水準測定器７に送られるようになっている。水
準測定器７は、各水位センサとそれに対応する基準水槽
からの水位信号とから両者の水頭差を出力し、その出力
信号は、A/D変換するA/Dボード８を介してマイコン９に
送られる。Each of the support cylinders 3, 4, and 5 is provided with a water level sensor 3a, 4a, and 5a, respectively. Each of the water level sensors transmits a detection signal corresponding to the length of expansion and contraction of each support cylinder to the level measuring device 7. It has become. In addition, each water level sensor 3a, 4a,
Reference water tanks 3b, 4b, and 5b corresponding to 5a are arranged at positions where there is no ground change away from the construction machine 1, and a water level signal from each reference water tank is sent to the level measuring device 7. The level measuring device 7 outputs a head difference between the water level sensor and the corresponding water level signal from the reference water tank, and outputs the output signal to the microcomputer 9 via the A / D board 8 for A / D conversion. Sent.
マイコン９は、前記傾斜計６と水準測定器７とからの
信号に基づき、予め設定した建設機械の各部所の高さ、
姿勢となるように、I/Oボード10を介して各支柱シリン
ダー３、４、５を伸縮制御するようになっている。な
お、各支柱シリンダーの伸縮制御は、高さや傾斜角相当
の信号が設定値とマイコンで比較され、その結果に基づ
きマイコンが電磁バルブを切換作動させて行っている。
このように各支柱シリンダー３、４、５は自動的に伸縮
制御され、建設機械１を初期設定状態に保持できるよう
になっている。Based on signals from the inclinometer 6 and the level measuring device 7, the microcomputer 9 sets a predetermined height of each part of the construction machine,
The column cylinders 3, 4, and 5 are controlled to extend and contract via the I / O board 10 so as to be in a posture. In addition, the expansion and contraction control of each support cylinder is performed by comparing a signal corresponding to the height and the inclination angle with a set value by the microcomputer, and based on the result, the microcomputer switches and operates the electromagnetic valve.
In this way, the column cylinders 3, 4, and 5 are automatically controlled to expand and contract, so that the construction machine 1 can be maintained in the initial setting state.
建設機械の姿勢を制御するためには、第４図のフロー
チャートを示すように各支柱シリンダー３、４、５を伸
縮制御する。In order to control the attitude of the construction machine, the respective support cylinders 3, 4, and 5 are controlled to expand and contract as shown in the flowchart of FIG.
初めに建設機械１を設置する地盤の傾斜角をマイコン
９に入力して、各支柱シリンダー３、４、５をON作動す
る。これにともない、各支柱シリンダーに対応する電磁
バルブがON作動して、伸長作動する。First, the inclination angle of the ground on which the construction machine 1 is to be installed is input to the microcomputer 9, and the respective support cylinders 3, 4, 5 are turned on. Along with this, the electromagnetic valves corresponding to the respective support cylinders are turned ON and extended.
次に傾斜計６からの信号に基づきマイコン９は建設機
械１の左右方向の傾斜角θＸを算出し、所定の傾斜角δ
Ｘとなるように前方の左右の支柱シリンダー３、４の伸
縮を調整作動させる。さらに建設機械１の前後方向の傾
斜角θＹをマイコンで算出するとともに、所定の傾斜角
δＹとなるように後方のシリンダー５を伸縮操作する。
その後、建設機械１の傾斜角が所定角度となると、支柱
シリンダー３、４、５に対応する各電磁バルブをOFF状
態にする。この状態で、各支柱シリンダー３、４、５の
各水位センサ3a、4a、5aの水位信号をマイコン９で読み
取り、制御基準水頭としてマイコンは記憶する。Next, based on the signal from the inclinometer 6, the microcomputer 9 calculates the inclination angle θ X of the construction machine 1 in the left-right direction, and obtains a predetermined inclination angle δ.
The expansion and contraction of the front left and right support cylinders 3 and 4 are adjusted to be X. Further calculates the inclination angle theta Y in the longitudinal direction of the construction machine 1 by a microcomputer, for extending and contracting operation of the cylinder 5 behind the to a predetermined inclination angle [delta] Y.
Thereafter, when the inclination angle of the construction machine 1 reaches a predetermined angle, the electromagnetic valves corresponding to the support cylinders 3, 4, and 5 are turned off. In this state, the microcomputer 9 reads the water level signals of the water level sensors 3a, 4a, 5a of the support cylinders 3, 4, 5 and stores them as the control reference head.
次に建設機械の使用により、あるいは地盤が沈下ある
いは動作することにより、建設機械の高さや姿勢が設定
状態と異なると、それは水位センサ3a、4a、5aと対応す
る基準水槽3b、4b、5bとの水頭差として検出され、それ
に基づき対応する電磁バルブが作動されて支柱シリンダ
ーが伸縮制御される。この各支柱シリンダーの伸縮制御
は、第４図のフローチャートの「現在位置水頭の制御基
準位置水頭」とする工程以下のフローチャートで、リア
ルタイムに行われる。Next, when the height or attitude of the construction machine is different from the set state due to the use of the construction machine or due to the subsidence or movement of the ground, it is compared with the water level sensors 3a, 4a, 5a and the corresponding reference tanks 3b, 4b, 5b. And the corresponding electromagnetic valve is actuated to control the expansion and contraction of the support cylinder. The expansion and contraction control of each support cylinder is performed in real time in the flowchart after the step of setting the current position head control reference position head in the flowchart of FIG.
［発明の効果］ 本発明の、建設機械の自動姿勢制御システムによれ
ば、建設機械の周囲数箇所の水位と地盤変化のない位置
の基準水槽との水頭差を基準に各支柱シリンダーをリア
ルタイムに伸縮制御するので、建設機械を設置した地盤
が沈下したり、機械の姿勢が変化しても、建設機械を初
期設定した高さ、姿勢に保持することができる。このた
め建設機械の自動化、ロボット化を行う場合、建設機械
のある基準位置、姿勢に対し、制御数値をコンピュータ
によって演算して支柱シリンダーを制御し、地盤変化に
かかわらず建設機械を初期設定状態に確実に保持するこ
とができる。[Effects of the Invention] According to the automatic attitude control system for construction equipment of the present invention, each support cylinder is adjusted in real time based on the difference between the water level at several locations around the construction equipment and the reference water tank at a position where the ground does not change. Since the expansion and contraction control is performed, even if the ground on which the construction machine is installed sinks or the posture of the machine changes, the construction machine can be maintained at the initially set height and posture. For this reason, when automation and robotization of construction equipment are performed, control values are calculated by a computer for a certain reference position and attitude of the construction equipment to control the support cylinder, and the construction equipment is returned to the initial setting state regardless of ground changes. It can be securely held.
第１図は本発明の制御システムに使用する建設機械の側
面図、第２図は同建設機械の正面図、第３図は制御シス
テムのブロツク図、第４図は制御システムのフローチャ
ートである。 1;建設機械、３、４、5;支柱シリンダー 3a、4a、5a;水位センサ 3b、4b、5b;基準水槽 6;傾斜計、7;水準測定器 9;マイコン1 is a side view of a construction machine used in the control system of the present invention, FIG. 2 is a front view of the construction machine, FIG. 3 is a block diagram of the control system, and FIG. 4 is a flowchart of the control system. 1; Construction machinery, 3, 4, 5; Support cylinder 3a, 4a, 5a; Water level sensor 3b, 4b, 5b; Reference tank 6; Inclinometer, 7; Level measuring instrument 9; Microcomputer
Claims (1)
柱シリンダーを設け、各支柱シリンダーを伸縮制御して
建設機械を地盤上に所定の姿勢に支持する制御システム
であって、建設機械に、傾斜計と建設機械の複数箇所の
高さを検出する複数の水位センサとを設けるとともに、
各水位センサに対応して設けられる基準水槽を地盤変化
のない位置に配置し、各水位センサとそれに対応する基
準水槽との水頭差を水準測定器により検出して、傾斜計
と水準測定器とからの検出信号に基づきコンピュータに
より各支柱シリンダーを伸縮制御し、各支柱シリンダー
をリアルタイムに伸縮制御することにより建設機械を設
定した高さ及び姿勢に保つことを特徴とする建設機械の
自動姿勢制御システム。1. A control system for providing a support cylinder at a plurality of positions around a construction machine to prevent the vehicle from tipping over, and controlling expansion and contraction of each support cylinder to support the construction machine in a predetermined posture on the ground. Along with providing an inclinometer and a plurality of water level sensors for detecting the height of a plurality of construction machines,
The reference water tank provided corresponding to each water level sensor is arranged at a position where the ground does not change, and the head difference between each water level sensor and the corresponding reference water tank is detected by a level measuring instrument, and the inclinometer, the level measuring instrument and An automatic attitude control system for a construction machine, characterized in that the computer controls the extension and contraction of each support cylinder by a computer based on a detection signal from the apparatus and controls the extension and contraction of each support cylinder in real time to maintain the construction machine at a set height and attitude. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20975390A JP2592428B2 (en) | 1990-08-08 | 1990-08-08 | Automatic attitude control system for construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20975390A JP2592428B2 (en) | 1990-08-08 | 1990-08-08 | Automatic attitude control system for construction machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0493426A JPH0493426A (en) | 1992-03-26 |
| JP2592428B2 true JP2592428B2 (en) | 1997-03-19 |
Family
ID=16578066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20975390A Expired - Lifetime JP2592428B2 (en) | 1990-08-08 | 1990-08-08 | Automatic attitude control system for construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2592428B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5643594B2 (en) * | 2010-10-18 | 2014-12-17 | 株式会社三井三池製作所 | Seabed ore excavator |
-
1990
- 1990-08-08 JP JP20975390A patent/JP2592428B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0493426A (en) | 1992-03-26 |
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