JP3247464B2 - Excavation control system for hydraulic excavator - Google Patents
Excavation control system for hydraulic excavatorInfo
- Publication number
- JP3247464B2 JP3247464B2 JP34853492A JP34853492A JP3247464B2 JP 3247464 B2 JP3247464 B2 JP 3247464B2 JP 34853492 A JP34853492 A JP 34853492A JP 34853492 A JP34853492 A JP 34853492A JP 3247464 B2 JP3247464 B2 JP 3247464B2
- Authority
- JP
- Japan
- Prior art keywords
- working device
- hydraulic
- restricted area
- detecting
- operation signal
- 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 - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、油圧ショベルにおいて
作業装置の動き得る領域を制限する制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for restricting a movable range of a working device in a hydraulic shovel.
【０００２】[0002]
【従来の技術】油圧ショベルは上下方向にそれぞれ回転
するブーム、アーム、及びバケットからなる作業装置を
備えている。このような油圧ショベルではブームなどの
各腕部をそれぞれの手動操作レバーによって操作してい
るが、これら各腕部はそれぞれが関節部によって連結さ
れ回転運動を行うものであるため、複数の腕部を操作し
て、例えばバケットの先端を所定の軌跡どおりに動かし
所定の領域を掘削することは、非常に困難な作業であ
る。ここで、作業としては法面の直線掘削、配管埋設の
ための掘削深さ制限、壁際の掘削制限、安全上のための
ショベル本体足元の安息角制限などが挙げられる。2. Description of the Related Art A hydraulic excavator is provided with a working device including a boom, an arm, and a bucket which rotate vertically. In such a hydraulic excavator, each arm such as a boom is operated by a respective manual operation lever. However, since each of these arms is connected by a joint and rotates, a plurality of arms are used. Is a very difficult operation to move the tip of the bucket along a predetermined trajectory and excavate a predetermined area, for example. Here, the work includes straight excavation of a slope, limitation of excavation depth for burying a pipe, limitation of excavation near a wall, limitation of the angle of repose of a shovel body for safety, and the like.
【０００３】このような作業を容易にするために、従
来、各種の自動制限手段が提案されている。例えば特開
昭５０−１４７１０４号公報の『油圧ショベルの安息角
制御装置』においては、予め設定した設定安息角と実際
のバケットの先端の傾斜を比較し、実際のバケット先端
の傾斜が設定安息角より大きくなったとき、その位置よ
りバケット先端の下降を阻止することでバケット先端の
設定安息角を制御している。[0003] In order to facilitate such operations, various automatic restricting means have conventionally been proposed. For example, in Japanese Patent Application Laid-Open No. 50-147104, "Relief Angle Control Device for Hydraulic Excavator" compares a preset repose angle with the actual tilt of the tip of the bucket, and determines the actual tilt of the tip of the bucket as the set repose angle. When it becomes larger, the set point of repose at the bucket tip is controlled by preventing the bucket tip from descending from that position.
【０００４】また、特開昭５０−１０３８０２号公報の
『掘削機に置ける掘削深さの制御方法』においては、バ
ケット先端が設定深さを越えた場合、ブームを上げるこ
とで設定深さより深い掘削は行わないようにしている。In Japanese Patent Application Laid-Open No. 50-103802, "Method of controlling excavation depth in excavator", when the tip of the bucket exceeds a set depth, the boom is raised to excavate deeper than the set depth. I try not to do it.
【０００５】また、特開平２−２３２４３０号公報の
『油圧ショベルの掘削深さ制御装置』においては、アー
ムの操作にブームの動きが追従することによって、所定
の設定深さ経路どおりに作業装置先端の移動軌跡が辿る
ようにしている。In the "Excavation Depth Control System for Hydraulic Excavator" disclosed in Japanese Patent Application Laid-Open No. Hei 2-232430, the movement of the boom follows the operation of the arm so that the tip of the working device can be moved along a predetermined set depth path. Trajectory is traced.
【０００６】[0006]
【発明が解決しようとする課題】しかしながら、特開昭
５０−１４７１０４号公報の『油圧ショベルの安息角制
御装置』においては、実際のバケット先端の傾斜がさら
に設定角より大きくなろうとするとき、バケット先端の
下降を阻止するように全アクチュエータを停止してしま
うので、その境界面では滑らかな作業ができない。However, in Japanese Patent Application Laid-Open No. 50-147104, the apparatus for controlling the angle of repose of a hydraulic shovel, when the actual inclination of the tip of the bucket is going to be larger than the set angle, Since all actuators are stopped so as to prevent the tip from descending, a smooth operation cannot be performed at the boundary surface.
【０００７】また、特開昭５０−１０３８０２号公報の
『掘削機における掘削深さの制御方法』においては、ブ
ームの動作だけを制御することで、掘削範囲を制限して
いるために、掘削深さ制御以外には適さない。Further, in Japanese Patent Application Laid-Open No. 50-103802, "Method of controlling excavation depth in excavator", the excavation range is limited by controlling only the operation of the boom. It is not suitable for anything other than control.
【０００８】また、特開平２−２３２４３０号公報の
『油圧ショベルの掘削深さ制御装置』においては、アー
ムの操作だけで作業装置を所定の経路に動かすので、通
常手段との切り換えが必要であり、円滑な作業が行えな
いという問題がある。Further, in the "excavation depth control device for hydraulic excavator" disclosed in Japanese Patent Application Laid-Open No. 232430/1990, since the working device is moved to a predetermined path only by operating the arm, it is necessary to switch to a normal means. However, there is a problem that smooth work cannot be performed.
【０００９】本発明の目的は、上記問題点を解決して、
制限領域の境界に沿った掘削を容易に行うことのできる
油圧ショベルの領域制限掘削制御装置を提供することに
ある。An object of the present invention is to solve the above problems,
An object of the present invention is to provide a hydraulic excavator area restriction excavation control device capable of easily performing excavation along a boundary of a restriction area .
【００１０】[0010]
【課題を解決するための手段】この目的を達成するため
に、本発明による油圧ショベルの領域制限掘削制御装置
は、油圧ショベルの作業装置の動き得る制限領域を設定
する設定手段と、作業装置の位置と姿勢を検出する検出
手段と、検出手段により検出される作業装置の位置と姿
勢に基づき、作業装置が上記設定手段で設定された制限
領域内にあるか否かを判定し、作業装置が制限領域内に
ある場合には操作信号の補正を行わず、作業装置が制限
領域外にある場合には、制限領域の境界面に平行な方向
には前記操作手段の操作信号に応じて移動し制限領域の
境界面に垂直な方向には制限領域内に戻るように前記操
作手段の操作信号の補正を行う演算手段と、この演算手
段で処理された操作信号を出力する出力手段とを備え
る。In order to achieve this object, a hydraulic excavator area limiting excavation control device according to the present invention comprises: setting means for setting a restricted area in which a hydraulic excavator working device can move; Detecting means for detecting the position and orientation, and based on the position and orientation of the working device detected by the detecting means, determine whether the working device is within the restricted area set by the setting means, If the operating device is outside the restricted region, the operation signal is not corrected when the operating device is outside the restricted region.
Move in response to the operation signal of the operation means, and
An operation unit for correcting the operation signal of the operation unit so as to return to the inside of the restricted area in a direction perpendicular to the boundary surface, and an output unit for outputting the operation signal processed by the operation unit.
【００１１】[0011]
【作用】このように構成された本発明においては、検出
手段により検出される作業装置の位置と姿勢に基づき、
作業装置が設定された制限領域内にあるか否かを判定
し、作業装置が制限領域内にある場合には操作信号の補
正を行わなず、作業装置が制限領域外にある場合には制
限領域の境界面に平行な方向には前記操作手段の操作信
号に応じて移動し制限領域の境界面に垂直な方向には制
限領域内に戻るように操作信号の補正を行うので、作業
装置が制限領域内にある場合は通常作業と同じように作
業でき、制限領域外にはみ出した場合には制限領域の境
界面に平行な方向には操作手段の操作信号に応じて移動
し制限領域の境界面に垂直な方向には制限領域内に戻る
ように制御され、制限領域の境界に沿った掘削を容易に
行うことができる、という顕著な効果を奏するものであ
る。According to the present invention having the above-described configuration, the position and orientation of the working device detected by the detecting means are determined based on the position and orientation of the working device.
Determining whether the working device is in the limit set in the area, such without correction of the operation signal when the working device is in restricted area, if the working device is outside the restricted area is System
In the direction parallel to the boundary surface of the limited area,
The operation signal is corrected so as to move in accordance with the signal and return to the restricted area in a direction perpendicular to the boundary surface of the restricted area. You can work in the same way, and if you go outside the restricted area,
Moves in the direction parallel to the interface according to the operation signal of the operation means
The control is performed so as to return to the inside of the restricted area in a direction perpendicular to the boundary surface of the restricted area, and there is a remarkable effect that excavation along the boundary of the restricted area can be easily performed.
【００１２】[0012]
【実施例】以下、本発明の一実施例を図１〜図４により
説明する。図１において、本発明が適用される油圧ショ
ベルの油圧駆動装置は、油圧ポンプ２と、この油圧ポン
プ２からの圧油により駆動されるブームシリンダ３ａ、
アームシリンダ３ｂ及びバケットシリンダ３ｃと、各操
作レバー４ａ，４ｂ，４ｃと、油圧ポンプ２と各シリン
ダの間に接続され、操作レバー４ａ，４ｂ，４ｃの操作
信号によって制御され、各シリンダ３ａ，３ｂ，３ｃに
供給される圧油の流量を制御する各流量制御弁５ａ，５
ｂ，５ｃと、油圧ポンプ２と流量制御弁５ａ，５ｂ，５
ｃの間の圧力が設定値以上になった場合に開くリリーフ
弁６を有している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In FIG. 1, a hydraulic drive device of a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a driven by hydraulic oil from the hydraulic pump 2,
The arm cylinder 3b and the bucket cylinder 3c, the respective operating levers 4a, 4b and 4c, and the hydraulic pump 2 are connected between the respective cylinders, and are controlled by operating signals of the operating levers 4a, 4b and 4c, and the respective cylinders 3a and 3b are controlled. , 3c for controlling the flow rate of the pressure oil supplied to the flow rate control valves 5a, 5c
b, 5c, the hydraulic pump 2 and the flow control valves 5a, 5b, 5
It has a relief valve 6 that opens when the pressure during c exceeds a set value.
【００１３】上記の油圧駆動装置は図２に示す油圧ショ
ベルに搭載されている。図２において、油圧ショベルは
上下方向にそれぞれ回転するブーム１ａ、アーム１ｂ及
びバケット１ｃからなる作業装置１を備えている。ブー
ム１ａ、アーム１ｂ及びバケット１ｃはそれぞれブーム
シリンダ３ａ、アームシリンダ３ｂ及びバケットシリン
ダ３ｃによりそれぞれの関節部を中心として回動する。The above-mentioned hydraulic drive device is mounted on a hydraulic shovel shown in FIG. In FIG. 2, the hydraulic excavator includes a working device 1 including a boom 1a, an arm 1b, and a bucket 1c that rotate in a vertical direction. The boom 1a, the arm 1b, and the bucket 1c are rotated around respective joints by the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c, respectively.
【００１４】以上のように構成した油圧駆動装置に本実
施例による油圧ショベルの領域制限掘削制御装置が設け
られている。この制御装置１は、予め作業に応じて作業
装置先端（バケット１ｃの先端）の動作範囲を設定する
制限領域の設定器７と、ブーム１ａ、アーム１ｂ及びバ
ケット１ｃの各関節角度を検出する各角度検出器８ａ，
８ｂ，８ｃと、各角度検出器８ａ，８ｂ，８ｃで検出し
た関節角度より求めた作業装置１の位置と姿勢に基づ
き、作業装置１が制限領域の設定器７で設定した制限領
域内にあるか否かを判定し、制限領域外にある場合には
操作信号の修正を行う制御ユニット９から構成されてい
る。The hydraulic drive apparatus constructed as described above is provided with the hydraulic excavator area limiting excavation control apparatus according to the present embodiment. The control device 1 includes a setter 7 for setting a limited area for setting an operation range of the tip of the working device (the tip of the bucket 1c) in accordance with the work in advance, and a controller for detecting each joint angle of the boom 1a, the arm 1b and the bucket 1c. Angle detectors 8a,
Based on the position and orientation of the working device 1 calculated from the joint angles detected by the angle detectors 8b, 8c and the angle detectors 8a, 8b, 8c, the working device 1 is within the restricted area set by the restricted area setting device 7. The control unit 9 determines whether or not the operation signal is out of the restricted area and corrects the operation signal.
【００１５】以下、図３に示す制御手順のフローチャー
トに従い、制御ユニット９により制御される本実施例の
動作を詳細に説明する。Hereinafter, the operation of this embodiment controlled by the control unit 9 will be described in detail with reference to the flowchart of the control procedure shown in FIG.
【００１６】まず、手順１００において、各操作レバー
４ａ，４ｂ，４ｃの操作信号を入力する。次に手順１１
０において、各角度検出器８ａ，８ｂ，８ｃにより検出
した各関節角度を入力する。次に手順１２０において、
各関節角度に基づき作業装置１の位置と姿勢を計算す
る。First, in step 100, an operation signal of each of the operation levers 4a, 4b, 4c is input. Next, step 11
At 0, each joint angle detected by each angle detector 8a, 8b, 8c is input. Next, in step 120,
The position and posture of the working device 1 are calculated based on each joint angle.
【００１７】次に手順１３０において、作業装置１が制
限領域の設定器７により予め設定した、例えば図２に示
すような制限領域内にあるか否かを判定し、制限領域内
にない場合には手順１４０に進み、制限領域内に戻るよ
うに操作信号を修正し、制限領域内にあるときには手順
１５０に進む。次に手順１５０において、操作信号を出
力し、はじめに戻る。Next, in step 130, it is determined whether or not the working apparatus 1 is within a restricted area, for example, as shown in FIG. Proceeds to step 140, corrects the operation signal so as to return to the inside of the restricted area, and proceeds to step 150 when it is within the restricted area. Next, in step 150, an operation signal is output, and the process returns to the beginning.
【００１８】ここで、手順１４０における操作信号の修
正方法について、図４〜図６に基づき説明する。Here, a method of correcting the operation signal in step 140 will be described with reference to FIGS.
【００１９】各操作レバー４ａ，４ｂ，４ｃで与えられ
た操作信号により、作業装置１には操作ベクトルＡが生
じ、制限領域内にある場合にはそのまま流量制御弁５
ａ，５ｂ，５ｃに出力されて作業装置１の進行方向とな
るが、制限領域外にある場合には作業装置が制限領域内
に戻るように操作信号を修正して出力する。その修正方
法は、まず操作信号によって与えられる作業装置１の操
作ベクトルＡに対して制限領域境界面に垂直な成分ＡV
をキャンセルするように操作信号を修正し、平行成分Ａ
H のみ抽出する。この修正によって作業装置１は制限領
域外にさらに進もうとする動作が阻止される。そして次
に、作業装置１と制限領域境界面Ｃとの距離すなわち偏
差Ｄに比例した速度ベクトルを求め、これを制限領域境
界面Ｃに垂直に制限領域内に戻る成分ＡR とする。図５
に偏差Ｄと戻る成分ＡR との関係を示す。次に、この戻
る成分ＡR と先ほどの平行成分ベクトルＡH とを合成し
て修正ベクトルＡM を求め、各流量制御弁５ａ，５ｂ，
５ｃに配分され修正された操作信号として出力する。The operation signal given by each of the operation levers 4a, 4b, 4c generates an operation vector A in the working device 1, and when it is within the restricted area, the flow control valve 5
The operation signals are output to a, 5b, and 5c and become the traveling direction of the working device 1. When the working device is outside the restricted area, the operation signal is corrected and output so that the working device returns to the inside of the restricted area. The correction method is as follows. First, for an operation vector A of the working device 1 given by an operation signal, a component A V perpendicular to the restricted area boundary surface
The operation signal is corrected so as to cancel
Extract only H. This modification prevents the working device 1 from moving further out of the restricted area. Next, a velocity vector proportional to the distance between the working device 1 and the restricted area boundary surface C, that is, the deviation D, is obtained, and this is set as a component A R that returns perpendicular to the restricted area boundary plane C and into the restricted area. FIG.
Shows the relationship between the deviation D and the returning component A R. Next, the return component A R is combined with the parallel component vector A H to obtain a correction vector A M , and the flow control valves 5a, 5b,
5c and output as a modified operation signal.
【００２０】制限領域外から制限領域内に戻る軌跡の一
例を図６に示す。操作信号により与えられる操作ベクト
ルＡが斜め下方に一定であるときには、その平行成分Ａ
Ｈは一定となり、また戻る成分ＡＲ は偏差Ｄに比例す
るので制限領域内に近づくほど小さくなる。したがっ
て、修正ベクトルＡＭ はその合成であるので、軌跡は
図６に示すようになる。つまり、作業装置１の移動軌跡
は、制限領域教界面Ｃに近づくにつれて境界面Ｃに平行
な方向へと向きを変える曲線状となり、作業装置１は制
限領域境界面Ｃに平行な方向には操作信号に応じて移動
し制限領域の境界面に垂直な方向には制限領域内に戻る
ように制御される。 FIG. 6 shows an example of a trajectory returning from outside the restricted area to inside the restricted area. When the operation vector A given by the operation signal is constant obliquely downward, its parallel component A
H is constant, back again component A R becomes smaller as approaching the limit region is proportional to the deviation D. Therefore, since the correction vector AM is a combination thereof, the trajectory is as shown in FIG . That is, the movement locus of the working device 1
Is parallel to the boundary surface C as it approaches the restricted area interface C.
The working device 1 has a curved shape that changes its direction
Moves in the direction parallel to the limited area boundary surface C according to the operation signal
Return to the restricted area in the direction perpendicular to the boundary of the restricted area
Is controlled as follows.
【００２１】したがって、本実施例によれば、作業装置
１が予め設定した制限領域内にある場合は通常作業と同
じように作業でき、制限領域外にはみ出した場合には制
限領域の境界面に平行な方向には操作手段の操作信号に
応じて移動し制限領域の境界面に垂直な方向には制限領
域内に戻るように制御されるため、制限領域の境界に沿
った掘削を容易に行うことができる。Therefore, according to the present embodiment, when the working device 1 is within the preset limited area, the work can be performed in the same manner as the normal work, and when the working apparatus 1 is out of the limited area, the work is controlled.
In the direction parallel to the boundary of the
The excavation along the boundary of the restricted area can be easily performed because the movement is controlled so as to return to the inside of the restricted area in a direction perpendicular to the boundary surface of the restricted area.
【００２２】なお、以上の実施例では、作業装置１の位
置と姿勢を検出する検出手段として作業装置の各関節の
角度を検出する角度検出器８ａ〜８ｃを用いたが、図７
に示すように、油圧シリンダ３ａ，３ｂ，３ｃのストロ
ークを検出する変位検出器１０ａ，１０ｂ，１０ｃを用
いてもよく、これによっても同様に作業装置１の位置と
姿勢を検出し、同様の効果を得ることができる。In the above embodiment, the angle detectors 8a to 8c for detecting the angles of the respective joints of the working device are used as detecting means for detecting the position and posture of the working device 1.
As shown in FIG. 7, displacement detectors 10a, 10b, and 10c for detecting the strokes of the hydraulic cylinders 3a, 3b, and 3c may be used. Can be obtained.
【００２３】[0023]
【発明の効果】本発明によれば、作業装置が予め設定し
た制限領域内にある場合は通常作業と同じように作業で
き、制限領域外にはみ出した場合には制限領域の境界面
に平行な方向には操作手段の操作信号に応じて移動し制
限領域の境界面に垂直な方向には制限領域内に戻るよう
に制御されるため、制限領域の境界に沿った掘削を容易
に行うことができる。According to the present invention, when the working device is within the preset restricted area, the work can be performed in the same manner as the normal operation, and when the working device is out of the restricted area, the boundary surface of the restricted area can be used.
Moves in the direction parallel to
Since control is performed so as to return to the inside of the limited area in a direction perpendicular to the boundary surface of the limited area, excavation along the boundary of the limited area can be easily performed.
【図１】本発明の一実施例による油圧ショベルの領域制
限掘削制御装置をその油圧駆動装置と共に示す図であ
る。FIG. 1 is a diagram showing a hydraulic excavator area limiting excavation control device together with a hydraulic drive device according to an embodiment of the present invention.
【図２】本発明が適用される油圧ショベルの外観とその
まわりの制限領域を示す図である。FIG. 2 is a diagram illustrating an external appearance of a hydraulic shovel to which the present invention is applied and a restricted area around the hydraulic shovel.
【図３】制御ユニットにおける制御手順を示すフローチ
ャートである。FIG. 3 is a flowchart showing a control procedure in a control unit.
【図４】作業装置の位置と姿勢に応じた操作信号の修正
方法を示す図である。FIG. 4 is a diagram illustrating a method of correcting an operation signal according to a position and a posture of a working device.
【図５】作業装置と制限領域境界面との距離偏差と戻る
成分との関係を示す図である。FIG. 5 is a diagram showing a relationship between a distance deviation between a working device and a restricted area boundary surface and a returning component.
【図６】制限領域外から制限領域内に戻る軌跡の一例を
示す図である。FIG. 6 is a diagram illustrating an example of a trajectory returning from outside the restricted area to inside the restricted area.
【図７】位置と姿勢を検出する手段として変位検出器を
用いた場合の油圧ショベルの外観を示す図である。FIG. 7 is a diagram showing an external appearance of a hydraulic shovel when a displacement detector is used as a means for detecting a position and a posture.
１ 作業装置 １ａ ブーム １ｂ アーム １ｃ バケット ２ 油圧ポンプ ３ａ，３ｂ，３ｃ 油圧シリンダ ４ａ，４ｂ，４ｃ 操作レバー（操作手段） ５ａ，５ｂ，５ｃ 流量制御弁 ６ リリーフ弁 ７ 制限領域の設定器（設定手段） ８ａ，８ｂ，８ｃ 角度検出器 ９ 制御ユニット（演算手段；出力手段） １０ａ，１０ｂ，１０ｃ 変位検出器 DESCRIPTION OF SYMBOLS 1 Working device 1a Boom 1b Arm 1c Bucket 2 Hydraulic pump 3a, 3b, 3c Hydraulic cylinder 4a, 4b, 4c Operating lever (operating means) 5a, 5b, 5c Flow control valve 6 Relief valve 7 Setter for setting restricted area (setting means) 8a, 8b, 8c Angle detector 9 Control unit (arithmetic means; output means) 10a, 10b, 10c Displacement detector
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) E02F 3/43 E02F 9/20 Continuation of the front page (58) Field surveyed (Int.Cl. 7 , DB name) E02F 3/43 E02F 9/20
Claims (3)
れる圧油によって駆動され、作業装置を駆動する油圧ア
クチュエータと、このアクチュエータの動作を指示する
操作手段と、前記油圧ポンプと油圧アクチュエータの間
に接続され、前記操作手段の操作信号に応じて油圧アク
チュエータに供給される圧油の流量を制御する流量制御
弁とを備えた油圧駆動装置を持つ油圧ショベルの領域制
限掘削制御装置において、 前記作業装置が動き得る制限領域を設定する設定手段
と、 前記作業装置の位置と姿勢を検出する検出手段と、 前記検出手段により検出される作業装置の位置と姿勢に
基づき、該作業装置が前記設定手段で設定された制限領
域内にあるか否かを判定し、作業装置が制限領域内にあ
る場合には前記操作手段の操作信号の補正を行わず、作
業装置が制限領域外にある場合には、制限領域の境界面
に平行な方向には前記操作手段の操作信号に応じて移動
し制限領域の境界面に垂直な方向には制限領域内に戻る
ように前記操作手段の操作信号の補正を行う演算手段
と、 前記演算手段で処理された操作信号を前記流量制御弁に
出力する出力手段と、 を備えることを特徴とする油圧ショベルの領域制限掘削
制御装置。1. A hydraulic pump, a hydraulic actuator driven by hydraulic oil discharged from the hydraulic pump and driving a working device, operating means for instructing operation of the actuator, and a hydraulic pump and a hydraulic actuator And a flow rate control valve for controlling a flow rate of hydraulic oil supplied to a hydraulic actuator in accordance with an operation signal of the operation means. Setting means for setting a restricted area in which the device can move; detecting means for detecting the position and posture of the working device; and setting the working device based on the position and posture of the working device detected by the detecting device. It is determined whether or not the operating device is within the restricted area set in step, and when the working device is within the restricted area, the operation signal of the operating means is corrected. Not, when the working device is outside the restricted area, the boundary of the restricted area
Moves in the direction parallel to the direction according to the operation signal of the operation means
Calculating means for correcting the operation signal of the operation means so as to return to the inside of the restriction area in a direction perpendicular to the boundary surface of the restriction area; and outputting the operation signal processed by the calculation means to the flow control valve. An output means, and an excavation area limiting excavation control device for a hydraulic shovel.
削制御装置において、前記検出手段は、前記作業装置の
関節の角度を検出する角度検出器であることを特徴とす
る油圧ショベルの領域制限掘削制御装置。2. An excavation control apparatus for a hydraulic excavator according to claim 1, wherein said detecting means is an angle detector for detecting an angle of a joint of said working device. Drilling control device.
削制御装置において、前記検出手段は、前記油圧アクチ
ュエータのストロークを検出する変位検出器であること
を特徴とする油圧ショベルの領域制限掘削制御装置。3. An excavation control apparatus for excavating a hydraulic excavator according to claim 1, wherein said detecting means is a displacement detector for detecting a stroke of said hydraulic actuator. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34853492A JP3247464B2 (en) | 1992-12-28 | 1992-12-28 | Excavation control system for hydraulic excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34853492A JP3247464B2 (en) | 1992-12-28 | 1992-12-28 | Excavation control system for hydraulic excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06193090A JPH06193090A (en) | 1994-07-12 |
| JP3247464B2 true JP3247464B2 (en) | 2002-01-15 |
Family
ID=18397662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34853492A Expired - Fee Related JP3247464B2 (en) | 1992-12-28 | 1992-12-28 | Excavation control system for hydraulic excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3247464B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101769485B1 (en) * | 2010-07-30 | 2017-08-30 | 볼보 컨스트럭션 이큅먼트 에이비 | Swirl flow control system for construction equipment and method of controlling the same |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0173835B1 (en) * | 1994-06-01 | 1999-02-18 | 오까다 하지모 | Area-limited digging control device for construction machines |
| JP3571142B2 (en) * | 1996-04-26 | 2004-09-29 | 日立建機株式会社 | Trajectory control device for construction machinery |
| JP3727423B2 (en) * | 1996-09-10 | 2005-12-14 | ヤンマー株式会社 | Control method of electronically controlled work vehicle |
| KR101840248B1 (en) * | 2016-05-31 | 2018-03-20 | 가부시키가이샤 고마쓰 세이사쿠쇼 | Work machinery control system, work machinery, and work machinery control method |
| US10106952B2 (en) | 2016-05-31 | 2018-10-23 | Komatsu Ltd. | Work machine control system, work machine, and work machine control method |
| JP6781068B2 (en) * | 2017-02-21 | 2020-11-04 | 株式会社小松製作所 | Work machine control system, work machine and work machine control method |
| JP6680849B2 (en) * | 2018-10-03 | 2020-04-15 | 株式会社小松製作所 | Work machine control system and work machine control method |
-
1992
- 1992-12-28 JP JP34853492A patent/JP3247464B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101769485B1 (en) * | 2010-07-30 | 2017-08-30 | 볼보 컨스트럭션 이큅먼트 에이비 | Swirl flow control system for construction equipment and method of controlling the same |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06193090A (en) | 1994-07-12 |
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