JPS59220534A - Automatic excavator of power shovel - Google Patents
Automatic excavator of power shovelInfo
- Publication number
- JPS59220534A JPS59220534A JP9487983A JP9487983A JPS59220534A JP S59220534 A JPS59220534 A JP S59220534A JP 9487983 A JP9487983 A JP 9487983A JP 9487983 A JP9487983 A JP 9487983A JP S59220534 A JPS59220534 A JP S59220534A
- Authority
- JP
- Japan
- Prior art keywords
- working machine
- positions
- spool
- learning process
- automatic excavation
- 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.)
- Granted
Links
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
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【発明の詳細な説明】 この発明はパワショベルの自動掘削装置に関する。[Detailed description of the invention] The present invention relates to an automatic excavation device for a power shovel.
従来パワショベルにおいて掘削作業を自動化するため、
作業機の各部に位置検出器を設け、これら位置検出器で
検出した位置制御をもとに作業機操作弁を制御するよう
にしたものが公知である。しかしこの方法では位置検出
器に用いるポテンシ目メータの精度が十分でないため精
度の高い位置検出ができないと共に、制御対象である作
業機のイナーシャに対して駆動力が十分大きくないこと
による動特性の悪化や、また作業機の角度に対して油圧
シリンダのストロークが非線形であったりすることから
、単に作業機の位置検出のみでは精度の高い制御がなし
得ない不具合があった。In order to automate excavation work with conventional power excavators,
It is known that position detectors are provided in each part of a work machine, and a work machine operating valve is controlled based on the position control detected by these position detectors. However, with this method, the precision of the potentiometer used in the position detector is not sufficient, so highly accurate position detection cannot be performed, and the dynamic characteristics deteriorate because the driving force is not large enough relative to the inertia of the work equipment being controlled. Furthermore, since the stroke of the hydraulic cylinder is non-linear with respect to the angle of the working machine, there is a problem in that highly accurate control cannot be achieved by simply detecting the position of the working machine.
この発明はかかる不具合を改善する目的でなされたもの
で、作業機各部の位置検出と共に、作業機操作弁のスプ
ール位置を検出し、スプールの位置と時間から各操作弁
を制御することにより、精度の高い制御を可能にしたパ
ワショベルの自動掘削装置を提供しようとするものであ
る。This invention was made for the purpose of improving such problems, and in addition to detecting the position of each part of the work machine, it also detects the spool position of the work machine operation valve, and controls each operation valve from the spool position and time. The purpose of the present invention is to provide an automatic excavation device for power shovels that allows for high control.
以下この発明の一実施例を参照して詳述する。The present invention will be described in detail below with reference to one embodiment.
図中１は足まわり２により自走自在な下部車体で、この
下部車体１上に旋回機構３を介して上部旋回体４が設け
られており、この上部旋回体４の前部に作業１１１４５
が装着されている。作業機５１ｄ ２− ムシリンダ６
により起伏自在なプームッと、このプーム７の先端に取
付けられ、アームシリレダＳにより回動°自在なアーム
９及びアーム９の先端に取付けられ、パケットシリンダ
１０により回動自在なパケット１１とよりなり、各シリ
ンダ６＋８．ｌｏと旋回そ一夕１２には圧力補償弁１３
．１４，１５．１６を介して各作業機操作弁＋７，１８
，１９．２０より油圧が供給されるようになっている。In the figure, reference numeral 1 denotes a lower vehicle body that can move freely by the suspension 2. An upper rotating body 4 is provided on the lower vehicle body 1 via a rotating mechanism 3, and a work 11145 is installed at the front of the upper rotating body 4.
is installed. Working machine 51d 2- Mus cylinder 6
It is attached to the tip of the poom 7 which can be raised and lowered freely by the arm cylinder S, and the packet 11 is attached to the tip of the arm 9 and the arm 9 can be rotated by the arm cylinder 10. Cylinder 6+8. Pressure compensating valve 13 for lo and turning motion 12
．． 14, 15, and each work equipment operating valve via 16 +7, 18
, 19. Hydraulic pressure is supplied from 20.
また各操作弁１７ないし２ｏはスプール１７αないし２
ｏαに？−ボモータ２１，２２，２３．２４が連動され
ていて、モータ制御回路２５＋リモータ駆動回路２６を
介して入力される信号により各サーボそ一夕２１ないし
２４がスプール１７αないし２０ｃＬのストロークを制
御するようになっていると共に、各スプール１７ｃＬな
いし２ｏαには位置検出器２７“が設けられていて、こ
れら位置検出器２７により各スプール１７αないし２ｏ
αの位置検出が行なわれるようになっており、位置検出
器２７で検出された位置信号は、作業機５の各相支部と
、旋回機構３に設けられた位置検出器２ｇと共にマルチ
ブレツサ２９及びＡ／Ｄ変換器３゜を介して制御回路３
１へ入力されている。制御回路３１は中央処理装置３２
と記憶装置３３゜入力装置３４及び表示装置３５．非常
停止スイッチ３６．警報器３７などよりなり、作業機操
作弁１７ないし２０に設けられた圧力スイッチ３ｇから
の信号も庄カスイッチインタフェイス３９を介して入力
されていて、次のように作業機５を制御する。In addition, each operation valve 17 to 2o has a spool 17α to 2o.
To oα? - The servo motors 21, 22, 23, and 24 are interlocked, and each servo motor 21 to 24 controls the stroke of the spool 17α to 20cL by a signal inputted via the motor control circuit 25 + remoter drive circuit 26. In addition, each spool 17cL to 2oα is provided with a position detector 27'', and each spool 17cL to 2oα is provided with a position detector 27'' by these position detectors 27.
The position of α is detected, and the position signal detected by the position detector 27 is transmitted to each phase branch of the working machine 5, the position detector 2g provided in the turning mechanism 3, the multi-breather 29 and the /D converter 3° to control circuit 3
1 is input. The control circuit 31 is a central processing unit 32
and a storage device 33, an input device 34, and a display device 35. Emergency stop switch 36. A signal from a pressure switch 3g, which is comprised of an alarm device 37, etc., and is provided on the work machine operating valves 17 to 20 is also inputted via the pressure switch interface 39, and the work machine 5 is controlled as follows.
次に作用を第３図に示すフ四−チヤードに沿って説明す
ると、作業機５による自動掘削を行うに当っては、まず
自動的に行う掘削動作を学習過程により制御回路３１中
の記憶装置３３へ記憶させる操作が必要となる。学習過
程はスタート後ステップ■で選択され、表示装置３５に
学習（ＴＥＡＣＨ）表示がなされる。その後ステップ■
でスタートすると、ステップ■で作業前の状態の作業！
ｌ！５各部の位置が各位置検出器２ｇにより検出され、
記憶装置ｊ３へａｉ億される。Next, the operation will be explained along the four-chart shown in FIG. 33 is required. After the learning process is started, it is selected in step (3), and a TEACH message is displayed on the display device 35. Then step■
When you start with , work in the state before work in step ■!
l! 5 The position of each part is detected by each position detector 2g,
It is transferred to storage device j3.
その後作業者が操作レバ４ｏを操作して掘前作業を行う
と、作業機５各部の位置変化とそれに伴う操作弁１７な
いし２ｏのスプール位置が時間の経過と共に位置検出器
２７．２８で検出され、記憶される（ステップ■）。次
にステップ■へ進んでタイムオーバを判定し、タイムオ
ーバしていなければステップ■へ進んで、次の測定まで
の時間取りをした後ステップ■へ戻って作業終了かを判
定する。学習作業が終了していればステップ■へ進んで
作業終了後の作業機５の各部の位置を位置検出器２８で
検出して、その位置を記憶する。After that, when the worker operates the operation lever 4o to perform digging work, the position detectors 27 and 28 detect changes in the position of each part of the work implement 5 and the corresponding spool positions of the operation valves 17 to 2o over time. , is memorized (step ■). Next, the process proceeds to step (2) to determine whether the time has elapsed, and if the time has not exceeded, the process proceeds to step (2) to take time until the next measurement, and then returns to step (2) to determine whether the work is complete. If the learning work has been completed, the process proceeds to step (2), where the position of each part of the working machine 5 after the work is completed is detected by the position detector 28, and the position is stored.
以上学習過程が終了したら、ステップ■で再現過程へ進
む。再現過程では、ステップ［相］で作業回数を入力し
、ステップ０で作業を開始する。When the above learning process is completed, proceed to the reproduction process in step (■). In the reproduction process, the number of operations is input in step [phase], and the operation is started in step 0.
作業が開始されると、まずステップ［相］で作業機５の
各部の位置が位置検出器２８により検出され、ステップ
［相］で学習開始前の位置と同じかを暫定する。もし同
じでなければステップ■へ進んで、作業機５の各部が学
習開始位置となるよう位置修正が行なわれる。位置の修
理は予め記憶された学習開始位置と現在値の偏差が中央
処理装置３２により算出され、偏差に応じた制御信号が
モータ制御回路２５へ出力されて、各サーボモータ２１
ないし２４が制御されることにより行なわれる。When the work is started, first, in step [phase], the position of each part of the working machine 5 is detected by the position detector 28, and in step [phase], it is tentatively determined whether the position is the same as the position before the start of learning. If they are not the same, the process proceeds to step (2), and the positions of each part of the working machine 5 are corrected so that they are at the learning start positions. For position repair, the central processing unit 32 calculates the deviation between the pre-stored learning start position and the current value, outputs a control signal according to the deviation to the motor control circuit 25, and controls each servo motor 21.
This is done by controlling the steps 1 to 24.
作業機５各部の位置が学習開始時の位置になると、ステ
ップ［株］へ進んで、学習時記憶された内容に応じて動
作が再現され、作業機５による自動掘削が行なわれる。When the positions of the various parts of the working machine 5 reach the positions at the start of learning, the process proceeds to step [share], where the operations are reproduced according to the contents stored during learning, and automatic excavation by the working machine 5 is performed.
掘削動作は１作業毎にステップ［株］で作業の１サイク
ルが終了したかを判定し、終了した場合はステップ０へ
進んで、設定回数より−１してステップ［相］へ進み、
設定回数作業が終了したかを判定する。終了してい 歳
なければステップ［相］へ進んで上記動作を繰返すと共
に、終了していればスタートＯへ戻って作業を終了する
。For each excavation operation, it is determined at step [stock] whether one cycle of work is completed, and if it is completed, it proceeds to step 0, subtracts 1 from the set number of times, and proceeds to step [phase].
Determine whether the work has been completed the set number of times. If it is not completed, proceed to step [phase] and repeat the above operation, and if it is completed, return to start O to complete the work.
その後作業内容が変った場合は新たに学習過程を経て自
動掘削に進むもので、割込み信号の入力により、第４図
に示すフローチャートで示すように随時ｗニュアルによ
る操作も可能である。If the content of the work changes after that, automatic excavation will proceed through a new learning process, and by inputting an interrupt signal, manual operation can be performed at any time as shown in the flowchart shown in FIG. 4.
この発明は以上詳述したように、自動掘削に当って予め
作業内容を学習により記憶させることにより、その内容
に応じた自動掘削が可能となると共に、作業機の制御を
作業機操作弁のスプールに設けた位置検出器からの信号
をもとに、スプールの位置と時間の一関係から各油圧シ
リンダや旋回モータへ供給する油圧の流量を制御するよ
うにしたことから、従来の作業機の各部に設けた位置検
出器からの信号をもとに制御するものに比べて、より精
度の高い自動掘削が可＊記になる。As described in detail above, this invention enables automatic excavation to be performed in accordance with the content by learning and memorizing the work content in advance during automatic excavation. The flow rate of hydraulic pressure supplied to each hydraulic cylinder and swing motor is controlled based on the relationship between the spool position and time based on the signal from the position detector installed in the This allows for more accurate automatic excavation compared to systems that control based on signals from position detectors installed in
図面はこの発明の一実施例を示し、第１図は制御系を含
む全体の構成図、第２図はノくワショベルの平面図、第
３＠は自動掘削動作を示すフローチャート、第４図はマ
ニュアル操作を示すフローチャートである。
１は下部車体、２は足まわり、３は旋回機構、４は上部
旋回体、５は作業機、１７ないし２０は作業機操作弁、
１７αないし２０αはスプール、２２ないし２４はサー
ボモータ、２７．２８は位置検出器、３１は制御回路、
３３は記憶装置。
出願人 株式会社小松製作所
代理人 弁理上米 原 正 章
弁理上演 本 忠
第４図The drawings show one embodiment of the present invention, in which Fig. 1 is an overall configuration diagram including the control system, Fig. 2 is a plan view of the excavator, Fig. 3 is a flowchart showing automatic excavation operation, and Fig. 4 is a flowchart showing the automatic excavation operation. It is a flowchart showing manual operation. 1 is a lower vehicle body, 2 is an undercarriage, 3 is a swing mechanism, 4 is an upper swing structure, 5 is a work machine, 17 to 20 are work machine operation valves,
17α to 20α are spools, 22 to 24 are servo motors, 27 and 28 are position detectors, 31 is a control circuit,
33 is a storage device. Applicant: Komatsu Ltd. Representative: Masaaki Yonehara, Patent Attorney: Hon Tadashi Figure 4
Claims (1)
を介して上部旋回体４を設け、この上部旋回体４に作業
機５を装着すると共に、上記作業機５及び上部旋回体４
の旋回を作業機春作弁１７．１８．１９．２０により制
御する５のにおいて、上記作業機５の各部に作業機５各
部の現在位置を検出する位置検出器２８を、また作業機
操作弁１７ないし２０のスプール１７αないし２０αに
はスプール位置を検出する位置検出器２７を設け、かつ
自動掘削前の学習過程における作業機５各部の位置と、
各操作弁１７ないし２０のスプール位置を制御回路３１
に設けた記憶装置３３に記憶すると共に、上記学習過程
で記憶した内容を各操作弁１７ないし２０のスプール１
７αないし２０４ ｔ−制御するサーボモータ２２ない
し２４へ出力して、学習過程と同様な自動掘削を可能と
してなるパワショベルの自動掘削装置。A swing mechanism 3 is mounted on the lower body 1 which can move freely by the suspension 2.
The upper revolving body 4 is provided through the upper revolving body 4, and the working machine 5 is attached to this upper revolving body 4, and the working machine 5 and the upper revolving body 4
In step 5, the rotation of the work machine is controlled by the work machine spring operation valves 17, 18, 19, and 20, each part of the work machine 5 is provided with a position detector 28 for detecting the current position of each part of the work machine 5, and a work machine operation valve. The spools 17 to 20 are provided with a position detector 27 for detecting the spool position, and the position of each part of the working machine 5 during the learning process before automatic excavation.
A control circuit 31 controls the spool position of each operating valve 17 to 20.
The content stored in the learning process is stored in the storage device 33 provided in the spool 1 of each operating valve 17 to 20.
7α to 204 t- An automatic excavation device for a power shovel that outputs output to controlled servo motors 22 to 24 to enable automatic excavation similar to the learning process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9487983A JPS59220534A (en) | 1983-05-31 | 1983-05-31 | Automatic excavator of power shovel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9487983A JPS59220534A (en) | 1983-05-31 | 1983-05-31 | Automatic excavator of power shovel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59220534A true JPS59220534A (en) | 1984-12-12 |
| JPH0526896B2 JPH0526896B2 (en) | 1993-04-19 |
Family
ID=14122334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9487983A Granted JPS59220534A (en) | 1983-05-31 | 1983-05-31 | Automatic excavator of power shovel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59220534A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0233945A1 (en) * | 1985-07-26 | 1987-09-02 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling power shovel |
| JPH01318621A (en) * | 1988-06-17 | 1989-12-25 | Komatsu Ltd | Work automatizing method for construction equipment and its apparatus |
| WO1990007032A1 (en) * | 1988-12-19 | 1990-06-28 | Kabushiki Kaisha Komatsu Seisakusho | Teaching/playback method of working machine |
| JPH02171432A (en) * | 1988-12-26 | 1990-07-03 | Komatsu Ltd | Job automatizing method for electronic control type hydraulic excavator |
| EP0380665A1 (en) * | 1988-08-02 | 1990-08-08 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling working units of power shovel |
| WO1991005113A1 (en) * | 1989-09-26 | 1991-04-18 | Kabushiki Kaisha Komatsu Seisakusho | Operation automating apparatus of hydraulic driving machine |
| FR2665199A1 (en) * | 1990-07-25 | 1992-01-31 | Caterpillar Mitsubishi Ltd | FLEXIBLE LOGIC CONTROL SYSTEM FOR HYDRAULIC EXCAVATOR AND EXCAVATOR EQUIPPED WITH SAID SYSTEM. |
| US5178510A (en) * | 1988-08-02 | 1993-01-12 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling the hydraulic cylinder of a power shovel |
| US5359517A (en) * | 1989-12-12 | 1994-10-25 | Kabushiki Kaisha Komatsu Seisakusho | Method and device for automating operation of construction machine |
-
1983
- 1983-05-31 JP JP9487983A patent/JPS59220534A/en active Granted
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0233945A1 (en) * | 1985-07-26 | 1987-09-02 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling power shovel |
| JPH01318621A (en) * | 1988-06-17 | 1989-12-25 | Komatsu Ltd | Work automatizing method for construction equipment and its apparatus |
| EP0380665A1 (en) * | 1988-08-02 | 1990-08-08 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling working units of power shovel |
| US5356259A (en) * | 1988-08-02 | 1994-10-18 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling hydraulic cylinders of a power shovel |
| US5116186A (en) * | 1988-08-02 | 1992-05-26 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling hydraulic cylinders of a power shovel |
| US5178510A (en) * | 1988-08-02 | 1993-01-12 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling the hydraulic cylinder of a power shovel |
| WO1990007032A1 (en) * | 1988-12-19 | 1990-06-28 | Kabushiki Kaisha Komatsu Seisakusho | Teaching/playback method of working machine |
| US5274557A (en) * | 1988-12-19 | 1993-12-28 | Kabushiki Kaisha Komatsu Seisakusho | Teaching and playback method for work machine |
| JPH02171432A (en) * | 1988-12-26 | 1990-07-03 | Komatsu Ltd | Job automatizing method for electronic control type hydraulic excavator |
| US5224033A (en) * | 1989-09-26 | 1993-06-29 | Kabushiki Kaisha Komatsu Seisakusho | Work automation apparatus for hydraulic drive machines |
| WO1991005113A1 (en) * | 1989-09-26 | 1991-04-18 | Kabushiki Kaisha Komatsu Seisakusho | Operation automating apparatus of hydraulic driving machine |
| US5359517A (en) * | 1989-12-12 | 1994-10-25 | Kabushiki Kaisha Komatsu Seisakusho | Method and device for automating operation of construction machine |
| FR2665199A1 (en) * | 1990-07-25 | 1992-01-31 | Caterpillar Mitsubishi Ltd | FLEXIBLE LOGIC CONTROL SYSTEM FOR HYDRAULIC EXCAVATOR AND EXCAVATOR EQUIPPED WITH SAID SYSTEM. |
| US5699247A (en) * | 1990-07-25 | 1997-12-16 | Shin Caterpillar Mitsubishi, Ltd. | Fuzzy control system and method for hydraulic backhoe or like excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0526896B2 (en) | 1993-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2682891B2 (en) | Excavator control equipment for power shovel | |
| JP3145027B2 (en) | Automatic control device for hydraulic excavator | |
| JPS59220534A (en) | Automatic excavator of power shovel | |
| JPS6033940A (en) | Controller for straight excavation by oil-pressure shovel | |
| JPS6234888B2 (en) | ||
| US5857828A (en) | Process for automatically controlling power excavators | |
| JP2553329B2 (en) | Power shovel controller | |
| JPS5843538B2 (en) | playback | |
| JPH083187B2 (en) | Power shovel bucket angle controller | |
| JPH02101229A (en) | Control device for working machine | |
| JP2677812B2 (en) | Control equipment for hydraulic machines | |
| JP3682352B2 (en) | Front control device for construction machinery | |
| JPH02232430A (en) | Controller for depth of excavation of hydraulic shovel | |
| JP2000355957A (en) | Zone restrictive excavation controller for hydraulic shovel | |
| JPH11181837A (en) | Automatic controller for shovel-based construction machinery | |
| JPH0414531A (en) | Controller for operating machine | |
| JPS62214406A (en) | Power shovel control method | |
| JPH06280282A (en) | Controller for hydraulic shovel | |
| JPH0617589B2 (en) | Excavator control equipment | |
| JP2871890B2 (en) | Excavator excavation control device | |
| JPH04171302A (en) | Construction machine | |
| JPH10292420A (en) | Excavating locus control device of hydraulic shovel | |
| JPS63156126A (en) | Detectorf for bucket angle of swing excavator | |
| JPS6016540B2 (en) | Swing stop position control device for swing-type construction vehicles | |
| JPS60152733A (en) | Backhoe working vehicle |