JP2000204580A - Controller of construction machinery and excavation forming method of continuous slope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To excavate and form a continuous slope at a low cost without requiring any sensor detecting a moving amount of the body in a controller of a construction machinery and an excavation forming method of the continuous slope. SOLUTION: A laser reference plane RF formed by a laser lighthouse 10a is so set that it is parallel with a target excavated surface TS, and the target excavated surface gradient β and an offset distance Lb between the target excavated surface and laser reference plane are inputted by switches 7b and 7c of a setting apparatus 7. Then, an operator operates a front device 1A to make a light receiving apparatus 10b coincide with the laser reference plane RF, a switch 7a of the setting apparatus 7 is pushed in such a state, coordinate positions (PLx and PLz) in x-y coordinate systems of a laser light receiving position in a control unit 9 further make a linear equation of the target excavated plane calculate by 1-7 formulas, excavation is carried out along the target excavated plane while watching a distance indication between the target excavated plane and a bucket claw edge. The same action is taken even after the movement of the body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a construction machine such as a hydraulic excavator, and more particularly to a control device for a construction machine that forms a continuous excavation surface with reference to an external reference such as a laser, and a continuous inclination by the construction machine. The present invention relates to a method of excavating a surface.

[0002]

2. Description of the Related Art Hitherto, in a high-precision linear excavation operation using a hydraulic excavator, an operator has to simultaneously operate a boom, an arm, and a bucket, which requires skill. Therefore, various automatic trajectory control devices have been proposed to facilitate the operation.

[0003] For example, in the invention proposed in Japanese Patent Application Laid-Open No. 49-132801, the amount of operation of a cylinder is calculated in accordance with a given excavation angle, bucket attitude, and excavation speed, and the movement of each part is controlled to perform linear excavation. It is carried out. In the invention proposed in Japanese Patent Application Laid-Open No. 55-30038, a boom / arm speed is provided for a target speed vector at the tip of an arm, and buckets are independently controlled to perform a straight excavation. Further, in the invention proposed in Japanese Patent Application Laid-Open No. 6-193090, the so-called trajectory control and range limiting control are such that when the bucket approaches the target excavation surface, the boom gradually rises and the bucket does not exceed the target excavation surface. Have been proposed.

On the other hand, by combining these linear excavation trajectory control devices with an external reference surface such as a laser lighthouse installed outside the vehicle body, a surface having a certain depth from the reference laser surface is extended over a long distance. A method of continuously controlling excavation has been proposed. For example, in the invention proposed in Japanese Patent Application Laid-Open No. 4-161525, a laser receiver is provided on a vehicle body, and a vertical displacement caused by movement of the vehicle body is corrected by a laser to form a continuous linear excavation surface. It has become. In the invention proposed in Japanese Patent Application Laid-Open No. 9-53253, a laser light receiver is installed on a front member, and similarly, a vertical displacement due to the movement of the vehicle body is corrected by a laser.
Discloses a method of setting a slope and excavating.

[0005]

However, the above proposal has the following disadvantages.

In the invention proposed in Japanese Patent Application Laid-Open No. 4-161525, a sensor for detecting the amount of movement of the vehicle body in the front-rear direction is required in order to form a continuous slope having a non-zero gradient. The sensor is complicated and complicated to install and calculate, and the sensor may be inaccurate and cannot accurately detect the amount of movement. Therefore,
It is practically difficult to detect the amount of movement of the vehicle body in the front-rear direction.

In the invention proposed in Japanese Patent Application Laid-Open No. 9-53253, setting of a target excavation surface for forming a continuous non-zero slope is performed by setting a distance from a vehicle body to a reference point as one parameter. Therefore, when the vehicle body moves in the front-rear direction with respect to the inclined surface, the target excavation surface also moves, and it is not possible to excavate a continuous inclined surface. In order to correct the target excavation surface so that the target excavation surface is continuous even when the vehicle body moves in the front-rear direction, as in Japanese Patent Application Laid-Open No. 4-161525,
A sensor for detecting the amount of movement of the vehicle body is required.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control device for a construction machine capable of inexpensively forming a continuous inclined surface without requiring a sensor for detecting a moving amount of a vehicle body, and a continuous inclined surface excavation by the construction machine. Is to provide a way.

[0009]

(1) In order to achieve the above object, the present invention provides a plurality of driven members including a plurality of vertically rotatable front members constituting an articulated front device. Members, a plurality of hydraulic actuators respectively driving the plurality of driven members, a plurality of operation levers for instructing the operation of the plurality of driven members, and are driven according to operation signals of the plurality of operation levers, In a control device for a construction machine including a plurality of hydraulic control valves for controlling a flow rate of pressure oil supplied to the plurality of hydraulic actuators,
External reference setting means installed outside the vehicle body of the construction machine to set an external reference so as to be parallel to the target excavation surface, gradient setting means for setting a gradient of the target excavation surface, and the target excavation with respect to the external reference Excavation depth setting means for setting a plane offset distance; vehicle body posture calculation means for calculating a relative position and posture of the vehicle body with respect to the external reference; the gradient setting means; the excavation depth setting means; and the vehicle body posture calculation means Target excavation surface setting means for calculating and setting the target excavation surface as a value with respect to a coordinate system based on the vehicle body based on the signal from

By providing the external reference setting means, the slope setting means, the excavation depth setting means, and the target excavation surface setting means as described above, it is possible to form a continuous inclined surface as follows. Become.

First, an external reference is set outside the vehicle body of the construction machine by the external reference setting means so as to be parallel to the target excavation surface, a gradient of the target excavation surface is set by the gradient setting means, and an external reference is set by the excavation depth setting means. Set the offset distance of the target excavation plane from the reference. Next, the relative position and posture of the vehicle body with respect to the external reference are calculated by the vehicle body posture calculation means at the current position of the vehicle body, and the slope and offset distance set as described above are calculated by the target excavation surface setting means. From the relative position and orientation, a target excavation surface is calculated as a value for a coordinate system based on the vehicle body, and is set. After setting the target excavation surface in this way, excavation is performed along the target excavation surface, and when the excavation on the target excavation surface is completed, the vehicle body is moved in the front-rear direction. The digging surface is reset, and digging is performed again along the reset target digging surface.

Even when the vehicle body moves back and forth in this way, each time the relative position and attitude of the vehicle body with respect to an external reference set outside the vehicle body are calculated, the relative position and attitude of the vehicle body with respect to the external reference are updated. This eliminates the need for a sensor that detects the amount of movement of the vehicle body, corrects the deviation of the target excavation surface when the vehicle body moves, and allows the target excavation surface before the vehicle body movement and the target excavation surface after the vehicle body movement to be accurately and continuously connected. Set
It becomes possible to excavate and form a continuous inclined surface.

(2) In the above (1), preferably,
The excavation depth setting means has an operation means provided on the setting device and operated by an operator, and sets the offset distance by an input signal from the operation means.

Thus, a desired offset distance can be set by the operation of the operator.

(3) In the above (1), the excavation depth setting means has means for calculating a position of the front end of the front device obtained by direct teaching, and calculates the offset distance from the position data. It may be set.

Thus, a desired offset distance can be set by direct teaching.

(4) In the above (1), preferably, the vehicle body posture calculating means includes an inclinometer, a front reference provided on the front device, and a control when the front reference matches the external reference. Means for calculating the relative position and attitude of the vehicle body from the position data and the detected value of the inclinometer.

Thus, the vehicle body posture calculating means can calculate the relative position and posture of the vehicle body with respect to the external reference.

(5) Further, in the above (1), preferably, distance calculating means for calculating the distance between the target excavation surface and the front end of the front device, and display means for displaying the distance calculated by the distance calculating means. Are further provided.

Thus, the operator can excavate along the target excavation surface with his / her will while watching the distance display on the display means.

(6) In order to achieve the above object,
The present invention provides a multi-joint type front device, a plurality of driven members including a plurality of vertically rotatable front members, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation levers for instructing the operation of the plurality of driven members; and a plurality of hydraulic controls that are driven in accordance with operation signals of the plurality of operation levers and control a flow rate of pressure oil supplied to the plurality of hydraulic actuators. In the method for forming a continuous inclined surface by a construction machine having a valve, (a) setting an external reference outside the vehicle body of the construction machine so as to be parallel to the target excavation surface; Setting a gradient; (c) setting an offset distance of the target excavation surface with respect to the external reference; and (d) calculating a relative position and posture of the vehicle body with respect to the external reference. (E) calculating and setting the target excavation surface as a value with respect to a coordinate system based on the vehicle body, from the set gradient and offset distance and the calculated relative position and posture of the vehicle body; Excavating along the set target excavation surface, (g) moving the vehicle body in the front-rear direction, and performing the steps (d) to (f) at that position to reset the target excavation surface. Digging along the reset target digging surface, (h) said (g)
Each procedure of repeating the above procedure shall be performed.

Thus, as described in the above (1), the displacement of the target excavation surface when the vehicle body moves is corrected without using the sensor for detecting the moving amount of the vehicle body, and the target excavation surface before the vehicle body moves is used. And the target excavation surface after the movement of the vehicle body are continuously set with high accuracy, and it is possible to excavate and form a continuous inclined surface.

(7) In the above (6), preferably,
In the steps (f) and (g), the distance between the set target excavation surface and the front end of the front device is calculated and displayed on the screen of the display means, and the distance displayed on this screen is viewed by the operator. While operating the plurality of operation levers, the target excavation surface is excavated and formed.

Thus, the operator can excavate along the target excavation surface with his / her will while watching the distance display on the display means.

(8) In the above (6), in the steps (f) and (g), the set target excavation surface may be excavated by trajectory control.

With this, it is possible to automatically excavate along the target excavation surface by the trajectory control.

(9) Further, in the above (6), in the steps (f) and (g), the set target excavation surface may be excavated by area-limited excavation control.

As a result, excavation can be performed automatically along the target excavation surface by the area-limited excavation control.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a hydraulic shovel will be described below with reference to FIGS.

In FIG. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and a boom cylinder 3a driven by hydraulic oil from the hydraulic pump 2. A plurality of hydraulic actuators including left and right traveling motors 3e and 3f, and a plurality of operating lever devices 4a to 4 provided corresponding to these hydraulic actuators 3a to 3f, respectively.
f, a plurality of flow control valves 5a to 5f that are controlled by operation signals of the operation lever devices 4a to 4f and control the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3f, the hydraulic pump 2, and the flow control valve 5a. And a relief valve 6 that opens when the pressure between the pressures of 5f and 5f is equal to or higher than a set value, and these constitute a hydraulic drive device for the driven member of the hydraulic shovel.

In this embodiment, the operation lever devices 4a to 4f
Is an electric lever type which outputs an electric signal as an operation signal, and the flow control valves 5a to 5f are provided with electro-hydraulic conversion means for converting the electric signal into pilot pressure, for example, a proportional solenoid valve.

As shown in FIG. 2, the hydraulic excavator includes a multi-joint type front device 1A including a boom 1a, an arm 1b, and a bucket 1c which rotate vertically, an upper revolving unit 1d, and a lower traveling unit 1e. The base end of the boom 1a of the front device 1A is supported by the front part of the upper swing body 1d. The boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d, and the lower traveling body 1e are respectively a boom cylinder 3a, an arm cylinder 3
b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f, which constitute driven members which are driven by the operation lever device 4a, respectively.
４4f.

The control device according to the present embodiment is provided in the above-described hydraulic excavator. The control device is provided at a setting device 7 and at each rotation fulcrum of the boom 1a, the arm 1b, and the bucket 1c, and detects each rotation angle as a state quantity relating to the position and attitude of the front device 1A. 8a, 8b, 8c, an inclinometer 8d for detecting the inclination of the vehicle body 1B, a laser lighthouse 10a installed outside the vehicle body and forming a laser reference plane RF as an external reference as shown in FIG. A light receiver 10b installed on a side surface of the arm 1b and receiving a laser beam on a laser reference plane RF formed by the laser lighthouse 10a.
And input signals from the setting device 7 and operation lever devices 4a to 4
and a control unit 9 for receiving the operation signal of f, the detection signals of the angle detectors 8a, 8b, 8c, the detection signal of the inclinometer 8d, and the detection signal of the light receiver 10b, and controlling the flow control valves 5a to 5f. ing.

The setting unit 7 is provided, for example, as a part of an operation panel in a driver's cab, and includes operation means such as a switch. These operation means include a switch 7a for setting / updating a relative position and a posture between the laser reference plane RF as an external reference and the vehicle body 1B, a switch 7b for setting a gradient of the target excavation surface TS with respect to a horizontal plane by numerical input, a target 7 A switch 7c for setting an offset distance between the excavation surface TS and a laser reference plane RF as an external reference which is set in parallel with the target excavation surface TS by numerical input, and output from these switches 7a to 7c. The signal is input to the control unit 9. Further, the setting device 7 includes a display device having a display screen 7d. The setting device 7 may be provided with other auxiliary means. Also, the switches 7a to 7c
May be provided on the grip of the operation lever.

The control unit 9 has a target digging surface setting section for setting a target digging surface TS, and the target digging surface setting section performs setting calculation of the target digging surface TS in accordance with an instruction from the setting device 7. One example will be described with reference to FIGS.

FIG. 3 is a functional block diagram showing the processing contents of the control unit 9. 3, reference numeral 90 denotes the target digging surface setting unit. The target digging surface setting unit 90 includes a laser light receiving position calculating unit 90a and a primary expression calculating unit 90 for the target digging surface TS.
b. The control unit 9 further includes a bucket toe position calculation unit 91 and a distance calculation unit 92 between the target excavation surface TS and the bucket toe.

FIG. 4 is a diagram showing a method of setting the target excavation surface TS. In FIG. 4, the slope of the target excavation surface TS with respect to the horizontal plane set by the switch 7b of the setting device 7 is β,
The offset distance between the target excavation surface TS and the laser reference plane RF set parallel to the target excavation surface TS is represented by Ld, and the inclination of the vehicle body 1B in the front-rear direction at this time is represented by αs. The target excavation surface TS is xz based on the vehicle body 1B.
Obtained as a linear expression for the coordinate system.

First, in the laser receiving position calculating section 90a of the target excavation surface setting section 90, when the laser light receiver 10b attached to the side of the arm is receiving a laser beam, a switch provided on the setting section 7 is set. By pressing 7a, the laser reference plane RF installed outside the vehicle body and the vehicle body 1B
Set and update the relative position and orientation with. The contents of the calculation are shown below.

When the switch 7a is pressed while the laser receiver 10b is receiving a laser beam, the position PL of the laser receiver 10b at this time in the xz coordinates is calculated. The position coordinates of this position PL are (PLx, PLz).
This calculation uses the angle information of the angle detectors 8a and 8b.

Next, the following operation is performed in the operation unit 90b. First, the coordinates of a point P1 (P1x, P1z) where the laser surface intersects the z-axis of the xz coordinates of the vehicle body 1B are obtained. here,
The point P1 is a straight line having a slope αs + β and an intercept P1z passing through the point PL, and is expressed as follows.

P1x = 0 (1) P1z = PLz−tan (αs + β) · PLx (2) Next, a target excavation surface T separated from the laser surface by a distance of Ld.
The coordinate value of a point P2 (P2x, P2z) where S intersects the z axis of the xz coordinate is obtained. When the distance between P1 and P2 is Ld ',
From FIG. 4, the following equation is established using the sine theorem.

Ld ′ / sin (β + 90 °) = | Ld | / sin (90 ° −αs−β) (3) By transforming this, Ld ′ = | Ld | × sin (β + 90 °) / sin ( 90 ° −αs−β) = | Ld | × cosβ / cos (αs + β) (4) From this, the position coordinates of the point P2 are obtained as P2x = 0 (5) P2z = P1z + Ld ′ (6) In consideration of the possible range of αs and β and the meaning of the expression, the expression (6) can be written as follows.

P2z = P1z + Ld ′ = PLz−tan (αs + β) · PLx + Ld × cosβ / cos (αs + β) = PLz− (PLx · sin (αs + β) −Ld · cosβ) / cos (αs + β) (7) Therefore, x The primary expression of the target excavation surface TS with respect to the −z coordinate can be expressed by a linear expression having a slope αs + β with P2z as an intercept.

By the above calculation, the target excavation surface TS can be obtained as a linear expression in the xz coordinate system based on the vehicle body 1B. The target excavation surface setting unit 90 calculates the primary expression of the target excavation surface TS obtained in this manner in the control unit 9.
And the setting of the target excavation surface TS is completed.

The laser lighthouse 10a is installed outside the body of the hydraulic excavator, and constitutes an external reference setting means for setting an external reference, that is, a laser reference plane RF so as to be parallel to the target excavation surface TS. 7b is the target excavation surface T
A slope setting means for setting the slope β of S;
Switch 7c constitutes a digging depth setting means for setting an offset distance Ld of the target digging surface TS with respect to an external reference (laser reference plane RF). The switch 7a of the setting device 7, the laser receiver 10b, and the control unit 9 The laser receiving position calculating section 90a constitutes a vehicle body posture calculating means for calculating a relative position and a posture of the vehicle body 1B with respect to an external reference (laser reference plane RF).
0b indicates that the target excavation surface TS is set to the vehicle body 1 based on signals from the gradient setting means, the excavation depth setting means, and the vehicle body posture calculating means.
A target excavation surface setting means for calculating and setting as a value in the xz coordinate system based on B is configured.

By the way, as a method of excavating according to the target excavation surface TS set by the above calculation,
The target excavation surface TS and the bucket 1 are displayed on the display screen 7d of the setting device 7.
There is a method of displaying the vertical distance from the tip of c and excavating while watching the number. In this case, excavation along the target excavation surface TS is possible by excavating so that the number becomes zero.

To enable such an excavation method, a bucket toe position calculating section 91 and a distance calculating section 92 between the target excavation surface TS and the bucket toe are provided.
In 1, the position of the tip of the bucket 1 c is calculated from the angle information of the angle detectors 8 a, 8 ab, and 8 c, and the calculation unit 92 calculates the target excavation surface TS obtained by the calculation unit 90 b and the position information of the bucket tip obtained by the calculation unit 91 Then, the distance between the target excavation surface TS and the toe of the bucket is calculated. The distance data is sent to the setting device 7 and displayed on the display screen 7d of the setting device 7 by, for example, numerical values.

As another method, there is a method which is performed in combination with trajectory control or area limited excavation control. That is,
When a trajectory control device of the front device is provided, the target digging surface TS set by the target digging surface setting unit 90 may be used as a target trajectory to dig along the target digging surface TS by trajectory control. The trajectory control is described in detail in, for example, the above-mentioned JP-A-49-132801 and JP-A-55-30038. Further, in the case where a region excavation control device of the front apparatus is provided, the target excavation surface TS set by the target excavation surface setting unit 90 may be excavated along the target excavation surface TS by region restriction excavation control as a boundary of the restriction region. Good. This area-limited excavation control is described in detail in, for example, the above-mentioned Japanese Patent Application Laid-Open Nos. Hei 6-193090 and Hei 9-53253.

Next, an operation procedure for excavating and forming a continuous inclined surface using a hydraulic shovel equipped with the control device having the above-described configuration will be described with reference to FIGS.

FIG. 5 is a block diagram showing the work procedure. FIG. 6 is a diagram showing a state in which a continuous inclined surface is formed by excavation. In FIG. 6, it is assumed that the vehicle body 1B of the excavator is initially at the position A.

In FIG. 5, first, the laser reference plane RF formed by the laser lighthouse 10a is parallel to the target excavation plane TS, that is, the angle of the laser reference plane RF is set to the same angle as the gradient β of the target excavation plane TS. Laser lighthouse 10
a is set (block 100). Next, the setting device 7
The switch 7b inputs the slope β of the target excavation surface TS, the switch 7c inputs the offset distance Ld between the target excavation surface TS and the laser reference plane RF, and sets the inclination β and the offset distance Ld (block 101). The procedure of block 100 and the procedure of block 101 may be reversed.

Next, the operator operates the front device 1A to operate the light receiver 1 provided on the side of the arm 1b.
0b is matched with the laser reference plane RF, and the switch 7a of the setting device 7 is pressed in this state. This, as described above,
In the control unit 9, the laser receiving position, that is, the coordinate position (PLx, PLz) of the laser receiver 10b in the xy coordinate system is calculated (block 102), and the target excavation surface is calculated by the equations (1) to (7). The primary equation of TS1 is calculated (block 1
03), the distance between the target excavation surface TS1 and the toe of the bucket is calculated, and this distance is displayed on the display screen 7d of the setting device 7 (block 104). When the distance is displayed in this manner, the operator excavates along the target excavation surface TS1 while watching the distance display as described above (block 1).
05).

When the excavation of the target excavation surface TS1 is completed at the position A, the operator moves the body 1B of the excavator to a position behind B in FIG. 6 (block 106). Then, at the position B, the blocks 102, 103, 10
Step 5 is repeated to set the target excavation surface TS2, and excavation is performed along the target excavation surface TS2 in step 105.

Here, the target excavation surface TS1 set at the position A is a surface parallel to the laser reference surface RF and having an offset distance of Ld, and the target excavation surface TS2 set at the position B is also set at the laser reference surface RF. This plane is parallel to the plane RF and has an offset distance of Ld. As can be seen from FIG. 6, these target excavation planes TS1 and TS2 are continuous inclined planes.
That is, even when the vehicle body 1B moves back and forth,
Laser reference plane RF, which is an external reference set outside the vehicle
Is calculated by calculating the relative position and posture of the vehicle body 1B with respect to the laser reference plane RF and updating the relative position and posture of the vehicle body 1B with respect to the laser reference plane RF without using a sensor for detecting the amount of movement of the vehicle body 1B. Is corrected, and the target excavation surface TS1 before moving the vehicle body and the target excavation surface TS2 after moving the vehicle body are accurately and continuously set with high accuracy.
Target excavation planes TS1 and TS
By performing the excavation along 2, it is possible to excavate and form a continuous inclined surface.

After the excavation along the target excavation surface TS2 is completed at the position B, if it is desired to excavate and form a longer continuous inclined surface, the vehicle body 1B of the hydraulic excavator is further moved backward, and the blocks 102 and 103 are moved. , 105 are repeated. By repeating this procedure a required number of times, a continuous inclined surface having a desired length can be formed by excavation.

In FIG. 5, instead of excavating while looking at the distance display between the target excavation surface TS and the toe of the bucket, excavation may be performed in combination with trajectory control as indicated by a block 107. Further, as shown in a block 108, the excavation may be performed in combination with the area restriction excavation control. As described above, even in combination with the trajectory control or the area-limited excavation control, excavation can be similarly performed along the target excavation surface TS, and a continuous inclined surface can be excavated.

As described above, according to this embodiment, a continuous inclined surface can be excavated and formed at low cost without requiring a sensor for detecting the amount of movement of the vehicle body.

In the above embodiment, the offset distance Ld from the target excavation plane TS to the laser reference plane RF is set by the setting unit 7.
Of the target excavation surface T by the direct teach after setting the gradient of the target excavation surface TS.
S may be set, and the offset distance Ld may be calculated and set. This example will be described again with reference to FIG.

In FIG. 4, the target excavation surface TS is set by direct teaching from the coordinates of the bucket tip, and the offset distance from the laser reference plane RF to the target excavation surface TS is calculated based on the teaching point at the bucket tip. Assuming that the position coordinates of the teaching point Pc at the tip of the bucket are (Pcx, Pcz), the position coordinates (P2) of the point P2 where the target excavation surface TS intersects the xz coordinates
x, P2z) can be expressed as follows.

P2x = 0 (8) P2z = Pcz-tan (αs + β) · Pcx (9) From the sine theorem, | Ld | = Ld ′ × cos (αs + β) / cosβ (10) where Ld ′ Since the z-coordinates of the points P1 and P2 are known, the following is obtained.

Ld ′ = | P1z−P2z | (11) The offset distance Ld is obtained by substituting equation (11) into equation (10).
Is found.

The method of calculating and setting the linear expression of the target excavation surface TS after obtaining the offset distance Ld is the same as in the above embodiment.

In this case, the excavation forming procedure of the continuous slope is the same as described above except that the blocks 100 and 101 are replaced with the blocks 110 and 111 as shown in FIG.

In FIG. 5, in block 110, the slope β of the target excavation surface TS is inputted by the switch 7b of the setting device 7, and the target excavation surface T is inputted by direct teaching.
Teach S. In this teaching, the operator operates the front device 1A to move the tip of the bucket to the position Pc at which the target excavation surface TS is to be set, press the teaching button at the position Pc, and set the position coordinates (Pcx, Pcz) of the position Pc. I do. The teach button is provided on the setting device 7, for example. Next, in block 111, the offset distance Ld from the target excavation plane TS to the laser reference plane RF is calculated by the above equations (8) and (11). Thereafter, the process moves to block 102.
The continuous inclined surface is excavated and formed by the above procedure.

It should be noted that the present invention is not limited to the above-described embodiment, and various modifications are possible. For example, in the above embodiment, the laser reference plane formed by the laser lighthouse was used as the external reference, but this may be an external reference line such as a water thread if the situation allows. Further, although a goniometer for detecting a rotation angle is used as a means for detecting a state quantity relating to the position and orientation of the front device 1A, a stroke of a cylinder may be detected. Further, in the above embodiment, the electric lever is used as the operation lever device, but a hydraulic pilot type operation lever device may be used.

[0066]

According to the present invention, a continuous slope can be excavated at low cost without requiring a sensor for detecting the amount of movement of the vehicle body.

[Brief description of the drawings]

FIG. 1 is a diagram showing a control device of a construction machine according to an embodiment of the present invention together with a hydraulic drive device thereof.

FIG. 2 is a diagram showing an external appearance of a hydraulic shovel to which the present invention is applied, a laser reference surface as an external reference, and a laser lighthouse forming the laser reference surface.

FIG. 3 is a functional block diagram showing processing contents in a control unit.

FIG. 4 is a diagram showing a method of setting a target excavation surface.

FIG. 5 is a diagram showing an operation procedure for excavating and forming a continuous inclined surface using a hydraulic excavator provided with the control device of the present invention.

FIG. 6 is a diagram showing a state in which a continuous inclined surface is formed by excavation.

[Explanation of symbols]

 Reference Signs List 1A Front device 1B Body 1a Boom 1b Arm 1c Bucket 1d Upper revolving structure 1e Lower traveling structure 2 Hydraulic pump 3a-3f Hydraulic actuator 4a-4f Operating lever device 5a-5f Flow control valve 6 Relief valve 7 Setting device 7a-7c switch 7d Display screen 8a to 8c Angle detector 8d Inclinometer 9 Control unit 10a Laser lighthouse 10b Laser receiver RF laser reference plane TS Target excavation plane

 ──────────────────────────────────────────────────の Continuing from the front page (72) Inventor Masakazu Haga 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd.Tsuchiura Plant (72) Inventor Hiroshi Watanabe 650, Kandamachi-cho, Tsuchiura-shi, Ibaraki Hitachi F-term in Tsuchiura Plant (reference) 2D003 AA01 AB01 AB02 AB03 BA01 BA03 BA06 BB02 BB07 BB09 BB10 BB11 CA02 DA03 DA04 DB04 DB05 EA00

Claims (9)

[Claims] A plurality of driven members including a plurality of vertically rotatable front members constituting a multi-joint type front device; a plurality of hydraulic actuators respectively driving the plurality of driven members; A plurality of operation levers for instructing the operation of the plurality of driven members; and a plurality of hydraulic pressures driven in accordance with operation signals of the plurality of operation levers and controlling a flow rate of pressure oil supplied to the plurality of hydraulic actuators A control device for a construction machine comprising: a control valve; an external reference setting means installed outside the vehicle body of the construction machine to set an external reference to be parallel to a target excavation surface; and setting a gradient of the target excavation surface. Slope setting means for setting, excavation depth setting means for setting an offset distance of the target excavation surface with respect to the external reference, and calculating relative position and posture of the vehicle body with respect to the external reference Based on signals from the gradient setting means, the excavation depth setting means, and the vehicle body attitude calculating means, calculating and setting the target excavation surface as a value with respect to a coordinate system based on the vehicle body. And a target excavation surface setting means. 2. The construction machine control device according to claim 1, wherein said excavation depth setting means has an operation means provided on a setting device and operated by an operator, and an input signal from said operation means. A control device for a construction machine, wherein the offset distance is set. 3. The control device for a construction machine according to claim 1, wherein the excavation depth setting means has a means for calculating a position of the tip of the front device obtained by direct teaching, and A construction machine control device, which calculates and sets an offset distance. 4. The control device for a construction machine according to claim 1, wherein said vehicle body attitude calculating means includes: an inclinometer; a front reference provided on said front device; and a time when said front reference matches said external reference. Calculate the position of the front reference of
A controller for calculating the relative position and attitude of the vehicle body from the position data and the detected value of the inclinometer. 5. The control device for a construction machine according to claim 1, wherein a distance calculating means for calculating a distance between the target excavation surface and the front end of the front device, and a display means for displaying the distance calculated by the distance calculating means. And a control device for a construction machine. 6. A plurality of driven members including a plurality of vertically rotatable front members constituting an articulated front device, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation levers for instructing the operation of the plurality of driven members; and a plurality of hydraulic pressures driven in accordance with operation signals of the plurality of operation levers and controlling a flow rate of pressure oil supplied to the plurality of hydraulic actuators (A) setting an external reference outside the vehicle body of the construction machine so as to be parallel to a target excavation surface; and (b) setting the target excavation surface. (C) setting an offset distance of the target excavation surface with respect to the external reference, and (d) calculating a relative position and posture of the vehicle body with respect to the external reference. (E) calculating and setting the target excavation surface as a value with respect to a coordinate system based on the vehicle body, from the set gradient and offset distance and the calculated relative position and posture of the vehicle body; f) digging along the set target digging surface, (g) moving the vehicle body in the front-rear direction, and
(F) resetting the target excavation surface by performing the procedure, and excavating along the reset target excavation surface; (h) repeating the procedure of (g). Excavation forming method of continuous slope by construction machine. 7. The method for excavating and forming a continuous slope by a construction machine according to claim 6, wherein in the steps (f) and (g), the distance between the set target excavation surface and the front end of the front device is determined. Calculating and displaying it on a screen of a display means, wherein the operator operates the plurality of operation levers while watching the distance displayed on the screen to excavate and form the target excavation surface; Surface excavation forming method. 8. The excavation forming method of a continuous inclined surface by a construction machine according to claim 6, wherein the steps (f) and (g) include excavating and forming the set target excavation surface by trajectory control. A method for excavating and forming a continuous slope by a construction machine. 9. The excavation forming method of a continuous inclined surface by a construction machine according to claim 6, wherein in the steps (f) and (g), the set target excavation surface is excavated by area limited excavation control. A method for excavating and forming a continuous slope by a construction machine.