Backhoe control device

Abstract

The present invention provides a backhoe control device that is performed based on the combined operation of the boom, arm, and bucket, and can improve operability and work accuracy during specific tasks. [Solution] A control device 100 for a backhoe 1, comprising operation assistance means for assisting the operation of a specific task by the backhoe 1, wherein the specific task is performed based on the combined operation of the boom 4, arm 5 and bucket 6, and the operation assistance means includes an arm manual operation process that moves the arm 5 in response to manual operation of the arm 5 by the operator, a bucket interlocking process that automatically moves the bucket 6 with a bucket position corresponding to the arm position as the target for the specific task, and a boom interlocking process that automatically moves the boom 4 with a boom position corresponding to the arm position as the target for the specific task.

Description

[Technical Field]

[0001] This disclosure relates to a control device for a backhoe. [Background technology]

[0002] Remotely operated backhoes are known (see, for example, Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2007-107305 [Overview of the project] [Problems that the invention aims to solve]

[0004] However, remote operation of a backhoe differs not only in its operability from onboard operation, but also in the fact that less visual information is available compared to onboard operation, making it difficult to perform the same level of detailed work.

[0005] For example, when loading soil onto a dump truck using remote control, soil often spills from the truck. The spilled soil is cleaned up when the dump truck is not in operation, but this action involves keeping the tip of the bucket in contact with the ground, such as a steel plate, and pulling the bucket along the ground towards the machine. Performing this action requires simultaneous operation of the boom, arm, and bucket, which is difficult to do remotely.

[0006] Therefore, the present disclosure aims to provide a backhoe control device that is performed based on the combined operation of the boom, arm, and bucket, and that can improve operability and work accuracy during specific tasks. [Means for solving the problem]

[0007] In one respect, it offers the following solutions: A boom that is supported on the vehicle body so as to be able to undulate, and an arm that is rotatably supported at the tip of the boom, and a bucket that is rotatably supported at the tip of the arm, a control device for a backhoe comprising: operation assisting means for assisting an operation of a specific work by the backhoe, the specific work is executed based on a combined operation of the boom, the arm, and the bucket, the operation assisting means includes: an arm manual operation process for operating the arm in response to a manual operation of the arm by an operator, a bucket interlocking process for automatically operating the bucket with a target of a bucket position corresponding to an arm position in the specific work, a boom interlocking process for automatically operating the boom with a target of a boom position corresponding to an arm position in the specific work, and is characterized by including the above.

Effect of the Invention

[0008] According to the present disclosure, the operability and work accuracy during specific work can be improved based on the combined operation of the boom, the arm, and the bucket.

Brief Description of the Drawings

[0009] [Figure 1] It is a side view of a backhoe to which a control device according to an embodiment of the present invention is applied. [Figure 2] It is a block diagram showing a control configuration of a backhoe. [Figure 3] It is an explanatory diagram showing an example of a hardware configuration of a control device. [Figure 4] (a) is a side view of a backhoe during a ground cleaning operation, and (b) is a diagram modeling the backhoe during a ground cleaning operation. [Figure 5](a) is a diagram modeling the boom, arm, and bucket during ground cleaning operation, (b) is a diagram showing the downward displacement of the bucket tip during ground cleaning operation, and (c) is a diagram showing the conversion point from the raising operation to the lowering operation of the boom during ground cleaning operation. [Figure 6] It is a diagram showing the lengths, angles, coordinates, etc. of the modeled boom, arm, and bucket. [Figure 7] It is a flowchart showing the outline of the operator's operation procedure and the control device's processing procedure during ground cleaning operation. [Figure 8] It is a diagram showing a modified example of ground cleaning operation. [Figure 9] It is a diagram modeling the boom, arm, and bucket during slope forming operation. [Figure 10] (a) is a diagram showing the relationship between the slope angle and the bucket angle, and (b) is an enlarged view of the main part.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the dimensional ratios in the drawings are merely examples and are not limited thereto, and the shapes, etc. in the drawings may be exaggerated partially for the convenience of explanation. Also, in the drawings, for the sake of clarity, only some of the parts having the same attribute may be labeled with reference signs.

[0011] [Backhoe] FIG. 1 is a side view of a backhoe 1 to which a control device 100 according to an embodiment of the present invention is applied. As shown in FIG. 1, the backhoe 1 includes a traveling unit 2, an upper swing body 3, a boom 4, an arm 5, and a bucket 6.

[0012] The traveling unit 2 is constituted by, for example, a crawler-type traveling device, and the backhoe 1 is caused to travel according to the rotational operation of a traveling motor (hydraulic motor: not shown). Note that the traveling unit 2 may be constituted by a wheel-type traveling device.

[0013] The upper rotating body 3 is rotatably supported by the travel unit 2 and rotates in accordance with the rotational movement of the rotating motor (hydraulic motor: not shown).

[0014] The boom 4 is supported by the upper slewing body 3 so as to be able to rise and fall, and rises and falls in accordance with the extension and retraction of the boom cylinder 7 (hydraulic cylinder) provided between the upper slewing body 3 and the boom 4.

[0015] The arm 5 is rotatably supported at the tip of the boom 4 and rotates in accordance with the extension and retraction of the arm cylinder 8 (hydraulic cylinder) provided between the boom 4 and the arm 5.

[0016] The bucket 6 is rotatably supported at the tip of the arm 5 and rotates in accordance with the extension and retraction of the bucket cylinder 9 (hydraulic cylinder) provided between the arm 5 and the bucket 6.

[0017] With the backhoe 1 configured in this way, tasks such as excavation, loading of soil onto dump trucks, ground cleaning, and slope shaping are performed based on the combined operation of each part.

[0018] Figure 2 is a block diagram showing the control configuration of backhoe 1. As shown in Figure 2, the backhoe 1 includes a posture detection system 11 for detecting the posture of each part, a load detection system 12 for detecting the work load of each part, a position detection system 13 for detecting the position of the backhoe 1, a plurality of electromagnetic valves 21 to 25, and a control device 100.

[0019] The attitude detection system 11 is configured to include, for example, a slewing angle encoder, a boom angle encoder, an arm angle encoder, and a bucket angle encoder, all of which are rotary encoders. However, the attitude detection system 11 is not limited to one using rotary encoders, and the attitude of each part may be detected using tilt sensors such as an IMU (Inertial Measurement Unit).

[0020] The load detection system 12 consists of pressure sensors that detect hydraulic pressure in, for example, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.

[0021] The position detection system 13 is composed of a GNSS (Global Navigation Satellite System), such as GPS (Global Positioning System). When high-precision position detection is required, RTK (Real Time Kinematic)-GNSS is used.

[0022] The multiple solenoid valves 21-25 include a solenoid valve 21 for the travel motor, a solenoid valve 22 for the slewing motor, a solenoid valve 23 for the boom cylinder, a solenoid valve 24 for the arm cylinder, and a solenoid valve 25 for the bucket cylinder. The control device 100 operates the aforementioned travel motor, slewing motor, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by controlling the opening and closing of these solenoid valves 21-25. Note that the hydraulic valves that operate the travel motor, slewing motor, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 are not limited to solenoid valves 21-25, but may be hydraulic valves other than solenoid valves 21-25.

[0023] [Control device] As shown in Figure 2, the control device 100 operates various parts of the backhoe 1 in response to the operation of the remote control device 31 or the onboard control device 32 located on the control section 14 of the backhoe 1. The remote control device 31 and the onboard control device 32 are equipped with basic operating means such as travel operating means, slewing operating means, boom operating means, arm operating means, and bucket operating means, respectively, as well as a trigger button (not shown) for activating the operation assistance function provided by the operation assistance means described later.

[0024] Figure 3 is an explanatory diagram showing an example of the hardware configuration of the control device 100. As shown in Figure 3, the control device 100 is a computer or similar device that performs calculations, and includes a CPU 41, RAM 42, ROM 43, display unit 44, and communication unit 45, which are connected via a bus 46 for access.

[0025] The CPU (Central Processing Unit) 41 is a central processing unit that loads programs stored in ROM 43 into RAM 42 and is responsible for various control and calculation processes according to those programs.

[0026] RAM (Random Access Memory) 42 is a volatile memory that temporarily stores various data, calculation results from the CPU 41, etc.

[0027] The ROM (Read Only Memory) 43 is a non-volatile memory that stores programs, etc. (for example, an application corresponding to the control device 100 in this embodiment).

[0028] The display unit 44 is a touch panel type display device that can handle various setting inputs. In addition to display functions, the display unit 44 also functions as an input unit for various inputs. The control device 100 may also have an input unit separate from the display unit 44.

[0029] The communication unit 45 is a communication interface for controlling communication with external devices, and includes, for example, a wireless interface for communicating with the remote control device 31.

[0030] [Control device function configuration] The control device 100, as a functional configuration realized through the cooperation of hardware and software, includes an operation assistance means that assists in the operation of specific tasks by the backhoe 1. The specific tasks that the operation assistance means assists in are tasks performed based on the combined operation of the boom 4, arm 5, and bucket 6, such as the ground cleaning work described later.

[0031] The operation assistance means includes arm manual operation processing, bucket interlocking processing, boom interlocking processing, and obstacle avoidance processing.

[0032] The manual arm operation process is the process of operating arm 5 in response to manual operation of arm 5 by an operator. The manual operation of arm 5 by the operator may be performed using the remote control device 31 or the onboard control device 32.

[0033] Bucket linkage processing is a process that automatically moves bucket 6 to a bucket position corresponding to the arm position during a specific operation. This eliminates the need for manual operation of bucket 6 during that specific operation.

[0034] The boom linkage process automatically moves boom 4 to a target boom position corresponding to the arm position during a specific operation. This eliminates the need for manual operation of boom 4 during that specific operation.

[0035] The obstacle avoidance process involves monitoring the hydraulic pressure (load) of the arm cylinder 8 that operates the arm 5, and raising the bucket 6 by a predetermined amount when the hydraulic pressure of the arm cylinder 8 falls outside the specified range. This allows for automatic avoidance of obstacles such as steps and uneven surfaces. The obstacle avoidance process may also include steps such as retracting the bucket 6 before raising it by a predetermined amount, continuing the work with the bucket 6 raised by a predetermined amount, and then lowering the bucket 6 back to its original height.

[0036] With the operation assistance means described above, specific tasks performed based on the combined operation of the boom 4, arm 5, and bucket 6 can be performed solely by manual operation of the arm 5, thereby improving operability and work accuracy during specific tasks.

[0037] [Specific examples of operational assistance (ground cleaning work)] Next, we will show a specific example of a particular task: ground cleaning work, and then explain the operation assistance of the operation assistance means in ground cleaning work with reference to Figures 4 and 5.

[0038] Figure 4(a) is a side view of backhoe 1 during ground cleaning work, and Figure 4(b) is a model of backhoe 1 during ground cleaning work. As shown in Figure 4, the ground cleaning operation involves using the bucket 6 to pull soil D that has spilled onto the ground during loading of soil onto a dump truck towards the machine. This operation involves keeping the tip of the bucket 6 in contact with the ground and pulling the bucket 6 along the ground towards the machine. This operation is usually performed based on a combined operation of the boom 4, arm 5, and bucket 6.

[0039] Figure 5(a) is a model of the boom 4, arm 5, and bucket 6 during ground cleaning work, (b) is a diagram showing the downward displacement of the bucket tip during ground cleaning work, and (c) is a diagram showing the transition point of the boom 4 from the raised position to the lowered position during ground cleaning work. As shown in Figures 4(b) and 5, the boom 4, arm 5, and bucket 6 are modeled to explain their operation during ground cleaning.

[0040] Here, boom 4 is shown by the straight line connecting boom support point 4a and arm support point 5a. Arm 5 is shown by the straight line connecting arm support point 5a and bucket support point 6a. Bucket 6 is shown by the straight line connecting bucket support point 6a and tip 6b of bucket 6. Also, as shown in Figure 5(a), the height from the ground to boom support point 4a is H, and the length of boom 4 is L. Bo The angle between boom 4 and the horizontal line is θ. Bo Let's assume that the length of arm 5 is L Ar The angle between arm 5 and the vertical line is θ. Ar The length of bucket 6 is L Bu The angle between bucket 6 and the vertical line is θ. Bu Let's assume that.

[0041] As shown in Figure 5(a), when performing ground cleaning work, the operator first positions the bucket 6 at a predetermined angle (an angle with a relief angle relative to the direction of travel) so that the tip 6b contacts the ground, then activates the operation assistance function based on a predetermined operation and pulls the arm 5 towards the operator. The operation to activate the operation assistance function is, for example, the operation of pressing and holding the trigger button mentioned above.

[0042] When the operation assistance function is activated and the arm 5 is pulled, the operation assistance means moves the arm 5 in the pulling direction according to the amount of the operation (manual arm operation process).

[0043] Furthermore, the operating assistance means automatically moves the bucket 6 to maintain its initial relief angle when the arm 5 moves in the pulling direction (bucket interlocking process). This bucket interlocking process is performed without using calculation formulas, using the initial angle of the bucket 6 as the target angle and feedback control based on a comparison between the target angle and the detected angle.

[0044] As shown in Figure 5(b), when the arm 5 moves in the pulling direction, the tip 6b of the bucket 6 moves downward by a predetermined amount Δh. This amount of movement Δh of the bucket tip is absorbed by the automatic raising operation of the boom 4 (boom-linked processing). The amount of control is calculated using the calculation formula described later.

[0045] Furthermore, as shown in Figure 5(c), when the tip of the arm 5, which moves in the pulling direction, exceeds its lowest point, the tip 6b of the bucket 6 moves upward by a predetermined amount. This amount of movement of the bucket tip is absorbed by the automatic lowering motion of the boom 4 (boom-linked processing). The amount of this control is calculated using the calculation formula described later.

[0046] During ground cleaning operations, there is a possibility that the bucket cylinder 9 may reach its retracted limit position. In this case, the operation will continue with the bucket cylinder 9 stopped.

[0047] [Calculation formula for boom angle] Next, an arithmetic expression for obtaining the control amount of the boom 4 will be described with reference to FIG. 6.

[0048] FIG. 6 is a diagram showing the lengths, angles, coordinates, etc. of the modeled boom 4, arm 5, and bucket 6. As shown in FIG. 6, let the coordinates of the boom fulcrum 4a be (x1, y1), the coordinates of the arm fulcrum 5a be (x2, y2), the coordinates of the bucket fulcrum 6a be (x3, y3), and the coordinates of the tip 6b of the bucket 6 be (x4, y4). Also, if the coordinates of the intersection of the vertical line passing through the boom fulcrum 4a and the ground are (x0, y0), the following relational expressions hold. However, the boom angle θ Bo is set to 0° for the horizontal front and is positive upward. Also, the arm angle θ Ar is set to 0° for vertically downward and is positive forward. Also, the bucket angle θ Bu is set to 0° for vertically downward and is positive forward.

[0049]

Equation

[0050] Here, assuming y4 = y0 = 0 and transforming the equation so that the left side becomes the boom angle θ Bo the following arithmetic expression can be obtained.

[0051]

Equation

[0052] The above-described boom interlocking process calculates the boom angle θ Bo [using such an arithmetic expression and automatically operates the boom 4 based on the calculation result. Specifically, the calculated boom angle θ Bo [is set as the target angle, and the boom cylinder 7 is feedback-controlled based on the comparison between the target angle and the detected angle. However, L Bo [, L Ar [, and L Bo [, L Ar [, and L Ar [, and L Bu [are specific constants determined by the model. Bu [are specific constants determined by the model. are specific constants determined by the model.

[0053] [Control device processing procedure] Next, an overview of the processing procedure of the control device 100 that implements the operation assistance means and the operator's operation procedure will be explained with reference to Figure 7.

[0054] Figure 7 is a flowchart illustrating the operator's procedures and the processing procedures of the control device 100 during ground cleaning work. As shown in Figure 7, when performing ground cleaning work, the operator first sets the bucket 6 on the ground at an appropriate angle so that the tip 6b of the bucket 6 is in its initial position (S1). Next, the operator presses the trigger button to activate the operation assistance function (S2), and then manually operates the arm 5 in the pulling direction (S3).

[0055] When the arm 5 is manually operated in the pulling direction, the control device 100 operates the arm 5 according to the amount of manual operation (arm manual operation process), while automatically operating the boom 4 and bucket 6 according to the calculation method or target setting method described above (S4, S5: boom interlocking process, S6~S9: bucket interlocking process).

[0056] When the boom 4 and bucket 6 are operating automatically, the control device 100 determines when the bucket 6 has reached its retraction limit (S7), and if the result of this determination is YES, it stops the operation of the bucket 6 (S9). The determination of when the bucket 6 has reached its retraction limit can be made based on the relative angle between the arm 5 and the bucket 6.

[0057] Furthermore, while the boom 4 and bucket 6 are operating automatically, the control device 100 determines whether the hydraulic pressure of the arm cylinder 8 is within the specified range (S10). If the result of this determination is NO, the control device 100 completes the automatic operation of the boom 4 and bucket 6 (S11), and then performs a predetermined obstacle avoidance action, such as raising the bucket 6 by a predetermined amount (S12: obstacle avoidance process). While executing step S12, the control device 100 repeats the determination in step S10, and if the result of this determination becomes YES, it returns to step S3. The operator releases their hand from the trigger button when they have finished assisting with the ground cleaning operation (S13).

[0058] [Modified example of ground cleaning work (horizontal excavation work)] Figure 8 shows a modified example of ground cleaning work. As shown in Figure 8, the backhoe 1 may create an embankment M and perform ground cleaning work (or horizontal excavation work) while standing on the embankment M. The aforementioned operating assistance means can also be applied to such ground cleaning work.

[0059] For example, in the ground cleaning work shown in Figure 8, the following relationship holds true. However, the height of the embankment M is H. m The coordinates of the intersection point between the vertical line passing through boom support point 4a and the top surface of the embankment M are (x0, y0), and the coordinates of the intersection point between the vertical line passing through boom support point 4a and the bottom surface (cleaning surface level) of the embankment M are (x -1 ,y -1 )

[0060]

number

[0061] Here, y -1 is equal to y4. Also, H m This is unknown as it is not normally measured. Therefore, measure each angle at the start of the operation when the trigger button is pressed, and H+H m Determine the initial value of H+H. m Replace with H, y -1If we replace this with y0, we can apply the aforementioned calculation formula (see Equation 2) to calculate the control amount of boom 4 during operation assistance.

[0062] [Slope shaping work] Figure 9 is a model of the boom 4, arm 5, and bucket 6 during slope shaping work, Figure 10(a) shows the relationship between the slope angle and the bucket angle, and Figure 10(b) is an enlarged view of the main part. The aforementioned operating assistance means can also be applied to slope shaping operations as shown in Figures 9 and 10. In slope shaping operations, the back of the bucket 6 is moved along the slope. Therefore, after aligning the back of the bucket 6 with the slope, the angles are measured at the start of the operation when the trigger button is pressed, and the holding angle θ of the bucket 6 is determined. Bu and direction of movement θ Sl The slope angle is determined. This allows the boom 4 and bucket 6 to be automatically operated in response to the operation of the arm 5, enabling the slope shaping work to be performed. Note that the direction of movement θ of the bucket 6 Sl As shown in Figure 10(b), the bucket angle θ at the start of the operation is as follows: Bu and the eigenvalue θ Bt It can be calculated from this.

[0063] Although the embodiments have been described in detail above, the invention is not limited to any particular embodiment, and various modifications and changes are possible within the scope of the claims. Furthermore, it is possible to combine all or more of the components of the embodiments described above. [Explanation of symbols]

[0064] 1. Backhoe 2. Running section 3. Upper rotating body (aircraft) 4 Boom 4a Boom pivot point 5 Arms 5a Arm pivot point 6 buckets 6a Bucket pivot point 6b Tip 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 11. Posture Detection System 12. Load detection system 13. Location detection system 14. Control Unit 21. Solenoid valve for travel motor 22 Solenoid valve for swivel motor 23 Solenoid valve for boom cylinder 24 Solenoid valve for arm cylinder 25 Solenoid valve for bucket cylinder 31 Remote control device 32 Boarding control device z 41 CPU 42 RAM 43 ROM 44 Display section 45 Communications Department 46 bus 100 Control device

Claims

1. The aircraft has a boom that is supported in a way that allows it to be raised and lowered, An arm rotatably supported at the tip of the boom, A control device for a backhoe comprising a bucket rotatably supported at the tip of the arm, The system is equipped with an operation assistance means for assisting the operation of a specific task performed by the backhoe, The aforementioned specific operation is performed based on the combined operation of the boom, the arm, and the bucket. The aforementioned operation assisting means is An arm manual operation process that moves the arm in response to manual operation of the arm by an operator, A bucket interlocking process that automatically moves the bucket with the bucket position corresponding to the arm position as the target for the specific operation, A backhoe control device, including a boom interlocking process that automatically operates the boom with a target boom position corresponding to the arm position in the aforementioned specific operation.

2. The aforementioned operation assisting means is The control device for a backhoe according to claim 1, further comprising: monitoring the hydraulic pressure of an arm cylinder that operates the arm; and, when the hydraulic pressure of the arm cylinder falls outside a specified range, performing an obstacle avoidance process that raises the bucket by a predetermined amount.

3. The control device for a backhoe according to claim 1, wherein the specified operation is a ground cleaning operation in which the tip of the bucket is moved along the ground.

4. The control device for a backhoe according to claim 1, wherein the specified operation is a slope shaping operation in which the back of the bucket is moved along the slope.

5. The backhoe is remotely operated, as described in any one of claims 1 to 4, and is a control device for a backhoe.

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