JPH01312129A - Monitoring device for arm-type work machine - Google Patents

Abstract

PURPOSE:To attain easy execution of work with improved safety by displaying, on a windshield by means of headup display, differences between movement traces of the front-end part of a work machine, figured out from swing angles of each of working members of the machine, and a desired movement trace. CONSTITUTION:Based on swing angles of a boom 2, an arm 3 and a bucket 4, movement traces of the front-end part of a work machine is figured out, and differences against a desired movement trace is figured out too. Then, the differences are displayed graphically on a windshield 7 by means of a headup display 8 installed below an operator's seat 6 in an operation cabin 5. With such arrangement, the operator can operate the machine, simultaneously confirming with his eyes the movement of the front-end part of the machine and the displayed images.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for monitoring the position of a working machine such as a power shovel or an arm-type working machine such as a manipulator whose operation is visually controlled by an operator.

[Conventional technology]

For example, a power shovel is known as an arm-type working machine whose operation is controlled while the operator visually observes it.This working machine swings the boom, arm, and nokerato to move the packet cutting edge along a predetermined trajectory. Excavation work is performed by moving the excavator.

When performing slope finishing work using such a power shovel machine, it is difficult for the operator to understand the relationship between the packet cutting edge and the reference line (pre-stretched water system), making it difficult to finish the slope accurately. Have difficulty. In particular, when a long arm, which is longer than a normal arm, is installed, the distance from the operator to the packet cutting edge is long, for example, 10 m.
Therefore, in order to finish with high accuracy, for example, with an error of about 10 mm, the operator needs to detect and operate the error of about 1 to 2 mm between the packet cutting edge and the reference line and the rate of change of the error. This is actually difficult.

Therefore, a working machine monitoring device as shown in Japanese Unexamined Patent Publication No. 185932/1983 has been proposed.

In other words, the motion trajectory of the bucket cutting edge is calculated based on the rotation angle of the work equipment such as the boom angle, arm angle, and packet angle, and this motion trajectory and the target excavation trajectory (line) are displayed as images on the image display means. This is a monitoring device that allows the operator to detect errors between the target excavation trajectory and the movement trajectory by visually viewing the image.

[Invention or problem to be solved]

With such a monitor device, is it necessary to install the image display means inside the driver's cabin?If it is installed in front of the driver's seat, for example near the windshield, the image display means will impair the forward visibility. It must be installed in the opposite direction.

For this reason, the operator cannot look at the image display means without looking in front of the driver's seat to visually check the work status, and has to look at one side or the other alternately. There are two problems: the excavation locus and the motion locus are greatly different from each other, making it impossible to excavate with high precision, and the state of the bucket cutting edge cannot be sensed when looking at the image display means, resulting in safety.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a monitor device for an arm-type working machine that allows an operator to control the operation of the working machine while simultaneously viewing the error between the motion trajectory and the target motion trajectory of the working machine and the working status.

[Means and operations for solving the problem] A means for calculating a motion trajectory of the tip of an arm-type work machine from the rotation angle of each member of the arm-type work machine, a means for calculating a target motion trajectory, and a means for calculating the motion trajectory and the target. This is a monitor device for an arm-type working machine that includes means for calculating the error between the target trajectory and the motion trajectory, and a head-up display 18 that displays the calculated error within the front field of view of the operator. Since the operator can control the operation while looking at the tip of the arm type work machine while checking the error, the operator can control the operation without correcting the error at the tip of the arm type work machine. There is no problem in terms of safety, since you can sense any abnormal condition and immediately take action to avoid it.

〔Example〕

Figure 1 is an overall view of the power-on yawbel. A boom 2 is attached to a vehicle body 1 so as to be movable up and down with a boom cylinder (not shown), and an arm 3 or an arm cylinder (not shown) is attached to the tip of the boom 2. It is connected so that it can move up and down, and
A packet 4 is provided at the tip of the arm 3 so as to be movable up and down with a packet cylinder (not shown) to constitute an arm-type working machine, and an image is displayed on the windshield 7 below the driver's seat 6 in the operator's cab 5. A head-up display 8 is also provided.

As shown in FIG. 2, the angle of the boom 2 with respect to the vehicle body,
That is, the boom angle detector 9 detects the boom angle α, the arm angle detector 10 detects the angle of the arm 3 with respect to the boom 2, that is, the arm angle β, and the arm 3 of the packet 4
A packet angle detector 11 is provided to detect the angle relative to the packet angle γ, that is, the packet angle γ, and as shown in FIG. The finished surface angle θ is set by the operator using the device 14, and the height of the finished surface is set by the operator using the finishing start position setting device 15 (
Specifically, the finished surface error E is calculated based on the boom angle α0, arm angle βo, /Nket angle γ0), and is sent to the display controller 16 to operate the head-up display 18. The image is displayed on the windshield 7.

In other words, the boom angle α, arm angle β, from each angle detector,
The actual motion trajectory of the packet cutting edge is calculated from the bucket angle γ, the target motion trajectory is calculated from the finished surface angle θ and the finished surface height, and the error E is determined thereby.

Specifically, as shown in Figure 2, a coordinate system is set up with a Y-axis vertically and a Y-axis horizontally from the rotational fulcrum of the boom 2, and the angle between the boom 2 and the Y-axis is α and the arm The angle between 3 and boom 2 is β, the angle between packet 4 and arm 3 is γ, the length of boom 2 is Ω1, and the length of arm 3 is ρ.
2. The length of the brush saw l-4 is ρ3, the angle of the finished surface A is θ, and the blade edge 4 of the bucket 4 is manually operated.
A is moved to the finishing start position B and the position is designated.

Then, the coordinate system is set to have the rotation center of the boom 2 as the origin, an X' axis parallel to the finished surface A, and a Y' axis perpendicular to it, and a motion trajectory C along which the packet cutting edge 4a actually moves and a target motion trajectory. , that is, the error with the finished surface A is defined as H8.

Here, the arithmetic unit 3 includes a horizontally used boom angle α,
Arm angle β, bucket angle γ, finished surface angle θ, and boom angle α corresponding to the excavation start position. , arm angle β. , packet angle γ. are input, the X', Y' coordinates (coordinates of the target trajectory) of the packet cutting edge 4a are
If α′=α−θ, then X′=glcosα′ 1Ω2cos(α′+β)+,
Q3cos(α′+β+γ)...(1)Y′−f
11sir+α'+(72sin (α'+β)10g3sin(α'+β+γ)...(2).

Similarly, the X1Y coordinates of the motion trajectory of the packet cutting edge 4a are:
+Ω3 cos (α-θ→-β+γ)... (3) Y=Ω4sin(α-θ)+(12sin ((2-θ
1β) 1ρ3 cos (α−θ→−β+γ)...
(4) It becomes.

Therefore, the error E of the finished surface A is E=Y'IQ 1 s t m (αQ-θ) 10Ω2
sin (α0-θ+β) 10D3 sin (α(,
−〇+β×γ)・(5).

This error E is sent to the display controller 16 and reflected on the windshield 7 by the head-up display 18 so that the operator D can form a virtual image at a point E near the actual working position so that the operator D can sense it.

For example, as shown in FIG.
At the same time, the movement of arm 3 and the excavation surface F of earth and sand can be seen.
The error between the stroke of the bucket cutting edge and the 1" target trajectory and the movement trajectory (error between the finishing A and the actual packet cutting edge 4a)
can be seen.

As shown in FIG. 5, the head-up display 8 includes an amplifier 8a, a SCRT 8b, a collimating lens 8, and a C% hold mirror 8d.

It is composed of a combiner (corresponding to the windshield 7) 8e, etc., and the displayed contents can be seen through the windshield without changing the viewing distance from the packet cutting edge.

Although the above example describes a power shovel, it can also be applied to an industrial robot arm-type working machine with multiple arms rotatably connected, and in that case, the information will be displayed on a head-up display within the operator's front field of vision. All you have to do is do it.

〔Effect of the invention〕

Since the operator can control the motion while looking at the tip of the arm-type work machine while looking at the error between the target trajectory and the motion trajectory, the operator can not only control the motion while correcting the error at the tip of the arm-type work machine, but also achieve high-precision motion control. Since the tip of the arm type work machine can also be seen at the same time, any abnormal condition can be sensed and actions to avoid it can be immediately performed, so there is no problem in terms of safety.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is an overall view of a power shovel, FIG. 2 is an explanatory diagram of the coordinate system and specifications of the power shovel, FIG. 3 is a block diagram for explaining the configuration, and FIG. 4 5 is an explanatory diagram showing the field of view through the windshield, and FIG. 5 is an explanatory diagram of the head-up display. 17 is a head-up display. Applicant Komatsu Manufacturing Co., Ltd. Representative Patent Attorney Masaaki Yonehara

Claims (1)

[Claims] means for calculating a motion trajectory of the tip of the arm type work machine from the rotation angle of each member of the arm type work machine; means for calculating a target motion trajectory; and means for calculating an error between the motion trajectory and the target motion trajectory; A monitor device for an arm-type working machine characterized by comprising a head-up display 18 that displays the calculated error within the front field of view of an operator.