Abstract:
A method for carrying out a surface finishing work with an electronically controlled hydraulic excavator is disclosed. The present invention includes the steps of: selecting an automatic surface finishing work, and inputting a desired work angle (S1); detecting the current positions of the respective attachment (S32); deciding the bucket maintaining angle relative to the horizontal plane (S3); correcting the work angle relative to the equipment inclination (S4); judging as to whether the control lever for the dipper stick is manipulated by the operator (S7); judging as to whether or not there is a swinging operation by the operator (S9); correcting the swinging angle and the inclination angle when carrying out the swinging operation (S10); compensating the departure amount of the bucket end from the initially inputted work plane during the swinging (S11); calculating the linear velocity of the bucket end L which is proportionate to the actuation of the control lever for the dipper stick (S12); deciding a velocity for satisfying the positions of the cylinders corresponding to the intended angles of the bucket, the dipper stick and the boom (S15); making corrections for feasible velocities calculating the target velocities of the respective cylinders for arriving to the target positions (S17); correcting the velocities of the cylinders compensating the velocity of the cylinders and the fluid discharge amount of the pump (S19); and terminating the operation after the end of the work (S21).

Description:
This application is a Continuation of application Ser. No. 08/364.935, filed Dec. 28, 1994 now abandoned. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the invention 
     The present invention relates to a method for carrying out an automatic surface finishing work with an electro-hydraulic excavator vehicle, in which the operator can carry out the generally most difficult surface finishing work in an easy manner with an electro-hydraulic excavator vehicle. 
     2. Description of the prior art 
     Electro-hydraulic excavator vehicles have complicated structures including various sensors, electronic proportional valves, and micro-processors. In this context, there appeared a need for an excavator vehicle in which a non-skilled person can carry out the operation in an easy and speedy manner. 
     In the surface finishing work with a conventional excavator vehicle, the operator has to manipulate three control levers manually, and therefore, an accurate manipulation of the control levers is very difficult. 
     Particularly, if the excavator vehicle is inclined, it is very difficult to attain the intended slope. 
     Particularly, in the case where the surface finishing work is carried out while performing swinging, that is, in the case where the surface finishing work is carried out by manipulating four control levers, the operation becomes a highly difficult task. 
     In the conventional auto surface finishing work with prior art electro-hydraulic excavator vehicles, sensors are installed only on the three pivot points of the boom, the dipper stick and the bucket, and a predetermined straight line is tracked, thereby carrying out the surface finishing work. 
     In conventional automatic surface finishing work in which only a straight line is traced, running has to be made each time when work is carried out. If the slope of the ground is not the same after the running, the work surface can be made even with the already worked work surface only by arbitrarily varying the work angle. Therefore, the operator experiences a feeling of difficulty. 
     SUMMARY OF THE INVENTION 
     On the other hand, in the present invention, even if a swinging is additionally carried out, a departure is not made from the pre-set work plane. For this purpose, a swinging sensor and a slope sensor are additionally installed, so that the boom, the bucket and the dipper stick can be automatically controlled, thereby improving the operation efficiency. 
     Under this condition, swinging is not made by tracking along a straight line but instead by tracking a plane, and therefore, surface finishing work can be carried out in an easy manner on any sloped surface. 
     Therefore, in the present invention, the three attachments for the boom, the bucket and the dipper stick are driven by using only a single control lever for the dipper stick. Under this condition, when swinging is carried out, the end of the bucket geometrically departs from the plane. 
     Thus if the control lever for the dipper stick is manipulated simultaneously with swinging, then the surface finishing work is done along the pre-set work plane, while if a swinging is made, a departure is made from the work plane. 
     Therefore, a smooth returning has to be made by manipulating the control lever for the dipper stick, and the surface finishing work has to be carried out again. 
     Thus the three attachments are driven in such a manner that a movement is made along a straight line so as to be fit to the work angle, and a control is made so that the bucket is maintained at a certain angle relative to the horizontal plane, thereby carrying out the surface finishing work. 
     The present invention is intended to overcome the above described problems of the conventional techniques. 
     Therefore it is the object of the present invention to provide a method for carrying out an automatic surface finishing work with an electronically controlled hydraulic excavator, in which the work angle can be varied during the swinging of the excavator for continuing the surface finishing work on the work plane. 
     In achieving the above object, the method for carrying out a surface finishing work with an electronically controlled hydraulic excavator according to the present invention, includes the steps of: selecting an automatic surface finishing work on a key pad 5, and inputting a desired work angle θw into the main processor 10 by the operator (S1); detecting and reading the current signal values of the angles of a boom 100, dipper stick 110 and a bucket 120, the turning angle of the swinging, and the slope of the upper portion of excavator vehicle, through position sensors (S2); deciding the bucket maintaining angle relative to the horizontal plane based on the read signal values (S3); correcting the work angle τ to make the inputted work angle (based on the inclination of the equipment) fit to the absolute horizontal plane (S4); deciding the initial positions of the bucket end L and the bucket joint J with respect to a rectangular coordinate system whose origin is point A and, an upper rotary portion of the excavator vehicle (S5); deciding the initial position of the bucket end L with respect to a rectangular coordinate system whose origin is point O (S6); judging as to whether or not the control lever for the dipper stick as an arbitrary control lever is manipulated if the control lever has not been manipulated carrying out step S20 (S7); deciding the current position of the bucket joint J with respect to the rectangular coordinate having an origin at point A, after manipulation of the control lever for the dipper stick (S8); judging as to whether there is a swinging operation by the operator, and then, carrying out step S12 if there is none (S9); reading the swinging angle and the inclination angle of the upper portion of the equipment to correct the work angle τ when carrying out the swinging operation (S31); calculating the departure amount h of the bucket end from the initially inputted work plane, when the buck end L departs from the work plane during the swinging (S11); calculating the linear velocity of the bucket end L which is proportionate to the actuation of the control lever for the dipper stick (S12); deciding the next position to which the pivot point of bucket J is to be positioned with respect to the rectangular coordinate system having an origin at point O (S13); deciding a boom angle θbm, a dipper stick angle θds for the position of bucket pivot point J and a bucket angle θbk for maintaining the initial bucket angle with respect to horizontal line, which correspond to the positional values of step S13 (S14); deciding a speed for satisfying positions d bm , d ds  and d bk  of the cylinders of the respective attachment corresponding to the intended angles of the bucket 120, the dipper stick 110 and the boom 100 calculated at step S14 (S15); making corrections for possible velocities without varying the velocity ratio of the respective cylinders within the range of the dischargeable fluid amount from the pump currently, and then, re-setting the intended positions d bm , d ds , and d bk  of the cylinders (S16); calculating the target velocities of the respective cylinders for positioning at the target positions by utilizing the position values d bm , d ds , and d bk  by a position control section 130 (S17); correcting the velocities of the cylinders and the current amount of the fluid dischargeable by the pump, while maintaining the target velocity ratio of the respective cylinders (S18); compensating the velocity based on the position values obtained based on the current work status which is measured by a position sensor 15 and based on the discharging amount of the pump (S19); converting the digital signals of the compensated velocity signals into analog signals by means of first and second D/A converters 35 and 40 for outputting voltages to a first amplifier 36 and to a second amplifier 41 for a main control valve so as to output currents through first and second electronic proportional valves 50 and 45, and activating the pumps with the currents to drive respective hydraulic cylinder or motor 90, 91, 92, 93, 94 and 95 within a main control valve 80 (S20); and terminating the operation after an end of the work if the operator has inputted a releasing signal for the surface finishing work, and returning to step S7 if the releasing signal has not been inputted (S21). 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The above object and other advantages of the present invention will become more apparent by describing in detail the preferred embodiment of the present invention with reference to the attached drawings in which: 
     FIG. 1 illustrates a block diagram showing the constitution of the electronically controlled hydraulic system according to the present invention; 
     FIGS. 2A and 2B are a flow chart for the present invention; 
     FIG. 3 is a side view of the hydraulic excavator applicable to the method of the present invention; 
     FIG. 4 is a graphical illustration for setting the work plane; and 
     FIG. 5 illustrates work angle compensation for a swinging. 
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT 
     FIG. 1 is a block diagram showing the constitution of the hydraulic control system according to the present invention. 
     The constitution and operation of the system of FIG. 1 will be described. 
     First, the operator presses an &#34;automatic surface finishing&#34; selection button of a key pad 5, and inputs a work angle which is suitable to the work environment. Then the automatic surface finishing function and the work angle are transmitted through a communication port to a main processor 10 which is the controller. 
     When the work angle is transmitted, the main processor 10 reads respective position sensors 15 to detect the position and the inclination of the equipment for the current boom, dipper stick, bucket and swing through a system bus. The analogue signals thus read are transmitted through a system bus to a first A/D converter 20 which then converts the signals into digital signals. 
     An equation for the work plane is set up based on the work angle and the initial position of the bucket end of the excavator utilizing the position signals which were read in the above described manner. Then a control lever for the dipper is manipulated by the operator. Then the analog signals which correspond to the manipulations are converted into digital signals by a second A/D converter 30, so that the main processor 10 can determine the linear velocity of the bucket end in accordance with the manipulation amount. 
     Proportionately to the linear velocity, the next point of a pivot point of bucket J is determined. Then if the control lever 25 is manipulated, the swing and inclination angle are read again to calculate the deviation of the bucket end from the initially set work plane. Thus the work angle is re-determined to determine the position of the point J, so that the bucket end would not deviate from the work plane. 
     In order to reach the position of the point J, the positions (angles) of the cylinders of the boom and dipper stick are determined. 
     The position of the bucket makes it possible to calculate the bucket angle relative to the horizontal plane at the time of the starting of the work. 
     The calculated angles for the boom, the dipper stick and the bucket are converted into positions of the cylinders, and, based on these position values, target velocity is formed. For this purpose, the required fluid amounts are discharged from an auxiliary pump 55, a first pump 60 and a second pump 65. 
     The main processor 10 outputs command digital signals of the fluid amount to be discharged for the respective attachments, and these digital signals are converted by a first D/A converter 35 and a second D/A converter 40 which output them in the form of analog signals. Then voltages are supplied to a first amplifier 36 for the second pump 65, the first pump 60 and the auxiliary pump 55 (which are driven by an engine 70), and to a second amplifier 41 which is for a main control valve 80. 
     The outputted voltages are converted by the first amplifier 36 into currents. Thus the currents which are outputted from the first amplifier 36 are supplied to a first electronic proportional valve 50 for a pump, while the current signals which are outputted from the second amplifier 41 are supplied to a second electronic proportional valve 45 for the main control valve 80. 
     Under this condition, the first electronic proportional valve 50 produces a pilot pressure to adjust a swash plate of the first pump 60 or the second pump 65, so that the desired discharge amount of the fluid would be sent to the main control valve 80. 
     The second electronic proportional valve 45 for the main control valve 80 also produces a pilot pressure. Thus, there are adjusted the respective strokes of the spools such as a rightward running motor control spool, a leftward running motor control spool, a swinging motor control spool, an arm control spool, a bucket control spool, and a boom control spool within the main control valve 80. Thus, the hydraulic fluids from the pumps 55, 60 and 65 are distributed to a boom cylinder 90, an arm cylinder 91, a bucket cylinder 92, a swinging motor 93, a leftward running motor 94 and a rightward running motor 95, thereby driving them. 
     The automatic surface finishing work with an electronically controlled hydraulic excavator based on the system of FIG. 1 will be described referring to the flow chart of FIG. 2. 
     For making descriptions referring to FIG. 2, referring will be made to the side view of the excavator of FIG. 3, to the work plane setting illustration of FIG. 4, and to work angle compensating illustration of FIG. 5 during a swinging. 
     First, at step 1 (S1) of FIG. 2, the operator selects automatic surface finishing work, and inputs the desired work angle θw. Then, reading is made of the signal values for a current angle θbm of the pivot point of the boom 100, a current angle θds of the dipper stick 110, a current angle θbk of the bucket 120, a turning angle θsw of the swinging, an inclination angle θp (pitching) of the upper portion of the equipment, and a rolling angle θr of FIG. 3. At step 2 (S2), the positions of the respective attachments are detected through the respective position sensors 15. 
     At step 3 (S3), based on the position angle, a bucket maintaining angle Φ (=θbm+θds+θbk) relative to the horizontal surface is decided. Then, at step 4 (S4), the current status of the equipment is analyzed, and the operator corrects the work angle τ in such a manner that the work angle inputted by the operator would be suitable for the absolute horizontal surface relative to the equipment inclination. For this purpose, the following formula is utilized. 
     
         τ=a tan (tan θw cos Δθsw(cos θr+sin θr tan (θr-a tan (tan θw sin Δθsw)))) 
    
     At step 5 (S5), initial positions of the bucket end L and the pivot point of bucket J which is the connection point between the dipper stick 110 and the bucket 120 are determined on a rectangular coordinate which has an original point A at the point where the upper rotary portion 135 and the boom 100 of FIG. 3 are connected together. 
     
         Jx30=lbm cos (θbm+θp)+lds cos (θbm+θds+θp) 
    
     
         Jy30=lbm sin (θbm+θp)+lds sin (θbm+θds+θp) 
    
     
         Lx30=Jx30+lbk cos (θbm+θds+θbk+θp) 
    
     
         Ly30=Jy30+lbk sin (θbm+θds+θbk+θp) 
    
     In the above formulas, lbm, lds and lbk indicate respectively the lengths of boom, dipper stick and bucket. 
     At step 6 (S6), an initial position (XO, YO, ZO) of the bucket end is determined on a coordinate which has an original point O which is the contact point between the plane and the bottom center of the wheel of FIG. 3. 
     
         XO=cs cp(lx+LEN.sub.-- AN)-cs sp cr(ly+LEN.sub.-- NO)+ss sr(ly+LEN.sub.-- NO) 
    
     
         YO=sp(lx+LEN.sub.-- AN)+cp cr(ly+LEN.sub.-- NO) 
    
     
         ZO=-ss cp(lx+LEN.sub.-- AN)+ss sp cr(Ly.sub.-- LEN.sub.-- NO)cs sr(ly+LEN.sub.-- NO) 
    
     In the above formulas, the new symbols are defined respectively as follows. 
     
         lx=lbm cos (θbm)+lds cos (θbm+θds)+lbk cos (θbm+θds+θbk), 
    
     
         cp=cos (θp), sp=sin (θp), cr=cos (θr), 
    
     
         sr=sin (θr), cs=cos (θsw), ss=sin (θsw). 
    
     Further, LEN --  AN indicates the straight length of the distance between the point A and N of FIG. 3. 
     At step 7 (S7), when the surface finishing work is carried out by driving the 3 attachments or 2 attachments of the boom, the dipper stick and the bucket, the main processor 10 makes a judgment as to whether the operator used the control lever 25 for the dipper stick as an arbitrary one of the control levers, or used other executing means. If not used it, a next step 20 (S20) is carried out. 
     If it is found a step 7 (S7) that the operator used the control lever 25 for the dipper stick or other executing means, then not the initial value but the current value of the pivot point of bucket J is calculated. That is, a calculation is made as to the current value of the bucket joint J on a rectangular coordinate which has the point A of FIG. 3 as the original point, at step 8 (S8). 
     
         Jx3=lbm cos (θbm+θp)+lds cos (θbm+θds+θp) 
    
     
         Jy3=lbm sin (θbm+θp)+lds sin (θbm+θds+θp) 
    
     At step 9 (S9), the main processor 10 makes a judgment as to whether the operator has made a swinging operation. If there has been no swinging operation, a next step S12 is carried out. 
     If there has been a swinging operation at step S9, then, at step 10 (S10), the swinging angle and the inclination angle of the upper portion of the equipment are read, and then, the work angle τ is modified. 
     
         τ=a tan (tan θw cos Δθsw(cos θr+sin θr tan (θr-a tan (tan θw sin Δθsw)))) 
    
     At step 11 (S11), when the bucket end L departs from the work plane as a result of the swinging, the departure amount of the bucket end is calculated and compensated, so that the bucket end L would not be departed from the initially set work plane. 
     For this purpose, the initial position (Jx30, Jy30) of the bucket joint are re-set based on the following formula. 
     
         -sin (θw) cos (θswo) X+cos (θw) Y+sin (θw) sin (θswo) Z=-sin (θw) cos (θswo) XO+cos (θw) YO+sin (θw) sin (θswo) ZO 
    
     When the swinging operation is begun, the position of the bucket end L departs from the work plane, and therefore, a compensation has to be carried out as much as the departure amount. 
     Based on the method of step 8 (S8), the position (X, Y, Z) of the bucket end L is determined in a rectangular coordinate having a point O of FIG. 3 as the origin point. At this position, the amount h of the departure from the work plane is calculated. ##EQU1## 
     In the above, θswo indicates the initial swinging position, and other symbols are as follows. 
     
         sga=sin (θw), cga=cos (θw), Tga=tan (θw), 
    
     
         cgs=cos (θswo), sgs=sin (θswo). 
    
     The initial positions of the bucket end and the pivot point of bucket are shifted as much as the departure amount. 
     At step 12 (S12), a calculation is made on a linear velocity J of the pivot point of bucket J (or the bucket end) which is proportionate to the operation amount of the control lever 25 for the dipper stick of FIG. 1. 
     At step 13 (S13), a determination is made of the position to which the pivot point of bucket J is destined on a rectangular coordinate having the point A of FIG. 3 as the origin point. 
     
         Jx3=Jx3+J cos (τ)ts 
    
     
         Jy3=tan (τ) (Jx3-Jx30)+Jy30 
    
     At step 14 (S14), correspondingly with the values of Jx3 and Jy3, calculations are made on the boom angle θbm, the dipper stick angle θds and the buck angle θbk for maintaining the initial bucket angle. 
     
         θbm=a tan (Jy3/Jx3)+a cos ((lbm.sup.2 -lds.sup.2 +Jx3.sup.2 +Jy3.sup.2)/(2 lbm√(Jx3.sup.2 +Jy3.sup.2).sup.2))-θp 
    
     
         θds=-a cos (Jx3.sup.2 +Jy3.sup.2 -lbm.sup.2 -lds.sup.2)/(2 lbm.lds)) θbk=Φ-θbm-θds 
    
     At step 15 (S15), cylinder positions of the respective attachments are calculated based on the target angles θbm, θbk and θds of the boom 100, the bucket 120 and the dipper stick 110 which have been calculated at step 14 (S14). 
     
         d.sub.bm =(LEN.sub.-- AB).sup.2 +(LEN.sub.-- AC).sup.2 -2*LEN.sub.-- AB*LEN.sub.-- AC*cos (ANG.sub.-- CAE+ANG.sub.-- BAX3+θbk)).sup.2 
    
     
         d.sub.ds =(LEN.sub.-- DE).sup.2 +(LEN.sub.-- EF).sup.2 -2*LEN.sub.-- DE*LEN.sub.-- EF*cos (ANG.sub.-- ALPH7-θds)).sup.2 
    
     
         d.sub.bk =((LEN.sub.-- GH).sup.2 +(LEN.sub.-- HI).sup.2 -2*LEN.sub.-- GH*LEN.sub.-- HI*cos (φ)).sup.2 
    
     
         α=π-(θbk+ANG.sub.-- LJK+ANG.sub.-- HJE) 
    
     
         c6=((LEN.sub.-- JK).sup.2 +(LEN.sub.-- HJ).sup.2 -2*LEN.sub.-- JK*LEN.sub.-- HJ*cos (α)).sup.2 
    
     
         Φ=a cos (c6).sup.2 +(LEN.sub.-- HI).sup.2 -(LEN.sub.-- IK).sup.2 /(2*LEN.sub.-- HI*c6) 
    
     
         β=a cos (LEN.sub.-- HJ).sup.2 +(c6).sup.2 -(LEN.sub.-- JK).sup.2)/(2*c6 LEN.sub.-- HJ)) 
    
     
         φ=ANG.sub.-- GHJ-Φ-β 
    
     In the above, LEN --  AB indicates the distance between the joint A and the joint B, and ANG --  ABC indicates the angle between the line AB and the line BC. Further, ANG --  ALPHA7 is defined as follows. 
     
         ANG.sub.-- ALPHA7=π-ANG.sub.-- JEF-ANG.sub.-- CED-ANG.sub.-- BEC 
    
     Then the cylinder velocities, which can satisfy the cylinder positions d bm , d bk  and d ds  for the boom, the bucket, and the dipper stick, are calculated. 
     At step 16 (S16), the velocities of the respective cylinders are modified without varying the velocity ratio between the cylinders within the range of the discharge fluid amount of the current pump. Then, the target cylinder positions d bm , d ds  and d bk  are re-determined correspondingly with the boom angle θbm, the dipper stick angle θds, and the bucket angle θbk for the cylinders. 
     At step 17 (S17), by utilizing the position values d bm , d ds  and d bk , the controller 130 calculates the target velocities of the respective cylinders for moving to the target positions. 
     At step 18 (S18), while maintaining the velocity ratio between the respective cylinders and the amount of the fluid dischargeable by the pumps 55, 60 and 65 are corrected. 
     At step 19 (S19), the position values, which correspond to the current work, and are detected by the position sensor 15 and are compensated, while the fluid amounts dischargeable by the pumps are also compensated. 
     At step 20 (S20), the compensated values are the commanded values of the main control valve 80 commanding that the required amounts of fluid should be discharged for the respective cylinders. These compensated velocity values of a digital form are converted into analog signals by the first and second D/A converters 35 and 40. 
     The voltage signals of the converted analog signals are supplied to the first and second amplifiers 36 and 41 to be outputted therefrom in the form of current signals. These current signals are supplied to the first electronic proportional valve 50 and to the second electronic proportional valve 45 for the main control valve. 
     Thus, the first electronic proportional valve 50 generates a pilot pressure for adjusting the swash plate to send the required amount of fluid to the main control valve 80. Then the spool strokes for the respective attachments (boom, arm, bucket, swinging motor, leftward running motor and rightward running motor) are adjusted by the main control valve 80, so that the fluid from the pumps would be distributed to the respective cylinders. 
     At step 21 (S21), a judgment is made as to whether or not the operator has inputted a signal for release of the automatic surface finishing work. If a release is inputted, the operation is terminated (exit), while if not inputted, then the system returns to step 7 (S7) (go to S7). 
     According to the present invention as described above, the automatic surface finishing work with an excavator vehicle is rendered easy, and the work efficiency is improved. Further, non-skilled persons can carry out the surface finishing work, and therefore, labor cost is saved. Further, the surface finishing work is carried out in an automatic manner, and therefore, the work is done precisely.