JP2001090120A - Automatically operative shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transfer an automatically operative shovel to a waiting position after automatically performing a prescribed waiting operation in the instruction of a waiting. SOLUTION: In an automatically operative shovel which stores a plurality of positions taught by teaching operation and automatically repeats a series of operations from excavation to earth release on the basis of the stored positions by regenerating operation, the automatic operative shovel comprises a taught position memory means 613 for storing at least a position consisting of excavating position, earth releasing position and waiting position as the positions to be taught and stored by the teaching operation and waiting operation processing means 612, 619 for judging in which of the operation states of the series of operations from excavation to earth release the automatic operative shovel is when the movement to the waiting position is instructed, performing a prescribed waiting operation according to the respective operation state, and standing it in a prescribed waiting position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly to an automatic driving shovel capable of automatically moving the automatic driving shovel to a predetermined standby position.

[0002]

2. Description of the Related Art Conventionally, as a system for automating an excavation / loading operation, for example, a system disclosed in Japanese Patent Application Laid-Open No. 9-195321 is known. This system is
An excavator that automatically excavates and loads the debris collected by the bulldozer, and a crusher that crushes the debris loaded by the shovel to generate crushed stones, and the crushed stones can be taken alone by an operator riding the bulldozer. It is a system that can be created.

Japanese Patent Application Laid-Open No. Hei 10-212740 teaches a controller provided in an automatic driving shovel a digging start position and a dumping position of the shovel, and outputs a command for automatically moving each part of the shovel from the controller. It is described that the excavator automatically performs excavation and earth discharging operations.

[0004]

By the way, even in a system for automating excavation and loading operations, when an operator gets on and off a shovel at the end of automatic operation or the like, a position where the operator can easily get on and off automatically (hereinafter referred to as a standby position). It is more convenient to move the shovel in (1), and it is easier to secure the safety of the operator when getting in and out of the shovel in a stable position. Further, when moving to the standby position, it is necessary to change the moving method according to the operation state of the shovel. This is because, for example, when the movement process to the standby position occurs during the excavation operation, first, the shovel must be turned to a posture capable of turning by performing an operation such as raising the boom, and then the turning operation must be performed. If the moving process to the standby position occurs during the turning operation to the unloading position, the process can be executed from the turning operation as it is.

[0005] However, in the above-mentioned prior art, the movement to the standby position is not particularly taken into consideration, and the operator has to get on and off with the shovel in an unstable posture at the end of automatic operation or the like. was there.

In view of the above-mentioned problems of the prior art, an object of the present invention is to make a shovel automatically perform a predetermined standby operation when a standby command is issued during automatic driving or at the end of automatic driving. The purpose of this is to provide an automatic driving shovel that can be moved to a standby position after being performed, and take a predetermined standby posture and make it stand by, thereby improving the convenience and safety of the automatic driving shovel. To make it happen.

[0007]

In order to achieve the above object, the present invention employs the following means.

A first means automatically teaches and stores a plurality of positions by a teaching operation, and automatically executes a series of operations from excavation to earth removal based on the stored plurality of positions by a reproducing operation. In the automatic driving shovel that is repeatedly performed, the automatic driving shovel includes, as the plurality of positions taught and stored by the teaching operation, a teaching position storage that stores at least a position including an excavation position, a soil release position, and a standby position. Means, when movement to the standby position is instructed, determine which operating state of the series of operations from the excavation to the unloading when the automatic driving shovel is in operation, and according to each operating state, An automatic operation shovel comprising: a standby operation processing means for performing a predetermined standby operation and waiting at a predetermined standby position.

A second means is the first means, wherein the standby operation processing means is configured to: when the movement to the standby position is instructed, when the automatic driving shovel is in a driving start operation or a return turning operation. The standby operation includes a first step of causing the front of the shovel to take a pivotable posture, a second step of rotating the shovel to the standby position, and an arm and a bucket of the shovel at the standby position. And a fourth step of bringing the front of the shovel into contact with the ground.

[0010] The third means is any one of the first means and the second means, wherein the standby operation processing means is configured such that when the movement to the standby position is instructed, the automatic driving shovel excavates. When in operation, the standby operation includes a first step of raising the boom of the shovel to raise the front of the shovel from the ground, and a step of dumping debris in the bucket by dumping the bucket of the shovel. Step 2, Step 3 for causing the front of the shovel to take a pivotable posture, Step 4 for rotating the shovel to the standby position, and arms and buckets of the shovel at the standby position And a fifth step of contacting the front of the shovel to the ground.

[0011] A fourth means is the automatic driving shovel according to any one of the first means to the third means, wherein when the movement to the standby position is instructed, the automatic operation shovel moves. When in the turning operation, the standby operation includes a first step of turning the shovel to the standby position and a second step of causing the arm of the shovel to take a predetermined posture at the standby position. And a third step of grounding the front of the shovel to the ground.

[0015] A fifth means is that in any one of the first means to the fourth means, when the standby operation processing means is instructed to move to the standby position, the automatic operation shovel is released. When in the soil operation, the standby operation includes a first step of quickly suspending the earth discharging operation by clouding the bucket of the shovel, and a second step of causing the front of the shovel to take a pivotable posture. A step of turning the shovel to the standby position, a fourth step of causing the arm of the shovel to take a predetermined posture at the standby position, and a step of touching the front of the shovel to the ground. An automatic driving shovel comprising: a fifth step.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a view showing an automatic driving shovel according to this embodiment and a working form thereof.

In FIG. 1, reference numeral 1 denotes a shovel that excavates debris stored in a stock yard 2 and loads the crusher 3 to be described later, and 3 a crusher that crushes the debris loaded by the shovel 1 to generate crushed stone 4. Reference numerals 5 and 5 denote operation boxes installed at arbitrary places suitable for performing the reproduction operation of the shovel 1.

The excavator 1 includes a traveling body 10 and a traveling body 10.
A revolving body 11 rotatably provided above, a boom 12 rotatably provided on the revolving body 11, an arm 13 rotatably provided at the tip of the boom 12, and a revolving A bucket 14 movably provided and the revolving superstructure 1
1, a swing motor 110 (not shown) for rotating the boom 12, the arm 13, and the bucket 14;
1 includes an antenna 150 for transmitting and receiving signals between the operator cab 15 and the operation box 5, and an operation panel 60 for performing a teaching operation and the like of the shovel 1.

The shovel 1 has an angle sensor 111 for detecting a turning angle of the revolving unit 11, an angle sensor 112 for detecting a turning angle between the revolving unit 11 and the boom 12, and a rotation of the boom 12 and the arm 13. Angle sensor 113 for detecting moving angle
An angle sensor 114 that detects the rotation angle between the arm 13 and the bucket 14, a pressure sensor 160 (not shown) that detects the pressure of the swing motor 110, a pressure sensor 161 that detects the pressure of the boom cylinder 120, A pressure sensor 162 for detecting the pressure of the arm cylinder 130 and a pressure sensor 16 for detecting the pressure of the bucket cylinder 140
3 is provided, and the controller switch 66 is set to O
If N, the operation mode is shifted to the automatic operation mode, and the controller 61
The automatic operation of the excavator 1 is performed by the excavator 1.

The crusher 3 includes a traveling body 30, a hopper 31, a crushed stone part 32, and a conveyor 33.

The operation box 5 includes an operation stop button 500 for automatic operation of the shovel 1 and an operation start button 5.
01, the standby position button 502, and the emergency stop button 50
3 and engine ON to start the excavator 1 engine
Button 504 and engine off to stop the engine
Button 505 and UP button 5 for increasing the engine speed
06 and DOWN button 507 for lowering the engine speed
And an antenna 51 for transmitting and receiving signals to and from the antenna 150 of the shovel 1.

FIG. 2 is a block diagram showing a control mechanism of the automatic driving shovel according to the present embodiment. In the figure, the same reference numerals as those shown in FIG. 1 indicate the same parts.

In FIG. 1, reference numeral 50 denotes a reproduction operation unit provided in the operation box 5 and operated during reproduction. Reference numeral 52 denotes a signal for forming a signal output from the reproduction operation unit into a predetermined signal output to a controller 61 described later. Command generation unit, 5
Reference numerals 3 and 65 denote wireless devices for transmitting and receiving signals between the reproduction operation unit 50 and the controller 61, respectively.

The command generation section 52 is composed of a general controller using a microcomputer, and has a function of generating a command code corresponding to an input signal.

Reference numeral 6 denotes an in-vehicle device, 60 denotes an operation panel, 61 denotes a controller mainly composed of a microcomputer, 62 denotes a proportional solenoid valve driven by a drive current output from the controller 61, and 63 denotes a proportional solenoid valve. A control valve 64, which is controlled by a hydraulic signal output from 62 and controls the amount of oil or hydraulic pressure flowing into the actuator, has a swing motor 110 and cylinders 120, 1 for operating various parts of the shovel 1 shown in FIG.
Actuators such as 30 and 140, and 66 are controller switches for turning on / off the power of the controller 61. When the control switch 66 is in the OFF state, the operation mode is the manual operation mode similar to that of the standard machine. When the control switch 66 is in the ON state, the operation mode is the automatic operation mode.

FIG. 3 is a block diagram showing an outline of a hardware configuration of the controller 61 shown in FIG.

In the figure, reference numeral 611 denotes an interface for inputting input signals from the controller switch 66, sensors 111 to 114, 160 to 163, and operation panel 60, and 612 a CPU for executing predetermined arithmetic processing according to various programs described later. , 613, a RAM for storing teaching data, various processed data, etc., 614, a communication interface for inputting / outputting a transmission / reception signal to / from the wireless device 65, and 615, an interface for outputting an output signal to the proportional solenoid valve 615. , 616 is the teaching program 6
17, reproduction program 618, standby processing program 61
9 is a ROM for storing various programs.

Next, an outline of the operation of the automatic driving shovel according to the present embodiment will be described with reference to FIGS.

First, the controller switch 66 is turned on while the engine of the shovel 1 is started, and the automatic operation mode is set.

At the time of teaching, a teaching operation necessary for automatic operation is performed in accordance with an instruction displayed on the operation panel 60. The teaching operation in the present embodiment is teaching of an excavation position, a dumping position, and a standby position. The excavation position and the dumping position are respectively a position for excavating the debris stored in the stock yard 2 by the shovel 1, a position for discharging the debris excavated to the hopper 31 of the crusher 3, and a standby position. This is a position for the operator to get on and off the shovel 1 at the end of driving or the like. The teaching operation is performed by inputting the detection values from the angle sensors 111 to 114 in accordance with the operation and performing a predetermined storage. It is stored in the area as the teaching position data and the teaching command. When the playback operation is performed after the teaching operation is completed, the automatic operation starts.

At the time of reproduction, by pressing the operation start button 501 from the reproduction operation unit 50, a predetermined signal generated by the command generation unit 52 is transmitted to the antennas 51 and 1
The data is transmitted to the controller 61 via 50 and the reproduction process is started. When the reproduction process is started in the controller 61, the stored teaching data is called out, and compared with the information obtained from the angle sensors 111 to 114, the revolving unit 1 is adjusted so as to match the teaching position data.
1, a drive current is output to a proportional solenoid valve 62 for operating the boom 12, the arm 13, and the bucket 14, respectively. From the proportional solenoid valve 62 to the control valve 6
The automatic operation of the shovel 1 is performed by controlling each of the actuators 64 via 3.

At the time of standby, when a standby position button 502 is pressed from the reproduction operation unit 50, a predetermined signal generated by the command generation unit 52 is transmitted to the antennas 51 and 15.
0 to the controller 61 to start the standby process. When the standby processing is started in the controller 61, the shovel 1 interrupts the repetitive operation, calls the stored teaching data according to the standby processing program, and compares it with the information obtained from the angle sensors 111 to 114. To match this teaching position data,
The drive current is output to the proportional solenoid valve 62 for operating the revolving superstructure 11, the boom 12, the arm 13, and the bucket 14, and a predetermined standby operation is performed to move to the standby position.

Next, a processing procedure of a standby operation by the standby processing program 619 of the automatic driving shovel according to the present embodiment will be described with reference to flowcharts shown in FIGS.

FIG. 4 shows that when the standby position button 502 is pressed and a standby command is issued, a standby operation counter W_CNT for performing a different standby operation according to the operation state of the automatic driving shovel at that time is set. 9 is a flowchart showing a processing procedure for performing the processing.

First, as shown in the figure, when the operation start button 501 is turned on, the automatic operation starts. In step S1, the standby operation counter W_CNT is set to 1.

Here, the standby operation counter W_CNT identifies, based on the value set here, which operating state is being operated during automatic operation in a standby operation process to be described later. The operation can be selected.

Next, an operation start operation is executed in step S2. This operation start operation is an operation in which the shovel 1 is turned to a revolvable posture by raising a boom or the like, and is turned to a taught excavation position. In step S3,
In step S4, the standby operation counter W_CNT is set to 2.
Excavation operation is performed. This excavation operation is an operation of lowering the boom of the shovel 1 to ground the front to the ground, then performing excavation by the arm cloud, scraping debris by the bucket cloud, and setting the shovel 1 to a posture capable of turning by raising the boom. is there. Next, in step 5, the standby operation counter W_CNT is set to 3, and in step S6, the go-around operation is performed. This going turning operation is a turning operation from the taught excavation position to the earth discharging position. Next, the standby operation counter W_CNT is set to 4 in step S7, and the earth discharging operation is performed in step S8. In the soil release operation, the soil excavated in step S4 by a bucket dump or the like at the taught dumping position is transferred to the hopper 3 of the crusher 3.
This is an operation of releasing the soil to 1. Next, the standby operation counter W_CNT is set to 1 in step S9, and the return turning operation is performed in step S10. This return turning operation is a turning operation from the taught dumping position to the excavation position. Next, the process returns to step S3, and thereafter, the same processing is repeated to perform the automatic operation.

FIG. 5 is a flowchart showing a processing procedure for selecting a predetermined standby operation process by identifying each operation state of the automatic driving shovel according to the standby operation counter W_CNT value at that time when the standby command is issued. It is.

When the standby position button 502 is turned on during the automatic driving operation, first, in step S100, it is determined whether or not the standby operation counter W_CNT is 1. Here, when the determination result is true, the process proceeds to step S200, and a standby operation 1 described later is executed. If the determination result is false, the process shifts to step S300, and it is determined whether the standby operation counter W_CNT is 2 or not. here,
If the determination result is true, the process shifts to step S400, and a standby operation 2 described later is executed. If the determination result is false, the process proceeds to step S500, and it is determined whether the standby operation counter W_CNT is 3 or not. Here, when the determination result is true, the process proceeds to step S600, and a standby operation 3 described later is executed. If the judgment result is false, the process proceeds to step S700, and the standby operation counter W_
It is determined whether CNT is 4 or not. Here, when the determination result is true, the process proceeds to step S800, and a standby operation 4 described later is executed. Then, steps S200 and S40
When each of the standby operations in steps 0, S600, and S800 is performed, the standby operation ends in step S900.

FIG. 6 is a flowchart showing the procedure of the standby operation processing of the automatic driving shovel when standby operation 1 is selected in step 200 of FIG.

First, in step S201, the front of the shovel 1 is moved to a collision prevention posture to secure a posture capable of turning. Here, the collision prevention posture is a posture in which the shovel 1 is capable of turning 360 degrees, and in the present embodiment, is a posture in which a certain amount of boom is raised from the taught dumping position, and when the teaching operation is completed, Controller 61
Automatically generated based on the teaching position. Note that the front (boom, arm, and bucket) postures in the going-swing operation in step S6 in FIG. 4 are the same as the front postures in the collision prevention posture.

Next, the turning operation is performed to the standby position taught in step S202. Next, in step S203, the arm and the bucket are moved to the posture at the taught standby position. In step S204, the boom is lowered, and in step S205, it is determined whether or not the boom pressure is greater than a set value, thereby detecting that the front surface touches the ground. If the determination result in step S205 is true, the process proceeds to step S206, where the operation of the shovel 1 is stopped, and the execution of the standby operation 1 is ended. If the determination result is false, the process returns to step S204, and the boom lowering operation is repeated.

In the present embodiment, the operation is terminated by detecting the contact of the front surface to the ground by the determination of the boom pressure. This is to cope with a change in the shape.

FIG. 7 is a flowchart showing the procedure of the standby operation processing of the automatic driving shovel when the standby operation 2 is selected in step 400 of FIG.

First, in step S401, the boom is moved to the boom posture in the collision prevention posture, and the front is raised from the ground under excavation. Next, step S402
To dump the bucket and execute an operation weight in step S403 to release the debris in the bucket. In this embodiment, the wait time is 2 seconds. Next, in step S404, the front of the shovel 1 is moved to the collision-prevention posture, and a posture capable of turning is secured. Next, the turning operation is performed to the standby position taught in step S405. Next, in step S406, the arm and the bucket are moved so as to assume the posture at the taught standby position. Next, in step S407, the boom is lowered, and in step S408, it is determined whether or not the boom pressure is greater than a set value, thereby detecting that the front surface touches the ground. If the determination result in step S408 is true, the process proceeds to step S409, where the operation of the shovel 1 is stopped, and the execution of the standby operation 2 is ended. If the determination result is false, the process returns to step S407, and the boom lowering operation is repeated.

FIG. 8 is a flowchart showing the procedure of the standby operation processing of the automatic driving shovel when the standby operation 3 is selected in step 600 of FIG.

First, the turning operation is performed to the standby position taught in step S601. Next, in step S602, the arm is moved to the posture at the taught standby position. Here, the reason why the bucket is not operated as in the standby operations 1 and 2 is to prevent the falling of debris in the bucket because the bucket is in the forward turning operation. Next, the boom is lowered in step S603, and it is determined in step S604 whether the boom pressure is greater than a set value.
Detects ground contact to the front ground. Step S604
If the result of the determination in step is true, the process proceeds to step S605, where the operation of the shovel 1 is stopped, and the execution of the standby operation 3 is ended. On the other hand, if the determination result is false, step S60
3 and the boom lowering operation is repeated.

FIG. 9 is a flowchart showing the procedure of the standby operation processing of the automatic driving shovel when the standby operation 4 is selected in step 800 of FIG.

First, in step S801, only the bucket is set to the bucket posture in the collision prevention posture, and the earth discharging operation is immediately stopped. Next, in step S802, the front is moved to the anti-collision posture to secure a revolvable posture. Next, the turning operation is performed to the standby position taught in step S803. Next, in step S804, the arm is moved to the posture at the taught standby position. Next, in step S805, the boom is lowered, and in step S806, it is determined whether or not the boom pressure is greater than a set value, thereby detecting that the front surface touches the ground. If the determination result in step S806 is true, step S8
07, the operation of the shovel 1 is stopped, and the execution of the standby operation 4 is ended. If the determination result is false, the process returns to step S805, and the boom lowering operation is repeated.

[0048]

As described above, according to the present invention, the excavator is automatically moved to the standby position in accordance with the standby position operation command, and the operator can easily get on and off the vehicle. In addition, since the shovel does not get on and off in an unstable position, the safety of the operator can be ensured.

Further, when moving to the standby position, a different standby operation is performed depending on the operation state of the shovel at the start of the movement. For example, when the excavator is in the excavation state and the front is submerged in the ground, Thus, the turning operation is not suddenly executed, and the safety as the automatic driving shovel can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing an automatic driving shovel according to an embodiment of the present invention and a working form thereof.

FIG. 2 is a block diagram showing a control mechanism mounted on an in-vehicle device and an operation box of the automatic driving shovel according to the embodiment.

FIG. 3 is a block diagram showing an outline of a hardware configuration of a controller 61 shown in FIG. 2;

FIG. 4 is a flowchart showing a processing procedure for setting a standby operation counter W_CNT for performing a different standby operation according to an operation state of the automatic driving shovel when a standby command is issued.

FIG. 5 is a flowchart showing a processing procedure for identifying each operation state of the automatic driving shovel and selecting a predetermined standby operation process according to a standby operation counter W_CNT value when a standby command is issued.

FIG. 6 is a flowchart showing a procedure of a standby operation process of the automatic driving shovel when standby operation 1 is selected in step 200 of FIG. 5;

FIG. 7 is a flowchart showing a procedure of a standby operation process of the automatic driving shovel when standby operation 2 is selected in step 400 of FIG. 5;

8 is a flowchart showing a procedure of a standby operation process of the automatic driving shovel when a standby operation 3 is selected in step 600 of FIG.

9 is a flowchart showing a processing procedure of a standby operation process of the automatic driving shovel when a standby operation 4 is selected in step 800 of FIG.

[Explanation of symbols]

 1 Excavator 3 Crasher 5 Operation Box 60 Operation Panel 61 Controller 66 Controller Switch 613 RAM 617 ROM 111-114 Angle Sensor 5 Operation Box 500 Operation Stop Button 501 Operation Start Button 502 Standby Position Button 503 Emergency Stop Button

 ──────────────────────────────────────────────────の Continuing on the front page (72) Yoshiyuki Nagano, 650 Kandamachi, Tsuchiura-shi, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. Within the Tsuchiura Plant, Ltd. DB04 FA02

Claims (5)

[Claims] 1. An automatic operation in which a plurality of positions are taught and stored by a teaching operation, and a series of operations from excavation to earth removal are automatically and repeatedly performed based on the stored plurality of positions by a regenerating operation. In the shovel, the automatic driving shovel includes, as the plurality of positions taught and stored by the teaching operation, at least a teaching position storage unit configured to store a position including an excavation position, a soil release position, and a standby position; When movement to the standby position is commanded, it is determined whether the automatic driving shovel is in any of a series of operations from the excavation to the unloading,
An automatic operation shovel comprising: a standby operation processing unit that causes a predetermined standby operation to be performed according to each operation state and causes a standby at a predetermined standby position. 2. The standby operation processing means according to claim 1, wherein the standby operation processing means is configured to execute the standby operation when the automatic driving shovel is in a driving start operation or a return turning operation when the movement to the standby position is commanded. A first step of causing the front of the shovel to take a pivotable posture, a second step of causing the shovel to pivot to the standby position, and a predetermined posture of the arm and bucket of the shovel in the standby position. An automatic operation shovel comprising: a third step of causing the shovel to ground; and a fourth step of grounding the front of the shovel to the ground. 3. The standby operation processing means according to claim 1, wherein the standby operation processing means is configured to: when the movement to the standby position is instructed, when the automatic driving shovel is in an excavation operation; The standby operation comprises: a first step of raising the boom of the shovel to raise the front of the shovel from underground; and a second step of dumping debris in the bucket by dumping the shovel bucket. A third step of causing the front of the shovel to take a pivotable posture, a fourth step of causing the shovel to pivot to the standby position, and setting a predetermined posture to the arm and bucket of the shovel at the standby position. An automatic operation shovel comprising: a fourth step of causing the shovel to ground; and a fifth step of grounding the front of the shovel to the ground. 4. The standby operation processing unit according to claim 1, wherein the standby operation processing unit is configured to execute the automatic operation shovel in a going and turning operation when the movement to the standby position is instructed. The standby operation is a first step of turning the shovel to the standby position, a second step of causing the arm of the shovel to take a predetermined posture in the standby position,
A third step of grounding the front of the shovel to the ground. 5. The standby operation processing unit according to claim 1, wherein the standby operation processing unit is configured to execute a command to move to the standby position when the automatic operation shovel is in a soil removal operation. The standby operation includes a first step of promptly interrupting a soil discharging operation by clouding a bucket of the shovel, a second step of causing the front of the shovel to take a pivotable posture, A third step of turning the shovel to the standby position, a fourth step of causing the arm of the shovel to take a predetermined posture at the standby position, and a fifth step of grounding the front of the shovel to the ground. An autonomous driving shovel comprising: