JP2001182091A - Automatic operating shovel, and automatic shovel operating method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase a safety during actual excavating and loading operation by allowing an automatic operation shovel to perform a verification operation. SOLUTION: This automatic operating shovel comprises a shovel and an automatic operation controller 61 installed on the shovel and allowing the shovel to perform a series of repeated operations based on at least the instructed digging and soil releasing positions for the shovel to take for automatic operation. The automatic operation controller 61 comprises a verification operation means allowing the shovel to perform a series of repeated operations by one cycle or more based on each of the stored instructed positions without digging at the digging 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 and an automatic driving method of the shovel having improved driving methods at the start of automatic driving.

[0002]

2. Description of the Related Art Conventionally, as a system for automating excavation and loading operations, for example, an automation system described in Japanese Patent Application Laid-Open No. Hei 9-195321 is known. This system is equipped with a shovel that automatically excavates and loads debris collected by the bulldozer, and a crusher that crushes the debris loaded by the shovel to generate crushed stones. It is a system that can generate crushed stone.

In Japanese Patent Application Laid-Open No. H10-212740, a controller for outputting a command for automatically operating a shovel by a program is provided in the shovel, and the controller teaches and stores the excavation start position and the earth discharging position. In addition, it is described that the excavator is automatically and repeatedly excavated and discharged in accordance with a regeneration command from the controller.

[0004]

By the way, in the conventional system for automating the excavation / loading operation as described above, for example, when a manual operation is performed at the end of the operation or the like to prepare a scaffold of the shovel or the like. There is a possibility that the shovel may be displaced from the teaching position and displaced. In addition, when the operator who is the operator of the automatic driving is changed, the operation trajectory of the automatic driving that has been performed up to that time is not known. After confirming the positional relationship with peripheral machines such as crushers, safety was achieved by performing loading operation by actual automatic operation.

As described above, in the above-mentioned conventional automation system, the operation for confirming the position of the shovel at the start of the automatic operation is not sufficiently considered, and the automatic operation is started to start the loading operation. If it is known that there is a problem with the positional relationship with peripheral equipment such as a crusher, or if the position is not sufficiently confirmed, the collision between the shovel and the peripheral There was a problem that it would be damaged.

SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, an object of the present invention is to make an automatic operation shovel perform a confirming operation in a state in which debris is not loaded in a bucket at the time of starting automatic operation, so that actual excavation and An object of the present invention is to provide an automatic operation shovel and an automatic operation method of the shovel which improve safety during loading operation.

[0007]

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

A first means is provided on the shovel, and the shovel causes the shovel to perform a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the shovel during automatic operation. An automatic operation shovel comprising an automatic operation controller, wherein the automatic operation controller performs a series of repetitive operations on the shovel based on each of the stored teaching positions without performing excavation at the excavation position. It is characterized by comprising a confirmation operation means for performing the operation for more than one cycle.

The second means is provided on the shovel, and the shovel causes the shovel to perform a series of repetitive operations based on at least the taught excavation position and the unearthing position to be taken during automatic operation. An automatic operation shovel comprising an automatic operation controller, the automatic operation controller performs a soil removal operation at the excavation position based on each of the taught positions taught, and performs a series of repeated operations on the excavator. It is characterized by comprising a confirmation operation means for performing the operation for more than one cycle.

A third means is provided on the shovel, and the shovel causes the shovel to perform a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken during automatic operation. An automatic operation shovel comprising an automatic operation controller, wherein the automatic operation controller has a first means for setting the front of the shovel in a collision prevention position, and a second means for turning to a digging position in the collision prevention position. Third means for dumping the shovel bucket at the excavation position, fourth means for setting the front of the shovel to a collision prevention position after dumping the bucket, and a dumping position at the collision prevention position. It is characterized by comprising a confirming operation means comprising a fifth means for performing a turning operation and a sixth means for performing an unloading operation at the unloading position.

[0011] A fourth means is that in any one of the first means to the third means, the confirmation operation means performs the confirmation operation at a lower speed than during a normal regeneration operation. I do.

A fifth means is a method for automatically operating a shovel, wherein the shovel performs a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the shovel during automatic operation. A first step of setting the front to a collision prevention position, a second step of turning to a digging position in the collision prevention position, a third step of dumping a bucket of the shovel at the digging position, A fourth step of setting the front of the shovel to a collision prevention position after dumping, a fifth step of turning to a dumping position in the collision prevention position, and a sixth step of performing a dumping operation at the dumping position Is performed for one or more cycles.

[0013]

DETAILED 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 the present 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 on the upper side, a boom 12 rotatably provided on the revolving body 11, an arm 13 rotatably provided at the tip of the boom 12, and a rotatable tip on the arm 13 A swing motor 110 (not shown) for rotating the swinging body 11, the boom 12, the arm 13, and the bucket 14 respectively;
0, 130, 140 and a driver's cab 15
, An antenna 150 for transmitting and receiving signals to and from the operation box 5, an operation panel 60 for performing a teaching operation of the shovel 1, and an automatic operation controller mainly composed of a computer for performing various controls for performing automatic operation 61
And a controller switch 66 for turning on / off the power of the automatic operation controller 61.

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 for detecting a rotation angle between the arm 13 and the bucket 14;
A pressure sensor 160 for detecting the pressure of 0, a pressure sensor 161 for detecting the pressure of the boom cylinder 120, a pressure sensor 162 for detecting the pressure of the arm cylinder 130,
Pressure sensor 1 for detecting pressure of bucket cylinder 140
63 is provided, and when the controller switch 66 is turned on, the mode is shifted to the automatic operation mode, and the automatic operation of the shovel 1 is performed by the automatic operation controller 61.

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 stopping automatic operation of the shovel 1, an operation start button 501 for starting automatic operation, and a standby position button 502 for moving the shovel 1 to a predetermined standby position. An emergency stop button 503 for emergency stop of the shovel 1 and a START button 50 for starting the engine of the shovel 1
4 and a STOP button 50 for stopping the operation of the engine
5, an UP button 506 for increasing the engine speed, and a DOWN button 507 for decreasing the engine speed are provided with the 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 for automatic operation of the automatic operation shovel. 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; 52, a remote operation controller for forming a predetermined signal output from the reproduction operation unit 50 and input to an automatic operation controller 61 described later; , 53
And 65 are wireless devices for transmitting and receiving signals between the reproduction operation unit 50 and the automatic operation controller 61, respectively.

Reference numeral 6 denotes an in-vehicle device provided in the main body of the automatic driving shovel, 62 denotes a proportional solenoid valve driven by a driving current output from the automatic driving controller 61,
63 is a control valve that is controlled by a hydraulic signal output from the proportional solenoid valve 62 and controls the amount of oil or hydraulic pressure flowing into the actuator 64; 64 is a swing motor 110 for operating each part of the shovel 1 shown in FIG. Actuators such as cylinders 120, 130, and 140. When the controller switch 66 is in the OFF state, the operation mode is the manual operation mode similar to the standard machine. When the controller switch 66 is in the ON state, the operation mode is the automatic operation mode and the automatic operation by the automatic operation controller 61 is possible.

First, the teaching operation of the automatic driving shovel and the operation during reproduction will be described with reference to FIGS.

In the automatic operation, first, the controller switch 66 is turned on while the engine of the shovel 1 is started.
To enter the automatic operation mode. Next, a work position at the time of reproduction is taught prior to the reproduction operation of the automatic driving shovel. The teaching operation is performed according to an instruction displayed on the operation panel 60.
Perform the necessary operations for teaching. The teaching position taught by the teaching operation of the present embodiment includes an excavation position, a dumping position,
And a standby position. Excavation position is excavator 1
Is a position for excavating the debris stored in the stock yard 2, and the unloading position is a position for discharging the debris excavated to the hopper 31 of the crusher 3. The standby position is a position for the operator to get on and off the shovel 1 at the end of automatic driving or the like.
By pressing, the excavator 1 interrupts the repetitive operation during reproduction and moves to a predetermined standby position.

When the above-described teaching operation is performed, the automatic operation controller 61 controls the angle sensors 11 according to the teaching operation.
Detected values from 1 to 114 are input and calculated, and the teaching position data and the teaching command are stored in a predetermined area of a storage means provided in the automatic operation controller 61. When the teaching is completed by the above teaching operation, the regeneration operation in the automatic operation becomes possible.

At the time of reproduction, the reproduction operation section 5 of the operation box 5
By turning on the operation start button 501 from 0,
A predetermined signal generated by the remote operation controller 52 is transmitted to the automatic operation controller 61 via the antenna 51 and the antenna 150, and the regeneration processing is started. Next, the teaching data stored in the automatic driving controller 61 is called, and the angle sensors 111 to 1 are read.
14, the revolving unit 11, the boom 12, the arm 13,
And a driving current is output to a proportional solenoid valve 62 for operating the bucket 14 and the bucket 14, respectively. The actuators 64 are controlled from the proportional solenoid valve 62 via the control valve 63, and the automatic operation of the shovel 1 is performed.

Next, the automatic operation of the automatic operation shovel and the checking operation in the automatic operation will be described with reference to FIGS.

FIG. 3 shows an automatic operation controller 61.
Is a flowchart showing a processing procedure of the automatic driving operation of the automatic driving shovel executed by the shovel, and FIG. 4 is a flowchart showing a detailed processing procedure of the confirmation operation shown in FIG.

First, in FIG.
When 1 is turned on, automatic operation starts. Next, in step 1, a confirmation operation described later is performed. After the confirmation operation, the reproduction operation is started, and in step 2, the return operation is performed. Here, the return turning operation is a turning operation from the taught dumping position to the excavation position. Next, excavation operation is performed in step 3. Here, the excavation operation is performed by 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 turning the shovel 1 by raising the boom. It is an operation to do. Next, in step 4, a go-swing operation is performed. Here, the going turning operation is a turning operation from the taught excavation position to the earth discharging position. Next, in step S5, the earth discharging operation is performed. Here, the earth discharging operation is an operation of discharging the earth and stone excavated in step 3 by a bucket dump or the like to the hopper 31 of the crusher 3 at the taught earth discharging position. After one cycle of the automatic operation, the process returns to step 2, and the same operation is repeated thereafter to perform the automatic operation.

Referring to FIG. 4, first, at step 100, the moving speed of the shovel 1 is set to a low speed. Thereby, when a malfunction occurs in the operation during the confirmation operation, the operation stop button 5 provided on the operation box 5
Since the operating distance from when the 00 or the emergency stop button 503 is pressed to when the operation of the shovel 1 stops can be shortened and the shock at the time of stopping can be reduced, the shovel 1 can be stopped safely. . Next, in step 101, the front of the shovel 1 is set to the collision prevention posture. 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, Automatically generated by the automatic operation controller 61 based on the teaching position. Note that the front posture in the going-turning operation in step 4 in FIG. 3 is the same as the front posture in the collision prevention posture. Next, in step 102, the turning operation is performed to the excavation position. Next, at step 103, the bucket is dumped, and at step 104, an operation weight (Wait) is executed to release the debris in the bucket.
In this embodiment, the wait time is 2 seconds.
This is because there is a possibility that debris is loaded in the bucket at the start of automatic operation, so by performing the unloading operation at the excavation position, the bucket is reliably set in the empty state, and during the confirmation operation This is to eliminate the possibility that the surrounding machine may be damaged by the debris released by the unloading operation. Next, in step 105, the front is set to the anti-collision posture, and in step 106, the vehicle performs a turning operation, and
At 07, a soil release operation is performed. The going turning operation in step 106 and the unloading operation in step 107 are different from the going turning operation in step 4 and the unloading operation in step 5 in FIG. It is. Next, at step 108, the low-speed state of the moving speed is released, the checking operation is completed, and the operation shifts to the normal repetitive operation of the automatic operation.

As described above, according to the invention of this embodiment,
The confirmation operation in the automatic driving shovel can be performed safely and easily. If it is confirmed that there is a malfunction in the operation during the confirmation operation, the operation of the shovel 1 is stopped by pressing the operation stop button 500, and the teaching operation is executed again to change the teaching position. The usability of the shovel can be improved.

[0032]

As described above, according to the inventions set forth in the claims of the present application, when the automatic operation is started, the confirmation operation is performed in a state where the bucket is empty, so that the positional relationship with the peripheral machine such as a crusher can be determined. After confirmation, the actual loading operation can be performed. For this reason, the necessity of re-executing the teaching operation after a manual operation of the excavator or a change of the operator is reduced, and even if a malfunction occurs during the checking operation, the bucket operation is performed. Is operating in an unloaded state, the operation of the shovel can be safely stopped, and the work efficiency and safety as an automatic driving shovel can be improved.

Further, by performing the checking operation at a lower speed than during the normal reproducing operation, the checking operation can be performed more safely and with higher accuracy.

[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 vehicle-mounted device mounted on the automatic driving shovel body and a control mechanism mounted on an operation box according to the embodiment.

FIG. 3 is a flowchart showing a processing procedure of an automatic driving operation of the automatic driving shovel executed by the automatic driving controller 61 shown in FIG. 2;

FIG. 4 is a flowchart showing a detailed processing procedure of the confirmation operation shown in FIG. 3;

[Explanation of symbols]

 Reference Signs List 1 hydraulic excavator 3 crusher 5 operation box 52 remote control controller 60 operation panel 61 automatic operation controller 66 controller switch 111 to 114 angle sensor 160 to 163 pressure sensor 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.

Claims (5)

[Claims] 1. An excavator, an automatic operation controller provided on the excavator, and configured to cause the excavator to perform a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the excavator during automatic operation. An automatic operation shovel comprising: the automatic operation controller, based on each of the stored teaching positions, without digging at the digging position,
An automatic operation shovel comprising a confirmation operation means for causing the shovel to perform a series of repetitive operations for one or more cycles. 2. An excavator, an automatic operation controller provided on the excavator, and configured to cause the excavator to perform a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the excavator during automatic operation. An automatic operation shovel comprising: the automatic operation controller performs a soil removal operation at the excavation position based on each of the taught positions, and causes the shovel to perform a series of repeated operations for one cycle or more. An automatic driving shovel comprising a confirmation driving means. 3. An excavator, an automatic operation controller provided on the excavator, and configured to cause the excavator to perform a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the excavator during automatic operation. An automatic driving shovel comprising: a first means for setting a front of the shovel to a collision prevention posture; a second means for turning to a digging position in the collision prevention posture; Third means for dumping the shovel bucket at a location;
Fourth means for setting the front of the shovel to a collision-prevention position after dumping the bucket, fifth means for turning to the unloading position in the anti-collision position, and 6. An automatic driving shovel comprising a confirmation driving means comprising: 4. The automatic operation shovel according to claim 1, wherein the confirmation operation means performs the confirmation operation at a lower speed than during a normal regeneration operation. 5. A method for automatically operating a shovel, wherein the shovel performs a series of repetitive operations based on at least a taught excavation position and a dumping position to be taken by the shovel during automatic operation. A first step of setting a posture, and a second step of turning to an excavation position in the collision prevention position.
And a third step of dumping the bucket of the shovel at the excavation position; a fourth step of setting the front of the shovel to a collision prevention posture after dumping the bucket; A method for automatically operating a shovel, wherein a confirmation operation including a fifth step of turning to a position and a sixth step of discharging at the discharging position is performed one or more cycles.